Automatic assembling and welding system for steel tube tower components

Abstract

The invention relates to an automatic steel tube tower component assembling and welding system which comprises a feeding unit, a welding unit, a welding unit and a control unit. The logistics transfer unit reciprocates among the feeding unit, the steel pipe angle adjusting unit and the discharging unit and is used for grabbing the steel pipes from the feeding unit, transporting the grabbed steel pipes to the steel pipe angle adjusting unit and conveying the steel pipes welded by the splicing and welding unit to the discharging unit; the steel pipe angle adjusting unit is used for dynamically adjusting the welding angle and position of the steel pipe; the assembling and welding unit is used for grabbing the steel pipe accessories, positioning the steel pipe accessories and the steel pipes and welding the steel pipe accessories and the steel pipes; and the discharging unit is used for classifying and storing the welded finished steel pipes. The method has the advantages that the production efficiency is improved, the welding quality is guaranteed, the production cost is reduced, and the method has good application prospects and popularization value.

Description

Technical Field

[0001] The present invention relates to an automatic assembling and welding system for steel pipe tower components, belonging to the technical field of manufacturing transmission line iron towers. Background Art

[0002] In the current manufacturing industry of transmission line iron towers, the assembling and welding of steel pipe components mainly rely on traditional manual operations and the personal experience of workers. In this mode, the production efficiency is low, and a large amount of time and labor costs are easily wasted. The specific problems are as follows:

[0003] 1. Manual operation: The traditional assembling and welding processes are mostly completed manually. Workers have a high labor intensity, low work efficiency, and the welding quality is greatly affected by the technical level of workers, making it difficult to ensure consistency.

[0004] 2. Experience dependence: A large amount of manual intervention is required during the assembling and welding processes, and high requirements are placed on the experience of workers. Insufficient experience may lead to problems such as insufficient assembling accuracy and welding defects, thereby affecting the overall quality of the product.

[0005] 3. Low efficiency: Manual operation and experience dependence make it difficult to achieve high-efficiency automation in the entire production process. The production cycle is long, and it is difficult to meet the needs of large-scale production.

[0006] 4. High cost: Due to the low production efficiency, more manpower and time need to be invested, resulting in an increase in production costs. At the same time, manual operation is prone to material waste and equipment wear, further increasing the production cost.

[0007] 5. Unstable quality: The quality of manual welding fluctuates greatly, and it is difficult to ensure that the welding quality of each product meets the standard requirements. This not only affects the service life of the product but also may pose safety hazards.

[0008] In summary, there are many problems with the traditional manual assembling and welding system in the manufacturing industry of transmission line iron towers. There is an urgent need for an automatic assembling and welding system that can improve production efficiency, reduce costs, and ensure welding quality. Summary of the Invention

[0009] To overcome the defects of the prior art, the present invention provides an automatic assembling and welding system for steel pipe tower components. The technical solution of the present invention is:

[0010] An automatic assembling and welding system for steel pipe tower components, comprising:

[0011] A feeding unit for positioning and supporting steel pipes;

[0012] A logistics transfer unit, which reciprocates between the loading unit, the steel pipe angle adjustment unit and the unloading unit, is used to grab the steel pipe from the loading unit and transport the grabbed steel pipe to the steel pipe angle adjustment unit, and transport the steel pipe welded by the assembly welding unit to the unloading unit;

[0013] Steel pipe angle adjustment unit, used to dynamically adjust the welding angle and position of the steel pipe;

[0014] Assembling welding unit, used for grabbing steel pipe accessories, positioning between steel pipe accessories and steel pipes, and welding between steel pipe accessories and steel pipes;

[0015] Unloading unit, used for classified storage of finished steel pipes after welding;

[0016] The logistics transfer unit, steel pipe angle adjustment unit and assembly welding unit are all connected to the control cabinet.

[0017] The feeding unit comprises a steel pipe installation positioning platform (12), a steel pipe positioning frame (13) and a feeding steel pipe support frame (14). The steel pipe positioning frame (13) is adjustably installed on the steel pipe installation positioning platform (12). The feeding steel pipe support frame (14) is arranged adjacent to the steel pipe installation positioning platform (13). The upper part of the feeding steel pipe support frame (14) forms a support frame bearing part. The upper part of the steel pipe positioning frame (13) forms a positioning frame bearing part. The positioning frame bearing part is coaxially arranged with the supporting frame bearing part to jointly support the steel pipe. The steel pipe installation positioning platform (12) is covered with platform installation through holes. The bottom of the steel pipe positioning frame (13) is provided with positioning frame mounting holes corresponding to the platform installation through holes. The positioning frame mounting holes correspond to the platform installation through holes and are connected together by bolts.

[0018] The described logistics transfer unit includes a transfer track (1), an RGV mother vehicle (25), an RGV sub-vehicle (26), a loading track (28), a welding track (30), and an unloading track (31). The transfer track (1) is arranged along the length direction of the steel pipe installation and positioning platform (12). The RGV mother vehicle (25) and the RGV sub-vehicle (26) are movably installed on the transfer track (1). The RGV sub-vehicle (26) is located above the RGV mother vehicle (25). The RGV sub-vehicle (26) grabs the steel pipe of the loading unit through the loading track (28), transports it to the steel pipe angle adjustment unit through the welding track (30), and conveys the finished product to the unloading unit through the unloading track (31). The RGV mother vehicle (25) moves along the transfer track (1) to achieve seamless connection of the RGV sub-vehicle (26) among the loading unit, the steel pipe angle adjustment unit, and the unloading unit. At the loading track 28, the welding track 30, and the unloading track 31, a code scanning component for sensing the positions of the RGV mother vehicle (25) and the RGV sub-vehicle (26) is provided, and this code scanning component is connected to the control cabinet.

[0019] The described steel pipe angle adjustment unit includes an adjustment track frame, an adjustment track (16), a C-shaped positioner (20), a workpiece support roller frame (15), and a handling robot (22). An adjustment track (16) arranged along the length direction of the adjustment track frame is installed on the adjustment track frame. The C-shaped positioner (20) is installed in the middle of the adjustment track frame. Workpiece support roller frames (15) are respectively and slidably installed on the adjustment tracks (16) on both sides of the C-shaped positioner (20). A support roller frame is liftably installed on the upper part of each workpiece support roller frame (15). A driving mechanism is installed at the bottom of the workpiece support roller frame (15), and this driving mechanism is used to drive the workpiece support roller frame (15) to move on the adjustment track (16). The C-shaped positioner (20) clamps the steel pipe and drives the steel pipe to rotate through a servo motor. The workpiece support roller frame (15) is used to lift and support the steel pipe to move along the length direction of the adjustment track (16). The C-shaped positioner (20) and the workpiece support roller frame (15) are coaxially arranged.

[0020] The described assembly and welding unit includes a welding gantry (27), welding gantry rails (6), a first welding robot (3), a second welding robot (9), a handling robot (22), a rough positioning platform (18), a first fine positioning platform (17), and a second fine positioning platform (23). The first welding robot (3) moves horizontally along the welding gantry rails (6) through a first cantilever (2), and the second welding robot moves horizontally along the welding gantry rails (6) through a cantilever (8). The first welding robot (3) and the second welding robot (9) cooperate to complete spot welding and full welding. The handling robot (22) is slidably installed on the moving track of the handling robot (22) and reciprocates between the first fine positioning platform (17), the rough positioning platform (18), and the second fine positioning platform (23). This handling robot (22) is used to identify and grasp the parts on the rough positioning platform (18), and after being calibrated by the first fine positioning platform (17) and the second fine positioning platform (23), it is grasped to the welding position of the steel pipe. A node pipe part positioning platform (19) is also provided on the rough positioning platform (18).

[0021] The described blanking unit includes finished product support racks (24). A spacing is formed between adjacent finished product support racks (24). The upper part of each finished product support rack (24) forms a finished product bearing part, and the finished product bearing parts on the same straight line support the same finished product steel pipe.

[0022] A welding gantry guardrail (5) is also installed on the welding gantry (27), and this welding gantry guardrail (5) is close to the welding gantry rails (6). The steel pipe positioning device (13) is used to support and position one end of the steel pipe. When the sub - vehicle (26) of the RGV mother - son vehicle loads materials, the steel pipe is always in the central position of the C - type positioner (20). The advantages of the present invention are:

[0023] 1. High degree of automation: The entire system realizes full - process automation from loading, material flow transfer, steel pipe angle adjustment, assembly and welding to blanking. It reduces manual intervention, improves production efficiency, and reduces labor costs.

[0024] 2. Stable welding quality: Welding robots are used for spot welding and full welding operations. The welding quality is not affected by human factors, and it can ensure that the welding quality of each product meets the standard requirements, improving the stability and reliability of the product.

[0025] 3. High production efficiency: The efficient operation of the material flow transfer unit and the seamless connection between each unit greatly shorten the production cycle and meet the needs of large - scale production.

[0026] 4. Strong adaptability: The system can adapt to steel pipes and accessories of different specifications and models, with good versatility and flexibility, and can meet diverse production requirements.

[0027] 5. Good safety: Protective railings are installed on the welding gantry to protect the safety of operators. At the same time, automated operation reduces the direct contact between personnel and welding equipment, reducing safety risks.

[0028] 6. Intelligent control: The coordinated operation of each unit is achieved through the control cabinet, improving the intelligent level of the equipment and facilitating operation and management.

[0029] 7. High resource utilization rate: Automated production reduces material waste and equipment wear, improves resource utilization rate, and reduces production costs.

[0030] In summary, the automatic assembly and welding system for steel pipe tower components of the present invention has significant advantages in improving production efficiency, ensuring welding quality, reducing production costs, etc., and has good application prospects and promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a schematic diagram of the main structure of the present invention.

[0032] Figure 2 is another schematic diagram of the main structure of the present invention (removing the loading track and unloading track).

[0033] Figure 3 is Figure 2 the top view of

[0034] Figure 4 is Figure 1 a schematic diagram of the structure of the steel pipe angle adjustment unit and the assembly and welding unit in

[0035] Figure 5 is Figure 1 a schematic diagram of the structure of the steel pipe angle adjustment unit in

[0036] Figure 6 is Figure 1 a schematic diagram of the structure of the loading unit in

[0037] Figure 7 is Figure 1 a schematic diagram of the structure of the unloading unit in

[0038] Figure 8 is Figure 1 a schematic diagram of the structure of the logistics transfer unit in DETAILED DESCRIPTION OF THE INVENTION

[0039] The present invention will be further described below in conjunction with specific embodiments, and the advantages and features of the present invention will become clearer as the description progresses. However, these embodiments are merely exemplary and do not constitute any limitation to the scope of the present invention. Those skilled in the art should understand that modifications or substitutions can be made to the details and forms of the technical solutions of the present invention without departing from the spirit and scope of the present invention, but such modifications and substitutions all fall within the protection scope of the present invention.

[0040] See Figures 1 to 8 , the present invention relates to an automatic assembly and welding system for steel pipe tower components, including: a feeding unit for positioning and supporting steel pipes; a logistics transfer unit that reciprocates between the feeding unit, the steel pipe angle adjustment unit and the discharging unit, for grasping steel pipes from the feeding unit and transporting the grasped steel pipes to the steel pipe angle adjustment unit, and conveying the steel pipes completed by welding in the assembly and welding unit to the discharging unit; a steel pipe angle adjustment unit for dynamically adjusting the welding angle and position of the steel pipes; an assembly and welding unit for grasping steel pipe accessories, positioning between the steel pipe accessories and the steel pipes, and welding the steel pipe accessories and the steel pipes; a discharging unit for classifying and storing the finished steel pipes after welding; the logistics transfer unit, the steel pipe angle adjustment unit and the assembly and welding unit are all connected to the control cabinet.

[0041] Based on the above structural settings, the following advantages are achieved:

[0042] 1. High automation and high-efficiency production

[0043] Feeding unit: The steel pipe installation and positioning platform, the steel pipe positioning frame and the feeding steel pipe support rack work together to provide stable support for the steel pipes, ensure accurate and stable feeding, and improve the subsequent welding accuracy and efficiency.

[0044] Logistics transfer unit: The mother vehicle of the RGV mother-daughter vehicle moves along the transfer track to support and transport the sub-vehicle of the RGV mother-daughter vehicle. The sub-vehicle grabs the steel pipes of the feeding unit on the feeding track, transports them to the steel pipe angle adjustment unit through the welding track, and then conveys the finished products to the discharging unit through the discharging track. The code scanning component senses the position information to ensure accurate transportation. This design realizes the efficient and automatic transfer of materials, reduces manual intervention, and improves production efficiency.

[0045] Discharging unit: The finished product bearing part of the finished product support rack stably supports the finished steel pipes, and the spacing between adjacent racks is reasonable, ensuring orderly discharging, facilitating subsequent storage and transportation, and improving the overall production efficiency.

[0046] 2. Precise positioning and flexible adjustment

[0047] Steel pipe angle adjustment unit: The C-shaped positioner is installed in the middle of the adjustment track frame. Workpiece support roller frames with liftable support rollers are slidably installed on both sides of the adjustment tracks, and the bottom drive mechanism can drive them to move. The C-shaped positioner clamps the steel pipe, and the servo motor drives the steel pipe to rotate. The workpiece support roller frames lift the steel pipe and move it along the adjustment tracks, and are coaxially arranged with the C-shaped positioner to ensure precise adjustment. This unit dynamically adjusts the welding angle position of the steel pipe and improves the welding quality accuracy.

[0048] Assembly and welding unit: Safety rails are installed on the welding gantry. The first and second welding robots respectively move horizontally along the welding gantry tracks through cantilevers and cooperate to complete spot welding and full welding. The handling robot slides on the moving track and can grab and calibrate parts between the rough positioning platform, the first fine positioning platform and the second fine positioning platform and place them at the steel pipe to be welded. A node pipe part positioning platform is also set on the rough positioning platform. This design realizes efficient welding and precise positioning, and improves the welding efficiency and quality.

[0049] 3. Intelligent control and high adaptability

[0050] Control cabinet: The logistics transfer unit, the steel pipe angle adjustment unit and the assembly and welding unit are connected to the control cabinet to realize intelligent control and coordinated operation, improve the operation efficiency and stability of the equipment, and facilitate operation and management.

[0051] System versatility: The system is suitable for steel pipes and accessories of different specifications and models. The design of each unit is reasonable and relatively independent, which is convenient for later maintenance, upgrade and function expansion, meets the diverse production needs, and has a wide application range.

[0052] 4. Safety and efficient use of resources

[0053] Safety protection: The safety rails on the welding gantry effectively protect the safety of operators. Automated operation reduces the direct contact between personnel and welding equipment and reduces safety risks.

[0054] Resource conservation: Automated production reduces material waste and equipment loss, improves resource utilization rate, and reduces production costs.

[0055] The described feeding unit includes a steel pipe installation and positioning platform 12, a steel pipe positioning frame 13, and a feeding steel pipe support rack 14. The steel pipe positioning frame 13 is adjustably installed on the steel pipe installation and positioning platform 12. The feeding steel pipe support rack 14 is arranged adjacent to the steel pipe installation and positioning platform 13. The upper part of the feeding steel pipe support rack 14 forms a support rack bearing part, and the upper part of the steel pipe positioning frame 13 forms a positioning frame bearing part. The positioning frame bearing part and the support rack bearing part are coaxially arranged to jointly support the steel pipe. The steel pipe installation and positioning platform 12 is covered with platform installation through holes. The bottom of the steel pipe positioning frame 13 is provided with positioning frame installation holes corresponding to the platform installation through holes. After the positioning frame installation holes correspond to the platform installation through holes, they are connected together by bolts. The steel pipe positioning frame 13 is used to support and position one end of the steel pipe. When the sub-vehicle 26 of the RGV mother-daughter vehicle feeds materials, the steel pipe is always in the central position of the C-shaped positioner 20.

[0056] The structure of this feeding unit has the following advantages:

[0057] 1. Stable support: Through the coordinated work of the steel pipe installation and positioning platform 12, the steel pipe positioning frame 13, and the feeding steel pipe support rack 14, stable support is provided for the steel pipe. The positioning frame bearing part and the support rack bearing part are coaxially arranged, which can effectively ensure the stability of the steel pipe during the feeding process, reduce shaking and offset, and improve the accuracy and reliability of feeding.

[0058] 2. Adjustability and versatility: The steel pipe positioning frame 13 is adjustably installed on the steel pipe installation and positioning platform 12, and can adapt to steel pipes of different specifications and lengths, improving the versatility and flexibility of the equipment. Whether it is a steel pipe with different thicknesses or different types of components, this feeding unit can achieve precise positioning and stable support by adjusting the position of the positioning frame, meeting diverse production requirements.

[0059] 3. Convenient installation and firm connection: The steel pipe installation and positioning platform 12 is covered with platform installation through holes, corresponding to the positioning frame installation holes at the bottom of the steel pipe positioning frame 13. The positioning frame is fixed by bolt connection. This design is not only convenient for installation but also has a firm connection, which can ensure that there is no relative displacement between the positioning frame and the platform during the feeding process, guaranteeing the stability of feeding. At the same time, the bolt connection method is also convenient for later disassembly and maintenance, improving the maintainability of the equipment.

[0060] 4. Efficient feeding: The reasonable design of this feeding unit can achieve fast and accurate feeding operations. The coordinated action of the positioning frame and the support rack enables the steel pipe to be quickly placed in the predetermined position and remain stable, saving time for subsequent logistics transfer and welding processes, and improving the efficiency of the entire production process.

[0061] 5. Precise positioning: The coaxial setting of the positioning frame bearing part and the support rack bearing part, as well as the adjustability of the positioning frame, can achieve precise positioning of the steel pipe. This provides a good foundation for the subsequent welding process, ensuring that the welding robot can accurately weld the steel pipe, improving the welding quality and production efficiency.

[0062] The described logistics transfer unit includes a transfer track 1, an RGV mother vehicle 25 of the RGV mother-and-son vehicle, an RGV son vehicle 26 of the RGV mother-and-son vehicle, a loading track 28, a welding track 30, and a blanking track 31. The transfer track 1 is arranged along the length direction of the steel pipe installation and positioning platform 12. The RGV mother vehicle 25 and the RGV son vehicle 26 of the RGV mother-and-son vehicle are movably installed on the transfer track 1, and the RGV son vehicle 26 of the RGV mother-and-son vehicle is located above the RGV mother vehicle 25 of the RGV mother-and-son vehicle. The RGV son vehicle 26 of the RGV mother-and-son vehicle grabs the steel pipe of the loading unit through the loading track 28, transports it to the steel pipe angle adjustment unit through the welding track 30, and conveys the finished product to the blanking unit through the blanking track 31. The RGV mother vehicle 25 of the RGV mother-and-son vehicle moves along the transfer track 1 to achieve seamless connection of the RGV son vehicle 26 of the RGV mother-and-son vehicle among the loading unit, the steel pipe angle adjustment unit, and the blanking unit. Scanning code components for sensing the positions of the RGV mother vehicle 25 of the RGV mother-and-son vehicle and the RGV son vehicle 26 of the RGV mother-and-son vehicle are provided at the loading track 28, the welding track 30, and the blanking track 31, and the scanning code components are connected to the control cabinet. The scanning code component refers to an automatic identification device installed on the RGV son vehicle 26 of the RGV mother-and-son vehicle and key nodes of the track (such as the loading track 28, the welding track 30, and the blanking track 31). Its function is to obtain the position, status, or task code of the RGV mother vehicle and son vehicle of the RGV mother-and-son vehicle in real time by scanning or reading preset identification information (such as two-dimensional codes, barcodes, RFID tags, etc.), and feedback the data to the control cabinet to achieve the following functions:

[0063] 1. Precise positioning: By scanning the fixed identification code at the track node, judge the current working position of the vehicle (such as loading, welding, blanking); 2. Task matching: Read the identification code carried by the son vehicle to verify the matching of the transportation task and the target working position; 3. Seamless connection control: Trigger the next action instruction according to the scanning code result (such as grabbing the steel pipe, starting the welding process, blanking the finished product) to ensure the continuity and coordination of cross-module transportation; 4. Abnormal monitoring: When the scanning code information does not conform to the preset logic, send an alarm signal to the control cabinet to avoid misoperation.

[0064] The structure of this logistics transfer unit has the following advantages:

[0065] 1. High-efficiency material transfer: The sub-vehicle 26 of the RGV mother-daughter vehicle grabs steel pipes from the feeding unit through the feeding track 28, transports them to the steel pipe angle adjustment unit via the welding track 30, and then conveys the finished products to the discharging unit through the discharging track 31, realizing high-efficiency transfer of materials between various workstations, reducing manual intervention, and improving production efficiency.

[0066] 2. Flexible track system: The transfer track 1 is arranged along the length direction of the steel pipe installation and positioning platform 12, and the mother vehicle 25 and the sub-vehicle 26 of the RGV mother-daughter vehicle can move on it. The sub-vehicle 26 of the RGV mother-daughter vehicle is located above the mother vehicle 25. This design enables the sub-vehicle to flexibly switch between different tracks, realizing seamless connection of various workstations such as feeding, welding, and discharging.

[0067] 3. Precise position sensing: Scanning code components are set at the feeding track 28, the welding track 30, and the discharging track 31, which can sense the positions of the mother vehicle 25 and the sub-vehicle 26 of the RGV mother-daughter vehicle and transmit the information to the control cabinet, ensuring accurate switching and docking of the sub-vehicle between various tracks, and improving the transfer accuracy and reliability.

[0068] 4. Seamless connection of each unit: The mother vehicle 25 of the RGV mother-daughter vehicle moves along the transfer track 1, supporting and transporting the sub-vehicle 26 of the RGV mother-daughter vehicle, enabling seamless connection of the sub-vehicle between the feeding unit, the steel pipe angle adjustment unit, and the discharging unit, realizing the continuity and high efficiency of the logistics, reducing waiting time, and improving the overall production efficiency.

[0069] With its high-efficiency transfer ability, flexible track system, precise position sensing, and seamless connection with other units, this logistics transfer unit provides a solid foundation for the automated assembly and welding of steel pipe tower components, having significant advantages and broad application prospects.

[0070] The described steel pipe angle adjustment unit includes an adjustment track frame, an adjustment track 16, a C-shaped positioner 20, a workpiece support roller rack 15, and a handling robot 22. An adjustment track 16 arranged along the length direction of the adjustment track frame is installed on the adjustment track frame. The C-shaped positioner 20 is installed in the middle of the adjustment track frame. Workpiece support roller racks 15 are respectively slidably installed on the adjustment tracks 16 on both sides of the C-shaped positioner 20. A supporting wheel frame is liftably installed on the upper part of each workpiece support roller rack 15. A driving mechanism is installed at the bottom of the workpiece support roller rack 15, and this driving mechanism is used to drive the workpiece support roller rack 15 to move on the adjustment track 16; the C-shaped positioner 20 clamps the steel pipe and drives the steel pipe to rotate through a servo motor; the workpiece support roller rack 15 is used to lift and support the steel pipe to move along the length direction of the adjustment track 16; the C-shaped positioner 20 and the workpiece support roller rack 15 are coaxially arranged.

[0071] The structure of this steel pipe angle adjustment unit has the following advantages:

[0072] 1. Precise angle adjustment: The C-shaped positioner 20 is installed in the middle of the adjustment track frame. The steel pipe is rotated by a servo motor to achieve precise angle adjustment. This design ensures the angle accuracy of the steel pipe during the welding process and improves the welding quality.

[0073] 2. Flexible support and movement: On the adjustment tracks 16 on both sides of the C-shaped positioner 20, workpiece support roller frames 15 are slidably installed respectively. On the upper part of each workpiece support roller frame 15, a supporting wheel frame is installed in a liftable manner, and a driving mechanism is installed at the bottom for driving it to move on the adjustment track 16. The workpiece support roller frame 15 can lift and move the steel pipe along the length direction of the adjustment track 16, providing flexible support and movement capabilities for the positioning and welding of the steel pipe.

[0074] 3. Coaxial setting and stable support: The C-shaped positioner 20 and the workpiece support roller frame 15 are coaxially set. This design ensures that during the adjustment process, the central position of the steel pipe remains unchanged, providing stable support and avoiding welding quality problems caused by position deviation.

[0075] Through its exquisite structural design and the efficient cooperation of each component, this steel pipe angle adjustment unit realizes precise angle adjustment and stable support of the steel pipe during the welding process, improves the welding quality and production efficiency, and has significant technical advantages and application value.

[0076] The assembled welding unit described above includes a welding gantry 27, welding gantry tracks 6, a first welding robot 3, a second welding robot 9, a handling robot 22, a rough positioning platform 18, a first fine positioning platform 17, and a second fine positioning platform 23. The first welding robot 3 moves horizontally along the welding gantry track 6 through a first cantilever 2. The second welding robot moves horizontally along the welding gantry track 6 through a cantilever 8. The first welding robot 3 and the second welding robot 9 cooperate to complete spot welding and full welding. The handling robot 22 is slidably installed on the handling robot 22 moving track and reciprocates between the first fine positioning platform 17, the rough positioning platform 18, and the second fine positioning platform 23. This handling robot 22 is used to identify and grasp the parts on the rough positioning platform 18. After being grasped, it is calibrated by the first fine positioning platform 17 and the second fine positioning platform 23 and then grasped to the welding position of the steel pipe. A node pipe part positioning platform 19 is also provided on the rough positioning platform 18. A welding gantry safety railing 5 is also installed on the welding gantry 27, and this welding gantry safety railing 5 is close to the welding gantry track 6.

[0077] The structure of this assembled welding unit has the following advantages:

[0078] 1. High-efficiency welding: The first welding robot 3 and the second welding robot 9 move horizontally along the welding gantry track 6 through their respective cantilevers, and can flexibly reach different welding positions. The two welding robots cooperate to complete spot welding and full welding tasks, improving the welding efficiency and shortening the production cycle.

[0079] 2. Precise positioning and welding: The handling robot 22 slides on the handling robot moving track and can reciprocate between the first fine positioning platform 17, the rough positioning platform 18 and the second fine positioning platform 23. The handling robot 22 identifies the parts on the rough positioning platform 18 and grabs them. After being grabbed, they are calibrated by the first fine positioning platform 17 and the second fine positioning platform 23 to ensure the precise position of the parts, and then grabbed to the welding area of the steel pipe, ensuring the accuracy of welding.

[0080] 3. Stable welding platform: The welding gantry 27 provides a stable support platform for the welding robot, ensuring the stability of the welding process. The design of the welding gantry track 6 enables the welding robot to move flexibly along the track, expanding the scope of welding operations.

[0081] 4. Multi-level positioning system: The rough positioning platform 18, the first fine positioning platform 17 and the second fine positioning platform 23 constitute a multi-level positioning system, which can gradually calibrate the position of the parts to ensure the final welding accuracy. The node pipe part positioning platform 19 is arranged on the rough positioning platform 18, further improving the positioning accuracy of specific types of parts.

[0082] 5. Automation and intelligence: The assembly and welding unit closely cooperates with other parts such as the logistics transfer unit and the steel pipe angle adjustment unit to realize the automation of the entire production process. The control cabinet can precisely coordinate the actions of each component, improving the intelligent level of production, reducing manual intervention and lowering the labor intensity.

[0083] Through its high-efficiency welding ability, precise positioning system and flexible material handling, the assembly and welding unit significantly improves the production efficiency and welding quality of steel pipe tower components, and has significant technical advantages and application value.

[0084] The blanking unit includes finished product support racks 24. A spacing is formed between two adjacent finished product support racks 24. The upper part of each finished product support rack 24 forms a finished product bearing part, and the finished product bearing parts on the same straight line support the same finished product steel pipe.

[0085] The structure of the blanking unit has the following advantages:

[0086] 1. Stable support: The upper part of the finished product support rack 24 forms a finished product bearing part. The finished product bearing parts on the same straight line can stably support the same finished product steel pipe, ensuring the balance and stability of the steel pipe during the blanking process, and avoiding problems such as rolling or tilting of the steel pipe caused by unstable support.

[0087] 2. Efficient blanking: This structure can achieve fast and accurate blanking operations. The sub-vehicle 26 of the RGV mother-daughter vehicle transports the welded finished product steel pipe to the blanking unit through the blanking track 31. The reasonable layout and spacing design of the finished product support rack 24 make the blanking process efficient and smooth, reducing the blanking time and improving the overall production efficiency.

[0088] 3. Adapt to steel pipes of different lengths: The design of the finished product support rack 24 can adapt to finished product steel pipes of different lengths. Whether it is a shorter steel pipe component or a longer tower body steel pipe, this blanking unit can stably support and store them, with good versatility and flexibility, meeting diverse production needs.

[0089] 4. High space utilization rate: The layout of the finished product support rack 24 is reasonable. The spacing design between adjacent racks enables more finished product steel pipes to be stored in a limited space, improving the space utilization rate and reducing the space requirements of the production site.

[0090] Through its reasonable structural design and layout, this blanking unit realizes the stable support, orderly storage, and efficient blanking of the welded finished product steel pipe, with remarkable advantages, providing a strong guarantee for the efficient operation of the entire automatic assembly and welding system of steel pipe tower components.

[0091] The working principle of the automatic assembly and welding system of steel pipe tower components of the present invention is as follows:

[0092] I. Loading stage

[0093] 1. Steel pipe positioning and support: First, place the steel pipe to be processed on the loading steel pipe support rack 14 of the loading unit. At this time, the steel pipe positioning rack 13 on the steel pipe installation and positioning platform 12 preliminarily positions the steel pipe, ensuring that one end of the steel pipe is accurately placed on the bearing part of the positioning rack, and the other end is supported by the bearing part of the support rack of the loading steel pipe support rack 14. This coaxial bearing part design ensures that the steel pipe always remains stable during the loading process and does not shake or shift.

[0094] 2. Adjustability and versatility: Since the steel pipe positioning rack 13 is adjustably installed on the steel pipe installation and positioning platform 12, it can be adjusted according to steel pipes of different specifications and lengths. Fix the steel pipe positioning rack 13 in the appropriate position by means of bolt connection to adapt to various steel pipes with different thicknesses and models, improving the versatility and flexibility of the equipment.

[0095] II. Logistics Transfer Stage

[0096] 1. Gripping and Transportation: The sub - vehicle 26 of the RGV mother - son vehicle moves on the transfer track 1 of the logistics transfer unit. After reaching the loading unit, it grips the positioned steel pipes through the loading track 28. Subsequently, the sub - vehicle 26 of the RGV mother - son vehicle transports the steel pipes along the welding track 30 to the steel pipe angle adjustment unit.

[0097] 2. Seamless Connection: During the entire transportation process, the mother - vehicle 25 of the RGV mother - son vehicle moves along the transfer track 1, supporting and transporting the sub - vehicle 26 of the RGV mother - son vehicle to ensure seamless connection between the sub - vehicle among the loading unit, the steel pipe angle adjustment unit and the unloading unit. This design ensures the efficient flow of materials between workstations, reduces waiting time, and improves production efficiency.

[0098] 3. Precise Positioning: Scanning components are installed at the loading track 28, the welding track 30, and the unloading track 31, which can sense the position information of the mother - vehicle 25 and the sub - vehicle 26 of the RGV mother - son vehicle and feed the data back to the control cabinet. Based on this information, the control cabinet precisely controls the conversion and docking positions of the sub - vehicle 26 of the RGV mother - son vehicle between each track to ensure the accuracy and reliability of material transportation.

[0099] III. Steel Pipe Angle Adjustment Stage

[0100] 1. Dynamic Adjustment: After the steel pipe is transported to the steel pipe angle adjustment unit, the workpiece support roller rack supports and preliminarily positions the steel pipe. The driving mechanism installed at the bottom of the workpiece support roller rack 3 starts, and it can move smoothly and precisely along the adjustment track to the predetermined position. Meanwhile, the supporting wheel rack on the workpiece support roller rack rises under the drive of the lifting mechanism to lift the steel pipe, ensuring that the steel pipe is stably lifted to the appropriate position. When the steel pipe 4 is lifted to the appropriate position, the C - type positioner 20 starts to work. The C - type positioner 20 firmly grips the steel pipe through its clamping device, and then drives the steel pipe to rotate according to the requirements of the welding process to achieve precise adjustment of the welding angle of the steel pipe. During the rotation process, the supporting wheel 9 on the workpiece support roller rack 3 always provides a stable supporting force for the steel pipe.

[0101] 2. Coaxial Support: The upper part of the workpiece support roller rack 15 is installed with a supporting wheel rack in a liftable manner, and a driving mechanism is installed at the bottom. The workpiece support roller rack 15 can support the steel pipe and move along the length direction of the adjustment track 16. Since the C - type positioner 20 and the workpiece support roller rack 15 are coaxially arranged, during the adjustment process, the central position of the steel pipe always remains unchanged, ensuring the accuracy and stability of the adjustment.

[0102] IV. Assembly and Welding Stage

[0103] 1. High-efficiency welding: The first welding robot 3 and the second welding robot 9 in the assembly and welding unit respectively move horizontally along the welding gantry track 6 through their respective cantilevers. They can flexibly reach different welding positions according to the requirements of welding tasks, and cooperate to complete spot welding and full welding tasks, thereby improving welding efficiency and shortening the production cycle.

[0104] 2. Precise positioning and welding: The handling robot 22 slides on the handling robot moving track and can reciprocate between the rough positioning platform 18, the first precise positioning platform 17 and the second precise positioning platform 23. The handling robot 22 first identifies and grabs the parts on the rough positioning platform 18, and then calibrates the parts through the first precise positioning platform 17 and the second precise positioning platform 23 in sequence. After ensuring that the positions of the parts are accurate, it grabs them to the welding position of the steel pipe, ensuring the precision of welding.

[0105] 3. Stable welding platform: The welding gantry 27 provides a stable support platform for the welding robot, ensuring the stability of the welding process. The design of the welding gantry track 6 enables the welding robot to move flexibly along the track, expanding the scope of welding operations and meeting the welding requirements of different positions and angles.

[0106] V. Cutting stage

[0107] 1. Finished product support: The welded finished steel pipe is transported by the sub-vehicle 26 of the RGV mother-daughter vehicle to the finished product support rack 24 in the cutting unit through the cutting track 31. The upper part of the finished product support rack 24 forms a finished product bearing part. The finished product bearing parts on the same straight line can stably support the same finished steel pipe, ensuring that the steel pipe will not roll or tilt during the cutting process.

[0108] 2. High-efficiency cutting: Due to the reasonable layout and spacing design of the finished product support rack 24, the cutting process is efficient and smooth. The sub-vehicle 26 of the RGV mother-daughter vehicle can quickly and accurately place the finished steel pipe on the designated support rack, reducing the cutting time and improving the overall production efficiency. At the same time, this design also facilitates subsequent operations such as handling, packaging and transportation of the finished steel pipe.

[0109] The above is only the preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. An automatic assembling and welding system for steel pipe tower components, characterized in that, Including: A loading unit for positioning and supporting steel pipes; A logistics transfer unit that reciprocates between the loading unit, the steel pipe angle adjustment unit, and the unloading unit, for grasping steel pipes from the loading unit, transporting the grasped steel pipes to the steel pipe angle adjustment unit, and conveying the steel pipes completed by welding in the assembly and welding unit to the unloading unit; A steel pipe angle adjustment unit for dynamically adjusting the welding angle and position of steel pipes; An assembly and welding unit for grasping steel pipe accessories, positioning between the steel pipe accessories and the steel pipes, and welding the steel pipe accessories and the steel pipes; An unloading unit for classifying and storing the finished steel pipes after welding; The logistics transfer unit, the steel pipe angle adjustment unit, and the assembly and welding unit are all connected to the control cabinet (10).

2. The automatic assembling and welding system for steel pipe tower components according to claim 1, wherein, The loading unit includes a steel pipe installation and positioning platform (12), a steel pipe positioning frame (13), and a loading steel pipe support rack (14). The steel pipe positioning frame (13) is adjustably installed on the steel pipe installation and positioning platform (12). The loading steel pipe support rack (14) is arranged adjacent to the steel pipe installation and positioning platform (13). The upper part of the loading steel pipe support rack (14) forms a support rack bearing part, and the upper part of the steel pipe positioning frame (13) forms a positioning frame bearing part. The positioning frame bearing part and the support rack bearing part are coaxially arranged to jointly support the steel pipe. The steel pipe installation and positioning platform (12) is covered with platform installation through holes. The bottom of the steel pipe positioning frame (13) is provided with positioning frame installation holes corresponding to the platform installation through holes. After the positioning frame installation holes correspond to the platform installation through holes, they are connected together by bolts.

3. The automatic assembling and welding system for steel pipe tower components according to claim 1 or 2, characterized in that The logistics transfer unit includes a transfer track (1), an RGV mother vehicle (25) of the RGV mother-and-sub vehicle, an RGV sub vehicle (26) of the RGV mother-and-sub vehicle, a loading track (28), a welding track (30), and an unloading track (31). The transfer track (1) is arranged along the length direction of the steel pipe installation and positioning platform (12). The RGV mother vehicle (25) and the RGV sub vehicle (26) of the RGV mother-and-sub vehicle are movably installed on the transfer track (1). The RGV sub vehicle (26) is located above the RGV mother vehicle (25). The RGV sub vehicle (26) grasps the steel pipes of the loading unit through the loading track (28), transports them to the steel pipe angle adjustment unit through the welding track (30), and conveys the finished products to the unloading unit through the unloading track (31). The RGV mother vehicle (25) moves along the transfer track (1) to achieve seamless connection of the RGV sub vehicle (26) between the loading unit, the steel pipe angle adjustment unit, and the unloading unit. Scanning code components for sensing the positions of the RGV mother vehicle (25) and the RGV sub vehicle (26) are provided at the loading track 28, the welding track 30, and the unloading track 31. The scanning code components are connected to the control cabinet.

4. The automatic assembling and welding system for steel pipe tower components according to claim 1, characterized in that The described steel pipe angle adjustment unit includes an adjustment track frame, an adjustment track (16), a C-shaped positioner (20), a workpiece support roller rack (15), and a handling robot (22). An adjustment track (16) arranged along the length direction of the adjustment track frame is installed on the adjustment track frame. The C-shaped positioner (20) is installed in the middle of the adjustment track frame. Workpiece support roller racks (15) are respectively slidably installed on the adjustment tracks (16) on both sides of the C-shaped positioner (20). A supporting roller rack is liftably installed on the upper part of each workpiece support roller rack (15). A driving mechanism is installed at the bottom of the workpiece support roller rack (15), and this driving mechanism is used to drive the workpiece support roller rack (15) to move on the adjustment track (16); the C-shaped positioner (20) clamps the steel pipe and drives the steel pipe to rotate through a servo motor; the workpiece support roller rack (15) is used to lift and support the steel pipe to move along the length direction of the adjustment track (16); the C-shaped positioner (20) and the workpiece support roller rack (15) are coaxially arranged.

5. The automatic assembling and welding system for steel pipe tower components according to claim 1, wherein The described assembly and welding unit includes a welding gantry (27), a welding gantry track (6), a first welding robot (3), a second welding robot (9), a handling robot (22), a rough positioning platform (18), a first fine positioning platform (17), and a second fine positioning platform (23). The first welding robot (3) moves horizontally along the welding gantry track (6) through a first cantilever (2), and the second welding robot moves horizontally along the welding gantry track (6) through a cantilever (8). The first welding robot (3) and the second welding robot (9) cooperate to complete spot welding and full welding. The handling robot (22) is slidably installed on the moving track of the handling robot (22), reciprocating between the first fine positioning platform (17), the rough positioning platform (18), and the second fine positioning platform (23). This handling robot (22) is used to identify and grasp the parts on the rough positioning platform (18) once. After being grasped, it is calibrated by the first fine positioning platform (17) and the second fine positioning platform (23) and then grasped to the welding position of the steel pipe; a node pipe part positioning platform (19) is also arranged on the rough positioning platform (18).

6. The automatic assembling and welding system for steel pipe tower components according to claim 1, wherein The described blanking unit includes finished product support racks (24). A spacing is formed between two adjacent finished product support racks (24). A finished product bearing part is formed on the upper part of each finished product support rack (24). The finished product bearing parts on the same straight line support the same finished product steel pipe.

7. The automatic assembling and welding system for steel pipe tower components according to claim 5, wherein A welding gantry safety railing (5) is also installed on the welding gantry (27), and this welding gantry safety railing (5) is close to the welding gantry track (6).

8. The automatic assembling and welding system for steel pipe tower components according to claim 7, wherein, The described steel pipe positioning device (13) is used to support and position one end of the steel pipe. When the sub-vehicle (26) of the RGV mother-daughter vehicle feeds the material, the steel pipe is always in the central position of the C-shaped positioner (20).

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