Butt welding robot mechanism for prefabricated pipelines

Abstract

The utility model discloses a prefabricated pipeline butt welding robot mechanism which comprises two sets of guide rails arranged on the ground in parallel, a roller carrier, a headstock positioner, a tailstock positioner, a supporting frame, a pneumatic manipulator, a three-axis mechanical arm and a working platform, two sets of cross-shaped sliding frames are arranged on the working platform, a gas shielded welding gun is installed on one set of cross-shaped sliding frames, and a gas shielded welding gun is installed on the other set of cross-shaped sliding frames. An argon arc welding gun is installed on the other set of cross-shaped sliding frame, a visual identification mechanism is arranged on the working platform and located between the two sets of cross-shaped sliding frames, and the headstock positioner comprises a first left-right moving mechanism, a first lifting mechanism and a rotating mechanism. The slewing mechanism is used for clamping a flange connected with the front end of the main pipeline and can drive the flange and the main pipeline to rotate, and the tailstock positioner can adjust the position and the height of the rear end of the main pipeline. The problems that automatic welding is high in requirements for pipeline assembly gap and alignment tolerance control and high in labor intensity are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline welding, in particular to a robot mechanism for butt welding of prefabricated pipelines. Background Art

[0002] The existing technology uses manual methods to assemble and weld pipelines, but has the technical problems of low efficiency and high labor intensity, which reduces the experience requirements for technical personnel. Utility Model Content

[0003] In view of the deficiencies in the prior art, the utility model provides a robot mechanism for butt welding of prefabricated pipes, which is convenient for assembling and adjusting the positions of workpieces such as flanges at both ends of the main pipe, so as to solve the technical problems in the prior art of cumbersome manual assembly of pipes, low welding efficiency and high labor intensity.

[0004] In order to solve the above technical problems, the technical solution adopted by the utility model is a robot mechanism for butt welding of prefabricated pipes, comprising: two groups of guide rails arranged in parallel on the ground, two groups of roller frames slidably arranged on the guide rails for placing main pipes, a head frame positioner, a tail frame positioner, a support frame arranged on the side of the guide rails, a pneumatic manipulator arranged on the support frame, a three-axis mechanical arm arranged on the pneumatic manipulator, and a working platform arranged at the front end of the three-axis mechanical arm, two groups of cross slides are arranged on the working platform, a gas shielded welding gun is installed on one group of cross slides, and an argon arc welding gun is installed on the other group of cross slides, and a visual recognition mechanism is arranged between the two groups of cross slides on the working platform, the head frame positioner comprises a first left and right moving mechanism, a first lifting mechanism and a rotating mechanism connected to the first lifting mechanism, the rotating mechanism is used to clamp the flange connected to the front end of the main pipe and can drive the rotation of the flange and the main pipe, and the tail frame positioner comprises a second left and right moving mechanism and a second lifting mechanism, which can adjust the position and height of the rear end of the main pipe.

[0005] In a preferred embodiment of the utility model, the first left-right moving mechanism includes a base, a bottom plate slidably connected to the base, a first left-right moving motor, a first gear arranged on the output end of the first left-right moving motor, and a first rack arranged under the bottom plate and meshing with the first gear.

[0006] In a preferred embodiment of the utility model, the first lifting mechanism is arranged on the base plate, including a frame, two sets of slide rails arranged on the frame, a screw nut pair transmission mechanism arranged on the frame, and a first lifting motor driving the screw nut pair to move.

[0007] In a preferred embodiment of the utility model, the rotating mechanism includes a sliding seat slidably arranged on a slide rail, a rotating gear rotatably arranged on the sliding seat, a rotating drive motor, and a driving gear connected to the rotating drive motor and meshing with the rotating gear, the rotating gear is connected to a chuck fixing plate through a rotating shaft, and a chuck assembly for clamping a flange is provided on the chuck fixing plate.

[0008] In a preferred embodiment of the utility model, the chuck assembly includes a chuck boss arranged on the chuck fixing plate, and four groups of sliding grooves are evenly distributed on the chuck boss. Positioning blocks for clamping flanges are elastically arranged in the sliding grooves.

[0009] In a preferred embodiment of the present invention, the front end of the positioning block is connected to the front end of the sliding slot via a compression spring, and the positioning block has a plurality of step portions with different heights.

[0010] In a preferred embodiment of the utility model, an upper limit sensing switch is arranged at the top of the frame, and a lower limit sensing switch is arranged on the sliding seat.

[0011] In a preferred embodiment of the utility model, the tailstock positioner includes a tail base slidably connected to the guide rail, a lifting cylinder arranged on the tail base, a supporting plate connected to the output end of the lifting cylinder, a second left and right moving motor, a second gear arranged on the output end of the second left and right moving motor, and a second rack arranged under the supporting plate and meshing with the second gear.

[0012] In a preferred embodiment of the present utility model, the three-axis robotic arm is equipped with a shift switch.

[0013] In a preferred embodiment of the utility model, the gas shielded welding gun is equipped with a weld laser tracker.

[0014] The beneficial effects of the utility model are as follows: the utility model is used for the prefabricated pipe butt welding robot mechanism, utilizes the head frame positioner and the tail frame positioner to adjust the lateral position of the main pipe, and the two sets of lifting mechanisms can adjust the flanges at the front and rear ends so that they can be better aligned with the main pipe, and then adjust the pneumatic manipulator and the three-axis manipulator to align the weld, and use weld laser tracking to perform precise proofreading through the machine vision mechanism, thereby improving work efficiency, reducing the experience requirements for technicians, realizing multi-posture welding and ensuring welding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0016] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0017] Figure 2 This is a structural schematic diagram of the headstock positioner in the utility model;

[0018] Figure 3 It is a top view of the head frame positioner in the utility model;

[0019] Figure 4 It is a schematic diagram of part of the structure of the utility model. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] See also Figure 1-4 The utility model discloses a robot mechanism for butt welding of prefabricated pipes, comprising: two sets of guide rails 1 arranged in parallel on the ground, two sets of roller frames 2 slidably arranged on the guide rails for placing main pipes, a head frame positioner 3, a tail frame positioner 4, a support frame 5 arranged on the side of the guide rails, a pneumatic manipulator 6 arranged on the support frame, a three-axis mechanical arm 7 arranged on the pneumatic manipulator, and a working platform 8 arranged at the front end of the three-axis mechanical arm, two sets of cross slides 9 are arranged on the working platform, a gas shielded welding gun 10 is installed on one set of cross slides, and an argon arc welding gun 11 is installed on the other set of cross slides, and a gas shielded welding gun 10 is installed on the other set of cross slides. A visual recognition mechanism 12 is arranged between the two groups of cross slides, the three-axis robotic arm is equipped with a shift switch 13, and the gas shielded welding gun is equipped with a weld laser tracker 14. After adjusting the positions of the main pipeline and the flanges to be welded at both ends, the pneumatic manipulator can realize 360-degree rotation and height adjustment within a stroke of less than 1.5 meters. The three-axis robotic arm can realize multi-angle fine-tuning during welding, the machine vision mechanism can monitor the welding quality of the weld in real time, and the weld laser tracking can track the weld in real time to adjust the welding gun head, thereby realizing high-quality weld welding and maximizing the output and space utilization.

[0022] Specifically, the head frame positioner 3 includes a first left-right moving mechanism, a first lifting mechanism and a swivel mechanism connected to the first lifting mechanism. The swivel mechanism is used to clamp the flange connected to the front end of the main pipe. During the welding process, the swivel mechanism can drive the flange and the main pipe to rotate to facilitate welding while rotating, with low labor intensity and high work efficiency. The first left-right moving mechanism includes a base 301, a bottom plate 302 slidably connected to the base, a first left-right moving motor 303, a first gear 304 arranged on the output end of the first left-right moving motor, and a first rack 305 arranged below the bottom plate and meshing with the first gear. The tail frame positioner includes a second The left-right moving mechanism and the second lifting mechanism can adjust the position and height of the rear end of the main pipeline. The tail frame positioner includes a tail base 306 slidably connected to the guide rail, a lifting cylinder 307 arranged on the four corners of the tail base, a bearing plate 308 connected to the output end of the lifting cylinder, a second left-right moving motor (not shown in the figure), a second gear arranged on the output end of the second left-right moving motor (not shown in the figure), and a second rack (not shown in the figure) arranged under the bearing plate and meshing with the second gear. The second left-right moving mechanism has the same structure and working principle as the first left-right moving mechanism, and can conveniently adjust the up and down and left-right directions of the accessories of the main pipeline, so as to better align the main pipeline with the flanges and other accessories at both ends, which can ensure automatic welding, improve work efficiency, and reduce the experience requirements for technicians.

[0023] Specifically, the first lifting mechanism is arranged on the bottom plate, including a frame 309, two sets of slide rails 310 arranged on the frame, a screw nut pair transmission mechanism 311 installed on the frame, and a first lifting motor 312 for driving the screw nut pair to move. The rotary mechanism includes a sliding seat 313 slidably connected to the slide rail, a rotary gear 314 rotatably arranged on the sliding seat, a rotary drive motor 315, and a driving gear 316 connected to the rotary drive motor and meshed with the rotary gear. The rotary gear is connected to a chuck fixing plate 318 through a rotating shaft 317, and a chuck assembly for clamping a flange is arranged on the chuck fixing plate. Part, the chuck assembly includes a chuck boss 319 arranged on the chuck fixing plate, four groups of sliding grooves 320 are evenly distributed on the chuck boss, and a positioning block 321 for clamping the flange is elastically arranged in the sliding groove, wherein the front end of the positioning block is connected to the front end of the sliding groove through a compression spring, and the positioning block has a plurality of step portions of different heights, which can clamp flanges of different sizes, an upper limit sensing switch 322 is arranged at the top position of the frame, and a lower limit sensing switch 323 is arranged on the sliding seat, and more preferably, a limit block 324 is also arranged at the bottom of the frame to limit the movement stroke of the sliding seat on the slide rail.

[0024] When working:

[0025] 1. Place the main pipeline on two sets of roller racks. You can manually adjust the opening size of the roller racks to keep the main pipeline level. You can use a level meter or other tools to check whether the main pipeline is level.

[0026] 2. Clamp the flange or other pipe fittings with the chuck assembly of the head frame positioner, and the first lifting motor, the first left and right moving motor and the rotary drive motor move up and down and left and right. At the same time, the roller frame can be manually pushed forward and backward on the guide rail assembly to align the flange or other pipe fittings with the main pipe, and then spot weld them;

[0027] 3. Place the elbow or other pipe fittings on the tailstock positioner, align them with the main pipe through the second lifting motor and the second left and right moving motor, and then perform spot welding, adjust the height of the tailstock positioner, and manually push it backward to move out of the rotation range of the main pipe;

[0028] 4. Turn on the pneumatic manipulator brake switch, turn the shift switch to adjust the three-axis manipulator to a suitable height, and push the three-axis manipulator with the handle 15 to align the argon arc welding gun with the weld position;

[0029] 5. Use the argon arc welding torch for base welding. The weld seam laser tracking can adjust the welding torch to the most suitable swing amplitude, and use machine vision to monitor the weld seam forming quality;

[0030] 6. After finishing the base with the argon arc welding torch, manually switch to the gas shielded welding torch to fill and cover the surface.

[0031] The beneficial effects of the utility model are as follows: the head frame positioner and the tail frame positioner are used to adjust the lateral position of the main pipeline, the two sets of lifting mechanisms can adjust the flanges at the front and rear ends so that they can be better aligned with the main pipeline, and then the pneumatic manipulator and the three-axis manipulator are adjusted to align the weld, and the weld laser tracking is used to perform precise proofreading through the machine vision mechanism, thereby improving work efficiency, reducing the experience requirements for technicians, realizing multi-posture welding and ensuring welding quality.

[0032] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A robot mechanism for prefabricated pipe butt welding, characterized in that: include: Two groups of guide rails arranged parallel to the ground, two groups of roller frames slidably arranged on the guide rails for placing main pipelines, a head frame positioner, a tail frame positioner, a support frame arranged on the side of the guide rails, a pneumatic manipulator arranged on the support frame, a three-axis robotic arm arranged on the pneumatic manipulator, and a working platform arranged at the front end of the three-axis robotic arm, two groups of cross slides are arranged on the working platform, one group of cross slides is equipped with a gas shielded welding gun, and the other group of cross slides is equipped with an argon arc welding gun, and a visual recognition mechanism is arranged on the working platform between the two groups of cross slides, the head frame positioner includes a first left and right moving mechanism, a first lifting mechanism and a rotating mechanism connected to the first lifting mechanism, the rotating mechanism is used to clamp the flange connected to the front end of the main pipeline and can drive the rotation of the flange and the main pipeline, the tail frame positioner includes a second left and right moving mechanism and a second lifting mechanism, which can adjust the position and height of the rear end of the main pipeline.

2. A robot mechanism for prefabricated pipe butt welding according to claim 1, characterized in that: The first left-right moving mechanism includes a base, a bottom plate slidably connected to the base, a first left-right moving motor, a first gear arranged on the output end of the first left-right moving motor, and a first rack arranged below the bottom plate and meshing with the first gear.

3. A robot mechanism for prefabricated pipe butt welding according to claim 2, characterized in that: The first lifting mechanism is arranged on the bottom plate, and comprises a frame, two sets of slide rails arranged on the frame, a screw nut pair transmission mechanism arranged on the frame, and a first lifting motor driving the screw nut pair to move.

4. A robot mechanism for prefabricated pipe butt welding according to claim 3, characterized in that: The rotary mechanism includes a sliding seat slidably arranged on a slide rail, a rotary gear rotatably arranged on the sliding seat, a rotary drive motor, and a driving gear connected to the rotary drive motor and meshing with the rotary gear. The rotary gear is connected to a chuck fixing plate through a rotating shaft, and a chuck assembly for clamping a flange is arranged on the chuck fixing plate.

5. A robot mechanism for prefabricated pipe butt welding according to claim 4, characterized in that: The chuck assembly comprises a chuck boss arranged on a chuck fixing plate, four groups of sliding grooves are evenly distributed on the chuck boss, and positioning blocks for clamping flanges are elastically arranged in the sliding grooves.

6. A robot mechanism for prefabricated pipe butt welding according to claim 5, characterized in that: The front end of the positioning block is connected to the front end of the sliding groove through a compression spring, and the positioning block has a plurality of step portions with different heights.

7. A robot mechanism for prefabricated pipe butt welding according to claim 4, characterized in that: An upper limit sensing switch is arranged at the top of the frame, and a lower limit sensing switch is arranged on the sliding seat.

8. The robot mechanism for prefabricated pipe butt welding according to claim 1, characterized in that: The tailstock positioner includes a tail base slidably connected to the guide rail, a lifting cylinder arranged on the tail base, a bearing plate connected to the output end of the lifting cylinder, a second left-right moving motor, a second gear arranged on the output end of the second left-right moving motor, and a second rack arranged below the bearing plate and meshing with the second gear.

9. The robot mechanism for prefabricated pipe butt welding according to claim 1, characterized in that: The three-axis mechanical arm is equipped with a shift switch.

10. The robot mechanism for prefabricated pipe butt welding according to claim 1, characterized in that: The gas shielded welding gun is equipped with a weld seam laser tracker.

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