A metal pipe fitting positioning and welding robot

Abstract

The present application relates to the technical field of metal pipe welding, and particularly relates to a metal pipe positioning and welding robot, which comprises a base, a mounting plate seat movably arranged inside the base in a front-rear symmetry mode, a pipe locking mechanism arranged on the upper side of the mounting plate seat and used for locking square pipes, a welding mechanism arranged between the two mounting plate seats and used for welding the connection of the two square pipes, and the pipe locking mechanism comprises a swivel base rotatably connected to the upper side of the mounting plate seat, four groups of mounting racks are circumferentially and equidistantly arranged in the inner hole of the swivel base, the pipe locking mechanism and the welding mechanism are used in cooperation, the quick alignment and welding of the two square pipes can be completed, the conventional spot welding step is saved by using the tool locking mode, the work efficiency is effectively improved, compared with the traditional face-to-face replacement welding mode, the work steps are simpler, the welding quality is high, and time and labor are saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of metal pipe welding, in particular to a metal pipe positioning welding robot. BACKGROUND

[0002] The metal pipe positioning welding robot is a robot device specially used for welding metal pipes or pipe fittings. Such a robot is usually used in pipeline engineering, such as oil and gas transmission pipelines, pipeline systems of chemical plants, building water supply and drainage systems, and other places requiring high-strength and high-sealing connection. In the design and construction process of a chemical plant, various shapes of pipes are used, including circular, rectangular, and square pipes. In the case of space saving, square or rectangular pipes can better adapt to the space layout inside the building.

[0003] The square pipe is a common metal pipe material with a square or rectangular cross-section. Due to its stable structure and strong load-bearing capacity, the square pipe is widely used in the fields of building, mechanical manufacturing, and steel structure engineering. According to the material, the square pipe can be divided into carbon steel square pipe, stainless steel square pipe, aluminum alloy square pipe, and other types.

[0004] Currently, when welding the butt joint of two square pipes, the square pipes are first aligned by manual operation, and then welded by the face-to-face replacement method. This welding method has the following problems: on the one hand, manual alignment is not accurate enough to ensure the straightness of the butt joint of the two square pipes, and the alignment efficiency is low, which affects the welding progress of the square pipe; on the other hand, the distribution range of the welding gun head is limited, and the square pipe needs to be rotated to change the welding surface so that different welding surfaces face the welding gun head. Therefore, the welding by the face-to-face replacement method requires the welding gun head to move back and forth along the welding line of the single surface of the square pipe. The movement of the welding gun head position is generally controlled by manual operation or a computer. Manual adjustment is not convenient and cannot guarantee the accuracy of the alignment. When controlled by a computer, the overall structure is complex and the use cost is high. SUMMARY

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

[0006] Technical scheme: In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme: a metal pipe positioning welding robot, comprising a base, the base is internally provided with two mounting plate seats which are symmetrically movable forward and backward, a pipe locking mechanism for locking the square pipe is arranged on the upper side of the mounting plate seat, and a welding mechanism for welding the connection part of the two square pipes is arranged between the two mounting plate seats.

[0007] The lock pipe mechanism comprises a rotating ring seat rotatably connected to the upper side of the mounting plate seat, four groups of mounting frames are circumferentially and equidistantly arranged in the inner hole of the rotating ring seat, a plurality of abutting rollers are rotatably connected to the mounting frames in the front-rear direction through rotating pins, a stop assembly for limiting the rotation of the abutting rollers is arranged on one side of each abutting roller, a pitch adjusting assembly for synchronously adjusting the centrifugal pitch of the four groups of mounting frames is arranged in the rotating ring seat, a centering assembly for positioning the butt joint of the two side square pipes to the welding mechanism position is further arranged between the two side mounting plate seats, and the lower sides of the two rotating ring seats are jointly provided with a rotating assembly for controlling the rotation of the square pipes.

[0008] The welding mechanism comprises 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, the output end of the electric push rod three is flush with the central axis of the rotating ring seat and points to the central axis of the rotating ring seat, a welding gun head is arranged on the output end of the electric push rod three, and a collision prevention assembly 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] Through the cooperation of the lock pipe mechanism and the welding mechanism, the rapid alignment and welding of two square pipes can be completed.

[0010] As a preferred technical solution of the present application, the stop assembly comprises a moving frame sleeved on one side of the rotating pin, a pipe abutting protrusion is arranged on the end of the moving frame close to the central axis of the rotating ring seat, a connecting rod one is fixedly connected to the end of the moving frame away from the central axis of the rotating ring seat, an active cavity is formed in the main panel of the mounting frame corresponding to the connecting rod one, the connecting rod one is slidably inserted into the active cavity and one end of the connecting rod one inside the active cavity is fixedly connected to a limiting slide, the limiting slide is slidably connected in the active cavity, a spring one is sleeved on the section of the connecting rod one between the main panel of the mounting frame and the moving frame, a friction plate of synthetic resin material is fixedly connected to the inner wall of the moving frame close to the central axis of the rotating ring seat.

[0011] As a preferred technical solution of the present application, the pitch adjusting assembly comprises an inner rotating ring rotatably connected in the rotating ring seat, four groups of inclined sliding grooves are formed in the inner rotating ring corresponding to the positions of the mounting frames, a connecting pin is slidably connected in the inclined sliding groove, the connecting pin is rotatably connected to an extension rod, one end of the extension rod away from the connecting pin is slidably penetrated through the inner ring wall of the rotating ring seat and is fixedly connected with the mounting frame, and a control component for controlling the rotation of the inner rotating ring is arranged on the inner rotating ring.

[0012] As a preferred technical solution of the present application, the control component comprises a gear ring section fixedly connected to the edge of the inner rotating ring, a gear two is meshingly connected to the periphery of the gear ring section, a rotating rod is fixedly connected to the center of the gear two, the rotating rod is rotatably connected in 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 gear three, a gear rack is meshingly connected to the periphery of the gear three, and the gear rack is fixedly connected to the output end of an electric push rod two.

[0013] As a preferred technical scheme of the present application, the centering assembly comprises two connecting sleeves fixedly connected to the lower side of the mounting plate seat in left-right symmetry, two connecting sleeves on the left side of the front and rear mounting plate seats are jointly and slidably connected with a guide rod one, two connecting sleeves on the right side of the front and rear mounting plate seats are jointly and screw-connected to a bidirectional screw rod in front-rear symmetry, one end of the bidirectional screw rod extends to the outside of the base and is fixedly connected with the output end of a motor two, the motor two is fixedly connected to the outside of the base, and the base is provided with a positioning component for adjusting the butt joint end position of the two side square tubes at the front-rear center position.

[0014] As a preferred technical scheme of the present application, the positioning component comprises a plurality of electric push rods one fixedly connected to the front-rear center position of the base, the output ends of the plurality of electric push rods one are jointly and fixedly connected with a fixed seat upward, the fixed seat is fixedly connected with a plurality of bidirectional electric push rods distributed in front-rear direction, and the two side output ends of the plurality of bidirectional electric push rods are jointly and fixedly connected with baffles respectively.

[0015] As a preferred technical scheme of the present application, the rotating assembly comprises a gear ring fixedly connected to the outer edge of the rotating ring seat, the gear ring is meshingly connected with a gear one on the outer periphery of the lower side, the center of the gear one is fixedly connected with a sliding sleeve, the sliding sleeve is rotationally connected to the mounting plate seat, the centers of the front and rear sliding sleeves are also jointly limited and slidably connected with a limiting slide shaft, one end of the limiting slide shaft extends to the outside of the base and is fixedly connected with the output end of a motor one, and the motor one is fixedly connected to the outside of the base.

[0016] As a preferred technical scheme of the present application, the anti-collision assembly comprises an arch frame fixedly connected to the output end of the electric push rod three through a support plate, the left and right side walls of the arch frame are each provided with a movable opening, a movable rod is jointly and slidably connected in the two side movable openings, the left and right ends of the movable rod extend to the outside of the arch frame and are fixedly connected with mounting rods flush with the pointing direction of the electric push rod three, a roller is rotationally connected to the end of the mounting rod away from the electric push rod three, a connecting rod two is fixedly connected between the two side mounting rods, and a welding gun head is fixedly connected to the middle part of the connecting rod two.

[0017] As a preferred technical scheme of the present application, the anti-collision assembly further comprises a movable column slidably penetrating the main wall of the arch frame, the end of the movable column away from the electric push rod three is fixedly connected with the movable rod, the end of the movable column close to the electric push rod three is fixedly connected with a limiting block, and the section of the movable column between the main wall of the arch frame and the movable rod is sleeved with a spring two.

[0018] Advantages:

[0019] 1. The pipe locking mechanism adopted in the present application can tightly abut the square tube from four sides, effectively ensures the stability of square tube butt welding, and automatically controls the butt joint of the two square tubes at the welding position of the welding gun through the limiting action of the positioning component, which is accurate in positioning, effectively ensures the butt joint straightness of the two square tubes, and is convenient to use.

[0020] 2. The welding mechanism adopted by the present application can keep the contact of the roller and the rotating square tube through the spring's second clamping action, and the distance between the welding gun head and the axis of the rotating seat is automatically adjusted by the position adjustment of the roller, which effectively ensures the welding distance between the welding gun head and the welding seam and ensures the welding quality.

[0021] 3. The locking mechanism and the welding mechanism adopted by the present application are used in cooperation, which can complete the quick alignment and welding of two square tubes, and the conventional spot welding step is saved by using the tool locking mode, which effectively improves the work efficiency, and compared with the traditional face-to-face replacement welding mode, the work steps are simpler, the welding quality is high, and time and labor are saved. BRIEF DESCRIPTION OF DRAWINGS

[0022] The present application will be further described below in combination with the drawings and examples.

[0023] Figure 1 is the first perspective view of the present application.

[0024] Figure 2 is the right view of the present application.

[0025] Figure 3 is the top view of the present application.

[0026] Figure 4 is the internal section view of the rotating ring seat of the present application.

[0027] Figure 5 is the section view of the mounting frame rotating pin position of the present application.

[0028] Figure 6 is the second perspective view of the present application.

[0029] Figure 7 is the perspective view of the welding mechanism of the present application.

[0030] Figure 8 is the working state diagram of the square tube, the roller and the welding gun head of the present application.

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

[0032] The embodiments of the present application will be described in detail below with reference to the accompanying drawings, but the present application can be implemented in various different ways limited and covered by the claims.

[0033] Reference Figure 1 A metal pipe fitting positioning and welding robot, comprising a base 1, the inside of the base 1 is symmetrically movably provided with a mounting plate seat 2, the upper side of the mounting plate seat 2 is provided with a locking pipe mechanism 3 for locking square pipes, and a welding mechanism 4 for welding the connection of two square pipes is arranged between the two mounting plate seats 2.

[0034] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5The locking pipe mechanism 3 comprises a rotating ring seat 33 rotatably connected to the upper side of the mounting plate seat 2, four groups of mounting racks 34 are circumferentially and equidistantly arranged in the inner hole of the rotating ring seat 33, a plurality of abutting rollers 38 are rotatably connected to the mounting racks 34 through rotating pins 37 in the front-rear direction, a stop assembly 36 for limiting the rotation of the abutting roller 38 is arranged on one side of each abutting roller 38, a pitch adjusting assembly 35 for synchronously adjusting the centrifugal pitch of the four groups of mounting racks 34 is arranged in the rotating ring seat 33, a centering assembly 32 for positioning the butt joint of the two side square pipes to the welding mechanism 4 is further arranged between the two mounting plate seats 2, and the lower sides of the two rotating ring seats 33 are commonly provided with a rotating assembly 31 for controlling the rotation of the square pipes.

[0035] In specific work, the abutting rollers 38 abut against the surface of the square pipe, the abutting rollers 38 are made of rubber material and are rotatable through the rotating pins 37, so as to facilitate the front-rear movement of the square pipe.

[0036] Referring to Figure 1 and Figure 7 , the welding mechanism 4 comprises a support column 43 fixedly connected to the center of the left side of the base 1, an electric push rod three 42 fixedly connected to the upper end of the support column 43, the output end of the electric push rod three 42 is horizontally aligned with and points to the central axis of the rotating ring seat 33, a welding gun head 41 arranged on the output end of the electric push rod three 42, and a collision prevention assembly 44 arranged between the welding gun head 41 and the output end of the electric push rod three 42 for periodically adjusting the centrifugal position of the welding gun head 41.

[0037] In specific work, the initial distance between the welding gun head 41 and the central axis of the rotating ring seat 33 is changed by the electric push rod three 42 to adapt to the welding of square pipes with different widths.

[0038] Through the cooperation of the locking pipe mechanism 3 and the welding mechanism 4, the rapid alignment and welding of two square pipes can be completed.

[0039] Referring to Figure 5 , the stop assembly 36 comprises a moving frame 365 sleeved on one side of the rotating pin 37, a pipe abutting protrusion 3655 arranged on the end of the moving frame 365 close to the central axis of the rotating ring seat 33, a connecting rod one 363 fixedly connected to the end of the moving frame 365 away from the central axis of the rotating ring seat 33, an active cavity 361 opened in the main panel of the mounting rack 34 corresponding to the connecting rod one 363, a limiting slide 362 fixedly connected to the end of the connecting rod one 363 inside the active cavity 361, the limiting slide 362 being slidably connected in the active cavity 361, a spring one 364 sleeved on the section of the connecting rod one 363 between the main panel of the mounting rack 34 and the moving frame 365, a friction sheet 366 fixedly connected to the inner side wall of the moving frame 365 close to the central axis of the rotating ring seat 33, and the friction sheet 366 being made of synthetic resin material.

[0040] Specifically, when the square tube is contacted by the abutting roller 38, the contact part of the square tube with the abutting roller 38 is slightly deformed by extrusion, and the abutting tube protrusion 3655 is arranged to not exceed the outer contour of the abutting roller 38. When the abutting roller 38 is continuously deformed, the square tube contact moving frame 365 is moved by compressing the spring 1 364 through the connecting rod 1 363. After the moving frame 365 is moved to contact the friction plate 366, the friction plate 366 controls the rotation of the rotating pin 37, the abutting roller 38 is limited to rotate, and the square tube and the abutting roller 38 generate static friction. In the normal state, the square tube and the abutting roller 38 are in rolling friction, and the friction is small. Thus, the locking effect of the square tube during welding can be effectively ensured, and the spring 1 364 can be rebounded to release the locking of the rotating pin 37.

[0041] Referring to Figure 4 and Figure 6 , the distance adjusting assembly 35 comprises an inner rotating ring 351 rotatably connected inside the rotating ring seat 33. Four groups of inclined sliding grooves 353 are formed on the inner rotating ring 351 corresponding to the positions of each mounting frame 34. A connecting pin 352 is slidably connected in the inclined sliding groove 353. The connecting pin 352 is rotatably connected to an extension rod 354. The end of the extension rod 354 away from the connecting pin 352 is slidably penetrated through the inner wall of the rotating ring seat 33 and is fixedly connected with the mounting frame 34. The inner rotating ring 351 is provided with a control component 355 for controlling the rotation thereof. The control component 355 comprises a gear ring section 3553 fixedly connected to the edge of the inner rotating ring 351. A gear two 3551 is meshingly connected to the periphery of the gear ring section 3553. A rotating rod 3552 is fixedly connected to the center of the gear two 3551. The rotating rod 3552 is rotatably connected inside the rotating ring seat 33. The end of the rotating rod 3552 extends to the outside of the rotating ring seat 33 and is fixedly connected with a gear three 3554. The gear three 3554 is meshingly connected with a rack 3555. The rack 3555 is fixedly connected to the output end of an electric push rod two 3556.

[0042] Specifically, the rack 3555 is controlled to move by the electric push rod two 3556 to drive the gear three 3554 to rotate. The gear three 3554 drives the gear two 3551 to rotate through the rotating rod 3552. The gear two 3551 drives the inner rotating ring 351 to rotate through the gear ring section 3553. The connecting pin 352 is pushed to move radially by the inclined sliding groove 353 on the inner rotating ring 351. The extension rod 354 drives the mounting frame 34 to move radially through the connecting pin 352, so as to adjust the centrifugal distance of the mounting frame 34.

[0043] Referring to Figure 1 , Figure 2 , Figure 3 and Figure 6The centering assembly 32 comprises two left-right symmetrical connecting sleeves 325 fixedly connected to the lower side of the mounting plate seat 2, two connecting sleeves 325 on the left side of the mounting plate seat 2 are jointly and slidably connected with a guide rod one 324, two connecting sleeves 325 on the right side of the mounting plate seat 2 are jointly and front-rear symmetrically threadedly connected with a bidirectional screw rod 323, one end of the bidirectional screw rod 323 extends to the outside of the base 1 and is fixedly connected with the output end of a motor two 322, the motor two 322 is fixedly connected to the outside of the base 1, and the base 1 is provided with a positioning component 321 for adjusting the butt joint end position of the two side pipes at the front-rear center position; the positioning component 321 comprises a plurality of electric push rods one 3214 fixedly connected to the front-rear center position of the base 1, the output ends of the electric push rods one 3214 are jointly and upwardly fixedly connected with a fixed seat 3213, a plurality of front-rear distributed bidirectional electric push rods 3212 are fixedly connected to the fixed seat 3213, and the two side output ends of the bidirectional electric push rods 3212 are jointly and fixedly connected with baffles 3211.

[0044] In specific work, the bidirectional screw rod 323 is controlled to rotate by the motor two 322, the two mounting plate seats 2 are driven by the bidirectional screw rod 323 to move front-rear along the guide rod one 324, the butt joint ends of the two side pipes are controlled to move close to each other, in order to ensure that the butt joint is at the center position, the side pipes are initially pre-clamped, and the roller 38 does not deform, when the butt joint ends of the side pipes move to the center position of the base 1, the side pipes stop moving under the limiting action of the baffles 3211, after the two side pipes contact the baffles 3211, the centering is stopped, then the baffles 3211 on the two sides are controlled to move away from the side pipes by the bidirectional electric push rods 3212, so as to avoid that the baffles 3211 generate large friction when moving downward, then the baffles 3211 are driven by the electric push rods one 3214 to move downward to a height that does not hinder the butt joint of the two side pipes, through the centering, it can be ensured that the butt joint of the two side pipes is at the front-rear center position of the base 1, and the welding gun head 41 can be accurately positioned on the butt joint.

[0045] Referring to Figure 1 , Figure 3 and Figure 6 , the rotating assembly 31 comprises a gear ring 311 fixedly connected to the outer edge of the rotating ring seat 33, the gear ring 311 is meshingly connected with a gear one 312 on the outer periphery of the lower side, the center of the gear one 312 is fixedly connected with a sliding sleeve 314, the sliding sleeve 314 is rotationally connected to the mounting plate seat 2, the centers of the two front-rear sliding sleeves 314 are also jointly and limitingly and slidably connected with a limiting slide shaft 313, one end of the limiting slide shaft 313 extends to the outside of the base 1 and is fixedly connected with the output end of a motor one 315, and the motor one 315 is fixedly connected to the outside of the base 1.

[0046] Specific work, through the motor 315 control limit sliding shaft 313 rotation, by the limit sliding shaft 313 drive both sides of the sleeve 314 rotation drive gear 312 control gear ring 311 rotation, by the gear ring 311 drive ring seat 33 rotation, make both sides of the square tube synchronous rotation, so as to complete both sides of the square tube butt joint seam ring a complete welding.

[0047] Referring to Figure 7 , the anti-collision assembly 44 comprises an arch 445 fixedly connected to the output end of the electric push rod three 42 through a support plate, the left and right side walls of the arch 445 are each provided with a movable opening, and the movable openings are jointly and slidably connected with a moving rod 442, the left and right ends of the moving rod 442 extend to the outside of the arch 445 and are fixedly connected with mounting rods 447 flush with the pointing direction of the electric push rod three 42, the ends of the mounting rods 447 away from the electric push rod three 42 are rotatably connected with rollers 441, and the mounting rods 447 between the left and right sides are fixedly connected with a connecting rod two 448, and the welding gun head 41 is fixedly connected to the middle part of the connecting rod two 448; the anti-collision assembly 44 further comprises a moving column 443 slidably penetrating through the main wall of the arch 445, the end of the moving column 443 away from the electric push rod three 42 is fixedly connected with the moving rod 442, the end of the moving column 443 close to the electric push rod three 42 is fixedly connected with a limiting block 446, and a section of the moving column 443 between the main wall of the arch 445 and the moving rod 442 is sleeved with a spring two 444.

[0048] Specific work, through the roller 441 and the square tube surface contact, make the welding gun head 41 keep the distance from the butt joint, 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 spring two 444 through the mounting rod 447, when the center of each plane of the square tube rotates to the welding position, the spring two 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 spring two 444 keeps the roller 441 in contact with the square tube by the rebound action, so that the welding gun head 41 keeps the same welding interval.

[0049] Referring to Figures 1-8 , the main steps in use are as follows:

[0050] S1: two square tubes are respectively inserted into the ring seat 33, then the rack 3555 is controlled to move by the electric push rod two 3556 to drive the gear three 3554 to rotate, the gear three 3554 drives the gear two 3551 to rotate through the rotating rod 3552, the gear two 3551 drives the inner rotating ring 351 to rotate through the gear ring section 3553, the connecting pin 352 is pushed to move radially through the inclined sliding groove 353 on the inner rotating ring 351, the telescopic rod 354 is controlled to move radially by the connecting pin 352 to make the mounting frame 34 move radially, so that the four mounting frames 34 are in contact with the square tube in four planes.

[0051] S2: by motor two 322 control two-way screw rod 323 rotation, by two-way screw rod 323 drive both sides of the mounting plate seat 2 along the guide rod one 324 front and back to the opposite direction of movement, control both sides of the pipe butt end close to each other, to ensure that the butt joint is in the center position, the initial square pipe is pre-clamping, the roller 38 does not produce deformation, when the square pipe butt end moves to the center position of the base 1, the limiting effect of the baffle 3211, the square pipe will stop moving, until both sides of the square pipe contact the baffle 3211, stop centering, then through the two-way electric push rod 3212 control both sides of the baffle 3211 away from the square pipe, then through the electric push rod one 3214 drive the fixed seat 3213 to move the baffle 3211 to the height that does not hinder the butt joint of both sides of the square pipe.

[0052] S3: again through the distance adjusting assembly 35 control roller 38 for the square pipe to be secondly clamped, when clamping, the contact part of the roller 38 and the square pipe will be extruded and appear a small amount of deformation, when the roller 38 continuously deforms, it will make the square pipe contact the moving frame 365, the moving frame 365 will move through the connecting rod compression spring one 364, after moving to the friction plate 366 contact the rotating pin 37, the rotating pin 37 is controlled to rotate by the friction plate 366, the roller 38 is rotated and limited, the square pipe and the roller 38 generate static friction, so that the square pipe is firmly locked, control the mounting plate seat 2 to move again, so that both sides of the square pipe butt end contact.

[0053] S4: the center of one side of the square pipe is against the welding gun head 41, then through the electric push rod three 42 control welding gun head 41 close to the butt joint to start welding, during the welding process, through the motor one 315 control the limit slide shaft 313 rotation, by the limit slide shaft 313 drive both sides of the sleeve 314 rotation drive gear one 312 control gear ring 311 rotation, by the gear ring 311 drive the rotating ring seat 33 rotation, make both sides of the square pipe synchronous rotation one circle, at the same time, through the roller 441 contact with the surface of the square pipe, make the welding gun head 41 keep the same distance with the butt joint, when the top angle of the square pipe rotates to the welding position, the roller 441 will control the moving rod 442 compression spring two 444 through the installation rod 447, when the center of each plane of the square pipe rotates to the welding position, the spring two 444 is in full relaxation, when rotating to the section between the top angle of the square pipe and the center of each plane of the square pipe, the spring two 444 keep the roller 441 and the square pipe contact through the rebound effect, make the welding gun head 41 keep the same welding interval, until the welding is completed, then take down the welded square pipe.

[0054] The above only for the preferred embodiments of the present application and is not intended to limit the present application, for those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A metal pipe fitting positioning and welding robot comprising a base, characterized by: The inside of the base is symmetrically movably provided with mounting plate seats, the upper side of the mounting plate seats is provided with a pipe locking mechanism for locking square pipes, and welding mechanisms for welding the joints of the two square pipes are arranged between the two mounting plate seats; The pipe locking mechanism comprises a swivel ring seat rotatably connected to the upper side of the mounting plate seat, four groups of mounting racks are circumferentially and equidistantly arranged in the inner hole of the swivel ring seat, a plurality of abutting rollers are rotatably connected to the mounting racks through a swivel pin in the front-rear direction, a stop component for limiting the rotation of the abutting roller is arranged on one side of each swivel pin, a pitch adjusting component for controlling the synchronous adjustment of the centrifugal pitch of the four groups of mounting racks is arranged in the swivel ring seat, a centering component for positioning the butt joint of the two square pipes to the position of the welding mechanism is further arranged between the two mounting plate seats, and the lower sides of the two swivel ring seats are jointly provided with a rotating component for controlling the rotation of the square pipes. The welding mechanism comprises 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, the output end of the electric push rod three is flush with and points to the central axis of the swivel ring 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. Through the cooperation of the pipe locking mechanism and the welding mechanism, the rapid alignment and welding of the two square pipes can be completed. The stop component comprises a moving frame sleeved on one swivel pin, a pipe abutting protrusion is arranged on the end of the moving frame close to the central axis of the swivel ring seat, a connecting rod one is fixedly connected to the end of the moving frame away from the central axis of the swivel ring seat, an active cavity is formed in the main panel of the mounting rack corresponding to the connecting rod one, the connecting rod one is slidably inserted into the active cavity and one end of the connecting rod one inside the active cavity is fixedly connected to a limiting slide, the limiting slide is slidably connected in the active cavity, a spring one is sleeved on the section of the connecting rod one between the main panel of the mounting rack and the moving frame, a friction plate of synthetic resin material is fixedly connected to the inner side wall of the moving frame close to the central axis of the swivel ring seat. When the square pipe is abutted by the abutting roller, the contact part of the abutting roller and the square pipe will be slightly deformed under extrusion, the pipe abutting protrusion is arranged not to exceed the outer contour of the abutting roller, and when the abutting roller continuously deforms, the square pipe will contact the moving frame, the moving frame will move by compressing the spring one through the connecting rod one, and after moving to the position where the friction plate contacts the swivel pin, the swivel pin will be controlled to rotate by the friction plate, and the abutting roller is limited to rotate.

2. A metal tube positioning and welding robot according to claim 1, characterized in that: The pitch adjusting component comprises an inner swivel ring rotatably connected to the inside of the swivel ring seat, four groups of inclined sliding grooves are formed in the inner swivel ring corresponding to the positions of the mounting racks, a connecting pin is slidably connected in the inclined sliding groove, the connecting pin is rotatably connected to an extension rod, one end of the extension rod away from the connecting pin is slidably penetrated through the inner ring wall of the swivel ring seat and is fixedly connected with the mounting rack, and a control component for controlling the rotation of the inner swivel ring is arranged on the inner swivel ring.

3. A metal tube positioning and welding robot according to claim 2, characterized in that: The control component includes a gear ring section fixedly connected to the edge of the inner rotating ring, a gear wheel II peripherally meshingly connected to the gear ring section, a rotating rod fixedly connected to the center of the gear wheel II, the rotating rod rotatably connected in the rotating ring seat, the rotating rod extending to the outside of the rotating ring seat at one end and fixedly connected with a gear wheel III, the gear wheel III peripherally meshingly connected with a rack, the rack fixedly connected to the output end of the electric push rod II.

4. A metal tube positioning and welding robot according to claim 1, characterized in that: The centering assembly includes left and right symmetrical connecting sleeves fixedly connected to the lower side of the mounting plate seat, two connecting sleeves on the left side of the front and rear mounting plate seats commonly slidingly connected with a guide rod I, two connecting sleeves on the right side of the front and rear mounting plate seats commonly front and rear symmetrically screw-connected to a bidirectional screw rod, the bidirectional screw rod extending to the outside of the base at one end and fixedly connected with the output end of the motor II, the motor II fixedly connected to the outside of the base, the base provided with a positioning component for adjusting the butt joint end position of the two side pipes at the front and rear center positions.

5. A metal tube positioning and welding robot according to claim 4, characterized in that: The positioning component includes a plurality of electric push rods I fixedly connected to the front and rear center positions of the base, the output ends of the plurality of electric push rods I commonly upward fixedly connected with a fixed seat, the fixed seat fixedly connected with a plurality of bidirectional electric push rods distributed in front and back directions, the two output ends of the plurality of bidirectional electric push rods commonly fixedly connected with baffles.

6. A metal tube positioning and welding robot according to claim 1, characterized in that: The rotating assembly includes a gear ring fixedly connected to the outer edge of the rotating ring seat, a gear wheel I meshingly connected to the lower side of the periphery of the gear ring, the center of the gear wheel I fixedly connected with a sliding sleeve, the sliding sleeve rotatably connected to the mounting plate seat, the centers of the front and rear sliding sleeves also commonly limited and slidingly connected with a limiting slide shaft, one end of the limiting slide shaft extending to the outside of the base and fixedly connected with the output end of the motor I, the motor I fixedly connected to the outside of the base.

7. A metal tube positioning and welding robot according to claim 1, characterized in that: The anti-collision assembly includes an arch fixedly connected to the output end of the electric push rod III through a support plate, the left and right side walls of the arch are both provided with a movable opening, the movable openings are both commonly slidingly connected with a moving rod, the left and right ends of the moving rod extending to the outside of the arch and fixedly connected with a mounting rod flush with the pointing direction of the electric push rod III, the end of the mounting rod away from the electric push rod III rotatably connected with a roller, a connecting rod II fixedly connected between the two mounting rods, and the welding gun head fixedly connected to the middle part of the connecting rod II.

8. A metal tube positioning and welding robot according to claim 1, characterized in that: The anti-collision assembly further includes a moving column slidingly penetrating the main wall of the arch, the end of the moving column away from the electric push rod III fixedly connected with the moving rod, the end of the moving column close to the electric push rod III fixedly connected with a limiting block, and the section of the moving column between the main wall of the arch and the moving rod sleeved with a spring II.

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