Multi-station intelligent welding integrated equipment for ship pipeline

Abstract

The invention relates to the technical field of ship pipeline welding equipment, discloses ship pipeline multi-station intelligent welding integrated equipment, and solves the problems that existing equipment is only adaptive to a straight pipe, the butt joint precision of an elbow pipe is low, and the compatibility is poor. The equipment comprises a machining table, a welding mechanical arm with six or more shafts and two containing structures meshed with a rotating structure. In the pipeline limiting structure, a two-way double-shaft motor drives fixed rotating wheels to oppositely clamp and is matched with rotating wheels to lift a pipeline to be horizontal; in the pipeline fixing structure, the pneumatic clamping device can rotate around the axis of the pipeline to adjust the opening direction of the elbow; in the rotating structure, a driving gear can ascend and descend and is selectively meshed with the gear rings of the two groups of placing structures, so that single-group angle adjustment or double-group synchronous rotation is realized; by combining the prior art, integrating visual positioning, PLC control and other intelligent devices and adapting to welding of straight pipes and multi-angle elbow pipes, the port coaxiality is smaller than or equal to 0.1 mm, the welding efficiency is improved by 35%, the limitation that only straight pipes are adapted is broken through, and the tool switching cost is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ship pipeline welding equipment, in particular to a ship pipeline multi-station intelligent welding integrated equipment. BACKGROUND

[0002] In the existing ship pipeline welding field, although intelligent welding equipment (including clamping mechanism, moving mechanism and welding mechanical arm / robot) with pipeline butt joint adjustment and rotation function has been adopted, it can realize stable clamping, axial position adjustment and coaxial rotation of straight pipes, that is, the clamping mechanism can adapt to the linear structure of straight pipes, the two straight pipes are horizontally butt jointed through adjustment, and the butt jointed straight pipes are rotated around the axis, which is convenient for cooperating with the welding gun / mechanical arm to complete full-circle welding. However, the core defect of such equipment lies in the structure adaptability and functional limitation of the clamping mechanism, which is specifically manifested as follows: the clamping structure and adjustment dimension of the clamping mechanism are designed for straight pipes, and the clamping mechanism lacks the adaptability to elbow pipes with different bending directions (such as 90° elbow, 45° elbow) and different bending angles, that is, the clamping mechanism cannot form stable clamping according to the bending shape (bending segment position, curvature) of the elbow pipe, nor can it adjust the spatial angle of a single elbow pipe or two elbow pipes, which leads to the difficulty in accurately aligning the to-be-welded ports of the two elbow pipes (such as large coaxiality deviation of the port center and insufficient end face fitting), directly hindering the welding preparation of the elbow pipe. Therefore, the existing clamping mechanism can only be used in the straight pipe welding scene, and when facing a large number of elbow pipes in the ship pipeline system, it is necessary to additionally replace the special clamping tool or give up the intelligent welding equipment and adopt manual auxiliary welding, which not only increases the equipment investment and tool switching cost, but also cannot cover the mixed welding demand of "straight pipe + elbow pipe" due to the lack of compatibility, which seriously restricts the application range of the welding equipment and the overall efficiency of the ship pipeline welding.

[0003] Therefore, how to improve the existing clamping mechanism so that it can not only meet the "axial position adjustment + coaxial rotation" demand in the straight pipe welding (to ensure the straight pipe butt joint accuracy and welding convenience), but also realize the "stable clamping + spatial angle adjustment" of the elbow pipe with different bending directions and angles (to ensure the accurate butt joint of the to-be-welded ports of the elbow pipe), and at the same time adapt to the flexible motion trajectory of the six-axis and above welding mechanical arm to complete the elbow pipe welding, finally breaking the adaptability limitation of "only suitable for straight pipe, not suitable for elbow pipe", improving the compatibility of the clamping mechanism and the overall applicability of the ship pipeline welding equipment, has become a technical bottleneck that needs to be solved at present. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a ship pipeline multi-station intelligent welding integrated equipment to solve the technical problems that the existing ship pipeline intelligent welding equipment only adapts to straight pipe welding, the clamping and spatial angle adjustment capability of the elbow pipe is insufficient, which leads to low pipeline butt joint accuracy, poor welding efficiency and lack of equipment compatibility.

[0005] To achieve the above object, the present application provides the following technical solution: a ship pipeline multi-station intelligent welding integrated equipment, comprising a processing table, a six-axis or more welding mechanical arm, a rotating structure and two groups of symmetrically distributed placement structures; The processing table is internally provided with a placement cavity, and an arc-shaped groove is formed in the upper end face; The rotating structure is accommodated in the placement cavity, and the two groups of placement structures are connected with the arc-shaped groove through sliding wheels and are in meshing transmission with the rotating structure; Each group of placement structures is integrated with a pipeline limiting structure, a pipeline supporting structure and a pipeline fixing structure; The pipeline limiting structure cooperates with the pipeline supporting structure to realize the horizontal placement and limiting of the ship pipeline (including straight pipes and elbow pipes with different bending angles / directions); The pipeline fixing structure is used for fixing the pipeline and driving the pipeline to rotate around its own axis; The rotating structure can drive the two groups of placement structures to rotate along the arc-shaped groove, realize the spatial angle adjustment of the pipeline, and complete the butt welding of straight pipe-straight pipe, straight pipe-elbow pipe and elbow pipe-elbow pipe in cooperation with the welding mechanical arm.

[0006] By adopting the above technical solution, the collaborative movement of the rotating structure and the placement structure breaks through the limitation of the traditional equipment that is only suitable for straight pipes: For the elbow pipe, the spatial angle is adjusted by the rotating structure, and the axis angle is adjusted by the pipeline fixing structure, so that the to-be-welded port is accurately aligned; For the straight pipe, the coaxial rotation is realized by the rotating structure, and the full-circle welding is completed in cooperation with the welding mechanical arm; Finally, the compatibility of the equipment for the mixed welding scene of "straight pipe + elbow pipe" is expanded, and the bottleneck of the adaptation of multiple types of pipeline welding is solved.

[0007] Further, the rotating structure comprises a rotating frame and a driving member: A fitting groove with the same shape as the arc-shaped groove is formed in the inner side of the rotating frame, and a limiting rod one is arranged in the fitting groove; The driving member comprises a driving cylinder, a mounting frame body, a sliding frame, a driving motor, a driving rod and a driving gear: The driving cylinder drives the sliding frame to move up and down, and drives the driving gear to lift in the rotating frame; The driving gear can be in meshing with the tooth rings of the two groups of placement structures in turn, so as to realize the independent rotation of a group of placement structures (adapted to the asymmetric adjustment of the elbow pipe) or the synchronous rotation of the two groups (adapted to the coaxial rotation of the straight pipe).

[0008] By adopting the above technical solution, the lifting design of the driving gear gives the rotating structure the function of "single group / two group selective driving": For elbow pipe welding, the angle of a certain group of placement structures can be adjusted independently to match the bending shape of the elbow; For straight pipe welding, two groups are synchronously rotated to realize coaxial welding; The flexibility and accuracy of pipe angle adjustment are greatly improved to meet the movement requirements of different welding scenes.

[0009] Further, each group of the placement structure includes a placement rack, an assembly rack, a gear ring, a double-shaft driving motor, a threaded rod one, a limiting rod two, and a moving connection rack one: The placement rack is slidably connected with the assembly slot of the rotating rack through the assembly rack, and the bottom end is provided with a sliding wheel embedded in an arc-shaped slot; The double-shaft driving motor has the functions of single-shaft independent rotation or double-shaft synchronous rotation: When double-shaft synchronous rotation is performed, the two threaded rods one are driven to rotate synchronously, and the pipe limiting structure and the pipe fixing structure are driven to move axially synchronously (quickly adjust the distance between pipes); When single-shaft independent rotation is performed, only the pipe fixing structure is driven to move (precisely butt joint the pipe port).

[0010] By adopting the above technical solution, the double-mode rotation of the double-shaft driving motor is adapted to different scenes: During the feeding stage, double-shaft synchronous movement is realized to quickly align the pipes; During the fixing stage, single-shaft rotation is realized to precisely fine-tune the pipe fixing structure; The pipe butt joint efficiency is effectively improved, and pipes of different diameters and lengths are compatible for processing.

[0011] Further, the pipe limiting structure includes a moving installation rack one, a rotating wheel one, a fixed rotating wheel, and a driving assembly: The driving assembly includes a partition plate, a bidirectional double-shaft motor, a threaded rod two, a limiting rod three, and a moving connection rack two: The bidirectional double-shaft motor drives the two threaded rods two to rotate in opposite directions synchronously, and drives the moving connection rack two and the fixed rotating wheel to move in opposite directions; The fixed rotating wheel cooperates with the rotating wheel one to realize horizontal limiting and stable support of the pipe (prevent the pipe from deviating due to its own weight).

[0012] By adopting the above technical solution, the opposite clamping structure driven by the bidirectional double-shaft motor ensures: The straight pipe and the elbow pipe maintain a horizontal posture during feeding, providing a basis for subsequent precise butt joint; The limiting process is stable and reliable, avoiding errors caused by manual intervention and improving the feeding accuracy.

[0013] Further, the pipe fixing structure includes a moving installation rack two, a driving power source, and a pipe pneumatic clamping device: The pipeline pneumatic clamping device is electrically connected with a driving power supply, and can drive the pipeline to rotate around the axis thereof after fixing the pipeline (adjust the opening direction of the curved end of the elbow pipe).

[0014] By adopting the above technical scheme, the self-rotation function of the pipeline pneumatic clamping device solves the core pain point of the elbow pipe: The opening angle of the curved end of the elbow pipe can be actively adjusted, and the spatial angle of the rotating structure is adjusted to realize the precise alignment (end face fitting degree ≥ 90%) of the to-be-welded port of the elbow pipe. Without relying on the complex trajectory compensation of the welding mechanical arm, the welding difficulty is reduced.

[0015] Further, the device integrates auxiliary intelligent devices (all existing technologies) such as a visual positioning sensor, a PLC controller, a touch screen human-computer interaction interface and an infrared temperature sensor: The visual positioning sensor detects the coaxiality and fitting degree (accuracy ≤ 0.1 mm) of the pipeline port in real time; The PLC controller cooperatively controls the movement of the rotating structure, the placing structure and the welding mechanical arm; The infrared temperature sensor monitors the welding area temperature (to avoid overheating deformation); The touch screen realizes parameter setting and state monitoring.

[0016] By adopting the above technical scheme, the integration of the existing technology intelligent device realizes: Automatic detection and control of pipeline butt joint, replacing manual calibration, greatly improving butt joint accuracy; Real-time monitoring and adaptive adjustment of the welding process (such as automatically reducing the flow when the temperature is abnormal), reducing the welding defect rate (40% lower than the traditional device); Convenient human-computer interaction, reducing manual intervention, and overall welding efficiency is improved by more than 35%.

[0017] In summary, the present application mainly has the following advantages: 1、In the present application, the double-shaft driving motor of the placing structure can rotate synchronously (drive the threaded rod one, move the pipeline limiting structure and the fixed structure synchronously in the axial direction, quickly adjust the straight pipe spacing), or independently rotate (drive the pipeline fixing structure to fine adjust the elbow pipe butt joint position); At the same time, the bidirectional double-shaft motor of the pipeline limiting structure drives the fixed pulley to clamp in opposite directions, and cooperates with the rotating wheel one to force the pipeline to be horizontal, which adapts to the clamping and positioning of straight pipes and elbow pipes with different angles, solving the problem that the existing technology requires to replace special tools when using the device for straight pipes and elbow pipes. 2、In the application, the driving cylinder of the rotating structure drives the driving gear to lift, selectively engages the gear ring of the placing structure, and cooperates with the driving motor to drive the placing frame to rotate along the arc-shaped groove (adjusts the elbow space angle); at the same time, the driving power supply of the pipeline fixing structure controls the pipeline pneumatic clamping device to rotate (adjusts the opening direction of the elbow itself), realizes the double-dimension angle calibration (space angle + self-axis angle) of the elbow pipe to be welded port, solves the butt joint problem of the background technology "elbow pipe port center coaxiality difference, insufficient end face fitting".

[0018] 3、In the application, the limiting rod one of the rotating frame is in sliding fit with the assembling frame of the placing structure, and the rotating track is constrained; the limiting rod two of the placing frame guides the moving connecting frame one, and deviation during adjustment is avoided; the sliding wheel supports the placing frame and reduces the rotating friction in the arc-shaped groove, reduces the vibration and wear of the equipment operation, and solves the reliability problem of "traditional equipment long-term operation easy to jam, short component life". BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a perspective view of the application; Figure 2 is a perspective view of the application; Figure 3 is an internal view of the processing table in the application; Figure 4 is an enlarged view of A in the application; Figure 3 Figure 5 is an assembly view of the placing structure and the rotating structure in the application; Figure 6 is an internal view of the placing structure in the application; Figure 7 is a perspective view of the pipeline limiting structure in the application; Figure 8 is an internal structure view of the pipeline limiting structure in the application; Figure 9 is a schematic view of the driving assembly in the application.

[0020] In the figure: 1, processing table; 2, welding mechanical arm; 3, rotating structure; 4, placing structure; 5, pipeline limiting structure; 6, pipeline supporting structure; 7, pipeline fixing structure; 11, arc-shaped groove; 12, placing cavity; ​31, rotating frame; 311, assembly groove; 312, limiting rod one; 32, driving part; 321, driving cylinder; 322, mounting frame body; 323, sliding frame; 324, driving motor; 325, driving rod; 326, driving gear; 41, placing frame; 42, assembly frame; 43, gear ring; 44, double-shaft driving motor; 45, partition plate; 46, threaded rod one; 47, limiting rod two; 48, moving connecting frame one; 49, sliding wheel; 51, moving mounting frame one; 52, support frame; 53, moving connecting plate; 54, rotating mounting frame one; 55, rotating wheel one; 56, fixed moving frame; 57, fixed rotating wheel; 58, driving assembly; 581, partition plate; 582, bidirectional double-shaft motor; 583, threaded rod two; 584, limiting rod three; 585, moving connecting frame two; 61, fixed mounting frame; 62, rotating mounting frame two; 63, rotating wheel two; 71, moving mounting frame two; 72, fixed mounting plate; 73, driving power supply; 74, pipeline pneumatic clamping device. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0022] The embodiments of the present application will be described below according to the overall structure of the present application.

[0023] Embodiment one Referring to Figures 1-9 A ship pipeline multi-station intelligent welding integrated equipment shown in the drawing, including processing table 1, welding mechanical arm 2, rotating structure 3 and two groups of symmetrically distributed placing structure 4, the specific structure is as follows: Basic bearing unit The processing table 1 is a semicircular steel structure platform, a placing cavity 12 for accommodating the rotating structure 3 is formed in the inside, an arc-shaped groove 11 is formed in the upper end face, the center of the arc-shaped groove 11 coincides with the axis of the rotating structure 3, and the arc-shaped groove 11 is used to provide rotating guide for the placing structure 4; the welding mechanical arm 2 is a six-axis or more multi-axis mechanical arm (such as Kuka KR6R900-2 type), is fixed beside the processing table 1, a welding gun and a weld seam tracking sensor are carried at the tail end of the welding mechanical arm 2, and the welding mechanical arm 2 is used to complete the welding work after pipeline butt joint.

[0024] Rotating adjusting unit The rotating structure 3 includes a rotating frame 31 and a driving part 32: The rotating frame 31 is a ring-shaped frame structure, is fixed to the middle part of the upper end face of the processing table 1, an assembly groove 311 that is consistent in shape and adapt in size with the arc-shaped groove 11 is formed in the inner side wall of the rotating frame 31, a limiting rod one 312 is arranged in the assembly groove 311, and the limiting rod one 312 is used to limit the rotating track of the placing structure 4. The driving member 32 is arranged in the placing cavity 12, and includes a driving cylinder 321, a mounting frame body 322, a sliding frame 323, a driving motor 324, a driving rod 325, and a driving gear 326. The mounting frame body 322 is fixed to the bottom of the placing cavity 12, the driving cylinder 321 is vertically fixed to the top end of the mounting frame body 322, and the sliding frame 323 is slidingly connected to the guide rail of the mounting frame body 322 and is fixedly connected with the output end of the driving cylinder 321. The driving motor 324 is a servo motor (such as Panasonic A6 series), which is fixed to the sliding frame 323. One end of the driving rod 325 is connected with the output end of the driving motor 324 through a shaft coupling, and the other end extends into the inner side of the rotating frame 31 through the rotating frame 31, and the driving gear 326 is key-connected to one end of the driving rod 325 located in the inner side of the rotating frame 31.

[0025] Pipe supporting and adjusting unit Two groups of the placing structures 4 are symmetrically distributed on the two sides of the rotating frame 31, and each group includes a placing frame 41, an assembly frame 42, a gear ring 43, a double-shaft driving motor 44, a threaded rod one 46, a limiting rod two 47, and a moving connection frame one 48. The placing frame 41 is a rectangular frame, and a sliding wheel 49 is mounted on the bottom end close to one side of the machining table 1. The sliding wheel 49 is embedded in the arc-shaped groove 11 to realize the support and smooth rotation of the placing frame 41. One end of the assembly frame 42 is fixedly connected with the placing frame 41, and the other end extends into the assembly groove 311 of the rotating frame 31 and is slidingly connected with the limiting rod one 312. The gear ring 43 is fixed to one end of the assembly frame 42 located in the inner side of the rotating frame 31 and is adaptedly engaged with the driving gear 326. The inside of the placing frame 41 is divided into three chambers by two partition plates 45. The double-shaft driving motor 44 (such as Delta ASD-B2 series) is fixed in the middle chamber, and two threaded rods one 46 are symmetrically arranged in the two side chambers and are rotatably connected to the inner side walls of the partition plates 45 and the placing frame 41 through bearings at both ends, and are connected with the two output shafts of the double-shaft driving motor 44 through shaft couplings. Each group of the limiting rod two 47 is two parallel optical shafts arranged on both sides of one threaded rod one 46 and parallel to the threaded rod one 46. The two moving connection frames one 48 are connected with the threaded rod one 46 through threaded holes and are slidingly connected with the limiting rod two 47 through sliding sleeves.

[0026] Pipe positioning and fixing unit The pipe limiting structure 5, the pipe supporting structure 6, and the pipe fixing structure 7 are further mounted on each group of the placing structures 4. Pipe limiting structure 5: including mobile mounting frame one 51, support frame 52, mobile connecting plate 53 and drive assembly 58; the top end of the mobile mounting frame one 51 is fixedly connected with the mobile connecting frame one 48, the support frame 52 is fixed on the upper end surface of the mobile mounting frame one 51, and the top end is rotationally connected with a rotating wheel one 55 (for supporting the pipe) through a rotating mounting frame one 54; two mobile connecting plates 53 are symmetrically arranged on the two sides of the upper end of the mobile mounting frame one 51, and a fixed rotating wheel 57 for limiting the pipe is rotationally connected with a fixed mobile frame 56 on each mobile connecting plate 53; the drive assembly 58 comprises two partition plates 581, a bidirectional double-shaft motor 582, two threaded rods two 583, a limiting rod three 584 and a mobile connecting frame two 585, the bidirectional double-shaft motor 582 drives the two threaded rods two 583 to rotate in opposite directions, drives the two mobile connecting frames two 585 to move synchronously and oppositely, and then makes the fixed rotating wheel 57 clamp the two sides of the pipe; Pipe supporting structure 6: fixedly arranged at the middle position of the placing frame 41, comprising a fixed mounting frame 61, a rotating mounting frame two 62 and a rotating wheel two 63; the rotating wheel two 63 is in the same height with the rotating wheel one 55, cooperates with the pipe to avoid the pipe from sagging due to self weight; Pipe fixing structure 7: comprising a mobile mounting frame two 71, a fixed mounting plate 72, a drive power supply 73 and a pipe pneumatic clamping device 74; the bottom end of the mobile mounting frame two 71 is fixedly connected with the other mobile connecting frame one 48, the fixed mounting plate 72 is vertically fixed to the top end of the mobile mounting frame two 71, the drive power supply 73 is a servo driver and is fixed to one side of the fixed mounting plate 72, and the pipe pneumatic clamping device 74 (such as SMCMHS series air gripper) is slidably connected to the other side of the fixed mounting plate 72 and is electrically connected with the drive power supply 73, so that the pipe pneumatic clamping device 74 can rotate along the pipe axis under the control of the drive power supply 73 and drive the pipe to adjust the angle around the self axis.

[0027] Auxiliary intelligent device (prior art) In order to improve the intelligent level of the device, the following prior art intelligent components are integrated: Visual positioning sensor: adopting a Keyence IV2 series image sensor, fixedly arranged at the top end of the rotating frame 31, used for detecting the coaxiality and end face fitting degree of the pipe port, and transmitting the detection data to the PLC controller in real time; PLC controller: adopting a Siemens S7-1200 series PLC, electrically connected with the driving part 32, the double-shaft driving motor 44, the bidirectional double-shaft motor 582, the drive power supply 73 and the welding robot arm 2, to realize the cooperative control of various structures; Touch screen man-machine interface: adopting a Wintouch TK6071IP type touch screen, embedded on one side of the machining table 1, used for setting welding parameters (such as pipe diameter, welding current) and displaying the running state of the device; Infrared temperature sensor: Omron E8CC series sensor is installed at the end of the welding robot 2 to monitor the temperature of the welding area and avoid overheating that causes pipe deformation.

[0028] Working principle The device realizes the welding of straight pipes and elbow pipes through the four-step process of "positioning-adjusting-docking-welding", as follows: Straight pipe welding process Loading positioning: the operator places two straight pipes on rotating wheel one 55 and rotating wheel two 63 of the two sets of placement structures 4, starts the pipe limiting program through the touch screen, and controls the driving assembly 58 to work through the PLC controller. The fixed rotating wheel 57 clamps the two sides of the straight pipe to ensure that the straight pipe is horizontal. Axial adjustment: the single-axis rotating driving motor 44 rotates one of the threaded rods 46, causing the pipe fixing structure 7 to move towards the pipe, and the pipe pneumatic clamping device 74 inserts into one end of the straight pipe and clamps it. Docking and rotating: the driving cylinder 321 drives the driving gear 326 to descend and engage with the gear ring 43 of one of the sets of placement structures 4, and the driving motor 324 drives the placement structure 4 to rotate along the arc-shaped groove 11 until the two straight pipe ports are aligned (the visual positioning sensor detects the coaxiality ≤0.1mm). Welding operation: the welding robot 2 is started, the weld tracking sensor identifies the weld trajectory, and drives the welding gun to weld along the pipe port; at the same time, the pipe pneumatic clamping device 74 drives the straight pipe to slowly rotate around its own axis, and completes the full-circle welding in cooperation with the welding robot.

[0029] Elbow pipe welding process Loading positioning: the straight pipe end of the elbow pipe (such as a 90° elbow) is placed on the rotating wheel one 55 and the rotating wheel two 63, with the curved end facing the rotating frame 31, and the pipe limiting structure 5 clamps the straight pipe end of the elbow pipe. Angle adjustment: the driving power source 73 controls the pipe pneumatic clamping device 74 to drive the elbow pipe to rotate around its own axis until the opening of the curved end of the elbow pipe is consistent with the direction of the other pipe port (the visual positioning sensor assists in calibration). Docking calibration: the driving member 32 drives the two sets of placement structures 4 to rotate along the arc-shaped groove 11, respectively, to adjust the spatial angle of the two elbow pipes (or the straight pipe and the elbow pipe), so that the to-be-welded ports are accurately aligned (the end surface adhesion degree ≥90%). Welding operation: since the elbow pipe cannot rotate coaxially, the PLC controller controls the six-axis welding robot 2 to move along the irregular weld trajectory according to the port trajectory data collected by the visual positioning sensor, and completes the welding (the infrared temperature sensor monitors the welding temperature in real time to avoid overheating).

[0030] Although the embodiments of the present application have been shown and described, the specific embodiments are merely exemplary and are not to be construed as limiting the present application, and the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner, and those skilled in the art can make modifications, replacements and variations to the embodiments without creative contribution after reading the specification, and as long as they are within the scope of the claims of the present application, they are protected by the patent law.

Claims

1. A multi-station intelligent welding integrated equipment for ship pipelines, characterized in that: It comprises a processing table (1) and a welding robot arm (2) for welding ship pipelines; The processing table (1) is equipped with a rotating structure (3) and two sets of placement structures (4) symmetrically distributed on both sides of the rotating structure (3), and the two sets of placement structures (4) are connected to the rotating structure (3); A placement cavity (12) is provided inside the processing table (1), and the rotating structure (3) is provided in the placement cavity (12). An arc-shaped groove (11) is provided at the upper end of the processing table (1), and the rotating structure (3) can drive the two sets of placement structures (4) to rotate along the arc-shaped groove (11) when in operation; Each group of the placement structures (4) is equipped with a pipeline limiting structure (5), a pipeline supporting structure (6) and a pipeline fixing structure (7), wherein the pipeline supporting structure (6) is fixed at the middle position of the placement structure (4), and the pipeline limiting structure (5) and the pipeline fixing structure (7) are both slidably installed on the placement structure (4), and the pipeline limiting structure (5) is located on a side of the placement structure (4) close to the rotating structure (3); The pipeline limiting structure (5) cooperates with the pipeline supporting structure (6) to place and limit the ship pipeline so that the ship pipeline is horizontally aligned with the pipeline fixing structure (7). The pipeline fixing structure (7) can fix the ship pipeline and drive the fixed ship pipeline to rotate around its axis. The placement structure (4) can drive the pipeline limiting structure (5) and the pipeline fixing structure (7) to move synchronously to adjust the spacing between the ship pipelines, thereby achieving docking of straight pipes, straight pipes and elbow pipes, or elbow pipes and elbow pipes. The welding positions after docking are consistent, and the welding robot arm (2) is suitable for welding.

2. The multi-station intelligent integrated welding equipment for ship pipelines according to claim 1 is characterized in that: The rotating structure (3) includes a rotating frame (31) and a driving member (32). The rotating frame (31) is mounted on the processing table (1) and connected to the two sets of placement structures (4). The driving member (32) is arranged in the placement cavity (12), and its working end extends into the rotating frame (31) and is selectively connected to the two sets of placement structures (4). An assembly groove (311) is provided on one side of the rotating frame (31), and a limiting rod (312) is provided in the assembly groove (311). The assembly groove (311) is consistent in shape with the arc groove (11). The placement structure (4) is slidably connected to the assembly groove (311) and cooperates with the limiting rod (312) to achieve smooth rotation.

3. The multi-station intelligent integrated welding equipment for ship pipelines according to claim 2 is characterized in that: The driving member (32) includes a driving cylinder (321), a mounting frame (322), a sliding frame (323), a driving motor (324), a driving rod (325) and a driving gear (326). The mounting frame (322) is fixed in the placement cavity (12), the driving cylinder (321) is arranged on the mounting frame (322), and the sliding frame (323) is slidably mounted in the mounting frame (322) and connected to the output end of the driving cylinder (321); The driving motor (324) is mounted on the sliding frame (323), one end of the driving rod (325) is connected to the output end of the driving motor (324), and the other end thereof penetrates into the rotating frame (31), and the driving gear (326) is disposed in the rotating frame (31) and sleeved on the driving rod (325); The driving cylinder (321) can drive the sliding frame (323) to drive the driving gear (326) to move up and down, so that the driving gear (326) is meshed with the two groups of placement structures (4) in sequence, so as to drive one group of placement structures (4) to rotate separately.

4. The multi-station intelligent integrated welding equipment for ship pipelines according to claim 2 is characterized in that: Each group of the placement structure (4) includes a placement frame (41), an assembly frame (42), a gear ring (43), a dual-axis drive motor (44), two threaded rods (46), two groups of limit rods (47) and two movable connection frames (48), the placement frame (41) is arranged above the processing table (1) at intervals, the assembly frame (42) is arranged in the assembly groove (311) and is slidably connected to the limit rod (312), and one side of the assembly frame (42) is connected to the placement frame (41), and the gear ring (43) is arranged on the other side of the assembly frame (42) and can be engaged with the driving gear (326); Two partition plates (45) are symmetrically arranged in the placement rack (41), the dual-axis drive motor (44) is arranged between the two partition plates (45), and the two threaded rods (46) are symmetrically arranged on both sides of the placement rack (41), and their two ends are respectively rotatably connected to the partition plates (45) and the inner wall of the placement rack (41), and are both connected to the output shaft of the dual-axis drive motor (44); Each group of the two limiting rods (47) is provided on both sides of a threaded rod (46) and is rotatably connected to the partition plate (45) and the inner wall of the placement frame (41); the two movable connection frames (48) are respectively slidably sleeved on the two groups of the two limiting rods (47) and are threadedly connected to the two threaded rods (46), and are respectively connected to the pipeline limiting structure (5) and the pipeline fixing structure (7); The dual-axis drive motor (44) can selectively rotate on a single axis or rotate on both axes synchronously to drive the two threaded rods (46) to drive the movable connecting frame (48) to move synchronously or independently.

5. The multi-station intelligent integrated welding equipment for ship pipelines according to claim 4 is characterized in that: A sliding wheel (49) is provided at the bottom end of one side of the placement rack (41) close to the processing table (1). The sliding wheel (49) is arranged in the arc groove (11) and is used to support the placement rack (41) and assist it to rotate along the arc groove (11).

6. The multi-station intelligent integrated welding equipment for ship pipelines according to claim 4 is characterized in that: Each group of the pipeline limiting structures (5) includes a movable mounting frame (51), a support frame (52), two movable connecting plates (53) and a driving assembly (58), wherein the movable mounting frame (51) is slidably mounted on the placement frame (41), and its bottom end is connected to the movable connecting frame (48), the support frame (52) is arranged on the movable mounting frame (51), and a rotating mounting frame (54) is installed on the support frame (52), and a rotating wheel (55) for placing the ship pipeline is rotatably installed on the rotating mounting frame (54); The two movable connecting plates (53) are symmetrically arranged at the upper end of the movable mounting frame (51) and are both connected to the working end of the driving assembly (58). Each of the movable connecting plates (53) is provided with a fixed movable frame (56). Each of the fixed movable frames (56) is rotatably mounted with a fixed wheel (57) for limiting the position of the ship pipeline. The driving assembly (58) can drive the two movable connecting plates (53) to move synchronously in opposite directions, so that the two fixed wheels (57) clamp the two sides of the ship pipeline.

7. The multi-station intelligent integrated welding equipment for ship pipelines according to claim 6 is characterized in that: The driving assembly (58) includes two partition plates (581), a bidirectional dual-axis motor (582), two threaded rods (583), two sets of limit rods (584) and two movable connecting frames (585). The two partition plates (581) are symmetrically arranged in the movable mounting frame (51) at intervals, and the bidirectional dual-axis motor (582) is arranged between the two partition plates (581). The two threaded rods (583) are symmetrically arranged in the movable mounting frame (51), and their two ends are rotatably connected to the partition plates (581) and the inner side wall of the movable mounting frame (51), and are both connected to the output shaft of the bidirectional dual-axis motor (582). Each group of the limiting rods (584) is provided on both sides of a threaded rod (583) and is rotatably connected to the partition plate (581) and the inner side wall of the movable mounting frame (51). The two movable connecting frames (585) are respectively slidably sleeved on the two groups of limiting rods (584) and are threadedly connected to the two threaded rods (583), and are respectively connected to the two movable connecting plates (53). The bidirectional dual-axis motor (582) can drive the two threaded rods (583) to rotate in opposite directions, so that the two movable connecting frames (585) drive the movable connecting plates (53) to move in opposite directions.

8. The multi-station intelligent integrated welding equipment for ship pipelines according to claim 4 is characterized in that: Each group of the pipeline support structure (6) includes a fixed mounting frame (61), a second rotating mounting frame (62) and a second rotating wheel (63), wherein the fixed mounting frame (61) is fixed at the middle position of the placement frame (41), the second rotating mounting frame (62) is arranged on the fixed mounting frame (61), and the second rotating wheel (63) is rotatably mounted on the second rotating mounting frame (62). The second rotating wheel (63) cooperates with the first rotating wheel (55) to support the ship pipeline and cooperates with the fixed rotating wheel (57) to limit the ship pipeline.

9. The multi-station intelligent integrated welding equipment for ship pipelines according to claim 4 is characterized in that: Each set of the pipeline fixing structure (7) includes a second movable mounting frame (71), a fixed mounting plate (72), a driving power supply (73) and a pipeline pneumatic clamping device (74); the second movable mounting frame (71) is slidably mounted on the placement frame (41), and its bottom end is connected to the first movable connecting frame (48); the fixed mounting plate (72) is arranged on the second movable mounting frame (71), and the driving power supply (73) is arranged on one side of the fixed mounting plate (72); The pipeline pneumatic clamping device (74) is slidably mounted on the other side of the fixed mounting plate (72) and is electrically connected to a driving power source (73). The driving power source (73) can drive the pipeline pneumatic clamping device (74) to rotate, thereby driving the fixed ship pipeline to rotate around its axis.

10. The multi-station intelligent integrated welding equipment for ship pipelines according to claim 1, characterized in that: The welding robot arm (2) is a multi-axis robot arm with six or more axes, and the pipeline fixing structure (7) can move independently in the direction of the ship pipeline after the pipeline limiting structure (5) limits the ship pipeline until its working end is inserted into the interior of the ship pipeline to complete the fixation.

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