Short pipe fitting robot assembly welding system

Abstract

The utility model discloses a robot assembly welding system for short pipe fittings, which comprises a positioner system which walks on a positioner track and is provided with a chuck for clamping the pipe fittings; the pipe fitting grabbing robot walks on a grabbing robot track parallel to the positioner track and is used for grabbing the pipe fitting and splicing the pipe fitting with the pipe fitting clamped by the positioner system; the welding robot walks on a welding robot track parallel to the positioner track and is used for welding the spliced pipe fittings; the track AGV trolley runs on the AGV trolley track and is used for bearing the tray for the pipe fitting grabbing robot to pick and place the pipe fitting; tray storage areas with trays are arranged on the two sides of the AGV track. According to the system, pipe fitting feeding, carrying and assembling can be automatically completed, and the assembling and carrying precision is high compared with manual operation; and the device can adapt to pipe fittings with different diameters and is high in universality.

Description

Technical Field

[0001] The utility model relates to the field of mechanical processing, in particular to a short pipe robot assembly welding system. Background Art

[0002] Pipelines are an important component of liquid transportation systems. Due to the limitation of transportation length, existing pipelines are usually formed by splicing and welding multiple sections of pipe fittings. In the prior art, pipe section welding is usually carried out manually or by crane to lift the pipe fittings to special tooling such as assemblers, and perform manual assembly, manual spot welding and welding. However, traditional assemblers are time-consuming, labor-intensive, inefficient, difficult to operate, and have low assembly accuracy, and cannot achieve automatic loading, unloading and automatic welding; and the existing tooling and assemblers are mostly for pipes of specific diameters. For different diameters, assemblers of specific diameters are required, and the versatility is poor. Utility Model Content

[0003] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is that the pipeline assembly device in the prior art requires manual operation, has low efficiency and poor versatility.

[0004] To achieve the above purpose, the utility model provides a short pipe robot assembly welding system, comprising:

[0005] The positioner system, which travels on the positioner track, has a chuck for clamping the pipe;

[0006] The pipe grabbing robot moves on a grabbing robot track parallel to the positioner track and is used to grab pipes and splice them with the pipes clamped by the positioner system;

[0007] A welding robot, which moves on a welding robot track parallel to the positioner track, and is used to weld the spliced ​​pipe fittings;

[0008] The track AGV trolley runs on the AGV trolley track and is used to carry pallets for the pipe grasping robot to pick up and place pipes; pallet storage areas with pallets are arranged on both sides of the AGV trolley track.

[0009] A further improvement of the utility model is that the chuck of the positioner system is a four-jaw chuck, and the axis of the chuck is parallel to the positioner track.

[0010] A further improvement of the utility model is that a pipe support system is also arranged on the positioner track; the top of the pipe support system has two support rollers whose rotation axes are parallel to the positioner track; the two support rollers are used to respectively support the bottom sides of the cantilevered end of the pipe.

[0011] A further improvement of the utility model is that the positioner track includes a linear rail and a rack, and a slider adapted to the linear rail and a gear drive mechanism adapted to the rack are installed at the bottom of the positioner system and the pipe support system.

[0012] A further improvement of the utility model is that the positioner system has a lifting and lowering adjustment mechanism, the lifting and lowering adjustment mechanism is provided with a rotation driving mechanism for driving the chuck to rotate, and the chuck is mounted on the rotation driving mechanism.

[0013] A further improvement of the utility model is that two forks are arranged on the top of the rail AGV trolley for synchronously telescoping laterally to pick up the pallet.

[0014] The device provided by the utility model has the following technical effects: it can automatically complete the loading, transporting and pairing of pipe fittings, and has higher handling accuracy than manual operation; it can adapt to pipe fittings of different diameters and has strong versatility.

[0015] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional view of the short pipe robot group welding system of the utility model.

[0017] Figure 2 It is a top view of the short pipe robot group welding system of the utility model. DETAILED DESCRIPTION

[0018] The following describes the implementation of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific implementations, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0019] It should be noted that the illustrations provided in the following embodiments are only used to schematically illustrate the basic concept of the present invention, and thus the illustrations only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0020] Some exemplary embodiments of the present invention are described for the purpose of illustration. It should be understood that the present invention may be implemented in other ways not specifically shown in the drawings.

[0021] like Figure 1 , Figure 2 As shown, the embodiment of the utility model provides a short pipe robot assembly welding system, which includes: a positioner system 10, a pipe grabbing robot 20, a welding robot 30, and a track AGV trolley 40. The positioner system 10 is used to clamp a pipe, the pipe grabbing robot 20 is used to grab another pipe to splice and pair it, and after the splicing is completed, the welding robot 30 is used to spot weld the two spliced ​​pipes, and then the positioner system drives the two spot-welded pipes to rotate, and during the rotation process, the welding robot completely welds the weld to be welded. Specifically:

[0022] The positioner system 10 travels on the positioner track 11 and has a chuck 12 for clamping the pipe 90. In this embodiment, the chuck 12 of the positioner system 10 is a four-claw chuck, and the axis of the chuck 12 is parallel to the positioner track 11. The positioner system 10 has a lifting adjustment mechanism, and a rotary drive mechanism for driving the chuck 12 to rotate is provided on the lifting adjustment mechanism, and the chuck 12 is mounted on the rotary drive mechanism; after spot welding, the rotary drive mechanism can drive the chuck 12 to rotate along its axis and drive the two pipes to rotate one circle, so that the welding robot 30 can completely weld the weld.

[0023] A pipe support system 15 is also provided on the positioner track 11; the top of the pipe support system 15 has two support rollers 16 whose rotation axes are parallel to the positioner track 11; the two support rollers 16 are used to support the bottom sides of the cantilevered end of the pipe respectively. The two support rollers 16 are symmetrically distributed on both sides below the chuck 12. When the chuck 12 of the positioner system 10 clamps a pipe with a longer length, in order to prevent the end of the pipe from sagging, the pipe support system 15 can be used to support the end of the pipe 90. During the support process, the circumferential surfaces of the two support rollers 16 are in contact with the outer circle of the pipe respectively. The chuck 12 of the positioner system 10 can be raised and lowered, and can be adapted to pipes of different diameters in conjunction with the pipe support system 15.

[0024] The positioner system 10 and the pipe support system 15 both travel on the positioner track 11. The positioner track includes a linear track and a rack. A slider adapted to the linear track and a gear drive mechanism adapted to the rack are installed at the bottom of the positioner system 10 and the pipe support system 15. During the travel, the linear track slider provides guidance, and the gear rack mechanism provides power. In order to adapt to pipes of different lengths, the position of the positioner system 10 and the pipe support system 15 on the positioner track 11 can be adjusted so that the distance between the two adapts to the length of the pipe.

[0025] The welding robot 30 moves on a welding robot track 31 parallel to the positioner track 11, and is used to weld the spliced ​​pipes. The welding robot used in this embodiment is a commercially available welding robot.

[0026] In this embodiment, the pipe grabbing robot 20 walks on the grabbing robot track 21 parallel to the positioner track 11, and is used to grab pipes and splice them with the pipes clamped by the positioner system 10. In addition, the pipes clamped by the positioner system 10 are also fed by the pipe grabbing robot 20, and the pipes after the welding are also taken away by the pipe grabbing robot 20.

[0027] In this embodiment, the rail AGV trolley 40 runs on the AGV trolley track 41, and is used to carry a pallet 42 for the pipe grasping robot 20 to pick up and place pipes; pallet storage areas with pallets 42 are provided on both sides of the AGV trolley track 41. The rail AGV trolley 40 can store pallets in the pallet storage area. Two forks 43 that can be telescopically forked to pick up the pallet 42 are provided on the top of the rail AGV trolley 40; a lifting mechanism is provided on the fork 43 for lifting or lowering the pallet. The lifting mechanism can adopt a smaller stroke, and the function of the lifting mechanism is to enable the fork 43 to lift the pallet slightly to prevent the bottom surface of the pallet from rubbing against the bottom surface during the translation of the pallet.

[0028] When using the device of this embodiment to perform group welding on two pipe fittings, the track AGV trolley 40 first forks the tray 42 carrying the first pipe fitting and moves to a position adjacent to the gripping robot track 21; the pipe gripping robot 20 grabs the pipe fitting and moves to a position adjacent to the positioner system 10, where the pipe fitting is clamped by the chuck 12; then the pipe gripping robot 20 grabs another pipe fitting from the tray 42 and splices the clamped pipe fitting with the pipe fitting clamped on the chuck 12. This process can be completed automatically or manually verified for splicing accuracy, and then the pipe gripping robot 20 is adjusted according to the splicing error to adjust the splicing of the two pipe fittings; after the group splicing is completed, the welding robot spot welds the splicing of the two pipe fittings to fix the two together; then the chuck 12 slowly rotates one circle, during which the welding robot uses a method to completely weld the weld.

[0029] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed in the present invention shall still be covered by the claims of the present invention.

Claims

1. A short pipe robot welding system, characterized in that: include: A positioner system (10) moves on a positioner track (11) and has a chuck (12) for clamping a pipe (90); A pipe grabbing robot (20) moves on a grabbing robot track (21) parallel to the positioner track (11) and is used to grab pipes and splice them with pipes clamped by the positioner system (10); A welding robot (30) moves on a welding robot track (31) parallel to the positioner track (11) and is used to weld the spliced ​​pipe fittings; The track AGV trolley (40) runs on the AGV trolley track (41) and is used to carry a tray (42) for a pipe grasping robot (20) to pick up and place pipes; tray storage areas for the trays (42) are arranged on both sides of the AGV trolley track (41).

2. A short pipe robot welding system as claimed in claim 1, characterized in that: The chuck (12) of the positioner system (10) is a four-jaw chuck, and the axis of the chuck (12) is parallel to the positioner track (11).

3. A short pipe robot assembly welding system as claimed in claim 2, characterized in that: A pipe support system (15) is also provided on the positioner track (11); the top of the pipe support system (15) has two support rollers (16) whose rotation axes are parallel to the positioner track (11); the two support rollers (16) are used to respectively support the bottom sides of the cantilevered end of the pipe.

4. A short pipe robot welding system as claimed in claim 1, characterized in that: The positioner track (11) comprises a linear rail and a rack, and a slider adapted to the linear rail and a gear drive mechanism adapted to the rack are installed at the bottom of the positioner system (10) and the pipe support system (15).

5. The short pipe robot welding system according to claim 1, characterized in that: The positioner system (10) has a lifting and lowering adjustment mechanism, on which a rotation driving mechanism for driving the chuck (12) to rotate is arranged, and the chuck (12) is mounted on the rotation driving mechanism.

6. A short pipe robot assembly welding system as claimed in claim 1, characterized in that: The top of the rail AGV trolley (40) is provided with two forks (43) that are telescopically moved laterally and synchronously to pick up the pallet (42).

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