A dual station welding robot

Abstract

This invention relates to a dual-station welding robot, comprising a robot unit and a workpiece fixing unit, for welding pipes and flanges at both ends. The robot unit's connecting plate is equipped with two welding devices spaced apart. Both the fixed and movable frames of the workpiece fixing unit are equipped with claw disk assemblies, forming a dual-station clamping structure. This allows for the simultaneous clamping and welding of two sets of workpieces, eliminating the need to wait for a single set to complete, significantly reducing equipment downtime and production cycles. The movable frame can slide along a linear slide base, adapting to pipes of different lengths and ensuring continuous operation. The clamping assembly employs a dual positioning structure of inner diameter support blocks and outer diameter pressure blocks. Three sets of claws are evenly distributed along the circumference of the claw disk. The drive device can drive the outer support blocks to support the inner wall of the pipe and the inner pressure blocks to press against the outer wall of the flange, simultaneously positioning and fixing the workpiece. This effectively limits radial displacement and circumferential rotation, ensuring coaxiality and assembly accuracy, avoiding welding defects caused by loose clamping, improving joint quality and pass rate, and ensuring that the workpiece meets sealing and strength requirements.

Description

Technical Field

[0001] This invention relates to the field of welding robot technology, and in particular to a dual-station welding robot. Background Technology

[0002] In the welding of pipes and flanges, traditional methods mainly rely on manual operation or single-station welding equipment. Manual welding suffers from low efficiency, high labor intensity, and weld quality that is greatly affected by the operator's skill, making it difficult to guarantee consistency. Existing automated welding equipment mostly only allows for welding a single weld seam. For situations where flanges need to be welded to both ends of a pipe, it usually requires two clamping operations or a change of station to complete the task, impacting overall production efficiency. Furthermore, because pipe and flange dimensions may have tolerances, and the diameters of workpieces from different batches may vary, conventional fixtures often lack sufficient self-adjustment capabilities, requiring frequent replacement or adjustment of positioning elements. This results in long preparation times and makes it difficult to adapt to the needs of small-batch, multi-specification production. Summary of the Invention

[0003] The present invention aims to at least partially solve one of the problems existing in the prior art. To this end, the present invention proposes a highly efficient automated welding system that can simultaneously complete the welding of flanges at both ends of a pipeline and has good self-adaptive clamping capability.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] A dual-station welding robot includes a robot unit and a workpiece fixing unit for clamping and fixing workpieces, wherein the workpieces are pipes and flanges located at both ends of the pipes. The robot unit includes a robotic arm and a connecting plate on the robotic arm, with two welding devices spaced apart on the connecting plate. The workpiece fixing unit includes a linear slide base, with a fixed frame fixedly mounted at one end of the linear slide base, and a movable frame sliding on the linear slide base. A claw disk assembly is rotatably mounted on both the fixed frame and the movable frame. The claw disk assembly is equipped with a clamping component for clamping pipes and flanges. The clamping component includes three sets of claw assemblies evenly distributed along the circumference of the claw disk assembly. Each claw assembly includes an inner diameter support block, an outer diameter pressure block, and a driving device. The inner diameter support block and the outer diameter pressure block can slide along the radial direction of the claw disk assembly, and the inner diameter support block can support the inner wall of the pipe outward, while the outer diameter pressure block can press inward against the outer wall of the flange. The driving device is used to drive the inner diameter support block and the outer diameter pressure block to move closer to each other or further apart.

[0006] In some embodiments, the claw disk assembly includes a main claw disk, a first slide rail groove is provided on the end face of the main claw disk, an adjusting block and a fastener for locking the adjusting block are slidably disposed in the first slide rail groove, and the inner diameter support block and the outer diameter pressure block are respectively slidable on the adjusting block.

[0007] In some embodiments, a second slide rail groove is provided on the end face of the adjusting block, a reference block slides on the second slide rail groove, the inner diameter support block is provided on the reference block, a straight slide groove is provided on both sides of the second slide rail groove, and a slider that slides in the straight slide groove is provided on both sides of the outer diameter pressure block.

[0008] In some embodiments, the main claw disk has a central hole, the driving device includes a rotating disk rotatably disposed in the central hole, an end face gear is disposed on the rear end face of the rotating disk, a first motor is disposed at the rear end of the main claw disk, a driving gear meshing with the end face gear is disposed on the output shaft of the first motor, a guide post is disposed at the rear end of the reference block, an inclined guide groove cooperating with the guide post is disposed on the rotating disk, a first rack slides on the reference block and within a second slide rail groove, a second rack is disposed on the outer diameter pressure block, and a first transmission gear capable of meshing with the first rack and the second rack is disposed within the second slide rail groove.

[0009] In some embodiments, a swing arm is also hinged to the adjusting block, and a transmission device is connected between the swing arm and the outer diameter pressure block. When the outer diameter pressure block slides inward to press against the outer wall of the flange, the transmission device can drive the swing arm to swing, so that the flange is pressed against the reference block by the swing arm.

[0010] In some embodiments, the outer diameter pressure block is provided with an avoidance groove, one end of the swing pressure arm is provided with a hinge shaft, and the other end is provided with a pressure block component. The transmission device includes a second transmission gear and a third rack. The hinge shaft is rotatably mounted on the second slide rail groove and passes through the avoidance groove. The third rack is mounted on one side wall of the avoidance groove. The second transmission gear is mounted on the hinge shaft and meshes with the third rack.

[0011] In some embodiments, a second motor is provided on the fixed frame, a drive gear is provided on the output shaft of the second motor, a driven gear ring that meshes with the drive gear is rotatably sleeved on the fixed frame, and a secondary claw disk is provided at the rear end of the main claw disk, the secondary claw disk being coaxially and fixedly connected to the driven gear ring.

[0012] In some embodiments, a support shaft is provided on the movable frame for the claw disk assembly to be rotatably fitted.

[0013] In some embodiments, a support frame is provided on the linear slide base, a lifting frame capable of vertical movement is provided on the support frame, and rollers for supporting the pipe are spaced apart on the lifting frame.

[0014] In some embodiments, electric linear modules are spaced apart on the connecting plate, and both welding devices include a connecting rod and a welding torch disposed at one end of the connecting rod, with the other end of the connecting rod connected to the electric linear module.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] 1. Two welding devices are spaced apart on the connecting plate of the robot unit. Together with the dual-station clamping structure of the workpiece fixing unit (both the fixed frame and the movable frame are equipped with claw disk assemblies), two sets of pipe and flange workpieces can be clamped and welded simultaneously without waiting for the welding of a single workpiece to be completed before clamping. This significantly shortens the equipment downtime and production cycle. At the same time, the movable frame can slide along the linear slide table, which makes it easy to adjust the distance between the two stations and adapt to pipe workpieces of different lengths, further ensuring the continuity of operation.

[0017] 2. The clamping assembly adopts a dual positioning and clamping structure combining an inner diameter support block and an outer diameter pressure block. Three sets of gripper assemblies are evenly distributed around the circumference of the gripper disk assembly. The drive device can drive the inner diameter support block to support the inner wall of the pipe outward and the outer diameter pressure block to press the outer wall of the flange inward, realizing the synchronous positioning and fixing of the pipe and the flange. This dual clamping method can effectively limit the radial displacement and circumferential rotation of the workpiece during the welding process, ensure the coaxiality and assembly accuracy of the pipe and the flange, avoid welding defects caused by loose clamping, significantly improve the quality of the welded joint and the product qualification rate, and ensure that the welded workpiece meets the sealing performance and strength requirements. Attached Figure Description

[0018] Figure 1 This is a three-dimensional schematic diagram of the dual-station welding robot of the present invention.

[0019] Figure 2 This is a cross-sectional schematic diagram of the workpiece fixing unit of the present invention.

[0020] Figure 3 This is a schematic diagram of the fixed frame structure of the present invention.

[0021] Figure 4 This is a schematic diagram of the clamping component of the present invention when it is not clamped.

[0022] Figure 5 This is a schematic diagram of the clamping component of the present invention during clamping.

[0023] Figure 6 This is an exploded structural diagram of the clamping component of the present invention.

[0024] Figure 7 This is a schematic diagram of the structure of the rear end of the main claw disk of the present invention. Detailed Implementation

[0025] The following detailed description provides various embodiments or examples for carrying out the present invention. Of course, these are merely embodiments or examples and are not intended to be limiting. Additionally, repeated reference numerals, such as repeated numbers and / or letters, may be used in different embodiments. These repetitions are for the purpose of simple and clear description of the invention and do not represent a specific relationship between the different embodiments and / or structures discussed.

[0026] like Figures 1-7 The illustrated dual-station welding robot includes a robot unit 1 and a workpiece fixing unit 2 for clamping and fixing workpieces. The workpieces are a pipe 100 and flanges 101 located at both ends of the pipe 100. The robot unit 1 includes a robotic arm 3 and a connecting plate 4 mounted on the robotic arm 3. Two welding devices are spaced apart on the connecting plate 4. The workpiece fixing unit 2 includes a linear slide base 5. A fixed frame 6 is fixedly mounted at one end of the linear slide base 5. A movable frame 7 slides on the linear slide base 5. A claw disk assembly 8 is rotatably mounted on both the fixed frame 6 and the movable frame 7. The claw disk assembly 8 is provided with a clamping assembly for clamping the pipe 100 and the flange 101. The clamping assembly includes three sets of claw assemblies evenly distributed along the circumference of the claw disk assembly 8. Each claw assembly includes an inner diameter support block 9, an outer diameter pressure block 10, and a driving device. The inner diameter support block 9 and the outer diameter pressure block 10 can slide in the radial direction of the claw disk assembly 8, and the inner diameter support block 9 can support the inner wall of the pipe 100 outward, while the outer diameter pressure block 10 can press inward against the outer wall of the flange 101. The driving device is used to drive the inner diameter support block 9 and the outer diameter pressure block 10 to move closer to each other or further away from each other.

[0027] During workpiece clamping and positioning, the clamping assembly of workpiece fixing unit 2 completes the precise positioning and stable fixing of pipe 100 and flange 101, providing a reliable guarantee for subsequent welding operations. The specific operation process is as follows:

[0028] First, based on the length of the pipe 100 to be welded, adjust the distance between the movable frame 7 and the fixed frame 6 using the linear slide base 5 so that the distance between the claw plate assemblies 8 on the two frames matches the length of the pipe 100. Then, place the workpiece to be welded (the pipe 100 with flanges 101 at both ends assembled) between the claw plate assemblies 8 of the fixed frame 6 and the movable frame 7, ensuring that each end of the pipe 100 corresponds to one of the two claw plate assemblies 8, and that the flanges 101 fit into the clamping area of ​​the claw plate assemblies 8. Each claw assembly 8 is equipped with three sets of claw assemblies evenly distributed along the circumference. The drive devices in each set of claw assemblies are activated synchronously, driving the inner diameter support block 9 and the outer diameter pressure block 10 to move radially along the claw assembly 8. On one hand, the inner diameter support block 9 slides outward and is tightly supported against the inner wall of the pipe 100, achieving centering and positioning of the pipe 100 through radial support force, ensuring the coaxiality of the pipe 100. On the other hand, the outer diameter pressure block 10 slides inward and presses against the outer wall of the flange 101, firmly fixing the flange 101 in the preset position through radial pressure, achieving precise assembly and positioning of the flange 101 and the pipe 100. The three sets of claw assemblies are evenly distributed along the circumference, ensuring uniform distribution of clamping force, effectively preventing radial displacement or circumferential rotation of the workpiece, and ensuring clamping stability.

[0029] During the welding operation, the robotic arm 3 and dual welding device of robot unit 1, in conjunction with the rotation of the claw plate assembly 8, achieve automated welding at the connection between pipe 100 and flange 101. The specific operation process is as follows:

[0030] The robotic arm 3 of robot unit 1 is activated. According to the preset welding program (adapted to the welding trajectory of pipe 100 and flange 101), it drives the connecting plate 4 and two welding devices spaced apart on the connecting plate 4 to move, adjusting the spatial posture and welding position of the welding devices so that the two welding devices are aligned with the welding joints of the workpieces on the two sets of workstations (the connection between pipe 100 and flange 101), ensuring that the welding nozzle maintains a precise distance and angle with the welding surface. The welding device is activated and begins to output welding energy (such as electric arc, laser, etc.). At the same time, the claw disk assembly 8 on the fixed frame 6 and the movable frame 7 rotates synchronously, driving the firmly clamped pipe 100 and flange 101 to rotate circumferentially at a uniform speed. The rotation of the claw disk assembly 8 is precisely coordinated with the welding action of the welding device, enabling the welding nozzle to perform continuous and uniform welding operations along the circumferential joint of pipe 100 and flange 101, forming a complete circumferential weld. Since two independent welding devices are spaced apart on the connecting plate 4, and the workpieces at both stations have been clamped, positioned and rotated, the two welding devices can simultaneously perform welding operations on the workpieces at the two stations without waiting for the welding of a single station to be completed, thus greatly improving the efficiency of welding operations.

[0031] See Figure 4 , Figure 5As shown, the claw disk assembly 8 includes a main claw disk 21, and a first slide rail groove 22 is provided on the end face of the main claw disk 21. An adjusting block 23 and a fastener 24 for locking the adjusting block 23 slide in the first slide rail groove 22. The inner diameter support block 9 and the outer diameter pressure block 10 slide on the adjusting block 23 respectively.

[0032] Thus, the main jaw disk 21 of the jaw disk assembly 8 serves as the core load-bearing component, and the first slide rail groove 22 on its end face provides a guiding foundation for the radial sliding of the adjusting block 23. Before clamping the workpiece to be welded (pipe 100 + flange 101), the fasteners 24 can be loosened according to the overall specifications of the workpiece (such as the outer diameter of flange 101 and the pipe diameter range of pipe 100), allowing the adjusting block 23 to slide radially along the first slide rail groove 22, thereby adjusting the position of the adjusting block 23 on the main jaw disk 21. Since the inner diameter support block 9 and the outer diameter pressure block 10 are both slidably assembled on the adjusting block 23, the position adjustment of the adjusting block 23 can simultaneously drive the inner diameter support block 9 and the outer diameter pressure block 10 to move radially along the main jaw disk 21, achieving preliminary adjustment of the clamping range. After the adjusting block 23 moves to the preset position that matches the current workpiece specifications, the fasteners 24 are tightened to lock the adjusting block 23 in the first slide rail groove 22, ensuring that the adjusting block 23 will not be displaced during subsequent clamping, laying the foundation for subsequent precise adjustment.

[0033] Furthermore, a second slide rail groove 31 is provided on the end face of the adjusting block 23, a reference block 32 slides on the second slide rail groove 31, the inner diameter support block 9 is provided on the reference block 32, and straight slide grooves 33 are provided on both sides of the second slide rail groove 31. Slider blocks 34 that slide in the straight slide grooves 33 are provided on both sides of the outer diameter pressure block 10.

[0034] The second slide rail groove 31 on the end face of the adjusting block 23 provides a sliding guide for the reference block 32, and the inner diameter support block 9 is fixed on the reference block 32. Therefore, the inner diameter support block 9 can be precisely adjusted by adjusting the position of the reference block 32. The outer diameter pressure block 10 slides with the linear slide grooves 33 on both sides of the second slide rail groove 31 on the adjusting block 23 through the sliders 34 on both sides, forming a stable sliding guide structure.

[0035] See Figures 4-7As shown, the main claw disk 21 has a central hole 41. The driving device includes a rotating disk 42 rotatably disposed within the central hole 41. An end face gear 43 is disposed on the rear end face of the rotating disk 42. A first motor 410 is disposed at the rear end of the main claw disk 21. A drive gear 44 that meshes with the end face gear 43 is disposed on the output shaft of the first motor 410. A guide post 45 is disposed at the rear end of the reference block 32. An inclined guide groove 46 that cooperates with the guide post 45 is disposed on the rotating disk 42. A first rack 47 slides on the reference block 32 and within the second slide rail groove 31. A second rack 48 is disposed on the outer diameter pressure block 10. A first transmission gear 49 that can mesh with the first rack 47 and the second rack 48 is disposed within the second slide rail groove 31.

[0036] When workpiece clamping or releasing is required, the first motor 410 mounted at the rear end of the main jaw disk 21 is activated. The output shaft of the first motor 410 drives the drive gear 44 fixed on it to rotate synchronously. Since the drive gear 44 meshes with the end face gear 43 of the rotating disk 42, the rotational power of the drive gear 44 is transmitted to the end face gear 43 through gear meshing, thereby driving the rotating disk 42 to rotate around the central axis of the main jaw disk 21 within the central hole 41. When the rotating disk 42 rotates under power drive, its own rotational motion is converted into the radial linear motion of the reference block 32 through the cooperation of the inclined guide groove 46 and the guide post 45. Specifically, the inclined guide groove 46 is inclined (relative to the radial direction of the rotating disk 42). When the rotating disk 42 rotates, the groove wall of the inclined guide groove 46 generates a radial thrust or pull force on the guide post 45, while the reference block 32 is restricted by the second slide rail groove 31 on the adjusting block 23 (it can only slide radially). Therefore, the guide post 45 drives the reference block 32 to slide radially along the second slide rail groove 31. Since the inner diameter support block 9 is located on the reference block 32, the radial sliding of the reference block 32 synchronously drives the inner diameter support block 9 to move radially: for example, when the rotating disk 42 rotates in the forward direction, the guide column 45 pushes the reference block 32 to slide outward under the action of the inclined guide groove 46, and the inner diameter support block 9 synchronously extends outward to support the inner wall of the pipe 100; when the rotating disk 42 rotates in the reverse direction, the guide column 45 drives the reference block 32 to slide inward, and the inner diameter support block 9 synchronously retracts to disengage from the inner wall of the pipe 100.

[0037] When the reference block 32 slides radially along the second slide rail groove 31 under the drive of the guide post 45, the reference block 32 drives the first rack 47 on it to move radially in sync (in the same direction as the sliding of the reference block 32). Since the first rack 47 meshes with the first transmission gear 49, the linear motion of the first rack 47 is converted into the rotational motion of the first transmission gear 49. At the same time, the first transmission gear 49 meshes with the second rack 48, and its rotational motion is converted into the linear motion of the second rack 48. The sliding direction of the second rack 48 is opposite to that of the first rack 47. The reverse sliding of the second rack 48 causes the outer diameter pressure block 10 to slide radially along the linear slide groove 33. When the reference block 32 slides outward, the first rack 47 moves outward synchronously, driving the second rack 48 to move inward through the first transmission gear 49. The outer diameter pressure block 10 contracts inward synchronously to press against the outer wall of the flange 101. When the reference block 32 slides inward, the first rack 47 moves inward synchronously, driving the second rack 48 to move outward through the first transmission gear 49. The outer diameter pressure block 10 opens outward synchronously to disengage from the outer wall of the flange 101.

[0038] When clamping the workpiece, the inner diameter support block 9 supports the inner wall of the pipe 100 outward, and the outer diameter pressure block 10 presses the outer wall of the flange 101 inward, achieving dual positioning and fixation. When releasing the workpiece, the two move in opposite directions synchronously to release the clamping. Furthermore, the precise cooperation of gears, racks, and inclined grooves ensures the synchronicity, stability, and accuracy of the two movements, further improving the reliability of the clamping operation of the claw plate assembly 8.

[0039] In this invention, a swinging pressure arm 51 is also hinged to the adjusting block 23. A transmission device is connected between the swinging pressure arm 51 and the outer diameter pressure block 10. When the outer diameter pressure block 10 slides inward to press the outer wall of the flange 101, the transmission device can drive the swinging pressure arm 51 to swing, so that the flange 101 is pressed against the reference block 32 by the swinging pressure arm 51.

[0040] The outer diameter pressure block 10 is provided with an avoidance groove 61. The swing pressure arm 51 is provided with a hinge shaft 62 at one end and a pressure block 63 at the other end. The transmission device includes a second transmission gear 64 and a third rack 65. The hinge shaft 62 is rotatably mounted on the second slide rail groove 31 and passes through the avoidance groove 61. The third rack 65 is located on one side wall of the avoidance groove 61. The second transmission gear 64 is located on the hinge shaft 62 and meshes with the third rack 65.

[0041] When the first motor 410 drives the outer diameter pressure block 10 to slide inward along the straight slide groove 33 (for radially pressing the outer wall of the flange 101), it simultaneously drives the swing pressure arm 51 to swing around the hinge shaft 62 through the transmission device. The specific power transmission process is as follows:

[0042] The second rack 48 drives the outer diameter pressure block 10 to slide radially inward along the straight slide groove 33 of the adjusting block 23 (towards the outer wall of the flange 101). At this time, the outer diameter pressure block 10 not only moves closer to the flange 101, but its internal clearance slide groove 61 also moves synchronously with the outer diameter pressure block 10. Since the third rack 65 is fixed on one side wall of the clearance slide groove 61, when the outer diameter pressure block 10 slides inward, the third rack 65 moves radially inward synchronously with the clearance slide groove 61. Since the third rack 65 is always meshed with the second transmission gear 64 on the hinge shaft 62, and the hinge shaft 62 is positioned by the second slide rail groove 31 (and cannot move synchronously with the third rack 65), the linear movement of the third rack 65 will drive the second transmission gear 64 to rotate around the hinge shaft 62. The second transmission gear 64 is fixedly mounted on the hinge shaft 62 of the swing arm 51. The two rotate synchronously, so the rotation of the second transmission gear 64 directly drives the swing arm 51 to swing around the hinge shaft 62. The opening of the clearance groove 61 provides sufficient space for the rotation of the hinge shaft 62 and the second transmission gear 64, and for the swing of the swing arm 51, effectively avoiding structural interference between the outer diameter pressure block 10 and the swing arm 51.

[0043] After the outer diameter pressure block 10 slides inward to the preset position, its inner wall tightly adheres to and presses against the outer wall of the flange 101, restricting the radial displacement of the flange 101 and achieving radial positioning of the flange 101. Simultaneously with the radial pressing of the outer diameter pressure block 10, the swinging pressure arm 51 swings around the hinge shaft 62 under the drive of the transmission device. The pressure block 63 at its other end rotates towards the reference block 32 with the swinging motion. Finally, the pressure block 63 tightly adheres to the end face of the flange 101 and firmly presses the flange 101 onto the reference block 32. This axial pressing action ensures a tight fit between the flange 101 and the reference block 32 (and the connected inner diameter support block 9 and pipe 100), preventing axial displacement or tilting of the flange 101, ensuring the coaxiality and end face fit between the flange 101 and the pipe 100, and ultimately achieving double fixing of the flange 101. This further improves the reliability and positioning accuracy of workpiece clamping, providing a more comprehensive guarantee for the quality stability of subsequent welding operations, and adapting to the automated and high-precision production needs of dual-station welding robots.

[0044] See Figure 3 As shown, a second motor 71 is provided on the fixed frame 6, a drive gear 72 is provided on the output shaft of the second motor 71, a driven gear ring 73 that meshes with the drive gear 72 is rotatably sleeved on the fixed frame 6, and a secondary claw disk 74 is provided at the rear end of the main claw disk 21. The secondary claw disk 74 and the driven gear ring 73 are coaxially fixedly connected.

[0045] The second motor 71 installed on the fixed frame 6 is the core power source, and the drive gear 72 is fixedly installed on its output shaft. The driven gear ring 73 rotatably sleeved on the fixed frame 6 is meshed with the drive gear 72, and the driven gear ring 73 can rotate flexibly around the central axis of the fixed frame 6. The auxiliary claw disk 74 fixedly installed at the rear end of the main claw disk 21 is coaxially fixedly connected to the driven gear ring 73 to ensure that the rotation of the two is completely synchronized. At the same time, the fixed connection between the auxiliary claw disk 74 and the main claw disk 21 allows the power to be transmitted to the entire claw disk assembly 8.

[0046] A support shaft 81 is provided on the movable frame 7 for the claw disk assembly 8 to be rotatably fitted. The support shaft 81 on the movable frame 7 is the core support component. The claw disk assembly 8 is rotatably fitted on the support shaft 81, that is, the claw disk assembly 8 can rotate flexibly around the central axis of the support shaft 81, and the support shaft 81 plays a role in radial positioning and load-bearing support for the claw disk assembly 8.

[0047] Thus, the fixed frame 6 provides rotational power to the claw plate assembly 8 through components such as the second motor 71 and the drive gear 72, while the movable frame 7 provides rotational support to the claw plate assembly 8 through the support shaft 81. The two work together to achieve synchronous, coaxial, and uniform rotation at both ends of the workpiece, ensuring the stability and accuracy of the workpiece rotation.

[0048] See Figure 1 , Figure 2 As shown, a support frame 91 is provided on the linear slide base 5, and a lifting frame 92 that can be raised and lowered is provided on the support frame 91. Rollers 93 for supporting the pipe 100 are spaced apart on the lifting frame 92.

[0049] Before clamping the pipe 100 onto the claw plate assembly 8 of the fixed frame 6 and the movable frame 7, the lifting height of the lifting frame 92 along the support frame 91 is adjusted according to the pipe diameter and clamping height of the pipe 100 to be welded. Through this lifting adjustment, the top height of the rollers 93 on the lifting frame 92 is kept consistent with the clamping center height of the claw plate assembly 8, ensuring that when the pipe 100 is placed on the rollers 93, its axis is coaxial with the rotation center of the claw plate assembly 8, laying the foundation for subsequent precise clamping. Simultaneously, the spaced rollers 93 can support the middle and critical stress points of the pipe 100 according to its length, preventing long pipes from bending and deforming due to their own weight.

[0050] See Figure 1 As shown, electric linear modules 95 are spaced apart on the connecting plate 4. Both welding devices include a connecting rod 96 and a welding gun 97 located at one end of the connecting rod 96. The other end of the connecting rod 96 is connected to the electric linear module 95.

[0051] The robotic arm 3 moves the connecting plate 4 and the two welding devices as a whole. Combined with the preset welding program, the two welding devices are moved to the vicinity of the workpiece welding area of ​​the dual-station, realizing the initial posture and position positioning of the welding torch 97, so that the welding torch 97 is roughly aligned with the circumferential welding joint of the pipe 100 and the flange 101. The two sets of electric linear modules 95 on the connecting plate 4 are activated. According to the specific specifications of the workpiece at the current station and the actual alignment of the welding torch 97 and the welding joint, the electric linear modules 95 independently drive the corresponding connecting rod 96 to move linearly, thereby driving the welding torch 97 to make precise fine adjustments, thereby adjusting the distance between the welding torch 97 and the welding joint. The two sets of electric linear modules 95 work independently and can adapt to the welding adjustment needs of different specifications of workpieces on the dual-station without interfering with each other.

[0052] Based on the accompanying drawings and the foregoing illustrations and descriptions, the basic principles and main features of the present invention, as well as its advantages, those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the present invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A dual-station welding robot, comprising a robot unit (1) and a workpiece fixing unit (2) for clamping and fixing workpieces, wherein, The workpiece is a pipe (100) and flanges (101) located at both ends of the pipe (100). The robot unit (1) includes a robotic arm (3) and a connecting plate (4) on the robotic arm (3). Two welding devices are spaced apart on the connecting plate (4). The workpiece fixing unit (2) includes a linear slide base (5). A fixed frame (6) is fixedly installed at one end of the linear slide base (5). A movable frame (7) slides on the linear slide base (5). (6) A claw disk assembly (8) is rotatably mounted on both the movable frame (7). A clamping assembly for clamping the pipe (100) and flange (101) is provided on the claw disk assembly (8). The clamping assembly includes three sets of claw assemblies evenly distributed along the circumference of the claw disk assembly (8). Each claw assembly includes an inner diameter support block (9), an outer diameter pressure block (10), and a driving device. The inner diameter support block (9) and the outer diameter pressure block (10) can slide along the radial direction of the claw disk assembly (8), and the inner diameter... The support block (9) can support the inner wall of the pipe (100) outward, and the outer diameter pressure block (10) can press inward against the outer wall of the flange (101). The driving device is used to drive the inner diameter support block (9) and the outer diameter pressure block (10) to move closer or further apart. The claw disk assembly (8) includes a main claw disk (21), and a first slide rail groove (22) is provided on the end face of the main claw disk (21). An adjusting block (23) slides in the first slide rail groove (22), and a fastener locks the adjusting block (23). 24), the inner diameter support block (9) and the outer diameter pressure block (10) are slidably mounted on the adjusting block (23); a second slide rail groove (31) is provided on the end face of the adjusting block (23), a reference block (32) slides on the second slide rail groove (31), the inner diameter support block (9) is provided on the reference block (32), a straight slide groove (33) is provided on both sides of the second slide rail groove (31), and a slider (34) that slides in the straight slide groove (33) is provided on both sides of the outer diameter pressure block (10);The main claw disk (21) has a central hole (41) at its center. The driving device includes a rotating disk (42) rotatably disposed within the central hole (41). An end face gear (43) is disposed on the rear end face of the rotating disk (42). A first motor (410) is disposed at the rear end of the main claw disk (21). A drive gear (44) meshing with the end face gear (43) is disposed on the output shaft of the first motor (410). A guide post (45) is disposed at the rear end of the reference block (32). An inclined guide groove (46) cooperating with the guide post (45) is disposed on the rotating disk (42). A first rack (47) slides on the reference block (32) within the second slide rail groove (31). A second rack (48) is disposed on the outer diameter pressure block (10). A first transmission gear (49) capable of meshing with the first rack (47) and the second rack (48) is disposed within the second slide rail groove (31).

2. The dual-station welding robot according to claim 1, characterized in that: A swing arm (51) is also hinged to the adjusting block (23). A transmission device is connected between the swing arm (51) and the outer diameter pressure block (10). When the outer diameter pressure block (10) slides inward to press the outer wall of the flange (101), the transmission device can drive the swing arm (51) to swing, so that the flange (101) is pressed on the reference block (32) by the swing arm (51).

3. The dual-station welding robot according to claim 2, characterized in that: The outer diameter pressure block (10) is provided with a clearance groove (61). One end of the swing pressure arm (51) is provided with a hinge shaft (62) and the other end is provided with a pressure block (63). The transmission device includes a second transmission gear (64) and a third rack (65). The hinge shaft (62) is rotatably mounted on the second slide rail groove (31) and passes through the clearance groove (61). The third rack (65) is mounted on one side wall of the clearance groove (61). The second transmission gear (64) is mounted on the hinge shaft (62) and meshes with the third rack (65).

4. The dual-station welding robot according to claim 1, characterized in that: A second motor (71) is provided on the fixed frame (6), and a drive gear (72) is provided on the output shaft of the second motor (71). A driven gear ring (73) that meshes with the drive gear (72) is rotatably sleeved on the fixed frame (6). A secondary claw disk (74) is provided at the rear end of the main claw disk (21), and the secondary claw disk (74) is coaxially fixedly connected to the driven gear ring (73).

5. A dual-station welding robot according to claim 1, characterized in that: A support shaft (81) is provided on the movable frame (7) for the claw disk assembly (8) to be rotatably fitted.

6. The dual-station welding robot according to claim 1, characterized in that: A support frame (91) is provided on the linear slide base (5), and a lifting frame (92) that can be raised and lowered is provided on the support frame (91). Rollers (93) for supporting the pipe (100) are provided at intervals on the lifting frame (92).

7. A dual-station welding robot according to claim 1, characterized in that: Electric linear modules (95) are spaced apart on the connecting plate (4). Both welding devices include a connecting rod (96) and a welding gun (97) located at one end of the connecting rod (96). The other end of the connecting rod (96) is connected to the electric linear module (95).

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