Tubular pile end plate welding device

Abstract

A tubular pile end plate welding device comprises a welding rack and a first end face welding device arranged on the welding rack, and the first end face welding device comprises a welding gun, a first end face welding device and a second end face welding device. The X-direction welding moving mechanism is used for moving the welding gun in the X direction so as to carry out welding in the length direction of the welding seam; and the Y-direction welding moving mechanism is used for moving the welding gun in the Y direction, so that the welding gun conducts reciprocating motion welding in the width direction of the welding seam while conducting welding on the welding seam in the length direction of the welding seam. The Y-direction welding moving mechanism is additionally arranged, so that the welding quality can be improved, under the condition that the width of a welding seam is large, the combination effect of a welding seam notch can be improved through movement in the width direction of the welding seam, and therefore the structural stability of an end plate is improved.

Description

Technical Field

[0001] The utility model relates to production equipment for end plates of concrete pipe piles, in particular to an end plate welding device. Background Art

[0002] End plates (or flanges) are the basic components of concrete pipe piles in the industrial and construction industries. There are various ways to form end plates. Some end plates formed by end plate forming processes often have a gap, such as end plates formed by hot bending end plate forming processes. Such end plates need to be welded to the gap before they can be used. The welding effect of existing end plate welding equipment is not ideal, and the bonding effect at the weld is not good, which limits the structural stability of the end plate. Utility Model Content

[0003] According to one aspect of the utility model, a pipe pile end plate welding device is provided, comprising a welding frame and a first end face welding device arranged on the welding frame, the first end face welding device comprising:

[0004] Welding gun;

[0005] An X-direction welding moving mechanism, used to move the welding gun along the X-direction to perform welding along the length direction of the weld; and

[0006] The Y-direction welding moving mechanism is used to move the welding gun along the Y-direction, so that the welding gun performs reciprocating welding along the width direction of the weld while welding the weld in the length direction.

[0007] The utility model can improve the welding quality by adding a Y-direction welding moving mechanism. When the weld width is large, the bonding effect at the weld notch can be improved by moving in the weld width direction, thereby increasing the structural stability of the end plate.

[0008] In some embodiments, the first end face welding device includes a weld detection mechanism, which is used to detect the width of the end plate weld, the X-axis welding movement mechanism adapts the X-axis movement speed according to the detected weld width, and the Y-axis welding movement mechanism adapts the Y-axis movement amplitude and / or Y-axis movement speed according to the detected weld width.

[0009] In some embodiments, the weld detection mechanism is used to detect the width of the starting segment, middle segment and ending segment of the weld, the X-axis welding movement mechanism adapts the X-axis movement speed according to the detected weld width, and the Y-axis welding movement mechanism adapts the Y-axis movement amplitude and / or Y-axis movement speed according to the detected weld width.

[0010] In some embodiments, the weld detection mechanism includes a visual light source and a camera, the visual light source emits light to the end plate, and the camera captures light reflected by the end plate.

[0011] In some embodiments, the X-axis welding movement mechanism includes:

[0012] An X-axis welding drive unit is disposed on the welding frame; and

[0013] An X-direction welding movable frame is movably arranged on the welding frame and is driven by an X-direction welding driving part to move along the X-direction;

[0014] The Y-axis welding moving mechanism includes:

[0015] A Y-direction welding driving unit, which is fixedly arranged on the X-direction welding moving frame; and

[0016] The Y-direction welding movable frame is movably arranged on the X-direction welding movable frame and is driven by the Y-direction welding driving part to move along the Y-direction;

[0017] The welding gun is arranged on a Y-axis welding movable frame.

[0018] In some embodiments, the first end face welding device further includes a Z-direction welding moving mechanism for moving the welding gun along the Z-direction;

[0019] The Z-axis welding moving mechanism includes:

[0020] A Z-direction welding driving unit is fixedly arranged on the Y-direction welding moving frame; and

[0021] A Z-direction welding movable frame is movably arranged on the Y-direction welding movable frame and is driven by the Z-direction welding driving part to move along the Z-direction;

[0022] The welding gun is arranged on a Z-direction welding movable frame.

[0023] In some embodiments, the pipe pile end plate welding device further includes a welding feeding device, and the welding feeding device includes:

[0024] A weld seam rotation positioning device, comprising a rotating tray and a weld seam detection sensor, wherein the rotating tray is used to rotate the end plate and position the end plate at a position where the length direction of the weld seam is parallel to the X direction according to the detection signal of the weld seam detection sensor;

[0025] A welding conveying device, which is used to take the end plate positioned at the weld position on the rotating tray and convey it to the first end face welding device;

[0026] The welding conveying device includes an electromagnet suction part, which is used to suck the end plate after power is turned on, and release the end plate to the first end surface welding device after power is turned off;

[0027] The welding conveyor device also includes:

[0028] A Y-axis welding feeding drive unit, which is arranged on the welding frame;

[0029] A Y-direction welding material feeding moving frame is movably arranged on the welding frame and driven by the Y-direction welding material feeding driving part to move along the Y-direction to approach or move away from the first end face welding device;

[0030] A Z-direction welding feeding drive unit, which is fixedly arranged on the Y-direction welding feeding drive frame;

[0031] The Z-direction welding material loading movable frame is movably arranged on the Y-direction welding material loading movable frame and is driven by the Y-direction welding material loading movable frame to move along the Z direction;

[0032] The electromagnet suction part is arranged on the Z-direction welding material feeding moving frame.

[0033] In some embodiments, the electromagnet suction part is movably arranged on the Z-direction welding feeding moving frame through a telescopic component along the Z-direction, and a Z-direction buffer spring is arranged between the Z-direction welding feeding moving frame and the electromagnet suction part, so that the electromagnet suction part can buffer along the Z-direction when it abuts against the end plate;

[0034] A first adjustment hole is provided on the Z-direction welding feeding movable frame along the radial direction of the XY plane, and the electromagnet suction part is adjustably connected to the first adjustment hole along the radial direction;

[0035] The welding feeding device also includes a Y-direction welding pushing device, which is arranged on the end plate conveying line and is used to push the end plate to the weld rotation positioning device along the Y direction;

[0036] The weld detection sensor is arranged on the Z-direction welding material feeding movable frame.

[0037] In some embodiments, the welding feeding device further includes a Y-direction welding positioning device, and the Y-direction welding positioning device includes:

[0038] A Y-axis positioning frame, which is fixed on the welding frame;

[0039] A Y-direction positioning component, which is fixed on the Y-direction positioning frame and is used to block the end plate and position it on the rotating tray when the Y-direction welding pushing device pushes the end plate along the Y direction;

[0040] A Y-direction buffer plate, which is movably arranged on the Y-direction positioning frame along the Y-direction; and

[0041] A Y-direction buffer spring is arranged between the Y-direction buffer plate and the Y-direction positioning frame, so that the end plate can buffer along the Y-direction when it abuts against the Y-direction buffer plate, and the end plate buffers movement until it abuts against the Y-direction positioning component for positioning;

[0042] The Y-axis positioning frame includes:

[0043] A positioning base, which is fixed on the welding frame;

[0044] A buffer guide rod is fixed on the positioning base along the Y direction; a Y-direction buffer plate is movably arranged on the buffer guide rod;

[0045] A guide rod connecting plate is fixed to the end of the buffer guide rod; two ends of the Y-direction buffer spring are respectively connected to the guide rod connecting plate and the Y-direction buffer plate; and

[0046] A positioning cross frame is fixedly arranged on the positioning base, and a second adjustment hole extending along the X direction is provided on the positioning cross frame, and a Y-direction positioning component is adjustably connected to the second adjustment hole along the X direction;

[0047] There are two Y-direction positioning components, which are symmetrically arranged on both sides of the Y-direction buffer plate in the X direction.

[0048] In some embodiments, the pipe pile end plate welding device further includes a welding loading device, a second end face welding device, an inner and outer ring welding device, and a welding unloading device;

[0049] The welding feeding device is used to receive the end plate on the end plate conveying line and rotate and position it so that the end plate is positioned at a position where the length direction of its weld is parallel to the X direction, and then convey the end plate to the first end face welding device;

[0050] The first end face welding device is used to weld the weld of the first end face of the end plate;

[0051] The second end face welding device is used to weld the weld of the second end face of the end plate;

[0052] The inner and outer ring welding devices are used to weld the welds of the inner and outer rings of the end plate respectively;

[0053] The welding unloading device is used to place the end plates on the inner and outer ring welding devices onto the end plate conveying line;

[0054] The second end face welding device comprises:

[0055] Welding gun;

[0056] An X-direction welding moving mechanism, used to move the welding gun along the X-direction to perform welding along the length direction of the weld; and

[0057] The Y-direction welding moving mechanism is used to move the welding gun along the Y-direction, so that the welding gun performs reciprocating welding along the width direction of the weld while welding the weld in the length direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 It is a structural schematic diagram of the pipe pile end plate welding device of the utility model;

[0059] Figure 2 It is a structural schematic diagram of the welding feeding device of the utility model;

[0060] Figure 3 It is a structural schematic diagram of the welding feeding device of the utility model from another perspective;

[0061] Figure 4 It is a structural schematic diagram of the Y-axis welding positioning device of the utility model;

[0062] Figure 5 It is a structural schematic diagram of a first end surface welding device of the utility model;

[0063] Figure 6 It is a partial structural schematic diagram of the first end surface welding device of the utility model;

[0064] Figure 7 It is a partial structural schematic diagram of another viewing angle of the first end surface welding device of the utility model;

[0065] Figure 8 It is a structural schematic diagram of the pipe pile end plate welding device and the end plate conveying line of the utility model.

[0066] Reference numerals:

[0067] End plate 10; pipe pile end plate welding device 1; welding frame 11; welding feeding device 12; Y-direction welding pushing device 121; rotating tray 1221; weld detection sensor 1222; Y-direction welding positioning device 123; Y-direction positioning frame 1231; positioning base 12311; buffer guide rod 12312; guide rod connecting plate 12313; positioning cross frame 12314; second adjustment hole 12314a; Y-direction positioning component 1232; Y-direction buffer plate 1233; Y-direction buffer spring 1234; Y-direction welding feeding drive unit 1241; Y-direction welding feeding moving frame 1242; Z-direction welding feeding drive unit 1243; Z-direction welding feeding moving frame 1244; first adjustment hole 12441; electromagnet suction unit 1245; telescopic component 1246; Z-direction buffer Impact spring 1247; first end face welding device 13; welding gun 131; visual light source 1321; camera 1322; X-axis welding moving mechanism 133; X-axis welding driving unit 1331; X-axis welding moving frame 1332; X-axis welding guide rail 1333; Y-axis welding moving mechanism 134; Y-axis welding driving unit 1341; Y-axis welding moving frame 1342; Y-axis welding guide rail 1343; Z-axis welding moving mechanism 135; Z-axis welding driving unit 1351; Z-axis welding moving frame 1352; Z-axis welding guide rail 1353; end face welding base 136; welding pressure block 137; straightening guide block 138; second end face welding device 14; welding flipping conveying device 141; inner and outer ring welding device 15; welding flipping device 151; welding unloading device 16. DETAILED DESCRIPTION

[0068] The utility model is further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0069] It should be noted that the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0070] In the present invention, unless otherwise clearly defined and limited, the terms "installation", "connection", "fixation" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0071] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0072] In the above description, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0073] For ease of explanation, an XYZ three-dimensional rectangular coordinate system is established, wherein X and Y are two mutually perpendicular directions in the horizontal plane, and Z is the plumb bob direction. In this embodiment, the length direction of the pipe pile end plate welding device 1 is arranged along the Y direction, and the transportation and processing direction of the end plate 10 in the pipe pile end plate welding device 1 is also the Y direction. In other embodiments, it may be different, for example, the X direction and the Y direction are swapped with those in this embodiment.

[0074] See also Figure 1 and Figure 8 The utility model provides a pipe pile end plate welding device 1, which includes a welding frame 11, a welding feeding device 12, a first end face welding device 13, a second end face welding device 14, an inner and outer ring welding device 15 and a welding unloading device 16. In this embodiment, the welding feeding device 12, the first end face welding device 13, the second end face welding device 14, the inner and outer ring welding device 15 and the welding unloading device 16 are connected in sequence. Among them, the welding feeding device 12 is used to receive the end plate on the end plate conveying line and rotate and position it so that the end plate is positioned at a position where the length direction of its weld is parallel to the X direction, and then the end plate is conveyed to the first end face welding device 13. The first end face welding device 13 is used to weld the weld of the first end face of the end plate. The second end face welding device 14 is used to weld the weld of the second end face of the end plate. The inner and outer ring welding device 15 is used to weld the welds of the inner and outer rings of the end plate respectively. The welding unloading device 16 is used to place the end plate on the inner and outer ring welding device 15 on the end plate conveying line.

[0075] See also Figure 2 -4, the welding feeding device 12 includes a Y-direction welding pushing device 121 (see Figure 8 ), weld rotation positioning device, Y-axis welding positioning device 123 and welding conveying device. The Y-axis welding pushing device 121 is arranged on the end plate conveying line, and is used to push the end plate along the Y-axis to the rotating tray 1221 of the weld rotation positioning device. The Y-axis welding positioning device 123 is used to position the end plate on the rotating tray 1221 in the Y-axis to prevent the end plate from moving out of the correct position. The weld rotation positioning device includes a rotating tray 1221 and a weld detection sensor 1222. The rotating tray 1221 is used to rotate the end plate and position the end plate in a position where the length direction of its weld is parallel to the X-axis according to the detection signal of the weld detection sensor 1222, so as to facilitate the welding of the end plate end face weld in the next step.

[0076] The welding conveying device is used to pick up the end plate positioned at the weld position on the rotating tray 1221 and convey it to the first end face welding device 13. Specifically, the welding conveying device includes a Y-direction welding feeding drive unit 1241, a Y-direction welding feeding moving frame 1242, a Z-direction welding feeding drive unit 1243, a Z-direction welding feeding moving frame 1244 and an electromagnet suction unit 1245. The Y-direction welding feeding drive unit 1241 is fixedly arranged on the welding frame 11, and is used to drive the Y-direction welding feeding moving frame 1242 to move along the Y direction to approach or move away from the first end face welding device 13, wherein the Y-direction welding feeding moving frame 1242 is movably arranged on the Y guide rail on the welding frame 11 for easy movement. The Z-direction welding feeding drive unit 1243 is fixedly arranged on the Y-direction feeding drive frame, and is used to drive the Z-direction welding feeding moving frame 1244 to move along the Z direction to approach or move away from the rotating tray 1221.

[0077] The electromagnet suction part 1245 is connected to the Z-direction welding loading movable frame 1244 through a telescopic component 1246. The telescopic component 1246 can specifically be a telescopic rod, so that the electromagnet suction part 1245 can move in the Z-direction relative to the Z-direction welding loading movable frame 1244. A Z-direction buffer spring 1247 is arranged between the Z-direction welding loading movable frame 1244 and the electromagnet suction part 1245 and around the telescopic rod. The arrangement of the telescopic component 1246 and the Z-direction buffer spring 1247 enables the electromagnet suction part 1245 to buffer in the Z-direction when it moves downward and abuts against the end plate, thereby preventing rigid collision from causing damage to the device. In this embodiment, a first adjustment hole 12441 is provided on the Z-direction welding loading and unloading movable frame 1244 in the radial direction along the XY plane, and the telescopic component 1246 is adjustably connected to the first adjustment hole 12441 in the radial direction. After adjusting the required radial distance, the telescopic component 1246 is fixedly connected to the Z-direction welding loading and unloading movable frame 1244. For example, a row of small holes are provided on both sides of the first adjustment hole 12441 for screws or latches to pass through, so that the telescopic component 1246 is fixedly connected to the Z-direction welding loading and unloading movable frame 1244. Since the electromagnet suction part 1245 is connected to the telescopic component 1246, such a setting enables the distance between the electromagnet suction part 1245 and the center of the Z-direction welding loading and unloading movable frame 1244 to be adjusted, so as to adapt to the end plate sizes of different specifications. There are multiple electromagnet suction parts 1245, which are evenly arranged in the circumferential direction. In this embodiment, there are three electromagnet suction parts 1245, which can suck the end plate after power is turned on and release the end plate after power is turned off. This method of transporting the end plate by magnetic attraction is simpler than the traditional gripper structure, simplifies the action logic and has high work efficiency.

[0078] The weld detection sensor 1222 can be fixedly arranged on the Z-direction welding feeding mobile frame 1244. This arrangement is easier to install and can better detect the position of the end plate weld. The weld detection sensor 1222 can use two laser sensors, which are arranged along the X direction. As the rotating tray 1221 drives the end plate to rotate, the laser of the weld detection sensor 1222 is directed downward to the end surface of the end plate. When the weld is detected to pass, the rotating tray 1221 stops rotating so that the length direction of the weld is parallel to the X direction.

[0079] See also Figure 4 The Y-direction welding positioning device 123 includes a Y-direction positioning frame 1231, a Y-direction positioning component 1232, a Y-direction buffer plate 1233 and a Y-direction buffer spring 1234. The Y-direction positioning frame 1231 is fixed on the welding frame 11, and the Y-direction positioning component 1232 is fixed on the Y-direction positioning frame 1231, and is used to block the end plate and position it on the rotating tray 1221 when the Y-direction welding pushing device 121 pushes the end plate along the Y direction. The Y-direction buffer plate 1233 is movably arranged on the Y-direction positioning frame 1231 along the Y direction, and the Y-direction buffer spring 1234 is arranged between the Y-direction buffer plate 1233 and the Y-direction positioning frame 1231, so that the end plate can be buffered along the Y direction when it abuts against the Y-direction buffer plate 1233, and the end plate slows down and buffers until it abuts against the Y-direction positioning component 1232 for positioning, so as to prevent the end plate from directly hitting the Y-direction positioning component 1232 and causing damage to the device.

[0080] Specifically, the Y-direction positioning frame 1231 includes a positioning base 12311, a buffer guide rod 12312, a guide rod connecting plate 12313 and a positioning cross frame 12314. The positioning base 12311 is fixed on the welding frame 11, the buffer guide rod 12312 is fixed on the positioning base 12311 along the Y direction, and the Y-direction buffer plate 1233 is movably arranged on the buffer guide rod 12312. The guide rod connecting plate 12313 is fixed to the end of the buffer guide rod 12312, and the two ends of the Y-direction buffer spring 1234 are respectively connected to the guide rod connecting plate 12313 and the Y-direction buffer plate 1233. The positioning cross frame 12314 is fixedly arranged on the positioning base 12311, and a second adjustment hole 12314a extending along the X direction is arranged on the positioning cross frame 12314, and the Y-direction positioning component 1232 is adjustably connected to the second adjustment hole 12314a along the X direction, and after being adjusted to an appropriate position, it can be fixed by means of screws or the like to adapt to the end plate sizes of different specifications. There are two Y-direction positioning components 1232, which are specifically cylindrical and symmetrically arranged on both sides of the Y-direction buffer plate 1233 in the X direction to better abut against the end plate.

[0081] The working process of the welding feeding device 12 is as follows:

[0082] The Y-direction welding pushing device 121 pushes the end plate on the end plate conveyor line along the Y direction to the rotating tray 1221, and the end plate is positioned by the Y-direction welding positioning device 123. The rotating tray 1221 rotates until the weld detection sensor 1222 detects the weld of the end plate, and the rotating tray 1221 stops rotating, so that the end plate is positioned in the longitudinal direction of its weld parallel to the X direction. Then, the Z-direction welding feeding driving unit 1243 drives the Z-direction welding feeding moving frame 1244 to move downward, and the electromagnet suction unit 1245 pushes downward to move the end plate. The end plate is connected and sucked up, the Z-direction welding feeding drive unit 1243 drives the Z-direction welding feeding movable frame 1244 to move upward, and then the Y-direction welding feeding drive unit 1241 drives the Y-direction welding feeding movable frame 1242 to move along the Y direction toward the first end face welding device 13. When the end plate is conveyed to the first end face welding device 13, the Y-direction welding feeding drive unit 1241 stops, the Z-direction welding feeding drive unit 1243 drives the Z-direction welding feeding movable frame 1244 to move downward, and the electromagnet suction unit 1245 releases the end plate.

[0083] See also Figure 5 -7, the first end face welding device 13 includes a welding gun 131, a weld detection mechanism, a welding control system, an X-axis welding moving mechanism 133, a Y-axis welding moving mechanism 134, a Z-axis welding moving mechanism 135, an end face welding base 136, a welding pressure block 137 and an alignment guide block 138. The end face welding base 136 is used to support the end plate, the alignment guide block 138 is used to move along the Y direction to the weld notch position of the end plate, support the notch, thereby adjusting the position of the end plate, so that the weld is accurately positioned and then reset, the welding pressure block 137 is used to press the end plate downward, the weld detection mechanism is used to detect the width information of the weld, the X-direction welding moving mechanism 133, the Y-direction welding moving mechanism 134 and the Z-direction welding moving mechanism 135 are used to move the welding gun 131 into place, and the X-direction welding moving mechanism 133 is also used to drive the welding gun 131 along the X-direction to weld along the length direction of the weld, and the Y-direction welding moving mechanism 134 is also used to drive the welding gun 131 along the Y-direction to reciprocate and weld along the width direction of the weld.

[0084] See also Figure 6-7. Specifically, the X-direction welding moving mechanism 133 includes an X-direction welding driving unit 1331 and an X-direction welding moving frame 1332. The X-direction welding driving unit 1331 is fixedly arranged on the welding frame 11, and the X-direction welding moving frame 1332 is movably arranged on the welding frame 11 and is driven by the X-direction welding driving unit 1331 to move along the X-direction. In this embodiment, the X-direction welding moving mechanism 133 also includes an X-direction welding guide rail 1333 fixedly arranged on the welding frame 11, and the X-direction welding moving frame 1332 is movably arranged on the X-direction welding guide rail 1333 to facilitate movement along the X-direction. The Y-direction welding moving mechanism 134 includes a Y-direction welding driving unit 1341 and a Y-direction welding moving frame 1342. The Y-direction welding driving unit 1341 is fixedly arranged on the X-direction welding moving frame 1332. The Y-direction welding moving frame 1342 is movably arranged on the X-direction welding moving frame 1332 and is driven by the Y-direction welding driving unit 1341 to move along the Y-direction. In this embodiment, the Y-direction welding moving mechanism 134 also includes a Y-direction welding guide rail 1343 fixedly arranged on the X-direction welding moving frame 1332. The Y-direction welding moving frame 1342 is movably arranged on the Y-direction welding guide rail 1343 to facilitate movement along the Y-direction. The Z-direction welding moving mechanism 135 includes a Z-direction welding driving unit 1351 and a Z-direction welding moving frame 1352. The Z-direction welding driving unit 1351 is fixedly arranged on the Y-direction welding moving frame 1342. The Z-direction welding moving frame 1352 is movably arranged on the Y-direction welding moving frame 1342 and driven by the Z-direction welding driving unit 1351 to move along the Z direction. In this embodiment, the Z-direction welding moving mechanism 135 also includes a Z-direction welding guide rail 1353 fixedly arranged on the Y-direction welding moving frame 1342. The Z-direction welding moving frame 1352 is movably arranged on the Z-direction welding guide rail 1353 to facilitate movement along the Z direction. The welding gun 131 is arranged on the Z-direction welding moving frame 1352. In other embodiments, the X-direction welding moving mechanism 133, the Y-direction welding moving mechanism 134 and the Z-direction welding moving mechanism 135 can also be arranged in other orders, as long as the welding gun 131 can be driven to move.

[0085] During welding, the X-direction welding moving mechanism 133 moves the welding gun 131 along the X-direction, so that the welding gun 131 welds along the length direction of the weld, and the Y-direction welding moving mechanism 134 moves the welding gun 131 along the Y-direction at the same time, so that while the welding gun 131 welds in the length direction of the weld, it also performs reciprocating welding in the width direction of the weld. The increase in Y-direction movement welding can improve the welding quality. When the weld width is large, the movement in the weld width direction can improve the bonding effect at the weld notch, thereby increasing the structural stability of the end plate.

[0086] The weld detection mechanism is used to detect the width of the weld. In this embodiment, the weld detection mechanism includes a visual light source 1321 and a camera 1322 (see Figure 5), the visual light source 1321 emits light to the end plate, and the camera 1322 captures the light reflected by the end plate. During welding, the welding control system obtains the weld width information from the camera 1322, and controls the travel speed of the X-axis welding moving mechanism 133 according to the width information, thereby controlling the moving speed of the welding gun 131 along the length direction of the weld, and at the same time controls the moving amplitude of the Y-axis welding moving mechanism 134 in the Y-axis reciprocating movement, so that the welding gun 131 makes welding compensation according to the weld width. The width information detected by the weld detection mechanism can be the width information of the weld at a certain position in the Y direction, or the width information of the weld at multiple positions in the Y direction, and the width information of the segment can be obtained by calculating the average value based on the width information of multiple positions. In this embodiment, the weld can be divided into three sections along the Y direction: the arc starting section, the middle section and the end section, and the widths of the three sections are detected respectively. The control system issues three corresponding X-direction movement speed instructions to the X-direction welding mobile mechanism 133 according to the widths of the three sections in chronological order, and issues three corresponding Y-direction movement amplitude instructions to the Y-direction welding mobile mechanism 134. In some embodiments, a Y-direction movement speed instruction can also be issued to the Y-direction welding mobile mechanism 134. This welding method enables the welding gun 131 to make welding compensation according to the weld width and improve the welding quality. In some embodiments, segmentation may not be performed, and only based on one weld width information (which can be the average width or the width of a specific position), the control system issues a corresponding X-direction movement speed instruction to the X-direction welding mobile mechanism 133, and issues a corresponding Y-direction movement amplitude instruction (and / or Y-direction movement speed instruction) to the Y-direction welding mobile mechanism 134. In other embodiments, it can also be divided into other numbers of segments for control, such as two, four, five or more segments. In some embodiments, the control system can also control the welding current and voltage to change, so that the welding gun 131 further makes welding compensation according to the weld width to further improve the welding quality. It should be noted that the above improvements do not involve improvements in software methods, and can be implemented using corresponding software methods in the prior art.

[0087] The second end face welding device 14 includes a welding gun, a weld detection mechanism, a welding control system, an X-axis welding moving mechanism, a Y-axis welding moving mechanism, a Z-axis welding moving mechanism, and a welding flipping and conveying device. Among them, the structures and working principles of the welding gun, the weld detection mechanism, the welding control system, the X-axis welding moving mechanism, the Y-axis welding moving mechanism, and the Z-axis welding moving mechanism are consistent with those of the first end face welding device, and are not repeated here. The welding flipping and conveying device 141 is used to take the end plate from the first end face welding device 13 and convey it to the second end face welding device 14, flip the end plate so that the second end face welding device 14 welds the second end face of the end plate, and conveys the welded end plate to the inner and outer ring welding device 15.

[0088] The inner and outer ring welding device 15 includes a welding flipping device 151, which is used to flip the end plate so that the inner and outer ring welding device 15 welds the inner and outer rings of the end plate respectively, and places the welded end plate on the welding blanking device 16.

[0089] The welding unloading device 16 moves downward along the Z direction to place the end plate on the end plate conveying line.

[0090] Each driving part in this specification can adopt a driving device such as a cylinder, a hydraulic cylinder or a motor.

[0091] The above are only some embodiments of the present invention. For those skilled in the art, without departing from the inventive concept of the present invention, several modifications and improvements can be made, or the above technical solutions can be freely combined, including the technical features between the above different embodiments, which all belong to the protection scope of the present invention.

Claims

1. A pipe pile end plate welding device, characterized in that: It comprises a welding frame, and a first end face welding device arranged on the welding frame, wherein the first end face welding device comprises: Welding gun; An X-direction welding moving mechanism, used for moving the welding gun along the X-direction to perform welding along the length direction of the weld; and The Y-direction welding moving mechanism is used to move the welding gun along the Y-direction, so that the welding gun performs reciprocating welding along the width direction of the weld while welding the weld in the length direction.

2. The pipe pile end plate welding device according to claim 1, characterized in that: The first end face welding device includes a weld detection mechanism, which is used to detect the width of the end plate weld. The X-direction welding movement mechanism adapts the X-direction movement speed according to the detected weld width, and the Y-direction welding movement mechanism adapts the Y-direction movement amplitude and / or Y-direction movement speed according to the detected weld width.

3. The pipe pile end plate welding device according to claim 2, characterized in that: The weld detection mechanism is used to detect the width of the arc starting section, middle section and ending section of the weld, the X-direction welding movement mechanism adapts the X-direction movement speed according to the detected weld width, and the Y-direction welding movement mechanism adapts the Y-direction movement amplitude and / or Y-direction movement speed according to the detected weld width.

4. The pipe pile end plate welding device according to claim 2, characterized in that: The weld detection mechanism includes a visual light source and a camera. The visual light source emits light to the end plate, and the camera captures light reflected by the end plate.

5. The pipe pile end plate welding device according to claim 1, characterized in that: The X-axis welding moving mechanism comprises: An X-axis welding driving unit, which is arranged on the welding frame; and An X-direction welding movable frame, which is movably arranged on the welding frame and driven by the X-direction welding driving part to move along the X-direction; The Y-axis welding moving mechanism comprises: A Y-direction welding driving unit, which is fixedly arranged on the X-direction welding moving frame; and A Y-direction welding movable frame, which is movably arranged on the X-direction welding movable frame and is driven by the Y-direction welding driving part to move along the Y-direction; The welding gun is arranged on the Y-direction welding movable frame.

6. The pipe pile end plate welding device according to claim 5, characterized in that: The first end face welding device further comprises a Z-direction welding moving mechanism for moving the welding gun along the Z-direction; The Z-direction welding moving mechanism comprises: A Z-direction welding driving unit, which is fixedly arranged on the Y-direction welding moving frame; and A Z-direction welding movable frame, which is movably arranged on the Y-direction welding movable frame and is driven by the Z-direction welding driving part to move along the Z-direction; The welding gun is arranged on the Z-direction welding movable frame.

7. The pipe pile end plate welding device according to any one of claims 1 to 6, characterized in that: It also includes a welding feeding device, the welding feeding device comprising: A weld seam rotation positioning device, comprising a rotating tray and a weld seam detection sensor, wherein the rotating tray is used to rotate the end plate and position the end plate at a position where the length direction of the weld seam is parallel to the X direction according to the detection signal of the weld seam detection sensor; A welding conveying device, which is used to take the end plate positioned at the weld position on the rotating tray and convey it to the first end face welding device; The welding conveying device comprises an electromagnet suction part, which is used to suck the end plate after power is turned on, and release the end plate to the first end face welding device after power is turned off; The welding conveying device also includes: A Y-axis welding feeding drive unit, which is arranged on the welding frame; A Y-direction welding material feeding moving frame, which is movably arranged on the welding frame and driven by the Y-direction welding material feeding driving part to move along the Y-direction to approach or move away from the first end face welding device; A Z-direction welding feeding drive unit, which is fixedly arranged on the Y-direction welding feeding drive frame; A Z-direction welding material loading movable frame, which is movably arranged on the Y-direction welding material loading movable frame and is driven by the Y-direction welding material loading movable frame to move along the Z direction; The electromagnet suction part is arranged on the Z-direction welding feeding movable frame.

8. The pipe pile end plate welding device according to claim 7, characterized in that: The electromagnet suction part is movably arranged on the Z-direction welding feeding movable frame along the Z-direction through a telescopic component, and a Z-direction buffer spring is arranged between the Z-direction welding feeding movable frame and the electromagnet suction part, so that the electromagnet suction part can buffer along the Z-direction when it abuts against the end plate; The Z-direction welding feeding movable frame is provided with a first adjustment hole in the radial direction of the XY plane, and the electromagnet suction part is adjustably connected to the first adjustment hole in the radial direction; The welding feeding device also includes a Y-direction welding pushing device, which is arranged on the end plate conveying line and is used to push the end plate to the weld rotation positioning device along the Y direction; The weld detection sensor is arranged on the Z-direction welding feeding movable frame.

9. The pipe pile end plate welding device according to claim 8, characterized in that: The welding feeding device also includes a Y-direction welding positioning device, and the Y-direction welding positioning device includes: A Y-axis positioning frame, which is fixed on the welding frame; A Y-direction positioning component, which is fixed on the Y-direction positioning frame and is used to block the end plate and position it on the rotating tray when the Y-direction welding pushing device pushes the end plate along the Y direction; A Y-direction buffer plate, which is movably arranged on the Y-direction positioning frame along the Y-direction; and A Y-direction buffer spring, which is arranged between the Y-direction buffer plate and the Y-direction positioning frame, so that the end plate can buffer along the Y direction when it abuts against the Y-direction buffer plate, and the end plate buffers the movement until it abuts against the Y-direction positioning component for positioning; The Y-axis positioning frame comprises: A positioning base, which is fixed on the welding frame; A buffer guide rod is fixed on the positioning base along the Y direction; the Y-direction buffer plate is movably arranged on the buffer guide rod; A guide rod connecting plate fixed to the end of the buffer guide rod; two ends of the Y-direction buffer spring are respectively connected to the guide rod connecting plate and the Y-direction buffer plate; and A positioning cross frame, which is fixedly arranged on the positioning base, and the positioning cross frame is provided with a second adjustment hole extending along the X direction, and the Y-direction positioning component is adjustably connected to the second adjustment hole along the X direction; There are two Y-direction positioning components, which are symmetrically arranged on both sides of the Y-direction buffer plate in the X direction.

10. The pipe pile end plate welding device according to any one of claims 1 to 6, characterized in that: It also includes a welding loading device, a second end face welding device, an inner and outer ring welding device, and a welding unloading device; The welding feeding device is used to receive the end plate on the end plate conveying line and rotate and position it so that the end plate is positioned at a position where the length direction of its weld is parallel to the X direction, and then convey the end plate to the first end face welding device; The first end surface welding device is used to weld the weld of the first end surface of the end plate; The second end face welding device is used to weld the weld of the second end face of the end plate; The inner and outer ring welding devices are used to weld the welds of the inner and outer rings of the end plate respectively; The welding unloading device is used to place the end plate on the inner and outer ring welding device onto the end plate conveying line; The second end face welding device comprises: Welding gun; An X-direction welding moving mechanism, used for moving the welding gun along the X-direction to perform welding along the length direction of the weld; and The Y-direction welding moving mechanism is used to move the welding gun along the Y-direction, so that the welding gun performs reciprocating welding along the width direction of the weld while welding the weld in the length direction.

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