An intelligent welding robot operating device

Abstract

The present invention is applicable to the technical field of pipe welding, and provides an intelligent welding robot operation device, including an operation frame, and further including: a welding unit, which is installed on the upper part of the operation frame and consists of a fixed push-pull cylinder, a sleeve, a support rod, a sleeve and a welding gun, and is rotated and adjusted at multiple angles by a driving member and an arc-shaped push-pull cylinder; an auxiliary fixing unit, which is installed on the telescopic core shaft end of the fixed push-pull cylinder and can press and fix the vertical pipe to be welded and keep the horizontal pipe to be welded and the vertical pipe as a whole vertical; a centering clamping unit, which is located at the lower part of the operation frame and supports the horizontal pipe to be welded in the center before being fixed, and clamps it after being fixed; an auxiliary supporting unit, which is installed on the operation frame and cooperates with the centering clamping unit to support the horizontal pipe to be welded. The present invention realizes automatic centering, stable positioning and efficient welding of the pipe to be welded by coordinating the centering clamping with the auxiliary fixing and supporting, and significantly improves the welding accuracy and operation reliability.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipe welding, and in particular relates to an intelligent welding robot operation device. Background Art

[0002] In the field of welding equipment technology, particularly in electromechanical equipment manufacturing, vertical welding operations between pipe fittings place high demands on welding precision and automation. Traditional welding methods often rely on manual operation or simple clamping devices, making it difficult to achieve automatic centering, stable positioning, and efficient welding of the horizontal and vertical pipe assemblies to be welded. This leads to problems such as unstable welding quality, low efficiency, and high labor intensity. Existing equipment often lacks flexible adjustment capabilities for pipes of varying specifications, limiting its scope of application in industrial production.

[0003] Currently, some welding robots are incorporating multi-degree-of-freedom adjustment mechanisms and auxiliary positioning systems to enhance the stability and adaptability of the welding process. However, achieving seamless switching between rotary support and rigid clamping while ensuring reliable clamping, and integrating mechanisms such as elastic support and multi-dimensional adjustment to complete welding, remains a key focus of welding equipment research and development. Therefore, in response to this situation, there is an urgent need to develop an intelligent welding robot operation device to overcome the shortcomings of current practical applications. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent welding robot operation device, aiming to solve the problems mentioned in the above background technology.

[0005] The present invention is implemented as follows: an intelligent welding robot operation device includes an operation frame and also includes:

[0006] The welding unit is installed on the upper part of the working frame, and includes a fixed push-pull cylinder fixed on the working frame, a sleeve is rotatably installed on the cylinder body of the fixed push-pull cylinder, and a driving member that drives the sleeve to rotate is also installed on the working frame. A support rod is hinged on the sleeve, and a first arc-shaped push-pull cylinder for adjusting the inclination angle of the support rod is fixed between the support rod and the sleeve. A sleeve is hinged on the end of the support rod away from the sleeve, and a welding gun is fixed in the sleeve. A second arc-shaped push-pull cylinder for adjusting the inclination angle of the sleeve is fixed between the sleeve and the support rod;

[0007] An auxiliary fixing unit is installed at the end of the telescopic core shaft of the fixed push-pull cylinder, and is used to press and fix the vertical pipe to be welded and keep the horizontal pipe to be welded and the vertical pipe to be welded in a vertical state as a whole;

[0008] A centering clamping unit is installed at the lower part of the working frame. Before the auxiliary fixing unit fixes the vertical pipe to be welded, the centering clamping unit performs centering rotation support on the horizontal pipe to be welded; after the auxiliary fixing unit fixes the vertical pipe to be welded, the centering clamping unit clamps and fixes the horizontal pipe to be welded;

[0009] The auxiliary supporting unit is installed on the working frame and cooperates with the centering clamping unit to provide auxiliary support for the horizontal pipe to be welded.

[0010] A further technical solution, the auxiliary fixing unit includes an inner slide fixed to the end of the telescopic core shaft of the fixed push-pull cylinder, the outer side of the inner slide is slidingly provided with a fixed head, and the lower part of the fixed head is conical; a second spring and an adjusting push-pull cylinder are fixed to the lower side of the inner slide, the lower end of the second spring is connected to the fixed head, the telescopic core shaft of the adjusting push-pull cylinder is connected to the inner lifting rod, the lower end of the fixed head is fixed with a bottom fixed rod slidably connected to the inner lifting rod, and support shafts are respectively fixed at the openings on both sides of the lower end of the bottom fixed rod, a wheel frame and a third gear are rotatably installed on the support shaft, the wheel frame and the third gear are fixedly connected, and a fixed wheel is installed on the end of the wheel frame away from the support shaft, and racks meshing with the third gear are fixed on both sides of the lower part of the inner lifting rod.

[0011] A further technical solution is that when there is no external force, under the elastic force of the second spring, the two wheel frames are in a close state, and the maximum distance between the two fixing wheels is smaller than the inner diameter of the vertical pipe to be welded; when the fixed push-pull cylinder is extended and the fixed head abuts against the upper end of the vertical pipe to be welded, the fixed push-pull cylinder continues to extend, and the inner slide pushes the whole composed of the adjusting push-pull cylinder and the inner lifting rod to move downward, and through the meshing transmission of the rack and the third gear, the two wheel frames are opened, and the fixing wheels abut against the inner top of the horizontal pipe to be welded.

[0012] According to a further technical solution, the telescopic core shaft of the adjusting push-pull cylinder is elastically connected to the inner lifting rod.

[0013] A further technical solution is that the working frame includes two base plates arranged at intervals, end connecting frames are fixed to both ends of the two base plates, support legs are fixed to the lower side of the end connecting frames, a top plate is provided above the base plate, a side frame is fixed between the top plate and the base plate, and a middle connecting frame is also fixed between the two base plates.

[0014] According to a further technical solution, the driving member includes a second gear fixed on the sleeve and a motor fixed on the top plate, and the output end of the motor is fixed with a first gear meshing with the second gear.

[0015] The two lugs are connected via a hinge connection having two opposite ends, and the two lugs are connected along the length of the hinge to form a circuitous bearing on the two ends of the gear train, wherein the two lugs have the thermostatic action of at least one of the ends of the gear train and the thermostatic action of at least one of the ends of the gear train.

[0016] A further technical solution is that the side where the two clamping plates are close to each other is in an arc shape and is provided with a plurality of ball cavities, side support balls are slidingly provided in the ball cavities, and a first spring for elastically supporting the side support balls is installed in the ball cavities; before the auxiliary fixing unit fixes the vertical pipe to be welded, the side support balls provide central rotational support for the horizontal pipe to be welded; after the auxiliary fixing unit fixes the vertical pipe to be welded, the two clamping plates approach each other, the side support balls shrink into the ball cavities, and the surface of the horizontal pipe to be welded abuts against the surface of the clamping plate, and the clamping plate clamps and fixes the horizontal pipe to be welded.

[0017] A further technical solution is that the auxiliary supporting unit includes a supporting plate located on the upper side of the middle connecting frame, the supporting plate is an arc-shaped concave structure in the middle, a number of supporting balls are installed on the upper side of the supporting plate, and supporting rods that can be telescopically adjusted are fixed to the lower sides of both ends of the supporting plate, and the lower ends of the supporting rods are fixed to the end connecting frames.

[0018] A further technical solution also includes a positioning unit for welding and positioning the ends of the horizontal pipes to be welded, the positioning unit including two side guide rails fixed on the side frames, an inner ridge fixed on the inner side of one end of the two side guide rails, a cross beam slidingly provided between the two side guide rails, and the two ends of the cross beam being slidably connected to the inner ridge, a positioning push-pull cylinder for driving the cross beam to move is fixed on the inner side of the side guide rails, an L-shaped frame is fixed on the middle part of the cross beam, a positioning plate is rotatably installed on the end of the horizontal part of the L-shaped frame, an upper end of the positioning plate is tilted away from the vertical part of the L-shaped frame with an inclined rod fixed thereto, the upper end of the vertical part of the L-shaped frame is hingedly connected to a flap push-pull cylinder, and the telescopic core shaft end of the flap push-pull cylinder is hinged to the end of the inclined rod away from the positioning plate.

[0019] The intelligent welding robot operation device provided by the present invention has the following beneficial effects:

[0020] The prefabricated horizontal pipes and vertical pipes to be welded are placed on the centering clamping unit. At this time, the auxiliary fixing unit does not fix the vertical pipe to be welded. The centering clamping unit is in a state of centering and rotating support for the horizontal pipe to be welded. At the same time, the auxiliary supporting unit is used to provide auxiliary support for the horizontal pipe to be welded to improve reliability.

[0021] Then the fixed push-pull cylinder is controlled to extend, and the auxiliary fixing unit can press and fix the vertical pipe to be welded while keeping the horizontal pipe to be welded and the vertical pipe to be welded in a vertical state as a whole, which can be adapted to the rotary welding of the welding gun. At this time, the centering clamping unit clamps and fixes the horizontal pipe to be welded, so that the horizontal pipe to be welded and the vertical pipe to be welded can be kept in a vertical state as a whole and be stable and reliable.

[0022] According to the models of the horizontal pipe and the vertical pipe to be welded, adjust the first arc push-pull cylinder and the second arc push-pull cylinder so that the welding gun is adapted to the joint position, then start the driving part to drive the sleeve to rotate, and the welding gun then rotates in a circle, assisted by the expansion and contraction changes of the first arc push-pull cylinder and the second arc push-pull cylinder, the welding gun performs reliable and fast welding operations on the horizontal pipe and the vertical pipe to be welded along the joint position.

[0023] In summary, the present invention realizes automatic centering, stable positioning and efficient welding of the pipe to be welded through the coordinated cooperation of centering clamping, auxiliary fixing and supporting, which significantly improves the welding accuracy and operation reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of the overall structure of an intelligent welding robot operation device provided in an embodiment of the present invention;

[0025] Figure 2 A schematic structural diagram of the welding unit and auxiliary fixing unit in the intelligent welding robot operation device provided by an embodiment of the present invention;

[0026] Figure 3 for Figure 2 A schematic diagram of the main cross-sectional structure of the auxiliary fixing unit;

[0027] Figure 4 for Figure 3 Schematic diagram of the enlarged structure of part A;

[0028] Figure 5 for Figure 3 Structural diagram when the auxiliary fixing unit is disassembled;

[0029] Figure 6 A schematic structural diagram of a centering and clamping unit in an intelligent welding robot operation device according to an embodiment of the present invention;

[0030] Figure 7 for Figure 6 Schematic diagram of the structure at an upward viewing angle;

[0031] Figure 8 A side cross-sectional view of the clamping plate and the supporting plate portion of the intelligent welding robot operation device provided in an embodiment of the present invention;

[0032] Figure 9 for Figure 8 Schematic diagram of the structure when the horizontal pipe to be welded is abutted and fixed;

[0033] Figure 10 This is a structural schematic diagram of the positioning unit part of the intelligent welding robot operation device provided by an embodiment of the present invention.

[0034] In the figure: 10-working frame, 20-horizontal pipe to be welded, 30-vertical pipe to be welded, 40-welding unit, 50-positioning unit, 60-centering clamping unit, 70-auxiliary supporting unit, 80-auxiliary fixing unit, 101-top plate, 102-side frame, 103-bottom plate, 104-end connecting frame, 105-support leg, 106-middle connecting frame, 401-motor, 402-first gear, 403-first arc push-pull cylinder, 404-support rod, 405-second arc push-pull cylinder, 406-sleeve, 407-welding gun, 408-fixed push-pull cylinder, 409-sleeve, 410-second gear, 501-side guide rail, 502-positioning push-pull cylinder, 503-inner ridge, 504-crossbeam, 505-flip push-pull cylinder , 506-L-shaped frame, 507-oblique rod, 508-positioning plate, 601-clamping plate, 602-guide rod, 603-guide seat, 604-connecting shaft, 605-first connecting plate, 606-second connecting plate, 607-third connecting plate, 608-movable frame, 609-clamping push-pull cylinder, 610-end plate, 611-transmission plate, 612-first spring, 613-side support ball, 701-supporting rod, 702-supporting plate, 703-supporting ball, 801-fixed head, 802-inner slide, 803-second spring, 804-adjusting push-pull cylinder, 805-bottom fixed rod, 806-inner lifting rod, 807-fixed wheel, 808-wheel frame, 809-support shaft, 810-third gear, 811-rack. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0036] The specific implementation of the present invention is described in detail below with reference to specific embodiments.

[0037] like Figure 1-Figure 5As shown, an intelligent welding robot operation device provided by an embodiment of the present invention is suitable for vertical welding operations of pipe fittings to meet the production needs of electromechanical equipment, etc. The device includes an operation frame 10 and also includes:

[0038] The welding unit 40 is installed on the upper part of the working frame 10. The welding unit 40 includes a fixed push-pull cylinder 408 fixed to the working frame 10. A sleeve 409 is rotatably installed on the cylinder body of the fixed push-pull cylinder 408. A driving member for driving the sleeve 409 to rotate is also installed on the working frame 10. A support rod 404 is hinged on the sleeve 409. A first arc-shaped push-pull cylinder 403 for adjusting the inclination angle of the support rod 404 is also fixed between the support rod 404 and the sleeve 409. A sleeve 406 is hinged on one end of the support rod 404 away from the sleeve 409. A welding gun 407 is fixed in the sleeve 406. A second arc-shaped push-pull cylinder 405 for adjusting the inclination angle of the sleeve 406 is also fixed between the sleeve 406 and the support rod 404.

[0039] An auxiliary fixing unit 80, which is installed at the end of the telescopic core shaft of the fixed push-pull cylinder 408, and is used to press and fix the vertical pipe 30 to be welded while keeping the horizontal pipe 20 to be welded and the vertical pipe 30 to be welded in a vertical state as a whole;

[0040] The centering clamping unit 60 is installed on the lower part of the working frame 10. Before the auxiliary fixing unit 80 fixes the vertical pipe to be welded 30, the centering clamping unit 60 performs centering rotation support on the horizontal pipe to be welded 20; after the auxiliary fixing unit 80 fixes the vertical pipe to be welded 30, the centering clamping unit 60 clamps and fixes the horizontal pipe to be welded 20; the working frame 10 is also equipped with an auxiliary supporting unit 70 that cooperates with the centering clamping unit 60 and is used to provide auxiliary support for the horizontal pipe to be welded 20.

[0041] In an embodiment of the present invention, the prefabricated horizontal pipe 20 and vertical pipe 30 to be welded are placed on the centering clamping unit 60. At this time, the auxiliary fixing unit 80 does not fix the vertical pipe 30 to be welded. The centering clamping unit 60 is in a state of centering and rotating support for the horizontal pipe 20 to be welded. At the same time, the auxiliary supporting unit 70 is used to auxiliary support the horizontal pipe 20 to be welded, thereby improving reliability.

[0042] Then the fixed push-pull cylinder 408 is controlled to extend, and the auxiliary fixing unit 80 can press and fix the vertical pipe to be welded 30 while keeping the horizontal pipe to be welded 20 and the vertical pipe to be welded 30 in a vertical state as a whole, which can be compatible with the rotary welding of the welding gun 407. At this time, the centering clamping unit 60 clamps and fixes the horizontal pipe to be welded 20, so that the horizontal pipe to be welded 20 and the vertical pipe to be welded 30 can be kept in a vertical state as a whole and be stable and reliable.

[0043] According to the models of the horizontal pipe 20 to be welded and the vertical pipe 30 to be welded, the first arc-shaped push-pull cylinder 403 and the second arc-shaped push-pull cylinder 405 are adjusted so that the welding gun 407 is adapted to the joint position, and then the driving member is started to drive the sleeve 409 to rotate, and the welding gun 407 then rotates in a circle, and assisted by the expansion and contraction changes of the first arc-shaped push-pull cylinder 403 and the second arc-shaped push-pull cylinder 405, the welding gun 407 performs reliable and fast welding operations on the horizontal pipe 20 to be welded and the vertical pipe 30 to be welded along the joint position.

[0044] In summary, the present invention realizes automatic centering, stable positioning and efficient welding of the pipe to be welded through the coordinated cooperation of centering clamping, auxiliary fixing and supporting, which significantly improves the welding accuracy and operation reliability.

[0045] It should be noted that, including but not limited to, slots (not shown) are provided in the horizontal tube 20 to be welded for receiving the vertical tube 30 to be welded, so that the horizontal tube 20 and the vertical tube 30 to be welded are in a prefabricated and stable state. Even if the joint between the horizontal tube 20 and the vertical tube 30 to be welded is not a flat circular shape, according to the disclosed technology and the model of the horizontal tube 20 and the vertical tube 30 to be welded, the telescopic setting of the first arc-shaped push-pull cylinder 403 and the second arc-shaped push-pull cylinder 405 during welding can complete the overall reliable welding operation. In other words, the application and adaptation of the welding gun 407 are well known to those skilled in the art and are not limited or elaborated upon.

[0046] like Figure 3-Figure 5 As shown, as a preferred embodiment of the present invention, the auxiliary fixing unit 80 includes an inner slide 802 fixed to the end of the telescopic core shaft of the fixed push-pull cylinder 408, and a fixed head 801 is provided on the outer side of the inner slide 802 for sliding. The lower part of the fixed head 801 is conical in shape, which can abut and fix the vertical pipe 30 to be welded and keep it in a vertical state; a second spring 803 and an adjusting push-pull cylinder 804 are fixed to the lower side of the inner slide 802, and the lower end of the second spring 803 is connected to the fixed head 801, and the telescopic core shaft of the adjusting push-pull cylinder 804 is connected to the inner lifting rod 806 is connected, and the lower end of the fixed head 801 is also fixed with a bottom fixing rod 805 that is slidably connected to the inner lifting rod 806, and a support shaft 809 is fixed at the openings on both sides of the lower end of the bottom fixing rod 805, and a wheel frame 808 and a third gear 810 are respectively rotatably installed on the support shaft 809, and the wheel frame 808 and the third gear 810 are fixedly connected, and a fixing wheel 807 is installed at the end of the wheel frame 808 away from the support shaft 809, and racks 811 that are meshed with the third gear 810 are also fixed on both sides of the lower part of the inner lifting rod 806.

[0047] Among them, a cavity can be opened on the inner side of the fixed head 801, which can enable the fixed head 801 to move relative to the inner slide 802, and the second spring 803 can also elastically support the fixed head 801. The adjusting push-pull cylinder 804 is preferably fixed to the middle part of the lower side of the inner slide 802, and the second spring 803 is located at the lower outer periphery of the inner slide 802.

[0048] When there is no external force, under the elastic force of the second spring 803, the two wheel frames 808 are in a close state, and the maximum distance between the two fixing wheels 807 is smaller than the inner diameter of the vertical pipe 30 to be welded, which is conducive to the reliable insertion of the fixing wheels 807 into the inner side of the vertical pipe 30 to be welded.

[0049] When the fixed push-pull cylinder 408 is extended and the fixed head 801 abuts against the upper end of the vertical pipe 30 to be welded, the fixed push-pull cylinder 408 continues to extend, and the inner slide 802 pushes the whole composed of the adjusting push-pull cylinder 804 and the inner lifting rod 806 to move downward. Through the meshing transmission of the rack 811 and the third gear 810, the two wheel frames 808 open, and the fixing wheel 807 abuts against the inner top of the horizontal pipe 20 to be welded.

[0050] By adjusting the push-pull cylinder 804, the relationship between the compression of the second spring 803 and the expansion of the wheel frame 808 can be adjusted, so that after the fixed head 801 is reliably abutted against the vertical pipe 30 to be welded, the fixing wheel 807 is reliably abutted against the inner top of the horizontal pipe 20 to be welded. Alternatively, after the fixed head 801 is abutted against the vertical pipe 30 to be welded, the extension of the push-pull cylinder 804 can be controlled separately to further abut the inner top of the horizontal pipe 20 to be welded, which is flexible and convenient. Preferably, the telescopic mandrel of the push-pull cylinder 804 is elastically connected to the inner lifting rod 806, so that the fixing wheel 807 is elastically abutted against the inner top of the horizontal pipe 20 to be welded, thereby improving the reliability of the application. It is understandable that when the overall models of the horizontal pipe 20 to be welded and the vertical pipe 30 to be welded vary greatly, the auxiliary fixing unit 80 can be replaced as a whole to match different models, that is, the auxiliary fixing unit 80 is manufactured in different sizes, which is not limited.

[0051] like Figure 1 、 Figure 2 and Figure 6 As shown in FIG. 1 , as a preferred embodiment of the present invention, the work frame 10 includes two spaced-apart bottom plates 103 , each of which has an end connecting frame 104 fixed at both ends. Legs 105 are fixed to the underside of the end connecting frames 104 . A top plate 101 is provided above the bottom plates 103 , and a side frame 102 is fixed between the top plate 101 and the bottom plates 103 . The work frame 10 also includes a middle connecting frame 106 fixed between the two bottom plates 103 .

[0052] The cylinder body of the fixed push-pull cylinder 408 is fixedly connected to the top plate 101. The first and second arc-shaped push-pull cylinders 403 and 405 are both arc-shaped, with their centers corresponding to the hinged positions, allowing for flexible angle adjustment. The drive element includes a second gear 410 fixed to a sleeve 409 and a motor 401 fixed to the top plate 101. The output end of the motor 401 is fixed to a first gear 402 that meshes with the second gear 410.

[0053] like Figure 1 、 Figure 6-Figure 9 As shown, as a preferred embodiment of the present invention, the centering clamping unit 60 includes two movable frames 608 slidably arranged on the middle connecting frame 106, and the two ends of the movable frame 608 are respectively hinged with a second connecting plate 606, and the movable frame 608 is hinged to the middle of the second connecting plate 606, and the two ends of the second connecting plate 606 are respectively hinged with a first connecting plate 605 and a third connecting plate 607, and the first connecting plate 605 and the third connecting plate 607 are parallel to each other, and the end of the first connecting plate 605 away from the second connecting plate 606 is hinged to the bottom plate 103 through the connecting shaft 604, and the end of the third connecting plate 607 away from the second connecting plate 606 is hinged to the lower side of the clamping plate 601, and the two corresponding third connecting plates on the same movable frame 608 are respectively hinged to the second connecting plate 606. Plates 607 are respectively connected to the two ends of the same clamping plate 601, that is, the horizontal pipe 20 to be welded is centrally clamped by the two clamping plates 601; a guide rod 602 is also fixed on the side away from the two clamping plates 601, and a guide seat 603 slidingly connected to the guide rod 602 is fixed on the bottom plate 103, which plays a role in stabilizing and guiding the clamping plate 601; a clamping push-pull cylinder 609 perpendicular to the middle connecting frame 106 is also fixed on one of the end connecting frames 104, and an end plate 610 is fixed on the end of the telescopic core shaft of the clamping push-pull cylinder 609, and two transmission plates 611 are hinged on the end plate 610, and the two transmission plates 611 are symmetrically arranged, and the ends of the two transmission plates 611 away from the end plate 610 are hinged to the middle of the two movable frames 608.

[0054] The adjacent side of the two clamping plates 601 is arc-shaped, and a plurality of ball bearing cavities are formed on the adjacent side of the two clamping plates 601. Side support balls 613 are slidably disposed in the ball bearing cavities. A first spring 612 is also installed in the ball bearing cavities to elastically support the side support balls 613. Before the auxiliary fixing unit 80 fixes the vertical tube 30 to be welded, the side support balls 613 provide central rotational support for the horizontal tube 20 to be welded. After the auxiliary fixing unit 80 fixes the vertical tube 30 to be welded, the two clamping plates 601 approach each other, the side support balls 613 retract into the ball bearing cavities, and the surface of the horizontal tube 20 to be welded abuts against the surface of the clamping plates 601, thereby clamping and fixing the horizontal tube 20 to be welded.

[0055] For the centering clamping unit 60, by controlling the extension and contraction of the clamping push-pull cylinder 609, the two movable frames 608 can be pushed closer to or away from each other through the transmission plate 611, and with the help of the setting of the first connecting plate 605, the second connecting plate 606 and the third connecting plate 607, and the guide rod 602 and the guide seat 603 to guide the clamping plate 601, the two clamping plates 601 can reliably cooperate with the centering clamping of the horizontal pipe to be welded 20, and meet the requirements of cooperation with the auxiliary fixing unit 80.

[0056] The auxiliary supporting unit 70 includes a supporting plate 702 located on the upper side of the middle connecting frame 106 and used to support the horizontal pipe 20 to be welded. The supporting plate 702 is a middle arc-shaped concave structure to improve the reliability of the support. A number of supporting balls 703 are installed on the upper side of the supporting plate 702 to facilitate the loading and unloading movement of the horizontal pipe 20 to be welded. The lower sides of both ends of the supporting plate 702 are also fixed with supporting rods 701 that can be telescopically adjusted. The lower ends of the supporting rods 701 are fixed on the end connecting frame 104. The length of the supporting rods 701 can be adjusted as needed to meet the support requirements of horizontal pipes 20 to be welded with different diameters.

[0057] like Figure 1 and Figure 10 As shown, as a preferred embodiment of the present invention, the intelligent welding robot operation device also includes a positioning unit 50 for welding the end of the horizontal pipe 20 to be welded, and the positioning unit 50 includes two side guide rails 501 fixed on the side frame 102, and an inner ridge 503 is fixed on the inner side of one end of the two side guide rails 501. A crossbeam 504 is slidingly provided between the two side guide rails 501, and the two ends of the crossbeam 504 are also slidably connected to the inner ridge 503; the inner side of the side guide rail 501 is also fixed with a positioning push-pull mechanism for driving the crossbeam 504 to move. Cylinder 502; an L-shaped frame 506 is fixed to the middle of the crossbeam 504, and a positioning plate 508 is rotatably installed at the end of the horizontal part of the L-shaped frame 506, which can abut against the end of the horizontal pipe 20 to be welded. The upper end of the positioning plate 508 is tilted and fixed with an inclined rod 507 away from the vertical part of the L-shaped frame 506, and the upper end of the vertical part of the L-shaped frame 506 is also hinged to a flap push-pull cylinder 505, and the telescopic core shaft end of the flap push-pull cylinder 505 is hinged to the end of the inclined rod 507 away from the positioning plate 508. The flap push-pull cylinder 505 is used to control the positioning plate 508 to be in a horizontal state or a vertical state.

[0058] According to the length and welding position of the horizontal pipe 20 to be welded, the initial position of the positioning plate 508 can be adjusted by the positioning push-pull cylinder 502, and the positioning plate 508 can be controlled to be in a horizontal state or a vertical state by the flip-plate push-pull cylinder 505. In the vertical state, welding positioning can be performed, and in the horizontal state, the horizontal pipe 20 to be welded is not blocked, which is conducive to the loading and unloading operations of the horizontal pipe 20 to be welded.

[0059] The above embodiment of the present invention provides an intelligent welding robot operation device, the working principle of which is as follows:

[0060] First, the prefabricated assembly of the horizontal tube 20 to be welded and the vertical tube 30 to be welded is automatically centered by the centering clamping unit 60, and its stability is improved by the auxiliary supporting unit 70. At this time, the auxiliary fixing unit 80 is not in action, and the side support balls 613 provide rotational support for the horizontal tube 20 to be welded. Subsequently, the fixed push-pull cylinder 408 extends to drive the auxiliary fixing unit 80 to press the top of the vertical tube 30 to be welded, so that it remains in a vertical state. At the same time, the fixing wheel 807 is inserted into the interior of the horizontal tube 20 to be welded and pressed against the inner wall to achieve limited fixation; the clamping push-pull cylinder 609 drives the clamping plate 601 to close, directly fitting the surface of the horizontal tube 20 to be welded to complete rigid clamping (the side support balls 613 contract), ensuring that the overall structure is stable and reliable.

[0061] Next, the lengths of the first and second curved push-pull cylinders 403 and 405 are adjusted according to the specific models of the horizontal and vertical pipes 20 and 30 to align the welding gun 407 with the weld seam. The driver (motor 401, first gear 402, meshing with second gear 410) is activated to rotate the sleeve 409, causing the welding gun 407 to rotate in a circular motion. Simultaneously, the curved push-pull cylinders are fine-tuned in real time to accommodate the irregular circular weld trajectory, ensuring weld quality. The positioning unit 50 further enhances welding accuracy and placement efficiency. By controlling the position and angle of the positioning plate 508, the end of the horizontal pipe 20 to be welded is positioned, facilitating welding operations and loading and unloading processes.

[0062] In summary, the present invention realizes automatic centering, stable positioning and efficient welding of the pipes to be welded through the coordinated cooperation of centering clamping, auxiliary fixation and support, which significantly improves the welding accuracy and operation reliability, and is particularly suitable for vertical welding needs in the manufacture of electromechanical equipment.

[0063] The control of each component can be carried out using a PLC controller disclosed in the prior art. The model and circuit connection of each component are not specifically limited and can be flexibly set in actual application.

[0064] The circuits, electronic components and modules involved are all existing technologies and can be fully implemented by those skilled in the art. Needless to say, the content protected by the present invention does not involve improvements to software and methods.

[0065] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0066] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. An intelligent welding robot operation device, comprising an operation frame (10), characterized in that: Also includes: A welding unit (40) is installed on the upper part of the working frame (10), comprising a fixed push-pull cylinder (408) fixed on the working frame (10), a sleeve (409) being rotatably mounted on the cylinder body of the fixed push-pull cylinder (408), a driving member for driving the sleeve (409) to rotate being further mounted on the working frame (10), a support rod (404) being hinged on the sleeve (409), a first arc-shaped push-pull cylinder (403) for adjusting the tilt angle of the support rod (404) being fixed between the support rod (404) and the sleeve (409), a sleeve (406) being hinged on one end of the support rod (404) away from the sleeve (409), a welding gun (407) being fixedly mounted in the sleeve (406), and a second arc-shaped push-pull cylinder (405) for adjusting the tilt angle of the sleeve (406) being fixed between the sleeve (406) and the supporting rod (404); An auxiliary fixing unit (80) is mounted on the end of the telescopic core shaft of the fixed push-pull cylinder (408) and is used to press and fix the vertical pipe to be welded (30) and keep the horizontal pipe to be welded (20) and the vertical pipe to be welded (30) in a vertical state as a whole; A centering clamping unit (60) is installed at the lower part of the working frame (10). Before the auxiliary fixing unit (80) fixes the vertical pipe to be welded (30), the centering clamping unit (60) performs centering rotation support on the horizontal pipe to be welded (20); after the auxiliary fixing unit (80) fixes the vertical pipe to be welded (30), the centering clamping unit (60) clamps and fixes the horizontal pipe to be welded (20); An auxiliary supporting unit (70) is installed on the working frame (10) and cooperates with the centering clamping unit (60) to provide auxiliary support for the horizontal pipe to be welded (20); The auxiliary fixing unit (80) comprises an inner slide plate (802) fixed to the end of the telescopic core shaft of the fixed push-pull cylinder (408); a fixing head (801) is provided on the outer side of the inner slide plate (802) for sliding, and the lower part of the fixing head (801) is conical; A second spring (803) and an adjusting push-pull cylinder (804) are fixed to the lower side of the inner slide plate (802); the lower end of the second spring (803) is connected to the fixed head (801); and the telescopic core shaft of the adjusting push-pull cylinder (804) is connected to the inner lifting rod (806); A bottom fixing rod (805) slidably connected to the inner lifting rod (806) is fixed to the lower end of the fixed head (801), and support shafts (809) are fixed to the openings on both sides of the lower end of the bottom fixing rod (805). A wheel frame (808) and a third gear (810) are rotatably mounted on the support shaft (809). The wheel frame (808) and the third gear (810) are fixedly connected, and a fixing wheel (807) is mounted on the end of the wheel frame (808) away from the support shaft (809); Racks (811) meshingly connected to the third gear (810) are fixed to both sides of the lower portion of the inner lifting rod (806).

2. The intelligent welding robot operation device according to claim 1, characterized in that: When there is no external force, under the elastic force of the second spring (803), the two wheel frames (808) are in a close-together state, and the maximum distance between the two fixing wheels (807) is smaller than the inner diameter of the vertical pipe (30) to be welded; When the fixed push-pull cylinder (408) is extended and the fixed head (801) abuts against the upper end of the vertical pipe (30) to be welded, the fixed push-pull cylinder (408) continues to extend, and the inner slide (802) pushes the entirety of the adjusting push-pull cylinder (804) and the inner lifting rod (806) to move downward. Through the meshing transmission of the rack (811) and the third gear (810), the two wheel frames (808) are opened, and the fixing wheel (807) abuts against the inner top of the horizontal pipe (20) to be welded.

3. The intelligent welding robot operation device according to claim 1, characterized in that: The telescopic core shaft of the adjusting push-pull cylinder (804) is elastically connected to the inner lifting rod (806).

4. The intelligent welding robot operation device according to any one of claims 1 to 3, characterized in that: The working frame (10) comprises two base plates (103) spaced apart from each other, end connecting frames (104) being fixed to both ends of the two base plates (103), and supporting legs (105) being fixed to the lower sides of the end connecting frames (104); A top plate (101) is provided above the bottom plate (103), and a side frame (102) is fixed between the top plate (101) and the bottom plate (103); A middle connecting frame (106) is also fixed between the two bottom plates (103).

5. The intelligent welding robot operation device according to claim 4, characterized in that: The driving member includes a second gear (410) fixed on the sleeve (409) and a motor (401) fixed on the top plate (101); A first gear (402) meshingly connected with a second gear (410) is fixed to the output end of the motor (401).

6. The intelligent welding robot operation device according to claim 4, characterized in that: The centering clamping unit (60) comprises two movable frames (608) slidably arranged on the middle connecting frame (106), the two ends of the movable frame (608) are respectively hinged with a second connecting plate (606), and the two ends of the second connecting plate (606) are respectively hinged with a first connecting plate (605) and a third connecting plate (607); One end of the first connecting plate (605) away from the second connecting plate (606) is hinged to the bottom plate (103) via a connecting shaft (604); one end of the third connecting plate (607) away from the second connecting plate (606) is hinged to the lower side of the clamping plate (601); A guide rod (602) is fixed on one side of the two clamping plates (601) that is away from each other, and a guide seat (603) slidably connected to the guide rod (602) is fixed on the bottom plate (103); A clamping push-pull cylinder (609) perpendicular to the middle connecting frame (106) is fixed on one of the end connecting frames (104), an end plate (610) is fixed to the end of the telescopic core shaft of the clamping push-pull cylinder (609), and two transmission plates (611) are hinged on the end plate (610). The two transmission plates (611) are symmetrically arranged, and the ends of the two transmission plates (611) away from the end plates (610) are hinged to the middle parts of the two movable frames (608).

7. The intelligent welding robot operation device according to claim 6, characterized in that: The side of the two clamping plates (601) that is close to each other is in an arc shape and is provided with a plurality of ball cavities; side support balls (613) are slidably provided in the ball cavities, and a first spring (612) for elastically supporting the side support balls (613) is installed in the ball cavities; Before the auxiliary fixing unit (80) fixes the vertical pipe (30) to be welded, the side support balls (613) provide central rotation support for the horizontal pipe (20) to be welded; After the auxiliary fixing unit (80) fixes the vertical pipe to be welded (30), the two clamping plates (601) approach each other, the side support balls (613) shrink into the ball cavity, and the surface of the horizontal pipe to be welded (20) abuts against the surface of the clamping plate (601), and the clamping plate (601) clamps and fixes the horizontal pipe to be welded (20).

8. The intelligent welding robot operation device according to claim 6, characterized in that: The auxiliary supporting unit (70) includes a supporting plate (702) located on the upper side of the middle connecting frame (106); The supporting plate (702) is a central arc-shaped concave structure, and a plurality of supporting balls (703) are installed on the upper side of the supporting plate (702); Support rods (701) capable of telescopic adjustment are fixed to the lower sides of both ends of the support plate (702), and the lower ends of the support rods (701) are fixed to the end connecting frames (104).

9. The intelligent welding robot operation device according to claim 4, characterized in that: It also includes a positioning unit (50) for performing welding positioning on the end of the to-be-welded transverse pipe (20); The positioning unit (50) comprises two side guide rails (501) fixed on the side frame (102), and an inner ridge (503) is fixed on the inner side of one end of the two side guide rails (501); A crossbeam (504) is slidably provided between the two side guide rails (501), and both ends of the crossbeam (504) are slidably connected to the inner ridge (503). A positioning push-pull cylinder (502) for driving the crossbeam (504) to move is fixed on the inner side of the side guide rail (501); An L-shaped frame (506) is fixed in the middle of the crossbeam (504), a positioning plate (508) is rotatably mounted on the end of the horizontal portion of the L-shaped frame (506), and an oblique rod (507) is obliquely fixed to the upper end of the positioning plate (508) away from the vertical portion of the L-shaped frame (506); The upper end of the vertical portion of the L-shaped frame (506) is hingedly connected to a flap push-pull cylinder (505), and the end of the telescopic core shaft of the flap push-pull cylinder (505) is hingedly connected to an end of the inclined rod (507) away from the positioning plate (508).

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