Steel pipe sheet multi-plate synchronous transfer positioning and welding production line

Abstract

The application discloses a kind of steel pipe sheet multi-stand synchronous transfer positioning welding production line, including positioning frame;Its upper end is rotatably connected positioning frame, the other end is driven to overturn by servo motor, it is arranged with product positioning plate, cylinder fixed plate on it, lower pressing cylinder (with pressing block) is mounted on cylinder fixed plate, clamping cylinder (with clamping block) and side positioning plate, and one end cylinder fixed plate is fixed, the other end is movable to adapt to different size stand;Ground rail is equipped with material taking robot with magnetic material taking head, for simultaneously grabbing first stand and second stand;The position of stand is preliminarily constrained by positioning column, and tilt positioning table assists stand posture adjustment.When welding, material taking robot is accurately placed in positioning frame, lower pressing cylinder, clamping cylinder and positioning cylinder are cooperated to complete all-around positioning, cooperate overturning bottom plate to realize multi-angle welding, solve the problem of traditional submerged arc welding all-position welding difficulty, molten pool under trickling causes not fusion or burn-through.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of welding positioning device, and particularly relates to a steel pipe piece multi-stand plate synchronous transfer positioning and welding production line. BACKGROUND

[0002] Steel pipe pieces are usually used in tunnels, underground engineering or large pipelines as support or enclosure structures, wherein the vertical stand plates in the steel pipe pieces are key components of the steel pipe piece structure, the vertical stand plates being plate pieces perpendicular to the pipeline axis or tunnel direction and bearing vertical loads, and the horizontal stand plates being plate pieces parallel to the pipeline axis or tunnel direction and jointly forming a closed or semi-closed tubular structure with the vertical stand plates.

[0003] At present, the vertical stand plates and the horizontal stand plates are mostly welded into T shapes in advance, but manual arc welding or submerged arc welding is mostly used in reality. Manual arc welding needs to frequently replace electrodes and clean slag, and a single welding seam takes a long time, and the skill level of welders directly affects the weld forming and defect rate. Vertical welding needs to be kept in a fixed posture for a long time, which is easy to cause welder fatigue. Submerged arc welding is only suitable for flat welding or fixed-position vertical welding, and cannot complete all-position welding. When vertical welding, the risk of molten pool flowing down is high, and defects such as incomplete fusion or burn-through are easy to occur.

[0004] Among them, the Chinese patent CN111318828B, a high-strength pipe piece framework automatic welding process and device, includes a horizontal pushing mechanism and a guide linear screw motor, the horizontal pushing mechanism is provided with a placing rack block on the upper left and right sides, and the inside of the placing rack block is provided with an electric wire, the electric wire is penetrated by an iron core, and the iron core is provided with a partition plate above, and the electric wire is provided with a guide mechanism on the side away from the vertical center line of the horizontal pushing mechanism. The high-strength pipe piece framework automatic welding process and device are provided with an electric wire and an iron core. The electric wire is electrified, so that the iron core generates a magnetic field, which can provide magnetic attraction for the machined pipe piece framework. The uniform distribution of the iron core can effectively increase the action area of the magnetic force, so that the magnetic force generated by the iron core can effectively limit the position of the machined pipe piece framework.

[0005] A large-diameter steel plate concrete segment welding system is convenient for welding the pipe seam and the ring seam of a large pipeline, improves the welding efficiency, and comprises a welding vehicle for carrying a robot welding device to enable the robot welding device to weld the pipe seam, a PLC, the welding vehicle comprising a vehicle body and a vehicle carrying moving device, the input end of the vehicle carrying moving device being connected with the output end of the PLC, the robot welding device being arranged on the vehicle body, and the output end of a first laser tracking system being connected with the input end of the PLC, the welding vehicle composed of the vehicle body, the vehicle carrying moving device and a vehicle carrying auxiliary supporting device solving the problem that the robot welding device is inconvenient to move inside the pipeline; the ring seam welding device composed of a ring seam servo rotating shaft and a ring seam welding gun supporting arm is arranged on the welding vehicle, the ring seam servo rotating shaft rotating a circle under the driving of the ring seam servo rotating shaft, and the welding gun driving the ring seam welding device to weld the ring-shaped ring seam, solving the problem that the robot welding device is inconvenient to weld the ring seam.

[0006] The utility model belongs to tunnel engineering auxiliary equipment device technical field, and relates to an auxiliary fixture for welding a connecting plate and an arch unit in a tunnel, which comprises an arch unit in the shape of an I-steel structure and a flat connecting plate.

[0007] The prior art cannot solve the technical problem of flexible positioning and assisting in omnidirectional welding of the segment vertical stand plate. SUMMARY

[0008] The present application aims at solving the technical problem of flexible positioning and assisting in omnidirectional welding of the segment vertical stand plate.

[0009] To achieve the above-mentioned purpose, the present application adopts the following technical scheme: a steel segment multi-stand plate synchronous transfer positioning and welding production line, comprising:

[0010] Positioning frame, the turnover bottom plate is arranged on the positioning frame, a plurality of product positioning plates and a plurality of cylinder fixing plates are arranged on the turnover bottom plate, a pressing cylinder is connected to the cylinder fixing plate, a pressing block is connected to the pressing cylinder, a clamping cylinder fixing plate and a side positioning plate are arranged on the cylinder fixing plate, a clamping cylinder is connected to the clamping cylinder fixing plate, a clamping block is arranged on the clamping cylinder, one end of the cylinder fixing plate is fixedly connected to the turnover bottom plate, and the other end of the cylinder fixing plate is movably connected to the turnover bottom plate, and a welding robot is arranged on one side of the positioning frame.

[0011] Ground rail, located on one side of the positioning frame, the ground rail is provided with a material taking robot, and the material taking robot is provided with a magnetic material taking head.

[0012] A plurality of material placing plates are located on the other side of the ground rail, a plurality of positioning columns are arranged on the material placing plates, a first vertical plate and a second vertical plate are arranged between the positioning columns respectively.

[0013] And an inclined positioning table is located at one end of the material placing plate.

[0014] Further description of the above technical scheme:

[0015] One end of the turnover bottom plate is rotatably connected to the positioning frame, the other end of the turnover bottom plate is provided with a connecting block, one end of the positioning frame is provided with an electric box, a servo motor is arranged in the electric box, and the servo motor is connected to the connecting block.

[0016] Further description of the above technical scheme:

[0017] A moving groove is arranged on the turnover bottom plate, a sliding plate is arranged on the other end of the cylinder fixing plate, a driving motor is arranged on the sliding plate, a rotating gear is arranged on the driving motor, a rack is arranged at the bottom of the turnover bottom plate, the rotating gear moves along the rack, a plurality of turnover limiting blocks are arranged on the turnover bottom plate, and the outer side wall of the turnover limiting block is inclined.

[0018] Further description of the above technical scheme:

[0019] A positioning cylinder is arranged on the turnover bottom plate, the positioning cylinder abuts against the outer side of the first vertical plate, and the positioning cylinder is provided with a cylinder protective cover.

[0020] Further description of the above technical scheme:

[0021] The sliding seat is slidably connected to the ground rail, the material taking robot is connected to the sliding seat, the magnetic material taking head comprises a rotating motor, a connecting plate and a plurality of electromagnets, the plurality of electromagnets are connected to the connecting plate, the connecting plate is connected to the rotating motor, the rotating motor is connected to the material taking robot, and the ground rail is provided with a plurality of fixing blocks on both sides.

[0022] As a further description of the above technical solution:

[0023] One side of the positioning frame is provided with a storage rack, and lifting rings are arranged on the storage rack and the material placing plate.

[0024] As a further description of the above technical solution:

[0025] A plurality of fixing plates are arranged around the bottom of the positioning frame, and bolts are connected to the ground through the fixing plates.

[0026] As a further description of the above technical solution:

[0027] The welding robot comprises a rotating base and a welding manipulator, the welding manipulator is connected to the rotating base, and the rotating base is connected to the fixing frame.

[0028] As a further description of the above technical solution:

[0029] The inclined positioning table is provided with limiting plates arranged perpendicularly to each other, the inclined positioning table is connected to the supporting frame, and the supporting frame is connected to the positioning table.

[0030] As described above, due to the adoption of the above technical solution, the beneficial effects of the present application are:

[0031] 1、In the present application, the positioning frame is provided, the turnover bottom plate is arranged on the positioning frame, one end of the turnover bottom plate is rotatably connected to the positioning frame, the other end penetrates through the positioning frame and is connected to the servo motor, the turnover of the turnover bottom plate is realized, the lower pressing cylinder, the clamping cylinder and the product positioning plate are arranged on the turnover, when two vertical standing plates need to be welded, the magnetic material taking head on the material taking robot simultaneously takes the first standing plate and the second standing plate, then the first standing plate is placed between a plurality of product positioning plates, the second standing plate is placed between the pressing block, the clamping block and the side positioning block at one end, the other end cylinder fixed block is driven along the moving groove by the driving motor to press and clamp the second standing plate, the positioning cylinder is extended to abut and position the side end of the first standing plate, this structure realizes the all-around positioning of the first standing plate and the second standing plate, and cooperates with the turnover bottom plate, so that the welding robot can be welded all-around, the welding precision and efficiency are improved, the submerged arc welding cannot complete the all-position welding, the risk of molten pool dripping down is high during vertical welding, and the defects of incomplete fusion or burn-through are prone to occur.

[0032] 2. In this invention, the material handling robot transfers the first and second upright plates to the inclined positioning platform for transfer, so that the first and second upright plates can be perpendicular to each other. Then, the positioning mechanism on the flipping base plate on the positioning frame improves the alignment of the two upright plates and improves the welding efficiency.

[0033] 3. In this invention, the welding posture can be dynamically adjusted, the molten pool can be balanced by gravity, the robot picks up the material and the cylinder close-loop positioning improves the positioning accuracy, and at the same time, by setting a flipping limit block, the outer wall of the flipping limit block is inclined, which provides a certain angle of support for the flipping base plate, thereby improving the welding quality.

[0034] 4. In this invention, high-precision positioning and all-attitude welding of the upright plate are achieved through dynamic flipping, multi-directional positioning and robot collaboration, which effectively suppresses the overheating and flow of the molten pool; at the same time, the lower clamping cylinder and the clamping cylinder maintain a constant clamping force through pressure sensors to counteract the workpiece deformation caused by welding thermal expansion and ensure that the weld is fully fitted. Attached Figure Description

[0035] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 A three-dimensional production line for synchronous transfer, positioning, and welding of multiple vertical plates of steel pipe segments. Figure 1 .

[0037] Figure 2 A three-dimensional production line for synchronous transfer, positioning, and welding of multiple vertical plates of steel pipe segments. Figure 2 .

[0038] Figure 3 A three-dimensional production line for synchronous transfer, positioning, and welding of multiple vertical plates of steel pipe segments. Figure 3 .

[0039] Figure 4 A three-dimensional production line for synchronous transfer, positioning, and welding of multiple vertical plates of steel pipe segments. Figure 4 .

[0040] Figure 5 for Figure 4 Enlarged view of point A in the middle.

[0041] Figure 6 for Figure 3 Enlarged view of section B in the middle.

[0042] Legend:

[0043] 1-position frame; 2-flip bottom plate; 3-product positioning plate; 4-cylinder fixing plate; 5-pressing cylinder; 6-pressing block; 7-clamping cylinder fixing plate; 8-side positioning plate; 9-clamping cylinder; 10-clamping block; 11-welding robot; 111-rotary base; 112-welding manipulator; 12-ground rail; 13-removing robot; 14-magnetic removing head; 141-rotary motor; 142-connection plate; 143-electromagnet; 15-removing plate; 16-positioning column; 17-first vertical plate; 18-second vertical plate; 19-inclined positioning table; 20-connection block; 21-electric box; 22-servo motor; 23-moving groove; 24-sliding plate; 25-driving motor; 26-rotary gear; 27-rack; 28-flip limiting block; 29-positioning cylinder; 30-cylinder protective cover; 31-sliding base; 32-fixing block; 33-housing frame; 34-lifting ring; 35-fixing plate; 36-fixing frame; 37-limiting plate; 38-supporting frame; 39-positioning table. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0046] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0047] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, thus, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0048] In the description of the embodiments of the present application, it should be noted that the terms "upper", "inner", and the like indicate the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present application is usually placed, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0049] In the description of the present application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set", "mount", "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected, it can be directly connected, or indirectly connected through an intermediate medium, it can be the communication between the two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0050] Please refer to Figures 1-6 The present application provides a technical solution: a steel pipe piece multi-stand plate synchronous transfer positioning and welding production line, comprising:

[0051] A positioning frame 1 is provided with a turnover bottom plate 2, a plurality of product positioning plates 3 and a plurality of cylinder fixing plates 4 are arranged on the turnover bottom plate 2, a pressing cylinder 5 is connected to the cylinder fixing plate 4, a pressing block 6 is connected to the pressing cylinder 5, a clamping cylinder fixing plate 7 and a side positioning plate 8 are arranged on the cylinder fixing plate 4, a clamping cylinder 9 is connected to the clamping cylinder fixing plate 7, a clamping block 10 is arranged on the clamping cylinder 9, one end of the cylinder fixing plate 4 is fixedly connected to the turnover bottom plate 2, and the other end of the cylinder fixing plate 4 is movably connected to the turnover bottom plate 2, and a welding robot 11 is arranged on one side of the positioning frame 1; the pressing block presses the top of the second stand plate, the side end of the second stand plate abuts against the side positioning plate, and the other end of the second stand plate is positioned by the clamping block driven by the clamping cylinder, so that the second stand plate is positioned in all directions.

[0052] A ground rail 12 is arranged on one side of the positioning frame 1, a material taking robot 13 is arranged on the ground rail 12, and a magnetic material taking head 14 is arranged on the material taking robot 13;

[0053] A plurality of material placing plates 15 are arranged on the other side of the ground rail 12, a plurality of positioning columns 16 are arranged on the material placing plates 15, a first stand plate 17 and a second stand plate 18 are arranged between the plurality of positioning columns 16 respectively;

[0054] And an inclined positioning table 19 is arranged at one end of the material placing plate 15.

[0055] The end of the turnover bottom plate 2 is rotationally connected to the positioning frame 1, and the other end of the turnover bottom plate 2 is provided with a connecting block 20.

[0056] A moving groove 23 is arranged on the turnover bottom plate 2, and a sliding plate 24 is arranged on the other end of the cylinder fixing plate 354, a drive motor 25 is arranged on the sliding plate 24, a rotating gear 26 is arranged on the drive motor 25, and a rack 27 is arranged at the bottom of the turnover bottom plate 2, the rotating gear 26 moves along the rack 27, and a plurality of turnover limiting blocks 28 are arranged on the turnover bottom plate 2, and the outer side wall of the turnover limiting block 28 is inclined.

[0057] A positioning cylinder 29 is arranged on the turnover bottom plate 2, the positioning cylinder 29 abuts against the outer side of the first vertical plate 17, and the positioning cylinder 29 is provided with a cylinder protective cover 30.

[0058] The sliding seat 31 is slidingly connected to the ground rail 12, the material taking robot 13 is connected to the sliding seat 31, the magnetic material taking head 14 comprises a rotating motor 141, a connecting plate 142 and a plurality of electromagnets 143, the plurality of electromagnets 143 are connected to the connecting plate 142, the connecting plate 142 is connected to the rotating motor 141, the rotating motor 141 is connected to the material taking robot 13, and a plurality of fixing blocks 32 are arranged on the two sides of the ground rail 12. The electromagnets transport the first vertical plate and the second vertical plate on the material placing plate as a whole.

[0059] One side of the positioning frame 1 is provided with a storage frame 33, and a lifting ring 34 is arranged on the storage frame 33 and the material placing plate 15. The material placing plate and the storage frame are integrally moved by the travelling crane.

[0060] A plurality of fixing plates 35 are arranged around the bottom of the positioning frame 1, and bolts are connected to the ground through the fixing plates 35.

[0061] The welding robot 11 comprises a rotating base 111 and a welding manipulator 112, the welding manipulator 112 is connected to the rotating base 111, and the rotating base 111 is connected to a fixing frame 36. The welding robot can exchange welding between the two positioning frames, one end of the positioning frame is welded to the vertical plate positioned on the other end of the turnover bottom plate during the material moving process of the material taking robot, continuous welding is ensured, and the welding efficiency is improved.

[0062] The inclined positioning table 19 is provided with limiting plates 37 arranged perpendicular to each other, the inclined positioning table 19 is connected to a supporting frame 38, and the supporting frame 38 is connected to a positioning table 39. The first vertical plate and the second vertical plate are preliminarily aligned and positioned.

[0063] Working principle: through setting the positioning frame, the positioning frame is provided with the turnover bottom plate, one end of the turnover bottom plate is rotationally connected to the positioning frame, the other end is connected to the servo motor through the positioning frame, the turnover of the turnover bottom plate is realized, and a lower pressing cylinder, a clamping cylinder and a product positioning plate are arranged on the turnover, when two vertical vertical plates need to be welded, the magnetic material taking head on the material taking robot is used to simultaneously take the first vertical plate and the second vertical plate, then the first vertical plate is placed between the product positioning plates, the second vertical plate is placed between the pressing block, the clamping block and the side positioning block at one end, the other end cylinder fixed block is driven to move along the moving groove under the drive of the driving motor, the second vertical plate is pressed and clamped, the positioning cylinder is extended to abut and position the side end of the first vertical plate, the structure realizes the all-around positioning of the first vertical plate and the second vertical plate, and cooperates with the turnover bottom plate, so that the welding robot can be welded all-round, the welding precision and the welding efficiency are improved, the submerged arc welding cannot complete the all-position welding, the risk of molten pool dripping down is high when vertical welding, and the defects of incomplete fusion or burning through are prone to occur.

[0064] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A synchronous transfer and positioning welding production line for multiple vertical plates of steel pipe segments, characterized in that, include: A positioning frame is provided with a flip-up base plate. The flip-up base plate is provided with several product positioning plates and several cylinder fixing plates. A lower pressing cylinder is connected to the cylinder fixing plate, and a pressing block is connected to the lower pressing cylinder. The cylinder fixing plate is provided with a clamping cylinder fixing plate and a side positioning plate. The clamping cylinder is connected to the clamping cylinder fixing plate, and a clamping block is provided on the clamping cylinder. One end of the cylinder fixing plate is fixedly connected to the flip-up base plate, and the other end of the cylinder fixing plate is movably connected to the flip-up base plate. A welding robot is provided on one side of the positioning frame. A ground rail is located on one side of the positioning frame, and a material-picking robot is mounted on the ground rail. The material-picking robot is equipped with a magnetic material-picking head. Several feeding plates are located on the other side of the ground rail, and several positioning posts are provided on them. The first upright plate and the second upright plate are respectively located between the several positioning posts. A tilting positioning platform is located at one end of the feeding plate; a moving groove is provided on the flipping base plate, and a sliding plate is provided on the cylinder fixing plate at the other end. A drive motor is provided on the sliding plate, and a rotating gear is provided on the drive motor. A rack is provided at the bottom of the flipping base plate, and the rotating gear moves along the rack. Several flipping limit blocks are provided on the flipping base plate, and the outer walls of the flipping limit blocks are inclined. Limit plates arranged perpendicularly to each other are provided on the tilting positioning platform. The tilting positioning platform is connected to a support frame, and the support frame is connected to a positioning table. A sliding seat is slidably connected to the ground rail, and the picking robot is connected to the sliding seat. The magnetic picking head includes a rotary motor, a connecting plate, and several electromagnets. The electromagnet is connected to the connecting plate, the connecting plate is connected to the rotary motor, the rotary motor is connected to the material-picking robot, and several fixing blocks are provided on both sides of the ground rail; a positioning cylinder is provided on the flipping base plate, the positioning cylinder abuts against the outside of the first upright plate, and the positioning cylinder is provided with a cylinder protective cover; the material-picking robot moves the first upright plate and the second upright plate to the inclined positioning platform for transfer, so that the first upright plate and the second upright plate can be perpendicular to each other; when it is necessary to weld two perpendicular upright plates, the magnetic picking head on the material-picking robot picks up the first upright plate and the second upright plate simultaneously, and then places the first upright plate between several product positioning plates.

2. The multi-plate synchronous transfer and positioning welding production line for steel pipe segments according to claim 1, characterized in that, One end of the flip-top plate is rotatably connected to the positioning frame, and the other end of the flip-top plate is provided with a connecting block. One end of the positioning frame is provided with an electrical box, and a servo motor is provided inside the electrical box. The servo motor is connected to the connecting block.

3. The multi-plate synchronous transfer and positioning welding production line for steel pipe segments according to claim 1, characterized in that... A storage rack is provided on one side of the positioning frame, and both the storage rack and the material feeding plate are provided with lifting rings.

4. The multi-plate synchronous transfer and positioning welding production line for steel pipe segments according to claim 1, characterized in that, The positioning frame has several fixing plates around its bottom, and bolts pass through the fixing plates to connect it to the ground.

5. The multi-plate synchronous transfer and positioning welding production line for steel pipe segments according to claim 4, characterized in that, The welding robot includes a rotating base and a welding manipulator, the welding manipulator being connected to the rotating base, and the rotating base being connected to a fixed frame.

Images