An automated welding system for pipe machining

Abstract

The application discloses a kind of automatic welding systems of pipe winding processing.There is relevant to metal pipe processing equipment technical field, including conveying track, feeding mechanical hand mechanism, control box, pipe winding machine, welding station mechanism and pipe body lifting support mechanism, each mechanism is integrated in same conveying table, is uniformly coordinated control by control box.Feeding mechanical hand mechanism can walk along conveying track, complete plate and pipe body's transfer operation;Pipe winding machine adopts multiple roller synchronous winding forming structure, is equipped with unloading support cover of unloading drive electric cylinder control, can realize automatic unloading;Welding station mechanism is driven multiple groups radial clamping mechanism by annular transmission belt and transmission gear set synchronous, from multiple directions clamps pipe body to ensure that joint gap is uniform;Pipe body lifting support mechanism uses liftable multiple point lifting structure.The system realizes plate feeding, pipe winding forming, lifting conveying, welding positioning to finished product unloading whole process automation, effectively improves production efficiency and weld forming quality.

Description

Technical Field

[0001] This invention relates to the field of metal pipe processing equipment technology, specifically to an automated welding system for pipe coiling. Background Technology

[0002] In the metal pipe manufacturing industry, the core process of straight seam welded pipe production is to roll metal sheets into pipes and weld the longitudinal seams. Traditional pipe rolling and welding production is usually completed by multiple independent pieces of equipment such as pipe rolling machines, welding equipment, and conveying devices. The connection between each station relies on manual hoisting or manual assistance in transfer, which results in problems such as low production efficiency, high labor intensity, and poor product quality consistency.

[0003] Chinese utility model patent CN205551299U discloses a spiral automated welding and rolling machine for oil tanks. Its background section points out that in existing oil tank production processes, steps such as steel plate rolling and welding are mostly completed manually. This not only results in low production efficiency and high labor intensity but also poses safety hazards. Although this patent attempts to integrate the rolling and welding processes, it still fails to achieve fully automated connection from material feeding, rolling, welding to unloading; the transfer of workpieces between processes still requires manual assistance.

[0004] Chinese utility model patent CN220330320U discloses an automatic welding equipment for tubular components. Its background section points out that existing technologies use different tooling and workstations to complete different welding tasks, resulting in problems such as the need for numerous production equipment, large floor space requirements, and low integration. While this patent improves the automation level of the welding process, its loading and unloading processes still rely on manual labor or independent conveying devices, failing to form a continuous automated production line with the tube forming process.

[0005] Chinese utility model patent with publication number CN209465849U discloses a dual-robot roller automatic welding equipment, which includes an automatic feeding device, an automatic material feeding device, an automatic welding device and an automatic unloading device arranged in sequence. However, its welding object is a pre-made roller workpiece, and it does not have the function of rolling the plate into a tube. Therefore, it cannot be applied to the integrated production scenario from plate to finished welded pipe.

[0006] Chinese invention patent CN117733429B discloses an automatic straight welding device applicable to cylinders of various specifications, including a material support frame, a pusher frame, a lifting platform, a lifting mechanism, and a welding mechanism. It can adapt to straight seam welding of cylinders of different specifications. However, its material support frame adopts a fixed support structure, which is insufficient for multi-point support of long pipes, and the height of the pipe is inconvenient to adjust. During the welding process, the welding quality is easily affected by the sagging or misalignment of the pipe.

[0007] In existing pipe welding equipment, the unloading of pipe rolling machines is usually done by manual prying or assisted pushing. The axial conveying of the pipe body during the welding process is mostly done by external pushing mechanism. There is a lack of coordination between the external pushing mechanism and the pipe body support mechanism, which can easily lead to problems such as pipe body jamming or asynchronous conveying. Summary of the Invention

[0008] The purpose of this invention is to provide an automated welding system for tube coiling to solve the problems mentioned in the background art.

[0009] To achieve the above objectives, the present invention provides the following technical solution: an automated welding system for pipe rolling, comprising a conveyor track, a loading robot mechanism, a control box, a pipe rolling machine, a welding station mechanism, and a pipe lifting support mechanism; a set of pipe lifting support mechanisms are fixed on the front and rear sides of the welding station mechanism, a pipe rolling machine is mounted on the conveyor platform at the front end of the pipe lifting support mechanism, a conveyor track is provided on the side of the conveyor platform on the side of the pipe rolling machine, a loading robot mechanism is slidably mounted on the conveyor track, and a control box controlling all equipment is provided on the side of the pipe rolling machine; the loading robot mechanism includes a track traveling mechanism slidably mounted on the conveyor track, a robot rotating base fixed on the track traveling mechanism, a robot arm body set on the robot rotating base, and an end gripper assembly fixed to the front end of the robot arm body by a gripper rotation drive component; the pipe rolling machine... The system includes two sets of bottom rollers and a tube roll body mounted on a frame, a geared motor assembly connected to the side of one of the bottom rollers, and a discharge support cover located at the end of the tube roll body. The discharge support cover is opened or closed by a discharge drive cylinder mounted on the side. The welding station mechanism includes a station base, multiple sets of radial clamping mechanisms located on the front of the station base, a drive electric cylinder that synchronously drives the multiple sets of radial clamping mechanisms via a ring transmission belt and a transmission gear set, and a welding execution assembly installed on the back of the station base. The tube lifting support mechanism includes a fixed base, two sets of lower sliding adjustment seats fixed on both sides of the fixed base, a concave roller body fixed in the middle of the two sets of lower sliding adjustment seats by an adjustable bracket, and a conveying drive motor connected to the side of the concave roller body. The lower sliding adjustment seats adjust the workpiece height by pushing the arc-shaped pallet up and down through a lifting electric cylinder.

[0010] Furthermore, the end effector assembly includes a gripper mounting base and multiple sets of gripper units; the gripper mounting base is fixed on the gripper rotation drive, and multiple sets of gripper units are provided below the gripper mounting base, with at least two sets of gripper units.

[0011] Furthermore, in the tube winding machine, the two sets of bottom support rollers and the tube winding roller body are connected by transmission gears. The reduction motor assembly drives one set of bottom support rollers to rotate and drives the other set of bottom support rollers and the tube winding roller body to rotate synchronously through the transmission gears.

[0012] Furthermore, the tube winding machine also includes a support side frame; the bearing seat at the end of the tube winding roller is supported by the support side frame and the unloading support cover at a position away from the drive end on the tube winding roller body, and the unloading support cover and the support side frame are hinged together.

[0013] Furthermore, the welding station mechanism is provided with four sets of radial clamping mechanisms. The four sets of radial clamping mechanisms are arranged on the station plate base in a vertical and two-sided manner. There is one set of radial clamping mechanisms at the top and one set at the bottom. The included angle between the radial clamping mechanism at the top and the two sets of radial clamping mechanisms on the sides is 60 degrees. Rollers are provided at the front end of the radial clamping mechanism.

[0014] Furthermore, the lower sliding adjustment seat includes a side plate, a lifting electric cylinder, two guide rods, and an arc-shaped support plate; the lifting electric cylinder is installed inside the side plate, and guide rods are provided on both sides of the lifting electric cylinder, and an arc-shaped support plate is fixed to the upper end of the guide rods and the lifting electric cylinder.

[0015] Furthermore, the conveying drive motor drives the concave roller body to rotate for conveying the workpiece back and forth. During the process of adjusting the height of the arc-shaped pallet by the lifting electric cylinder, the concave roller body is adjusted synchronously through the adjustable bracket.

[0016] Furthermore, the gripper rotation drive is fixed to the front end of the robotic arm body, and the output end of the gripper rotation drive is connected to the end gripper assembly, driving the end gripper assembly to rotate around its own axis.

[0017] Furthermore, in the welding station mechanism, the two ends of the annular transmission belt are respectively connected to the drive electric cylinder. The drive electric cylinder pulls the transmission gear set to rotate through the annular transmission belt, and the transmission gear set drives each radial clamping mechanism to synchronously feed or retract radially.

[0018] Furthermore, the control box is electrically connected to the feeding robot mechanism, the pipe rolling machine, the welding station mechanism, and the pipe lifting support mechanism, respectively.

[0019] Compared with the prior art, the beneficial effects of the present invention are: This invention integrates the conveyor track, the feeding robot mechanism, the tube rolling machine, the welding station mechanism, and the tube body lifting and support mechanism on the same conveyor platform, forming a continuous automated production line from plate feeding, tube rolling, tube body transfer, lifting and conveying, welding and positioning to finished product output. No manual assistance is required between the workstations, which effectively solves the problems of scattered workstations, low equipment integration, and large footprint in the existing technology.

[0020] The welding station mechanism of the present invention adopts a structure in which multiple sets of radial clamping mechanisms are set on the front side of the station plate base and welding execution components are set on the back side. The multiple sets of radial clamping mechanisms are synchronously driven by the drive electric cylinder through the annular transmission belt and the transmission gear set, which can simultaneously perform radial clamping and positioning of the pipe body from multiple directions. The clamping force is uniform and consistent, ensuring that the gap at the joint of the pipe body is uniform and stable, and effectively improving the weld formation quality. The pipe support mechanism of this invention adopts a structure with two sets of downward sliding adjustment seats on both sides of a fixed base and a concave roller body in the middle. The two sets of downward sliding adjustment seats provide multi-point support for the pipe body. The concave shape of the concave roller body is adapted to the outer wall of the pipe body, ensuring stable and reliable support. The downward sliding adjustment seats use a lifting electric cylinder to drive the arc-shaped support plate to rise and fall, which can flexibly adjust the lifting height according to the pipe diameter and welding process requirements. Two guide rods ensure the smoothness and guiding accuracy of the lifting process. In particular, the height of the concave roller body is adjusted synchronously with the arc-shaped support plate through an adjustable bracket, so that the lifting height of the concave roller and the support height of the arc-shaped support plate are always consistent. This ensures that the pipe body is at the same level throughout the entire support area, avoiding bending or jamming of the pipe body due to height differences. This effectively solves the problems of inconsistent support heights and inconvenient adjustment for long pipe bodies in the prior art.

[0021] In the tube support mechanism of the present invention, the concave roller body is driven to rotate by the conveying drive motor. The tube body is moved axially by the friction between the concave roller and the tube body, realizing the automatic conveying of the tube body. There is no need to set up an external pushing mechanism, which simplifies the equipment structure. Moreover, the conveying action and the support are integrated on the same mechanism, and the conveying and support are coordinated and consistent, avoiding the problems of tube body jamming or asynchronous conveying. Attached Figure Description

[0022] Figure 1 This is an isometric schematic diagram of the overall structure of the present invention; Figure 2 This is a side view of the loading robot mechanism in this invention. Figure 3 This is a three-dimensional schematic diagram of the tube winding machine in this invention; Figure 4 This is a schematic diagram of the internal transmission structure of the welding station mechanism in this invention; Figure 5 This is a schematic diagram of the pipe end clamping fixture structure of the welding station mechanism in this invention; Figure 6 This is an isometric structural diagram of the tube support mechanism in this invention; Figure 7 This is a schematic diagram of the end effector gripper assembly of the loading robot in this invention.

[0023] In the diagram: 1. Conveying track; 2. Loading robot mechanism; 21. Robot rotating base; 22. Track traveling mechanism; 23. Robotic arm body; 24. End effector gripper assembly; 25. Gripper rotation drive; 241. Gripper mounting base; 242. Gripper unit; 3. Control box; 4. Tube winding machine; 41. Gear motor assembly; 42. Bottom roller; 43. Tube winding roller body; 44. Unloading drive cylinder; 45. Unloading support cover ; 46. Support side frame; 5. Welding station mechanism; 51. Station plate base; 52. Welding execution component; 53. Circular transmission belt; 54. Transmission gear set; 55. Radial clamping mechanism; 6. Pipe body lifting support mechanism; 61. Lower sliding adjustment seat; 611. Lifting electric cylinder; 612. Guide rod; 613. Arc-shaped support plate; 614. Side upright plate; 62. Fixed base; 63. Conveyor drive motor; 64. Concave roller body. Detailed Implementation

[0024] Please see Figure 1-7 This invention provides a technical solution: an automated welding system for tube rolling includes a conveyor track 1, a loading robot mechanism 2, a control box 3, a tube rolling machine 4, a welding station mechanism 5, and a tube lifting and support mechanism 6. A set of tube lifting and support mechanisms 6 is fixed to the front and rear sides of the welding station mechanism 5, and the two sets of tube lifting and support mechanisms 6 are symmetrically arranged along the workpiece conveying direction to provide multi-point lifting and support for the long tube. A tube rolling machine 4 is installed on the conveyor platform at the front end of the tube lifting and support mechanism 6, and the tube rolling machine 4 is used to roll sheet metal into tubes. A conveyor track 1 is provided on the side of the conveyor platform on the side of the tube rolling machine 4, extending along the workpiece conveying direction. A loading robot mechanism 2 is slidably installed on the conveyor track 1, and the loading robot mechanism 2 can reciprocate along the conveyor track 1 to realize the transfer of workpieces between different stations. The pipe rolling machine 4 has a control box 3 on its side that controls all the equipment. The control box 3 is electrically connected to the feeding robot mechanism 2, the pipe rolling machine 4, the welding station mechanism 5, and the pipe body lifting support mechanism 6, and controls each mechanism to coordinate its actions according to the process sequence.

[0025] like Figure 2As shown, the loading robot mechanism 2 includes a track-walking mechanism 22, a robot arm rotating base 21, a robot arm body 23, a gripper rotation drive 25, and an end effector gripper assembly 24. The track-walking mechanism 22 is slidably mounted on the conveying track 1 and can travel along the length of the conveying track 1. The robot arm rotating base 21 is fixed in the middle of the track-walking mechanism 22. The robot arm rotating base 21 can rotate around a vertical axis, driving the robot arm body 23 to rotate and adjust its orientation in the horizontal plane. The robot arm body 23 is mounted on the robot arm rotating base 21. The robot arm body 23 is composed of multiple arm sections connected by joints, allowing for multi-degree-of-freedom movement in space and flexible adjustment of the end effector position. The end effector gripper assembly 24 is fixed to the front end of the robot arm body 23 via the gripper rotation drive 25. The gripper rotation drive 25 is fixed to the front end of the robot arm body 23, and its output end is connected to the end effector gripper assembly 24, driving the end effector gripper assembly 24 to rotate around its own axis to adjust the workpiece clamping angle.

[0026] like Figure 7 As shown, the end effector assembly 24 includes a gripper mounting base 241 and multiple sets of gripper units 242. The gripper mounting base 241 is fixed to the output end of the gripper rotation drive 25 and rotates synchronously with the gripper rotation drive 25. Multiple sets of gripper units 242 are arranged below the gripper mounting base 241, with at least two sets. These sets of gripper units 242 are spaced apart along the length of the gripper mounting base 241, collectively clamping the workpiece at multiple points. Each set of gripper units 242 includes two opposing grippers connected by a linkage mechanism to achieve synchronous opening and closing. During clamping, the two grippers clamp the workpiece from both sides, ensuring the stability of the workpiece clamping.

[0027] like Figure 3 As shown, the tube winding machine 4 includes a geared motor assembly 41, two sets of bottom rollers 42, a tube winding roller body 43, a discharge drive cylinder 44, a discharge support cover 45, and a support side frame 46. Two sets of bottom rollers 42 and a tube winding roller body 43 are mounted on the frame. The two sets of bottom rollers 42 are arranged parallel to each other below, and the tube winding roller body 43 is arranged above the two sets of bottom rollers 42. The axes of the three are parallel to each other and arranged in a triangle. The sheet metal passes through the gap between the tube winding roller body 43 and the bottom rollers 42 and is wound into shape. The geared motor assembly 41 is connected to the side of one set of bottom rollers 42. The two sets of bottom rollers 42 and the tube winding roller body 43 are connected by a transmission gear. The geared motor assembly 41 drives one set of bottom rollers 42 to rotate, and through the transmission gear, drives the other set of bottom rollers 42 and the tube winding roller body 43 to rotate synchronously. The three rotating in the same direction continuously feed the sheet metal and complete the tube winding operation.

[0028] The bearing seat at the end of the tube winding roller 43, located away from the drive end, is supported by a support side frame 46 and a discharge support cover 45. The support side frame 46 is fixed to the machine frame, and the discharge support cover 45 is hinged to the support side frame 46. The discharge support cover 45 can be flipped open or closed around the hinge axis. The discharge support cover 45 is driven to open or close by a discharge drive electric cylinder 44 mounted on the side. During tube winding, the discharge support cover 45 is in the closed state, supporting the bearing seat at the end of the tube winding roller 43 together with the support side frame 46, ensuring the stability of the rotation of the tube winding roller 43. During discharge, the discharge drive electric cylinder 44 pushes the discharge support cover 45 to flip open around the hinge axis, releasing the support on the bearing seat at the end of the tube winding roller 43, allowing the rolled tube to be released from the end of the tube winding roller 43, completing the discharge operation.

[0029] like Figure 4 and Figure 5 As shown, the welding station mechanism 5 includes a station base 51, a welding execution component 52, an annular transmission belt 53, a transmission gear set 54, and multiple sets of radial clamping mechanisms 55. The station base 51 has a disc-shaped structure and is vertically fixed on the frame. The center of the station base 51 has a through hole for the pipe to pass through. Multiple sets of radial clamping mechanisms 55 are arranged on the front of the station base 51, and are evenly distributed along the circumference of the station base 51, which can radially clamp and position the pipe from multiple directions. The radial clamping mechanisms 55 are synchronously driven by the annular transmission belt 53 and the transmission gear set 54 on the back. The two ends of the annular transmission belt 53 are respectively connected to the drive electric cylinder. The drive electric cylinder pulls the transmission gear set 54 to rotate through the annular transmission belt 53, and the transmission gear set 54 drives each radial clamping mechanism 55 to synchronously feed or retract radially, realizing synchronous clamping or releasing of the pipe. A welding execution component 52 is installed on the back of the workstation base 51. The welding gun of the welding execution component 52 is directed toward the joint of the pipe body to perform welding operations on the longitudinal joint of the pipe body.

[0030] Four sets of radial clamping mechanisms 55 are arranged vertically and horizontally on the workstation base 51. One set of radial clamping mechanisms 55 is located at the top and bottom, and the included angle between the top set and the two sets on the sides is 60 degrees. The four sets of radial clamping mechanisms 55 clamp the tube body simultaneously from four directions, ensuring a uniform and stable gap at the joint. A roller is located at the front end of each radial clamping mechanism 55. The roller can rotate freely around its own axis. During clamping, the outer circumferential surface of the roller contacts the outer wall of the tube body. When the tube body is conveyed axially, the roller rolls synchronously with the tube body, without affecting the stable conveying of the workpiece, and simultaneously reducing the frictional resistance during tube conveying.

[0031] like Figure 6As shown, the tube lifting support mechanism 6 includes a fixed base 62, two sets of downward sliding adjustment seats 61, a concave roller body 64, and a conveying drive motor 63. The fixed base 62 is fixed to the frame, serving as the mounting base for the entire tube lifting support mechanism 6. Two sets of downward sliding adjustment seats 61 are fixed on both sides of the fixed base 62, arranged symmetrically on the left and right sides. The concave roller body 64 is fixed to the middle of the two sets of downward sliding adjustment seats 61 via an adjustable bracket. The outer circumference of the concave roller body 64 is a concave shape with a central depression, which matches the cylindrical outer wall of the tube body, providing stable support for the tube body. The conveying drive motor 63 is connected to the side of the concave roller body 64. The conveying drive motor 63 drives the concave roller body 64 to rotate for forward and backward conveying of the workpiece, and the tube body moves axially by the friction between the concave roller body 64 and the tube body.

[0032] The sliding adjustment seat 61 includes a side plate 614, a lifting electric cylinder 611, two guide rods 612, and an arc-shaped support plate 613. The side plate 614 is fixed to the fixed base 62, and the lifting electric cylinder 611 is installed inside the side plate 614, with the piston rod of the lifting electric cylinder 611 extending vertically upward. Guide rods 612 are provided on both sides of the lifting electric cylinder 611, and the two guide rods 612 are arranged parallel to the piston rod of the lifting electric cylinder 611, and the guide rods 612 can slide and guide in the vertical direction. An arc-shaped support plate 613 is fixed to the upper end of the guide rods 612 and the lifting electric cylinder 611. The upper surface of the arc-shaped support plate 613 is arc-shaped to fit the outer wall of the tube. The lifting electric cylinder 611 pushes the arc-shaped support plate 613 up and down to adjust the workpiece height, and the two guide rods 612 ensure the stability and guiding accuracy of the arc-shaped support plate 613 during the lifting process. During the process of adjusting the height of the arc-shaped support plate 613 by the lifting electric cylinder 611, the concave roller body 64 is adjusted synchronously through the adjustable bracket so that the lifting height of the concave roller body 64 is consistent with the support height of the arc-shaped support plate 613, ensuring that the tube body is at the same level in the entire lifting support area and avoiding bending or jamming of the tube body.

[0033] First, the loading robot 2 moves along the conveyor track 1 to the loading position. The robot arm body 23 drives the end gripper assembly 24 to move to the plate to be processed. Multiple gripper units 242 clamp the plate simultaneously. The gripper rotation drive 25 can drive the end gripper assembly 24 to rotate and adjust the posture of the plate. Then, the loading robot 2 transfers the plate to the feeding position of the tube winding machine 4 and feeds the plate into the gap between the tube winding roller 43 and the bottom support roller 42. The reduction motor assembly 41 drives the two sets of bottom support rollers 42 and the tube winding roller 43 to rotate synchronously, continuously winding the plate into a tube. After the tube is wound, the unloading drive cylinder 44 pushes the unloading support cover 45 to flip open, and the formed tube comes out from the end of the tube winding roller 43. The loading robot 2 transfers the formed tube to the tube lifting support mechanism 6. The lifting electric cylinder 611 of the tube lifting support mechanism 6 pushes the arc-shaped support plate 613 to lift and adjust to the appropriate position. At the appropriate height, the concave roller body 64 is adjusted synchronously through the adjustable bracket. The conveying drive motor 63 drives the concave roller body 64 to rotate, conveying the tube forward to the welding station mechanism 5. After the tube passes through the central through hole of the station plate base 51, the drive electric cylinder drives the four sets of radial clamping mechanisms 55 to synchronously feed radially through the annular transmission belt 53 and the transmission gear set 54, clamping and positioning the tube from four directions, so that the longitudinal joint of the tube maintains a uniform gap. The welding execution component 52 welds the joint of the tube. During the welding process, the roller at the front end of the radial clamping mechanism 55 rolls synchronously with the tube conveying. The conveying drive motor 63 drives the concave roller body 64 to continue to rotate, driving the tube to feed axially, realizing continuous welding of the tube joint. After the welding is completed, the four sets of radial clamping mechanisms 55 synchronously retract to release the tube. The finished tube is conveyed out by the tube lifting support mechanism 6, completing the entire coiled tube welding operation cycle. The timing and motion parameters of the above-mentioned mechanisms are all uniformly coordinated and controlled by the control box 3 to realize the automated operation of the entire process of pipe rolling and welding.

Claims

1. An automated welding system for pipe rolling, characterized in that, The system includes a conveyor track (1), a loading robot mechanism (2), a control box (3), a pipe rolling machine (4), a welding station mechanism (5), and a pipe lifting support mechanism (6). A set of pipe lifting support mechanisms (6) is fixed to the front and rear sides of the welding station mechanism (5). A pipe rolling machine (4) is installed on the conveyor platform at the front end of the pipe lifting support mechanism (6). A conveyor track (1) is provided on the side of the conveyor platform of the pipe rolling machine (4). A loading robot mechanism (2) is slidably installed on the conveyor track (1). The pipe rolling machine (4) is located on the side of the conveyor platform. The control box (3) controlling all equipment is provided; the loading robot mechanism (2) includes a track walking mechanism (22) slidably mounted on the conveying track (1), a robot rotating base (21) fixed on the track walking mechanism (22), a robot arm body (23) set on the robot rotating base (21), and an end gripper assembly (24) fixed to the front end of the robot arm body (23) by a gripper rotation drive (25); the tube winding machine (4) includes two sets of bottom rollers (42) and tube winding roller body (43) mounted on the frame, and One set of bottom rollers (42) is connected to a geared motor assembly (41) on the side and a discharge support cover (45) is provided at the end of the tube roll body (43). The discharge support cover (45) is opened or closed by a discharge drive cylinder (44) installed on the side. The welding station mechanism (5) includes a station plate base (51), multiple sets of radial clamping mechanisms (55) provided on the front of the station plate base (51), and a drive electric cylinder that synchronously drives the multiple sets of radial clamping mechanisms (55) through an annular transmission belt (53) and a transmission gear set (54). The welding execution assembly (52) is installed on the back of the workstation base (51); the pipe lifting support mechanism (6) includes a fixed base (62), two sets of lower sliding adjustment seats (61) fixed on both sides of the fixed base (62), a concave roller body (64) fixed in the middle of the two sets of lower sliding adjustment seats (61) by an adjustable bracket, and a conveying drive motor (63) connected to the side of the concave roller body (64). The lower sliding adjustment seat (61) pushes the arc-shaped pallet (613) to rise and fall to adjust the workpiece height by lifting electric cylinder (611).

2. The automated welding system for tube rolling according to claim 1, characterized in that, The end gripper assembly (24) includes a gripper mounting base plate (241) and multiple sets of gripper units (242); the gripper mounting base plate (241) is fixed on the gripper rotation drive (25), and multiple sets of gripper units (242) are provided below the gripper mounting base plate (241), with at least two sets of gripper units (242).

3. The automated welding system for tube rolling according to claim 1, characterized in that, In the tube winding machine (4), the two sets of bottom rollers (42) and the tube winding roller body (43) are connected by transmission gears. The geared motor assembly (41) drives one set of bottom rollers (42) to rotate and drives the other set of bottom rollers (42) and tube winding roller body (43) to rotate synchronously through the transmission gears.

4. The automated welding system for tube rolling according to claim 1, characterized in that, The tube winding machine (4) also includes a support side frame (46); the bearing seat at the end of the tube winding roller (43) is supported by the support side frame (46) and the unloading support cover (45) at a position away from the drive end, and the unloading support cover (45) and the support side frame (46) are hinged together.

5. The automated welding system for tube rolling according to claim 1, characterized in that, The welding station mechanism (5) has four sets of radial clamping mechanisms (55). The four sets of radial clamping mechanisms (55) are arranged on the station base (51) in the upper and lower and on both sides. There is one set of radial clamping mechanism (55) at the upper and lower. The included angle between the radial clamping mechanism (55) at the upper and the two sets of radial clamping mechanisms (55) on both sides is 60 degrees. The front end of the radial clamping mechanism (55) is provided with a roller.

6. The automated welding system for tube rolling according to claim 1, characterized in that, The lower sliding adjustment seat (61) includes a side plate (614), a lifting electric cylinder (611), two guide rods (612), and an arc-shaped support plate (613). The lifting electric cylinder (611) is installed inside the side plate (614). Guide rods (612) are provided on both sides of the lifting electric cylinder (611), and an arc-shaped support plate (613) is fixed at the upper end of the guide rods (612) and the lifting electric cylinder (611).

7. The automated welding system for tube rolling according to claim 6, characterized in that, The conveying drive motor (63) drives the concave roller body (64) to rotate for conveying the workpiece back and forth. During the process of adjusting the height of the arc-shaped pallet (613) by the lifting electric cylinder (611), the concave roller body (64) is synchronously adjusted by the adjustable bracket.

8. The automated welding system for tube rolling according to claim 1, characterized in that, The gripper rotation drive (25) is fixed at the front end of the robotic arm body (23). The output end of the gripper rotation drive (25) is connected to the end gripper assembly (24) and drives the end gripper assembly (24) to rotate around its own axis.

9. The automated welding system for tube rolling according to claim 1, characterized in that, In the welding station mechanism (5), the two ends of the annular transmission belt (53) are respectively connected to the drive electric cylinder. The drive electric cylinder pulls the transmission gear set (54) to rotate through the annular transmission belt (53), and the transmission gear set (54) drives each radial clamping mechanism (55) to synchronously feed or retract radially.

10. The automated welding system for tube rolling according to claim 1, characterized in that, The control box (3) is electrically connected to the feeding robot (2), the pipe rolling machine (4), the welding station mechanism (5), and the pipe lifting support mechanism (6), respectively.

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