Automatic welding equipment for pressure vessel flange

Abstract

The application relates to the technical field of arc welding devices, in particular to automatic welding equipment for pressure container flanges, which comprises a base, the upper end of the base is provided with a positioning mechanism for correcting the welding position of a pipe, the positioning mechanism comprises an adjusting assembly for adjusting the position of the pipe, the adjusting assembly comprises a clamping plate support, the positioning mechanism comprises a chamfering assembly for processing burrs at the inner and outer incisions of the pipe, the inner side of the positioning mechanism is provided with a polishing mechanism for processing a weld, the polishing mechanism comprises a strutting assembly for adapting to the pipe diameter of the welded pipe, the polishing mechanism further comprises an adapting assembly for adjusting the polishing radian, the polishing mechanism can automatically complete weld adhesion and overall polishing through linkage of the strutting assembly and the adapting assembly, manual intervention is not needed in the whole process from clamping to finished product output, the operation cycle is greatly shortened, the manual labor intensity is reduced, and the problem of low efficiency of traditional scattered operation is solved.

Description

Technical Field

[0001] This invention relates to the field of arc welding equipment technology, specifically to an automatic welding equipment for pressure vessel flanges. Background Technology

[0002] In the field of arc welding equipment manufacturing, the welding operations of flanges for medium and large pressure vessels and thick-walled pipes place stringent requirements on the positioning accuracy of the equipment, the integration of the process, and the quality of the weld treatment. According to welding industry standards, burrs, oxide scale, and other impurities must be thoroughly removed from the pipe bevel and both sides of the weld; otherwise, defects such as slag inclusions and incomplete penetration in the weld are likely to occur, and existing technologies have significant shortcomings.

[0003] The positioning and alignment rely on manual visual inspection or simple clamping mechanisms, lacking precise calibration methods. This results in large coaxiality errors between the pipe and the flange, and the pipe is prone to swaying and deviation during rotation, leading to unstable weld formation and a high defect rate during arc welding. Deburring, welding, and weld grinding are mostly decentralized operations, requiring independent equipment and manual workpiece transfer. This is not only cumbersome and time-consuming, but also makes it difficult to adapt manual deburring to the pipe cutting tolerances, resulting in incomplete cleaning. Weld grinding often uses rigid grinding structures, which cannot accurately fit the weld contour, easily causing weld damage. Furthermore, frequent replacement of parts is required when adapting to different pipe diameters, resulting in poor versatility and difficulty in meeting the high-quality requirements of pressure vessel welding. Therefore, we propose an automatic welding equipment for pressure vessel flanges. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art and solve at least one of the technical problems mentioned in the background art, the present invention proposes an automatic welding equipment for pressure vessel flanges.

[0005] The technical solution adopted by this invention to solve its technical problem is: an automatic welding equipment for pressure vessel flanges, including a base, a welding machine body installed on one side of the base, a support plate fixedly connected to the upper end of the base, a three-jaw chuck rotatably connected to the front end of the support plate, a sixth motor installed at the rear end of the support plate, the output shaft of the sixth motor fixedly connected to the three-jaw chuck, a positioning mechanism for calibrating the welding position of the pipe installed at the upper end of the base, the positioning mechanism including an adjustment component for adjusting the position of the pipe, the adjustment component including a clamping plate bracket, the positioning mechanism including a chamfering component for treating burrs at the inner and outer cuts of the pipe, a grinding mechanism for treating the weld seam installed on the inner side of the positioning mechanism, the grinding mechanism including a spreading component for adapting to the diameter of the welded pipe, and the grinding mechanism further including an adapting component for adjusting the grinding arc.

[0006] Preferably, the adjustment assembly includes a mounting bracket fixedly connected to the base, a threaded rod rotatably connected to one side of the inner side of the mounting bracket, a guide rod fixedly connected to the other side of the inner side of the mounting bracket, a first motor mounted at the front end of the mounting bracket, the output shaft of the first motor fixedly connected to the threaded rod, the outer side of the threaded rod threadedly connected to the clamping bracket, and the outer side of the guide rod slidably connected to the clamping bracket.

[0007] Preferably, at least two mutually symmetrical second motors are installed at both the front and rear ends of the clamping plate bracket, and multiple circumferentially arranged limiting gears are rotatably connected to the inner wall of the clamping plate bracket near the front and rear ends via a rotating shaft, and the output shaft of the second motor is fixedly connected to a corresponding limiting gear.

[0008] Preferably, the inner sides of the two sets of limiting gears are respectively meshed with toothed open rings, and an open electric clamp is installed at the close end of the two toothed open rings. A pressure sensor is installed on the inner side of the open electric clamp.

[0009] Preferably, at least two first longitudinal electric slide rails are installed at the front end of the clamping plate bracket. A first movable compartment is installed on the outer side of the first longitudinal electric slide rail. Transverse electric slide rails are installed at both the upper and lower ends of the first movable compartment. A second movable compartment is provided on the outer side of the two transverse electric slide rails. A third motor is installed on one side of the second movable compartment. A first gear is fixedly connected to the output shaft of the third motor. A second longitudinal slide rail is slidably connected to the inner side of the second movable compartment. A locking tooth is provided on one side of the second longitudinal slide rail. The outer side of the first gear meshes with the locking tooth of the second longitudinal slide rail.

[0010] Preferably, the second longitudinal slide rail has mounting grooves at both its upper and lower ends. A slider is slidably connected to the outer side of the second longitudinal slide rail through the mounting groove. An H-shaped grinding plate is fixedly connected to the side of the slider near the pipe. A slide rod is fixedly connected to the inner side of the mounting groove of the second longitudinal slide rail. A spring is provided on the outer side of the slide rod. The inner side of the slider is slidably connected to the slide rod. One end of the spring is fixedly connected to the slider, and the other end of the spring is fixedly connected to the second longitudinal slide rail.

[0011] Preferably, the spreading assembly includes a first electric actuator mounted inside the clamping plate bracket. The spreading assembly also includes a fourth motor mounted at the front end of a clamping plate bracket. The output shaft of the fourth motor is fixedly connected to the housing of the first electric actuator via a coupling. The output shaft of the first electric actuator is fixedly connected to a sleeve. Multiple sliding rods are fixedly connected around the outer side of the sleeve. A T-shaped rod is slidably connected to the inner side of the sliding rod.

[0012] Preferably, a flexible grinding plate is fixedly connected to the far ends of the plurality of T-shaped rods. The flexible grinding plate is made of flexible material, and positioning probes are installed at both ends of the flexible grinding plate. A second gear is rotatably connected to the outer side of the sleeve. A plurality of arc-shaped grooves are formed around the outer side of the second gear. A push rod is fixedly connected to the front end of the T-shaped rod. The push rod is slidably connected to the inner side of the arc-shaped groove of the second gear.

[0013] Preferably, a fifth motor is installed at the upper end of one of the plurality of sliding rods, and the output shaft of the fifth motor is fixedly connected to a third gear, the outer side of which meshes with a second gear.

[0014] Preferably, a mounting block is fixedly connected to the front end of the T-shaped rod near the fulcrum, and two symmetrical second electric actuators are installed on the inner side of the mounting block. The output shaft of the second electric actuator is fixedly connected to a top plate, and the top plate is fixedly connected to a corresponding flexible grinding plate.

[0015] Compared with the prior art, the present invention provides an automatic welding equipment for pressure vessel flanges, which has the following advantages: 1. Through the bidirectional centering clamping structure of the three-jaw chuck and the open electric clamp, combined with the real-time feedback of the pressure sensor, flexible centering and calibration of the flange and pipe can be achieved, avoiding clamping damage and axial offset. Relying on the coordinated transmission of the mounting bracket, threaded rod and guide rod, the pipe can be accurately axially moved and connected, ensuring the fit of the welding end face. The meshing transmission of the limit gear and the toothed open ring, combined with the axial reciprocating rotation design, not only ensures that the pipe and flange rotate synchronously at the same frequency and eliminates swing offset, but also avoids the power supply line entanglement and pulling from the structure, providing a continuous and stable reference for arc welding and greatly reducing welding offset defects.

[0016] 2. By integrating the positioning mechanism with the adjustment and chamfering components, no additional burr removal equipment is required. Through the adaptive cooperation of the H-shaped grinding plate and spring, burr grinding of the inner and outer cuts at both ends of the pipe can be completed simultaneously, and it can adapt to the cutting tolerance, eliminating the need for manual pre-treatment steps. During the welding stage, the flange and pipe rotate synchronously through the coordinated control of the sixth motor and the second motor, and the welding machine body completes automated arc welding without the need for manual handling of the welding gun or adjustment of the workpiece posture. The grinding mechanism can automatically complete the weld seam fitting and full grinding through the linkage of the opening component and the matching component. The entire process from clamping to finished product output requires no manual intervention, which greatly shortens the operation cycle, reduces the intensity of manual labor, and solves the problem of low efficiency in traditional decentralized operations.

[0017] 3. The slotted structure of the H-shaped grinding plate in the chamfering assembly can simultaneously fit the inner and outer sides of the pipe cut, and with the circumferential rotation of the pipe, it can achieve all-round burr removal, ensuring a smooth cut and providing a good fit for welding. This avoids defects such as slag inclusions and incomplete penetration in the weld caused by burrs. The flexible grinding plate in the grinding mechanism, with its flexible material properties, combined with the arc adjustment of the second electric push rod and the feedback calibration of the positioning probe, can accurately fit the weld contour. Then, through the counter-rotation of the flange and sleeve, it can achieve uniform grinding of the entire circumference of the weld, avoiding weld damage caused by rigid grinding. The synchronous opening and arc adaptive design of the flexible grinding plate can adapt to the grinding needs of welds of different pipe diameters without the need to change grinding accessories. This solves the problems of poor adaptability and incomplete grinding of traditional grinding equipment, ensuring stable weld formation quality. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the overall structure of the positioning mechanism and grinding mechanism of the present invention; Figure 3 This is a schematic diagram of the overall structure of the adjustment component of the present invention; Figure 4 This is an enlarged schematic diagram of a portion of the adjustment component structure of the present invention; Figure 5 This is a schematic diagram of the overall structure of the chamfering component of the present invention; Figure 6 This is a cross-sectional view of a portion of the chamfering component of the present invention; Figure 7 This is a schematic diagram of the overall structure of the grinding mechanism of the present invention; Figure 8 This is a cross-sectional schematic diagram of a portion of the grinding mechanism of the present invention.

[0019] In the diagram: 1. Base; 2. Welding machine body; 3. Support plate; 4. Three-jaw chuck; 5. Positioning mechanism; 51. Adjustment assembly; 511. Mounting bracket; 512. Threaded rod; 513. Guide rod; 514. First motor; 515. Clamping plate bracket; 516. Second motor; 517. Gear-opening ring; 518. Opening electric clamp; 519. Limit gear; 52. Chamfering assembly; 521. First longitudinal electric slide rail; 522. First moving compartment; 523. Transverse electric slide rail; 524. Second moving compartment; 525. Third motor; 526. 527. First gear; 528. Second longitudinal slide rail; 529. Slider; 5210. H-shaped grinding plate; 5211. Slide rod; 5212. Spring; 6. Grinding mechanism; 61. Spreading assembly; 611. First electric push rod; 612. Fourth motor; 613. Sleeve; 614. Slide rod; 615. T-shaped rod; 616. Flexible grinding plate; 617. Second gear; 618. Push rod; 619. Fifth motor; 6110. Third gear; 62. Adaptor assembly; 621. Mounting block; 622. Second electric push rod; 623. Top plate; 7. Sixth motor. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0021] The following electrical components are all electrically connected via an external PLC controller.

[0022] Please see Figures 1-8 An automatic welding equipment for pressure vessel flanges includes a base 1, a welding machine body 2 mounted on one side of the base 1, a support plate 3 fixedly connected to the upper end of the base 1, a three-grip chuck 4 rotatably connected to the front end of the support plate 3, a sixth motor 7 mounted at the rear end of the support plate 3, the output shaft of the sixth motor 7 being fixedly connected to the three-grip chuck 4, a positioning mechanism 5 for calibrating the welding position of the pipe mounted on the upper end of the base 1, the positioning mechanism 5 including an adjustment component 51 for adjusting the position of the pipe, the adjustment component 51 including a clamping plate bracket 515, the positioning mechanism 5 including a chamfering component 52 for treating burrs at the inner and outer cuts of the pipe, a grinding mechanism 6 for treating the weld seam mounted on the inner side of the positioning mechanism 5, the grinding mechanism 6 including a spreading component 61 for adapting to the diameter of the welded pipe, and an adapting component 62 for adjusting the grinding arc.

[0023] In this embodiment, the adjustment component 51 includes a mounting bracket 511 fixedly connected to the base 1. A threaded rod 512 is rotatably connected to the inner side of the mounting bracket 511 near one side, and a guide rod 513 is fixedly connected to the inner side of the mounting bracket 511 near the other side. A first motor 514 is mounted on the front end of the mounting bracket 511. The output shaft of the first motor 514 is fixedly connected to the threaded rod 512. The outer side of the threaded rod 512 is threadedly connected to the clamping bracket 515, and the outer side of the guide rod 513 is slidably connected to the clamping bracket 515.

[0024] Specifically, the mounting bracket 511 provides overall fixed support and mounting foundation for the adjustment component 51. The first motor 514 is used to drive the threaded rod 512 to rotate. The threaded rod 512 drives the clamping bracket 515 to move axially through thread transmission. The guide rod 513 slides and guides the clamping bracket 515 linearly. The clamping bracket 515 is used to support the pipe clamping, chamfering and grinding components, so as to realize the precise docking of the pipe and the flange and the switching of work positions.

[0025] In this embodiment, at least two mutually symmetrical second motors 516 are installed at both the front and rear ends of the clamping bracket 515. Multiple circumferentially arranged limiting gears 519 are rotatably connected to the inner wall of the clamping bracket 515 near the front and rear ends via a rotating shaft. The output shaft of the second motor 516 is fixedly connected to a corresponding limiting gear 519.

[0026] Specifically, the second motor 516 provides axial reciprocating rotational power to the limiting gear 519. The limiting gear 519 is used to drive the toothed opening ring 517 to rotate, and at the same time, it plays a supporting, limiting and centering role for the toothed opening ring 517, ensuring the coaxial stability of the pipe rotation.

[0027] In this embodiment, the inner sides of the two sets of limiting gears 519 are respectively meshed with toothed opening rings 517, and the two toothed opening rings 517 are each equipped with an opening electric clamp 518 at their close ends, and a pressure sensor is installed on the inner side of the opening electric clamp 518.

[0028] Specifically, the toothed opening ring 517 meshes with the limiting gear 519 to drive the opening electric clamp 518 to rotate axially. The opening electric clamp 518 is used to center and clamp the pipe. The pressure sensor provides real-time feedback of the clamping force signal to avoid damage or loosening of the pipe and to ensure that the pipe and flange are coaxial.

[0029] In this embodiment, at least two first longitudinal electric slide rails 521 are installed at the front end of the clamping bracket 515. A first movable compartment 522 is installed on the outer side of the first longitudinal electric slide rail 521. A transverse electric slide rail 523 is installed at both the upper and lower ends of the first movable compartment 522. A second movable compartment 524 is provided on the outer side of the two transverse electric slide rails 523. A third motor 525 is installed on one side of the second movable compartment 524. A first gear 526 is fixedly connected to the output shaft of the third motor 525. A second longitudinal slide rail 527 is slidably connected to the inner side of the second movable compartment 524. A locking tooth is provided on one side of the second longitudinal slide rail 527. The outer side of the first gear 526 meshes with the locking tooth of the second longitudinal slide rail 527.

[0030] Specifically, the first longitudinal electric slide rail 521 drives the first moving chamber 522 to adjust its position along the axial direction of the pipe, the transverse electric slide rail 523 drives the second moving chamber 524 to adjust its position along the radial direction of the pipe, and the third motor 525 drives the first gear 526 to rotate. The first gear 526 drives the second longitudinal slide rail 527 to feed axially through the meshing of the locking teeth, so as to achieve precise alignment and locking between the H-shaped grinding plate 529 and the pipe cut.

[0031] In this embodiment, the upper and lower ends of the second longitudinal slide rail 527 are provided with assembly grooves. A slider 528 is slidably connected to the outer side of the second longitudinal slide rail 527 through the assembly groove. An H-shaped grinding plate 529 is fixedly connected to the side of the slider 528 near the tube. A slide rod 5210 is fixedly connected to the inner side of the assembly groove of the second longitudinal slide rail 527. A spring 5211 is provided on the outer side of the slide rod 5210. The inner side of the slider 528 is slidably connected to the slide rod 5210. One end of the spring 5211 is fixedly connected to the slider 528, and the other end of the spring 5211 is fixedly connected to the second longitudinal slide rail 527.

[0032] Specifically, the H-shaped grinding plate 529 is used to clamp the pipe cut and simultaneously grind the burrs on the inner and outer sides. The slider 528 drives the H-shaped grinding plate 529 to slide along the slide rod 5210. The slide rod 5210 provides sliding guidance for the slider 528. The spring 5211 uses elastic force to make the H-shaped grinding plate 529 adaptively fit the pipe cut contour, compensate for the cut processing tolerance, and ensure that the burrs are ground thoroughly.

[0033] In this embodiment, the spreading assembly 61 includes a first electric push rod 611 installed inside the clamping bracket 515. The spreading assembly 61 also includes a fourth motor 612 installed at the front end of a clamping bracket 515. The output shaft of the fourth motor 612 is fixedly connected to the housing of the first electric push rod 611 through a coupling. The output shaft of the first electric push rod 611 is fixedly connected to a sleeve 613. A plurality of sliding groove rods 614 are fixedly connected around the outer side of the sleeve 613. A T-shaped rod 615 is slidably connected to the inner side of the sliding groove rod 614.

[0034] Specifically, the fourth motor 612 drives the first electric push rod 611 to rotate through a coupling. The first electric push rod 611 drives the sleeve 613 to rotate and can axially fine adjust the grinding position. The sleeve 613 provides a mounting carrier for the sliding rod 614. The sliding rod 614 provides radial sliding guide for the T-shaped rod 615. The T-shaped rod 615 is used to drive the flexible grinding plate 616 to extend and retract to adapt to welds of different pipe diameters.

[0035] In this embodiment, a flexible grinding plate 616 is fixedly connected to the far ends of multiple T-shaped rods 615. The flexible grinding plate 616 is made of flexible material, and positioning probes are installed at both ends of the flexible grinding plate 616. A second gear 617 is rotatably connected to the outer side of the sleeve 613. Multiple arc-shaped grooves are opened around the outer side of the second gear 617. A push rod 618 is fixedly connected to the front end of the T-shaped rod 615. The push rod 618 is slidably connected to the inner side of the arc-shaped groove of the second gear 617.

[0036] Specifically, the flexible grinding plate 616 is used to flexibly fit the surface of the weld for grinding, avoiding damage to the base material of the weld. The positioning probe collects the weld contour signal in real time to provide data support for the curvature adjustment. The second gear 617 cooperates with the push rod 618 through the arc-shaped slide groove to drive the T-shaped rod 615 to extend and retract radially in sync, so that the flexible grinding plate 616 is evenly spread and fits the weld.

[0037] In this embodiment, a fifth motor 619 is installed at the upper end of one of the multiple sliding rods 614. The output shaft of the fifth motor 619 is fixedly connected to a third gear 6110, and the outer side of the third gear 6110 is meshed with a second gear 617.

[0038] Specifically, the fifth motor 619 drives the third gear 6110 to rotate, and the third gear 6110 drives the second gear 617 to rotate through meshing transmission, providing power for the synchronous opening action of the flexible grinding plate 616, and ensuring that the movement amplitude of each T-shaped rod 615 is consistent.

[0039] In this embodiment, a mounting block 621 is fixedly connected to the front end of the T-shaped rod 615 near the fulcrum. Two symmetrical second electric actuators 622 are installed on the inner side of the mounting block 621. The output shaft of the second electric actuator 622 is fixedly connected to a top plate 623. The top plate 623 is fixedly connected to a corresponding flexible grinding plate 616.

[0040] Specifically, the mounting block 621 provides a mounting carrier for the second electric push rod 622. The second electric push rod 622 drives the top plate 623 to extend and retract. The top plate 623 pushes the flexible grinding plate 616 to adjust the curvature, so that multiple flexible grinding plates 616 form a complete circumference that matches the weld, thereby improving the comprehensiveness and uniformity of weld grinding.

[0041] Working principle: In use, the flange is first centered and clamped by the three-jaw chuck 4 to ensure that the flange axis is consistent with the welding reference. Then, the pipe to be welded to the flange is placed in the inner area of ​​the two open electric clamps 518. The open electric clamps 518 are started, and their clamping ends move towards the outer wall of the pipe to clamp it. Combined with the feedback signal from the pressure sensor mounted on the inner side, the axis position of the pipe is accurately calibrated so that the pipe and the flange are initially coaxial. Then, the chamfering component 52 in the positioning mechanism 5 is started to perform pre-processing work on the cut of the pipe welding end. When the chamfering assembly 52 is in operation, at least two first longitudinal electric slide rails 521 installed at the front end of the clamping plate bracket 515 are first activated. The first longitudinal electric slide rails 521 drive the first moving chamber 522 to move forward along the pipe axis until it passes the pipe front end cut and reaches the preset working position and stops. Then, the transverse electric slide rails 523 at the upper and lower ends of the first moving chamber 522 are activated. The transverse electric slide rails 523 drive the second moving chamber 524 to move towards the direction closer to the pipe axis, so that one of the H-shaped grinding plates 529 is aligned with the pipe front end cut and stops. Then, the third motor 525 on one side of the second moving chamber 524 is activated. Its output shaft drives the first gear 526 to rotate. The first gear 526 is driven by the meshing of the locking teeth on one side of the second longitudinal slide rail 527, which drives the second longitudinal slide rail 527 to feed along the inner side of the second moving chamber 524 towards the pipe cut, so that the rear locking groove of the H-shaped grinding plate 529 is engaged with the pipe front end cut and stops. Next, the third motor 525 corresponding to the second moving compartment 524 is started. Its output shaft drives the corresponding second longitudinal slide rail 527 to move closer to the rear end of the pipe cut, so that the H-shaped grinding plate 529 on the second longitudinal slide rail 527 passes over the rear end cut of the pipe. Then, the second moving compartment 524 is driven to retract a preset distance away from the pipe axis by the transverse electric slide rail 523. Subsequently, the second longitudinal slide rail 527 is controlled to retract in the opposite direction, so that the front end slot of the H-shaped grinding plate 529 near the rear end engages with the rear end cut of the pipe. At this time, the two H-shaped grinding plates 529 clamp the front and rear ends of the pipe respectively. During the adjustment process of the H-shaped grinding plates 529 moving with the slide rail, the corresponding sliders 528 slide along the slide rods 5210 in the assembly groove of the second longitudinal slide rail 527, and simultaneously press or stretch the springs 5211 on the outside of the slide rods 5210. Using the elastic force of the springs 5211, the two H-shaped grinding plates 529 adaptively fit the pipe cut contour. Even if there is a processing tolerance in the pipe cut that results in insufficient flatness, it can be adjusted by the cooperation of the sliders 528 and the springs 5211 to ensure that the H-shaped grinding plates 529 are in full contact with the cut. Then, the adjustment component 51 in the positioning mechanism 5 is activated to drive the pipe to perform axial reciprocating circumferential rotation to complete the burr grinding of the cut: the second motor 516 at the front end of the clamping plate bracket 515 is activated, and its output shaft, supported and guided by the limit gear 519, drives the toothed opening ring 517 to perform axial reciprocating circumferential rotation. The toothed opening ring 517 drives the opening electric clamp 518 to rotate synchronously, so that the two opening electric clamps 518 stably drive the clamped pipe to perform coaxial reciprocating circumferential rotation, thereby allowing the two H-shaped grinding plates 529 to perform comprehensive burr grinding on the cut ends of the pipe, ensuring that the cut is flat and clean; the three-jaw chuck 4 remains stationary at this stage, and the pipe is only driven to perform reciprocating rotation by the opening electric clamp 518, which can effectively avoid the problem of power line entanglement and interference, and provide a good fit for subsequent welding and butt joint; The sixth motor 7 at the rear end of the support plate 3 is started. Its output shaft drives the three-jaw chuck 4 connected to the front end of the support plate 3 to perform axial reciprocating circumferential rotation. At the same time, the adjustment component 51 drives the two open electric clamps 518 to drive the pipe to perform axial reciprocating circumferential rotation in the same frequency and direction, ensuring that the rotation state of the pipe and the flange is completely consistent, avoiding the pipe from swinging or shifting during the welding process, and ensuring the stability of the weld formation of the arc welding. Both the three-jaw chuck 4 and the open electric clamps 518 adopt axial reciprocating rotation, rather than continuous unidirectional rotation, which completely avoids problems such as power line entanglement and pulling from the structure. Then, the welding machine body 2 installed on one side of the base 1 is started to perform automated arc welding operation at the joint between the flange and the pipe, and complete the fixed connection between the flange and the pipe. After the burrs on the pipe cut are removed, the chamfering component 52 and the adjusting component 51 are reset in sequence, releasing the clamping of the pipe cut by the H-shaped grinding plate 529. After grinding, the first motor 514 at the front end of the mounting bracket 511 is started. The mounting bracket 511 provides overall fixed support and mounting foundation for the adjusting component 51. The output shaft of the first motor 514 drives the threaded rod 512 on the inner side of the mounting bracket 511 to rotate in a direction. The threaded rod 512 and the clamping plate bracket 515 form a threaded transmission engagement. At the same time, the guide rod 513 forms a sliding limit and linear guide for the clamping plate bracket 515. Under the combined action of the transmission of the threaded rod 512 and the guide limit of the guide rod 513, the clamping plate bracket 515 drives the pipe to move smoothly along the mounting bracket 511 towards the flange until the welding end face of the pipe rear end is tightly fitted and aligned with the welding surface of the flange. The sixth motor 7 at the rear end of the support plate 3 is started, and its output shaft drives the three-jaw chuck 4 connected to the front end of the support plate 3 to rotate. At the same time, the adjusting component 51 drives the two open electric clamps 518 to rotate the pipe synchronously, ensuring that the rotation frequency of the pipe and the flange is consistent, avoiding the pipe from swinging or shifting during the welding process, and ensuring the stability of the weld formation. Then, the welding machine body 2 installed on one side of the base 1 is started to perform arc welding operation on the joint between the flange and the pipe, completing the fixed connection between the flange and the pipe. After the welding operation is completed, the adjusting component 51 is reset, the open electric clamp 518 retracts and disengages from the outer wall of the pipe, releasing the clamp on the pipe; then the first motor 514 is started, driving the clamping plate bracket 515 to move backward until the grinding mechanism 6 moves to the position of the weld and stops. At this time, the flange is still held and fixed by the three-grip chuck 4; then the grinding mechanism 6 is started, first rotating the opening component 61: the fifth motor 619 installed on the upper end of one of the sliding rods 614 is started, and its output shaft drives the third gear 6110 to rotate, the third gear 6110 and the sleeve 61 The second gear 617, which is rotatably connected to the outer side, meshes and drives the second gear 617 to rotate stably around the sleeve 613. When the second gear 617 rotates, the multiple arc-shaped grooves opened around its outer side slide in cooperation with the push rod 618 fixedly connected to the front end of the T-shaped rod 615. The change of the curved trajectory of the arc-shaped groove drives the multiple push rods 618 to move radially synchronously, thereby driving the T-shaped rod 615 to extend outward along the inner side of the groove rod 614 until the flexible grinding plate 616 fixedly connected to the end of the T-shaped rod 615 away from the sleeve 613 tightly fits the weld surface. Since the multiple flexible grinding plates 616 cannot form a complete circumference that matches the weld seam in the initial extended state, the curvature is adjusted by the adapter component 62: the two symmetrical second electric actuators 622 on the inner side of the mounting block 621 at the front end of the T-shaped rod 615 are activated, and their output shafts drive the top plate 623 to extend towards the flexible grinding plate 616. The thrust of the top plate 623 drives the corresponding flexible grinding plate 616 to adjust its bending curvature. Combined with the feedback signal from the positioning probes installed at both ends of the flexible grinding plate 616, the multiple flexible grinding plates 616 together form a circumference that completely fits the weld seam contour; then the sixth electric actuator is activated simultaneously. The fourth motor 612 and the fourth motor 7 drive the flange and sleeve 613 to rotate in opposite directions via their output shafts. The output shaft of the fourth motor 612 drives the first electric push rod 611 to rotate via a coupling, thereby driving the sleeve 613 to rotate. This, in turn, drives multiple flexible grinding plates 616 to rotate relative to each other along the weld surface, achieving comprehensive grinding of the weld. The first electric push rod 611 can be finely adjusted axially to expand the grinding coverage around the weld, effectively avoiding the problem of incomplete grinding caused by only the fulcrum area of ​​the flexible grinding plate 616 being in contact with the weld. This ensures the quality of weld formation and completes the fully automated welding operation of the pressure vessel flange and pipe.

[0042] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic welding equipment for pressure vessel flanges, comprising a base (1), characterized in that: A welding machine body (2) is installed on one side of the base (1). A support plate (3) is fixedly connected to the upper end of the base (1). A three-jaw chuck (4) is rotatably connected to the front end of the support plate (3). A sixth motor (7) is installed at the rear end of the support plate (3). The output shaft of the sixth motor (7) is fixedly connected to the three-jaw chuck (4). A positioning mechanism (5) for calibrating the welding position of the pipe is installed at the upper end of the base (1). The positioning mechanism (5) includes an adjustment component (51) for adjusting the position of the pipe. The adjustment component (51) includes a clamping bracket (515). The positioning mechanism (5) includes a chamfering component (52) for treating burrs at the inner and outer cuts of the pipe. A grinding mechanism (6) for treating the weld is installed on the inner side of the positioning mechanism (5). The grinding mechanism (6) includes a spreading component (61) for adapting to the diameter of the welded pipe. The grinding mechanism (6) also includes an adapting component (62) for adjusting the grinding arc.

2. The automatic welding equipment for pressure vessel flanges according to claim 1, characterized in that: The adjustment assembly (51) includes a mounting bracket (511) fixedly connected to the base (1). A threaded rod (512) is rotatably connected to the inner side of the mounting bracket (511) near one side. A guide rod (513) is fixedly connected to the inner side of the mounting bracket (511) near the other side. A first motor (514) is installed at the front end of the mounting bracket (511). The output shaft of the first motor (514) is fixedly connected to the threaded rod (512). The outer side of the threaded rod (512) is threadedly connected to the clamping bracket (515). The outer side of the guide rod (513) is slidably connected to the clamping bracket (515).

3. The automatic welding equipment for pressure vessel flanges according to claim 1, characterized in that: At least two mutually symmetrical second motors (516) are installed at both the front and rear ends of the clamping bracket (515). Multiple circumferentially arranged limiting gears (519) are rotatably connected to the inner wall of the clamping bracket (515) near the front and rear ends via a rotating shaft. The output shaft of the second motor (516) is fixedly connected to a corresponding limiting gear (519).

4. The automatic welding equipment for pressure vessel flanges according to claim 3, characterized in that: The inner sides of the two sets of limiting gears (519) are respectively meshed with toothed open rings (517), and the two toothed open rings (517) are each equipped with an open electric clamp (518) at the close end, and a pressure sensor is installed on the inner side of the open electric clamp (518).

5. The automatic welding equipment for pressure vessel flanges according to claim 1, characterized in that: At least two first longitudinal electric slide rails (521) are installed at the front end of the clamp bracket (515). A first movable compartment (522) is installed on the outside of the first longitudinal electric slide rail (521). A transverse electric slide rail (523) is installed at both the upper and lower ends of the first movable compartment (522). A second movable compartment (524) is provided on the outside of the two transverse electric slide rails (523). A third motor (525) is installed on one side of the second movable compartment (524). A first gear (526) is fixedly connected to the output shaft of the third motor (525). A second longitudinal slide rail (527) is slidably connected to the inside of the second movable compartment (524). A locking tooth is provided on one side of the second longitudinal slide rail (527). The outside of the first gear (526) meshes with the locking tooth of the second longitudinal slide rail (527).

6. The automatic welding equipment for pressure vessel flanges according to claim 5, characterized in that: The second longitudinal slide rail (527) has assembly slots at both its upper and lower ends. A slider (528) is slidably connected to the outer side of the second longitudinal slide rail (527) through the assembly slot. An H-shaped grinding plate (529) is fixedly connected to the side of the slider (528) near the pipe. A slide rod (5210) is fixedly connected to the inner side of the assembly slot of the second longitudinal slide rail (527). A spring (5211) is provided on the outer side of the slide rod (5210). The inner side of the slider (528) is slidably connected to the slide rod (5210). One end of the spring (5211) is fixedly connected to the slider (528), and the other end of the spring (5211) is fixedly connected to the second longitudinal slide rail (527).

7. The automatic welding equipment for pressure vessel flanges according to claim 1, characterized in that: The spreading assembly (61) includes a first electric push rod (611) installed inside the clamping bracket (515). The spreading assembly (61) also includes a fourth motor (612) installed at the front end of a clamping bracket (515). The output shaft of the fourth motor (612) is fixedly connected to the housing of the first electric push rod (611) via a coupling. The output shaft of the first electric push rod (611) is fixedly connected to a sleeve (613). A plurality of sliding groove rods (614) are fixedly connected around the outer side of the sleeve (613). A T-shaped rod (615) is slidably connected to the inner side of the sliding groove rod (614).

8. The automatic welding equipment for pressure vessel flanges according to claim 7, characterized in that: Each of the T-shaped rods (615) has a flexible grinding plate (616) fixedly connected to one of its far ends. The flexible grinding plate (616) is made of flexible material and has a positioning probe installed at both ends. The outer side of the sleeve (613) is rotatably connected to a second gear (617). The outer side of the second gear (617) is provided with multiple arc-shaped grooves. The front end of each T-shaped rod (615) is fixedly connected to a push rod (618). The push rod (618) is slidably connected to the inner side of the arc-shaped groove of the second gear (617).

9. The automatic welding equipment for pressure vessel flanges according to claim 7, characterized in that: A fifth motor (619) is mounted on the upper end of one of the multiple sliding rods (614). The output shaft of the fifth motor (619) is fixedly connected to a third gear (6110). The outer side of the third gear (6110) is meshed with a second gear (617).

10. The automatic welding equipment for pressure vessel flanges according to claim 7, characterized in that: The front end of the T-shaped rod (615) is fixedly connected to a mounting block (621) near the fulcrum. Two symmetrical second electric actuators (622) are installed on the inner side of the mounting block (621). The output shaft of the second electric actuator (622) is fixedly connected to a top plate (623). The top plate (623) is fixedly connected to a corresponding flexible grinding plate (616).

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