Assembly driving machine head with pipe fitting center adjusting mechanism

Abstract

The invention discloses an assembly driving machine head provided with a pipe fitting center adjusting mechanism and suitable for an intelligent pipe section assembly welding system. The assembly driving machine head comprises an adjusting plate assembly and a driving mechanism, wherein the adjusting plate assembly comprises a pipe fitting center vertical adjusting plate and a pipe fitting center horizontal adjusting plate; the eccentric shaft horizontal adjusting assembly comprises an eccentric shaft horizontal adjusting driving module and a horizontal linear sliding adjusting module, the eccentric shaft horizontal adjusting driving module is arranged on the pipe center horizontal adjusting plate, and the horizontal linear sliding adjusting module is arranged on the pipe center vertical adjusting plate; the eccentric shaft vertical adjusting assembly comprises an eccentric shaft vertical adjusting driving module and a vertical linear sliding adjusting module, the eccentric shaft vertical adjusting driving module is arranged on the pipe center vertical adjusting plate, and the vertical linear sliding adjusting module is arranged on the slewing bearing driving mechanism. By means of the assembly driving machine head and the pipe center adjusting mechanism, the three center lines of the rotation center, the pipe center and the straight pipe center can be located on the same straight line during assembly and welding, so that the assembly precision and the welding quality are improved.

Description

Technical Field

[0001] This invention relates to the field of pipe prefabrication, and in particular to a pipe fitting center adjustment mechanism and a pairing drive head with the pipe fitting center adjustment mechanism. Background Technology

[0002] Currently, there is an increasingly urgent need for intelligent prefabrication of pipelines in industrial projects, especially for the intelligent assembly and welding of pipe sections (composed of straight pipes and fittings).

[0003] A crucial step in intelligent pipe assembly is to detect the concentricity of straight pipes and fittings, or fittings and fittings, and to perform automatic corrective adjustments based on the detection results. Maintaining high concentricity between straight pipes and fittings, or between fittings themselves, throughout the assembly and welding process is a critical factor in ensuring the quality of the assembly and welding.

[0004] The existing intelligent pipe section pairing technology includes the following two technologies:

[0005] Technique 1: The pipe fittings are directly clamped on the machining chuck, and the straight pipes are placed on the support trolley or clamped in the center frame. The concentricity of the pipe fittings and straight pipes is adjusted only by adjusting the up-down and back-forward positions of the chuck.

[0006] Technique 2: The pipe fittings are first installed inside the pipe fitting module, and then the pipe fitting module is clamped in the module's special chuck. The straight pipe is placed on the support trolley or clamped in the central frame. The concentricity of the pipe fittings and the straight pipe is adjusted only by adjusting the up-down and back-forward positions of the chuck.

[0007] However, the two techniques mentioned above cannot guarantee the consistency between the pipe fitting center and the rotation center. They can only achieve the alignment of the two centers (i.e., the two centers are combined) on the same line, but cannot achieve the alignment of the three center lines (i.e., the three centers are combined) of the rotation center, the pipe fitting center, and the straight pipe center. This will cause significant twisting and misalignment of the pipe fitting and the straight pipe when spot welding symmetrical points is performed after measurement and adjustment, after the spot welding of the pipe fitting and the straight pipe at the first point is completed. This will cause the misalignment at the second point and subsequent points to exceed the standard requirements, seriously affecting the quality of spot welding and root pass welding, and even leading to assembly failure.

[0008] Therefore, those skilled in the art are dedicated to developing an adjustment mechanism that ensures the alignment of the pipe fitting center and the rotation center, thereby guaranteeing that the three center lines of the rotation center, the pipe fitting center, and the straight pipe center are on the same line, thus ensuring assembly accuracy and welding quality. Summary of the Invention

[0009] In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is how to make the three center lines of the rotation center, the fitting center and the straight pipe center on the same straight line during assembly and welding, so as to improve the assembly accuracy and welding quality.

[0010] To achieve the above objectives, the present invention provides a pipe fitting center adjustment mechanism, installed on an assembly drive head, the assembly drive head including a module chuck clamping mechanism and a slewing bearing drive mechanism, etc., the pipe fitting center adjustment mechanism being disposed between the module chuck clamping mechanism and the slewing bearing drive mechanism, and comprising:

[0011] The adjusting plate assembly includes a pipe fitting center vertical adjusting plate connected to the slewing bearing drive mechanism and a pipe fitting center horizontal adjusting plate connected to the module chuck clamping mechanism;

[0012] An eccentric shaft horizontal adjustment assembly is configured to drive the central horizontal adjustment plate of the pipe fitting to move horizontally. It includes an eccentric shaft horizontal adjustment drive module and a horizontal linear sliding adjustment module connected to the eccentric shaft horizontal adjustment drive module. The eccentric shaft horizontal adjustment drive module is disposed on the central horizontal adjustment plate of the pipe fitting, and the horizontal linear sliding adjustment module is disposed on the central vertical adjustment plate of the pipe fitting.

[0013] An eccentric shaft vertical adjustment assembly is configured to drive the central vertical adjustment plate of the pipe fitting to move in a vertical direction. It includes an eccentric shaft vertical adjustment drive module and a vertical linear sliding adjustment module connected to the eccentric shaft vertical adjustment drive module. The eccentric shaft vertical adjustment drive module is disposed on the central vertical adjustment plate of the pipe fitting, and the vertical linear sliding adjustment module is disposed on the slewing bearing drive mechanism.

[0014] In a preferred embodiment of the present invention, the eccentric shaft horizontal drive module includes a first servo motor, a first reducer connected to the first servo motor, and a first eccentric shaft connected to the first reducer.

[0015] In a preferred embodiment of the present invention, the horizontal linear sliding adjustment module includes a horizontal adjustment block connected to the first eccentric shaft and a first linear guide rail that slides with the horizontal adjustment block. The first linear guide rail is arranged vertically on the vertical adjustment plate at the center of the pipe fitting.

[0016] The first servo motor drives the first eccentric shaft to rotate via the first reducer. The rotation of the first eccentric shaft causes the horizontal adjusting block to rotate. The horizontal adjusting block moves horizontally under the constraint of the first linear guide rail.

[0017] In a preferred embodiment of the present invention, a horizontally moving linear guide rail is further provided on the vertical adjustment plate at the center of the pipe fitting, and the horizontally moving linear guide rail is arranged in the horizontal direction.

[0018] The pipe fitting center adjustment mechanism also includes a horizontal slider that slides in conjunction with the horizontal moving linear guide rail assembly, and the pipe fitting center horizontal adjustment plate is also provided with a horizontal receiving groove for accommodating the horizontal slider.

[0019] In a preferred embodiment of the present invention, the eccentric shaft vertical drive module includes a second servo motor, a second reducer connected to the second servo motor, and a second eccentric shaft connected to the second reducer.

[0020] In a preferred embodiment of the present invention, the vertical linear sliding adjustment module includes a vertical adjustment block connected to the second eccentric shaft and a second linear guide rail that slides with the vertical adjustment block. The second linear guide rail is arranged horizontally on the slewing bearing drive mechanism.

[0021] The second servo motor drives the second eccentric shaft to rotate via the second reducer. The rotation of the second eccentric shaft causes the vertical adjustment block to rotate. The vertical adjustment block moves in the vertical direction under the constraint of the vertical moving linear guide.

[0022] In a preferred embodiment of the present invention, the slewing bearing drive mechanism is further provided with a vertically moving linear guide rail, which is arranged along the vertical direction.

[0023] The pipe fitting center adjustment mechanism also includes a vertical slider that slides in conjunction with the vertical moving linear guide rail assembly, and the pipe fitting center vertical adjustment plate is also provided with a vertical receiving groove for accommodating the vertical slider.

[0024] The present invention also provides a pair drive head, comprising:

[0025] Steel-structured box-shaped body structure;

[0026] A slewing bearing drive mechanism is connected to the steel box-shaped body mechanism;

[0027] The module chuck clamping mechanism is configured to clamp and fix the module or chuck to clamp and fix the target pipe fitting.

[0028] A slewing center adjustment mechanism, connected to the slewing bearing drive mechanism, is adapted to adjust the center position of the slewing bearing; and

[0029] The pipe fitting center adjustment mechanism, connected to the module chuck clamping mechanism and the slewing bearing drive mechanism, is configured to adjust the center position of the target pipe fitting so that the center position of the target pipe fitting is consistent with the center position of the slewing bearing.

[0030] The pipe fitting center adjustment mechanism is the same as described above.

[0031] In a preferred embodiment of the present invention, the air-conducting slip ring mechanism installed in the assembly drive head supplies power and air to the pipe center adjustment mechanism.

[0032] The pipe fitting center adjustment mechanism provided by this invention has the following technical effects: The pipe fitting center adjustment mechanism of this invention is disposed between the assembly drive head module chuck clamping mechanism and the slewing bearing drive mechanism. It adjusts the center position of the target pipe fitting by providing an adjustment plate assembly, an eccentric shaft horizontal adjustment assembly, and an eccentric shaft vertical adjustment assembly. The adjustment plate assembly includes a pipe fitting center vertical adjustment plate connected to the slewing bearing drive mechanism and a pipe fitting center horizontal adjustment plate connected to the module chuck clamping mechanism. The eccentric shaft horizontal adjustment assembly includes an eccentric shaft horizontal adjustment drive module and a horizontal linear sliding adjustment module connected to the eccentric shaft horizontal adjustment drive module. The eccentric shaft horizontal adjustment drive module is disposed on the pipe fitting center horizontal adjustment plate, and the horizontal linear sliding adjustment module is disposed on the pipe fitting center vertical adjustment plate. The mandrel vertical adjustment assembly includes an eccentric shaft vertical adjustment drive module and a vertical linear sliding adjustment module connected to the eccentric shaft vertical adjustment drive module. The eccentric shaft vertical adjustment drive module is set on the pipe fitting center vertical adjustment plate, and the vertical linear sliding adjustment module is set on the slewing bearing drive mechanism. It can linearly drive the module chuck clamping mechanism to adjust the horizontal or vertical position, so that the center position of the module chuck clamping mechanism and the center position of the slewing bearing are on the same straight line, so that the center position of the target pipe fitting and the center position of the slewing bearing are on the same straight line. Combined with the slewing center adjustment mechanism of the assembly drive head, the slewing center and the straight pipe center are aligned on a straight line, and finally the three center lines of the slewing center, the pipe fitting center and the straight pipe center are aligned on the same straight line, thereby improving the assembly accuracy and welding quality.

[0033] The following will further explain the concept, specific structure, and technical effects of the present invention in conjunction with the accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the intelligent pipe segment assembly welding system used in this invention;

[0035] Figure 2 This is a schematic diagram of the pipe fitting center adjustment mechanism of the present invention installed on the assembly drive head;

[0036] Figure 3 yes Figure 2 A partial structural diagram;

[0037] Figure 4 yes Figure 2 Another structural diagram;

[0038] Figure 5 This is a partial structural diagram of the pipe fitting center adjustment mechanism of the present invention installed on the assembly drive head;

[0039] Figure 6 yes Figure 5 Partial structural diagram;

[0040] Figure 7 This is a schematic diagram of another part of the structure of the pipe fitting center adjustment mechanism of the present invention installed on the assembly drive head;

[0041] Figure 8 This is a schematic diagram of another part of the structure of the pipe fitting center adjustment mechanism of the present invention installed on the assembly drive head;

[0042] Figure 9 yes Figure 5 A cross-sectional schematic diagram;

[0043] Figure 10 This is a schematic diagram of the pipe fitting center adjustment mechanism of the present invention;

[0044] Figure 11 for Figure 10 A cross-sectional schematic diagram of some of the mechanisms in the diagram. Detailed Implementation

[0045] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0046] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the illustrations only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0047] Some exemplary embodiments of the invention have been described for illustrative purposes. It should be understood that the invention may be implemented in other ways not specifically shown in the accompanying drawings.

[0048] like Figure 1 As shown, a preferred embodiment of the present invention provides an intelligent pipe segment assembly and welding system for assembling and welding target pipe fittings and target straight pipes, thereby achieving the purpose of intelligent pipe prefabrication.

[0049] Specifically, the assembly welding system includes an assembly drive head 100, a center frame clamping drive device 200, and a robotic welding device 300. The assembly drive head is used to clamp and fix the target pipe fitting, the center frame clamping drive device 200 is used to clamp and fix the target straight pipe, and the robotic welding device 300 welds the target pipe fitting and the target straight pipe so that the target pipe fitting and the target straight pipe are connected after welding, thereby ultimately realizing the production and manufacturing of the pipe section.

[0050] In this embodiment, two assembly drive heads 100 are provided, arranged opposite to each other. The center frame clamping drive device 200 is disposed between the two oppositely arranged assembly drive heads 100, thereby enabling simultaneous welding of both ends of the target straight pipe to the target pipe fitting, improving welding efficiency. Of course, while two assembly drive heads 100 are provided, only one may operate, i.e., one end of the target straight pipe is welded to the target pipe fitting. This is not specifically limited and can be determined according to the actual situation.

[0051] Please combine Figures 2 to 11 The assembly drive head 100 includes a steel box-shaped machine body mechanism 10 with a slewing bearing, a slewing center adjustment mechanism 20 connected to the steel box-shaped machine body mechanism 10, a slewing bearing drive mechanism 50 connected to the slewing center adjustment mechanism 20, a pipe fitting center adjustment mechanism 40 connected to the slewing bearing drive mechanism 50, and a module chuck clamping mechanism 30 connected to the pipe fitting center adjustment mechanism 40. The slewing bearing drive mechanism 50 drives the slewing bearing to rotate, thereby causing the pipe fitting center adjustment mechanism 40 and the module chuck clamping mechanism 30 to rotate, which in turn causes the target pipe fitting to rotate, so that the target pipe fitting and the target straight pipe can be assembled and welded.

[0052] The modular chuck clamping mechanism 30 is configured to clamp and fix the pipe fitting module to secure the target pipe fitting. The modular chuck clamping mechanism 30 includes four jaws that can move relative to each other, thereby clamping and fixing pipe fitting modules of different specifications. This is a conventional structure and will not be described in detail here. The aforementioned pipe fitting module is a fixture capable of clamping and fixing the target pipe fitting according to a preset direction and / or preset angle. When the pipe fitting module is clamped and fixed on the modular chuck clamping mechanism 30, the welding position of the target pipe fitting is relatively fixed to facilitate subsequent welding work.

[0053] In other embodiments, the welding position of the target pipe may not be fixed, and is not specifically limited here, but depends on the actual situation.

[0054] The slewing center adjustment mechanism 20 includes a first plate connected to the steel box-shaped machine body mechanism 10 via a vertically arranged wire guide rail, a second plate connected to the first plate via a horizontally arranged wire guide rail, a screw jack that drives the first plate to move vertically, and a servo motor that drives the second plate to move horizontally, thereby realizing the adjustment of the center position of the slewing bearing.

[0055] The assembly drive head 100 also includes an air guide and conductive slip ring mechanism 60, which provides power and air supply to the assembly pipe fitting center adjustment mechanism 40 and the entire assembly drive head 100.

[0056] The assembly welding system also includes a laser vision device, which is used to measure the target straight pipe to obtain the center position of the target straight pipe. Then, the assembly welding system adjusts the center position of the slewing bearing of the assembly drive head 100 according to the obtained center position of the target straight pipe, so that the center position of the target straight pipe and the center position of the slewing bearing are on the same straight line, thereby aligning the target straight pipe and the target pipe fitting for subsequent welding work.

[0057] However, in actual manufacturing, even if the center position of the target pipe and the center position of the module chuck clamping mechanism 30 are on the same straight line when the module chuck clamping mechanism 30 clamps and fixes the pipe module, there will still be installation errors when the target pipe is installed into the module, resulting in the center of the target pipe and the center of the module being inconsistent. Alternatively, there may be processing or assembly errors in the pipe module and the module clamping chuck, resulting in errors between the center of the module and the center of the chuck. Or, there may be assembly errors between the module clamping chuck and the slewing bearing, resulting in the center of the chuck and the center of the slewing bearing being inconsistent. All of the above phenomena will cause the center position of the target pipe to be inconsistent with the center position of the slewing bearing. Consequently, after the target pipe and the target straight pipe are spot welded at the first point, when the target pipe and the target straight pipe are rotated to spot weld symmetrical points, the target pipe and the target straight pipe will experience significant twisting and misalignment. This will cause the misalignment at the second point and subsequent points to exceed the standard requirements, seriously affecting the quality of spot welding and root pass welding, and even leading to assembly failure.

[0058] To address the aforementioned technical problems, the assembly drive head 100 in this embodiment further includes a pipe fitting center adjustment mechanism 40. The pipe fitting center adjustment mechanism 40 connects the module chuck clamping mechanism 30 and the slewing bearing drive mechanism 50, and is configured to adjust the center position of the target pipe fitting so that the center position of the target pipe fitting coincides with the center position of the slewing bearing.

[0059] Specifically, the pipe fitting center adjustment mechanism 40 includes an adjustment plate assembly, an eccentric shaft horizontal adjustment assembly 3, and an eccentric shaft vertical adjustment assembly 6. The adjustment plate assembly includes a pipe fitting center vertical adjustment plate 2 connected to the slewing bearing drive mechanism 50 and a pipe fitting center horizontal adjustment plate 1 connected to the module chuck clamping mechanism 30. The eccentric shaft horizontal adjustment assembly 3 is configured to drive the pipe fitting center horizontal adjustment plate 1 to move horizontally, and the eccentric shaft vertical adjustment assembly 6 is configured to drive the pipe fitting center vertical adjustment plate 2 to move vertically, thereby adjusting the center position of the module chuck clamping mechanism 30, and thus adjusting the center position of the target pipe fitting.

[0060] The eccentric shaft horizontal adjustment assembly 3 includes an eccentric shaft horizontal adjustment drive module 31 and a horizontal linear sliding adjustment module 32 connected to the eccentric shaft horizontal adjustment drive module 31. The eccentric shaft horizontal adjustment drive module 31 is disposed on the pipe fitting center horizontal adjustment plate 1, and the horizontal linear sliding adjustment module 32 is disposed on the pipe fitting center vertical adjustment plate 2. The eccentric shaft horizontal drive module includes a first servo motor 311, a first reducer 312 connected to the first servo motor 311, and a first eccentric shaft 313 connected to the first reducer 312. The horizontal linear sliding adjustment module 32 includes a horizontal adjustment block 321 connected to the first eccentric shaft 313 and a first linear guide rail 322 that slides with the horizontal adjustment block 321. The first linear guide rail 322 is arranged vertically on the pipe fitting center vertical adjustment plate 2. The first servo motor 311 drives the first eccentric shaft 313 to rotate via the first reducer 312. The rotation of the first eccentric shaft 313 causes the horizontal adjusting block 321 to rotate. The horizontal adjusting block 321 moves horizontally under the constraint of the first linear guide rail 322.

[0061] That is, during the above-mentioned horizontal adjustment process, since the first eccentric shaft 313 is connected to the horizontal adjustment block 321, it will drive the horizontal adjustment block 321 to rotate. The horizontal adjustment block 321 is slidably connected to the first linear guide rail 322, and the vertical component of the horizontal adjustment block 321 is absorbed by the first linear guide rail 322. The horizontal component of the horizontal adjustment block 321 drives the central horizontal adjustment plate 1 of the pipe to move horizontally.

[0062] The vertical adjustment plate 2 at the center of the pipe fitting is also provided with a horizontally moving linear guide rail 4, which is arranged in a horizontal direction. The pipe fitting center adjustment mechanism 40 also includes a horizontal slider 5 that slides with the horizontally moving linear guide rail 4. The horizontal adjustment plate 1 at the center of the pipe fitting is also provided with a horizontal receiving groove 11 for accommodating the horizontal slider 5. In this embodiment, there are two horizontally moving linear guide rails 4, which are spaced apart to further ensure the moving accuracy of the horizontal adjustment plate 1 at the center of the pipe fitting, thereby ensuring the horizontal moving accuracy of the module chuck clamping mechanism 30.

[0063] The eccentric shaft vertical adjustment assembly 6 includes an eccentric shaft vertical adjustment drive module and a vertical linear sliding adjustment module 62 connected to the eccentric shaft vertical adjustment drive module. The eccentric shaft vertical adjustment drive module is mounted on the central vertical adjustment plate 2 of the pipe fitting, and the vertical linear sliding adjustment module 62 is mounted on the slewing bearing drive mechanism 50.

[0064] The eccentric shaft vertical drive module 61 includes a second servo motor 611, a second reducer 612 connected to the second servo motor 611, and a second eccentric shaft 613 connected to the second reducer 612. The vertical linear sliding adjustment module 62 includes a vertical adjustment block 621 connected to the second eccentric shaft 613, and a second linear guide rail 622 that slides with the vertical adjustment block 621. The second linear guide rail 622 is arranged vertically on the slewing bearing drive mechanism 50. The second servo motor 611 drives the second eccentric shaft 613 to rotate via the second reducer 612. The rotation of the second eccentric shaft 613 causes the vertical adjustment block 621 to rotate, and the vertical adjustment block 621 moves vertically under the constraint of the second linear guide rail 622.

[0065] That is, during the above-mentioned vertical adjustment process, since the second eccentric shaft 613 is connected to the vertical adjustment block 621, it will drive the vertical adjustment block 621 to rotate. The vertical adjustment block 621 is slidably connected to the second linear guide rail 622, and the horizontal component of the vertical adjustment block 621 is absorbed by the second linear guide rail 622. The vertical component of the vertical adjustment block 621 drives the central vertical adjustment plate 2 of the pipe to move horizontally.

[0066] The slewing bearing drive mechanism 50 is also equipped with a vertically moving linear guide rail 7, which is arranged in the vertical direction. The pipe fitting center adjustment mechanism 40 also includes a vertical slider 8 that slides with the vertically moving linear guide rail 7. The slewing bearing drive mechanism 50 is also equipped with a vertical receiving groove 21 for accommodating the vertical slider 8. In this embodiment, two vertically moving linear guide rails 7 are provided, and the two vertically moving linear guide rails 7 are spaced apart to further ensure the movement accuracy of the pipe fitting center vertical adjustment plate 2, thereby ensuring the vertical movement accuracy of the module chuck clamping mechanism 30.

[0067] The assembly and welding system in this embodiment works as follows:

[0068] Step S1: The laser vision device first measures the target pipe to obtain the center position of the target pipe.

[0069] Step S2: The PLC control device directs the eccentric shaft horizontal adjustment assembly 3 to perform horizontal adjustment and the eccentric shaft vertical adjustment assembly 6 to perform vertical adjustment (control signals and electrical energy are transmitted to the first servo motor 311 and the second servo motor 611 via the air-conducting slip ring mechanism 60). Specifically, for the eccentric shaft horizontal adjustment assembly 3, the horizontal component of the horizontal adjustment block 321 drives the central horizontal adjustment plate 1 of the pipe to move horizontally, and the vertical component of the horizontal adjustment block 321 is absorbed by the first linear guide rail 322; for the eccentric shaft vertical adjustment assembly 6, the vertical component of the vertical adjustment block 621 drives the central vertical adjustment plate 2 of the pipe to move vertically, and the horizontal component of the vertical adjustment block 621 is absorbed by the second linear guide rail 622.

[0070] Step S3: Repeat the above steps to measure, calculate and adjust again to ensure the consistency between the center position of the target pipe fitting and the center position of the slewing bearing, thereby ensuring the consistency between the center of the target pipe fitting and the center of rotation.

[0071] Step S4: The laser vision device then measures the center position of the target straight pipe and the center position of the fitting, calculates the difference between the center position of the target fitting and the center position of the straight pipe, and feeds the result back to the PLC control device of the assembly welding system (conventional structure, not described in detail here);

[0072] In summary: The pipe fitting center adjustment mechanism 40 of the present invention is disposed between the module chuck clamping mechanism 30 and the slewing bearing drive mechanism 50. It adjusts the center position of the target pipe fitting by comprising an adjustment plate assembly, an eccentric shaft horizontal adjustment assembly 3, and an eccentric shaft vertical adjustment assembly 6. The adjustment plate assembly includes a pipe fitting center vertical adjustment plate 2 connected to the slewing bearing drive mechanism 50 and a pipe fitting center horizontal adjustment plate 1 connected to the module chuck clamping mechanism 30. The eccentric shaft horizontal adjustment assembly 3 includes an eccentric shaft horizontal adjustment drive module 31 and a horizontal linear sliding adjustment module 32 connected to the eccentric shaft horizontal adjustment drive module 31. The eccentric shaft horizontal adjustment drive module 31 is disposed on the pipe fitting center horizontal adjustment plate 1, and the horizontal linear sliding adjustment module 32 is disposed on the pipe fitting center vertical adjustment plate 2. The eccentric shaft vertical adjustment assembly 6 includes an eccentric shaft vertical adjustment... The drive module and the vertical linear sliding adjustment module 62 connected to the eccentric shaft vertical adjustment drive module are arranged on the pipe fitting center vertical adjustment plate 2 and on the slewing bearing drive mechanism 50. The vertical linear sliding adjustment module 62 can linearly drive the module chuck clamping mechanism 30 to adjust the horizontal or vertical position, so that the center position of the module chuck clamping mechanism 30 and the center position of the slewing bearing are on the same straight line, so that the center position of the target pipe fitting and the center position of the slewing bearing are on the same straight line. After the center position of the slewing bearing and the center position of the straight pipe are aligned on the same straight line, the rotation center adjustment mechanism of the assembly drive head is combined to realize that the rotation center and the straight pipe center are on the same straight line. Finally, the three center lines of the rotation center, the pipe fitting center and the straight pipe center are on the same straight line, so as to improve the assembly accuracy and welding quality.

[0073] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A pipe fitting center adjustment mechanism, characterized in that, Installed on the assembly drive head of the intelligent pipe section assembly welding system, the assembly drive head includes a module chuck clamping mechanism and a slewing bearing drive mechanism, etc. The pipe fitting center adjustment mechanism is disposed between the module chuck clamping mechanism and the slewing bearing drive mechanism, and includes: The adjusting plate assembly includes a pipe fitting center vertical adjusting plate connected to the slewing bearing drive mechanism and a pipe fitting center horizontal adjusting plate connected to the module chuck clamping mechanism; An eccentric shaft horizontal adjustment assembly is configured to drive the central horizontal adjustment plate of the pipe fitting to move horizontally. It includes an eccentric shaft horizontal adjustment drive module and a horizontal linear sliding adjustment module connected to the eccentric shaft horizontal adjustment drive module. The eccentric shaft horizontal adjustment drive module is disposed on the central horizontal adjustment plate of the pipe fitting, and the horizontal linear sliding adjustment module is disposed on the central vertical adjustment plate of the pipe fitting. An eccentric shaft vertical adjustment assembly is configured to drive the central vertical adjustment plate of the pipe fitting to move in a vertical direction. It includes an eccentric shaft vertical adjustment drive module and a vertical linear sliding adjustment module connected to the eccentric shaft vertical adjustment drive module. The eccentric shaft vertical adjustment drive module is disposed on the central vertical adjustment plate of the pipe fitting, and the vertical linear sliding adjustment module is disposed on the slewing bearing drive mechanism.

2. The pipe fitting center adjustment mechanism as described in claim 1, characterized in that, The eccentric shaft horizontal drive module includes a first servo motor, a first reducer connected to the first servo motor, and a first eccentric shaft connected to the first reducer.

3. The pipe fitting center adjustment mechanism as described in claim 2, characterized in that, The horizontal linear sliding adjustment module includes a horizontal adjustment block connected to the first eccentric shaft and a first linear guide rail that slides with the horizontal adjustment block. The first linear guide rail is arranged vertically on the vertical adjustment plate at the center of the pipe fitting. The first servo motor drives the first eccentric shaft to rotate via the first reducer. The rotation of the first eccentric shaft causes the horizontal adjusting block to rotate. The horizontal adjusting block moves horizontally under the constraint of the first horizontal linear guide rail.

4. The pipe fitting center adjustment mechanism as described in claim 2, characterized in that, The vertical adjustment plate at the center of the pipe fitting is also provided with a horizontal linear guide rail, which is arranged in the horizontal direction. The pipe fitting center adjustment mechanism also includes a horizontal slider that slides in conjunction with the horizontal moving linear guide rail assembly, and the pipe fitting center horizontal adjustment plate is also provided with a horizontal receiving groove for accommodating the horizontal slider.

5. The pipe fitting center adjustment mechanism as described in claim 1, characterized in that, The eccentric shaft vertical drive module includes a second servo motor, a second reducer connected to the second servo motor, and a second eccentric shaft connected to the second reducer.

6. The pipe fitting center adjustment mechanism as described in claim 5, characterized in that, The vertical linear sliding adjustment module includes a vertical adjustment block connected to the second eccentric shaft and a second linear guide rail that slides with the vertical adjustment block. The second linear guide rail is arranged horizontally on the slewing bearing drive mechanism. The second servo motor drives the second eccentric shaft to rotate via the second reducer. The rotation of the second eccentric shaft causes the vertical adjustment block to rotate. The vertical adjustment block moves in the vertical direction under the constraint of the second linear guide rail.

7. The pipe fitting center adjustment mechanism as described in claim 5, characterized in that, The slewing bearing drive mechanism is also provided with a vertically moving linear guide rail, which is arranged along the vertical direction. The pipe fitting center adjustment mechanism also includes a vertical slider that slides in conjunction with the vertical moving linear guide rail assembly, and the pipe fitting center vertical adjustment plate is also provided with a vertical receiving groove for accommodating the vertical slider.

8. A pair drive head, characterized in that, include: Steel-structured box-shaped body structure; A slewing bearing drive mechanism is connected to the steel box-shaped body mechanism; The module chuck clamping mechanism is configured to clamp and fix the module or chuck to clamp and fix the target pipe fitting. A slewing center adjustment mechanism is connected to the slewing bearing drive mechanism and is adapted to adjust the center position of the slewing bearing. as well as The pipe fitting center adjustment mechanism, connected to the module chuck clamping mechanism and the slewing bearing drive mechanism, is configured to adjust the center position of the target pipe fitting so that the center position of the target pipe fitting is consistent with the center position of the slewing bearing. Wherein, the pipe fitting center adjustment mechanism is the pipe fitting center adjustment mechanism as described in any one of claims 1 to 7.

9. The pair drive head as described in claim 1, characterized in that, The assembly drive head also includes a gas-conducting and conductive slip ring mechanism, which supplies power and gas to the pipe fitting center adjustment mechanism.

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