Flange welding feeding structure for ship pipe automatic production line
By designing a flange welding loading structure including clamping structure and position adjustment structure on the automatic production line of ship pipes, the problem of complexity and low efficiency of the manipulator during the clamping process of flange of different positions is solved, and a more efficient flange clamping and welding process is achieved.
Patent Information
- Application Number
- CN202422112772.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-29
- Publication Date
- 2025-06-10
- Estimated Expiration
- 2034-08-29
AI Technical Summary
In the automatic production line of ship pipes, the robot needs to clamp and move the flanges at different positions one by one, resulting in increased control complexity and reduced clamping efficiency.
A flange welding feeding structure including a clamping structure and a position adjustment structure is designed. The position adjustment structure allows the flange in the flange tray to move in the x-axis and Y-axis directions through the electric telescopic rod and the translation structure to ensure that the clamping position of the robot arm is fixed and the movement path is fixed. The clamping structure realizes alignment and clamping of the flange and the pipe through the coordinated operation of the first robot arm and the second robot arm.
Through the design of the position adjustment structure, the control complexity of the robot arm is reduced and the clamping efficiency of the flange is improved. Through the design of the clamping structure, the efficiency of the alignment of the flange and the pipeline is improved, and the efficiency of the welding process is further improved.
Smart Images
Figure CN222957778U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of ship pipe fitting manufacturing, in particular to a flange welding feeding structure for an automatic production line of ship pipes. Background Technique
[0002] In the process of existing ship manufacturing, pipes are required for the use of multiple positions or functions. For example, power pipelines and system pipelines for transporting working media such as water, oil, and gas, and penetration pipes for connecting the inside and outside of the cabin or adjacent cabins. All of the above working conditions require the use of pipes more or less, and generally, two pipes are connected by flanges. Therefore, in the production process of ship pipes, the flange and the pipe usually need to be welded together.
[0003] In the related art, multiple flanges are generally neatly placed on the clamping station in the automatic production line for welding pipes and flanges. The manipulator is used to clamp and move the flanges one by one, so that the flanges and the pipes can be aligned, which is convenient for welding the flanges and the pipes. However, due to the different positions of the multiple flanges on the clamping station, during the process of the manipulator clamping the flanges at different positions one by one, the moving distances of the manipulator are different, which increases the complexity of the manipulator control and will affect the clamping efficiency of the manipulator for the flanges. Moreover, the manipulator can only clamp one by one, which further affects the clamping efficiency. Based on this, the present application proposes a flange welding feeding structure for an automatic production line of ship pipes. Content of the Utility Model
[0004] The utility model provides a flange welding feeding structure for an automatic production line of ship pipes, which solves the problems raised in the above background technique that due to the different positions of the flanges on the clamping station, during the process of the manipulator clamping the flanges at different positions, the moving distances of the manipulator are different, which increases the complexity of the manipulator control and will affect the clamping efficiency of the manipulator for the flanges. Moreover, the manipulator can only clamp one by one, which further affects the clamping efficiency.
[0005] The utility model provides the following technical solution: A flange welding feeding structure for an automatic production line of ship pipes, including a clamping structure and a position adjustment structure. The position adjustment structure includes a base, an electric telescopic rod two fixedly connected to the base, a translation structure fixedly connected to the end of the output shaft of the electric telescopic rod two, and a placement groove fixedly connected to the moving end of the translation structure. A flange tray is placed in the placement groove, and flanges are evenly placed in the flange tray;
[0006] The clamping structure includes a support base, a rotary platform movably connected to the top of the support base, a support rod fixedly connected to the top of the rotary platform, a first robotic arm connected to one side of the support rod, a clamping structure movably connected to the other end of the first robotic arm, a second robotic arm connected to the other side of the top of the support rod, and a first electric telescopic rod movably connected to the other end of the second robotic arm. The other end of the first electric telescopic rod is fixedly connected to another clamping structure.
[0007] Preferably, the translation structure includes a moving block fixedly connected to the end of the output shaft of the second electric telescopic rod, a first ball screw movably connected to the moving block, a first ball nut threadedly connected to the first ball screw, and a first servo motor fixedly connected to the moving block. The end of the output shaft of the first servo motor is fixedly connected to the end of the first ball screw, and the first ball nut is fixedly connected to the bottom of the placement groove.
[0008] Preferably, a second servo motor is fixedly connected to the top of the support base, and the end of the output shaft of the second servo motor is fixedly connected to the bottom of the rotary platform.
[0009] Preferably, two third servo motors are fixedly connected to the top of the support rod. The end of the output shaft of the third servo motor is fixedly connected to a rotating rod, and the rotating rod is movably connected to the support rod. The other end of one rotating rod is connected to the first robotic arm, and the other end of the other rotating rod is connected to the second robotic arm.
[0010] Preferably, a fourth servo motor is fixedly connected to the end of the first robotic arm away from the support rod. The end of the output shaft of the fourth servo motor is fixedly connected to a rotating plate, and the other end of the rotating plate is connected to the clamping structure; another fourth servo motor is fixedly connected to the end of the second robotic arm away from the support rod. The end of the output shaft of the other fourth servo motor is fixedly connected to another rotating plate, and the first electric telescopic rod is fixedly connected to the other rotating plate.
[0011] Preferably, the clamping structure includes a main board, a double-headed ball screw movably connected to the inner cavity of the main board, and a fifth servo motor fixedly connected to the main board. The end of the output shaft of the fifth servo motor is fixedly connected to one end of the double-headed ball screw. The outer rings at both ends of the double-headed ball screw are threadedly connected with second ball nuts, and clamping plates are fixed to the outside of the second ball nuts.
[0012] Compared with the prior art, the present utility model has the following beneficial effects:
[0013] 1. The flange welding feeding structure of the automatic production line for ship pipes, through the setting of the position adjustment structure, the flange can move in the x-axis direction and the y-axis direction, so that the flanges in the flange tray can be moved to the same position, keeping the clamping position of the manipulator of the feeding structure unchanged and the moving path of the manipulator fixed, improving the flange clamping efficiency and reducing the control difficulty of the manipulator.
[0014] 2. The flange welding feeding structure of the automatic production line for ship pipes, through the setting of the first manipulator and the second manipulator, can clamp the flange during the process of aligning the flange with the pipeline, improving the flange clamping efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 It is a front view of the structure of the present utility model;
[0016] Figure 2 It is the structure of the present utility model Figure 1 rear view;
[0017] Figure 3 It is a schematic diagram of the second manipulator of the structure of the present utility model;
[0018] Figure 4 It is an exploded view of the position adjustment structure of the structure of the present utility model;
[0019] Figure 5 It is a connection diagram of the rotary platform and the support seat of the structure of the present utility model.
[0020] In the figure: 1. Support seat; 2. Rotary platform; 3. Support rod; 4. First manipulator; 5. Clamping structure; 6. Second manipulator; 7. Rotating plate; 8. Flange tray; 9. Placing groove; 10. Base; 11. Electric telescopic rod 1; 12. Main board; 13. Clamping plate; 14. Servo motor 5; 15. Double-headed ball screw; 16. Servo motor 1; 17. Electric telescopic rod 2; 18. Ball nut 1; 19. Ball screw 1; 20. Moving block; 21. Servo motor 2; 22. Servo motor 4; 23. Servo motor 3. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0021] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.
[0022] The utility model provides a flange welding feeding structure for a ship pipe automatic production line, which includes a clamping structure and a position adjustment structure. The position adjustment structure includes a base 10, an electric telescopic rod two 17 fixedly connected to the base 10, a translation structure fixedly connected to the end of the output shaft of the electric telescopic rod two 17, and a placement groove 9 fixedly connected to the moving end of the translation structure. A flange tray 8 is placed in the placement groove 9, and flanges are evenly arranged in the flange tray 8. Through the setting of the electric telescopic rod two 17, the telescopic movement of the electric telescopic rod two 17 can change the position of the translation structure. When the translation structure moves, it can drive the placement groove 9 to move, and the placement groove 9 drives the flange tray 8 to move, thereby causing the position of the flanges in the flange tray 8 to move.
[0023] The translation structure includes a moving block 20 fixedly connected to the end of the output shaft of the electric telescopic rod two 17, a ball screw one 19 movably connected to the moving block 20, a ball nut one 18 threadedly connected to the ball screw one 19, and a servo motor one 16 fixedly connected to the moving block 20. The end of the output shaft of the servo motor one 16 is fixedly connected to the end of the ball screw one 19 through a reducer, and the ball nut one 18 is fixedly connected to the bottom of the placement groove 9. Through the setting of the servo motor one 16, the rotation of the servo motor one 16 can drive the ball screw one 19 to rotate. The rotation of the ball screw one 19 can cause the ball nut one 18 threadedly connected thereto to move in the direction where the ball screw one 19 is located. When the ball nut one 18 moves, it can drive the placement groove 9 to move, and the placement groove 9 drives the flange tray 8 to move.
[0024] It can be seen from the above description that when the position adjustment structure is in use, the flange can move in the x-axis direction and the Y-axis direction, so that the flanges in the flange tray can be moved to the same position, keeping the clamping position of the robotic arm of the feeding structure unchanged, fixing the moving path of the robotic arm, improving the flange clamping efficiency, and reducing the control difficulty of the robotic arm.
[0025] The clamping structure includes a support base 1. A servo motor two 21 is fixedly connected to the top of the support base 1. The end of the output shaft of the servo motor two 21 is fixedly connected to the bottom of the rotary platform 2 through a reducer, and the rotary platform 2 is movably connected to the top of the support base 1. Through the setting of the servo motor two 21, the rotation of the servo motor two 21 can drive the rotary platform 2 to rotate.
[0026] A support rod 3 is fixedly connected to the top of the slewing platform 2. One side of the top of the support rod 3 is movably connected to a first robotic arm 4, and the other side of the top of the support rod 3 is movably connected to a second robotic arm 6. Moreover, two servo motors three 23 are fixedly connected to the top of the support rod 3. The end of the output shaft of the servo motor three 23 is fixedly connected to a rotating rod through a speed reducer, and the rotating rod is movably connected to the support rod 3. The other end of one rotating rod is connected to the first robotic arm 4, and the other end of the other rotating rod is connected to the second robotic arm 6. Through the setting of the servo motor three 23, the operation of the servo motor three 23 can drive the first robotic arm 4 or the second robotic arm 6 to rotate.
[0027] One end of the first robotic arm 4 away from the support rod 3 is fixedly connected to a servo motor four 22. The end of the output shaft of the servo motor four 22 is fixedly connected to a rotating plate 7 through a speed reducer, and the other end of the rotating plate 7 is connected to the clamping structure 5. The rotation of the servo motor four 22 can change the position of the clamping structure 5.
[0028] One end of the second robotic arm 6 away from the support rod 3 is fixedly connected to another servo motor four 22. The end of the output shaft of the other servo motor four 22 is fixedly connected to another rotating plate 7. The electric telescopic rod one 11 is fixedly connected to the other rotating plate 7. The end of the output shaft of the electric telescopic rod one 11 is fixedly connected to another clamping structure 5. Through the setting of the electric telescopic rod one 11, the telescopic movement of the electric telescopic rod one 11 can change the position of the other clamping structure 5, and the rotation of the other servo motor four 22 can drive the other clamping structure 5 to rotate.
[0029] The clamping structure includes a main board 12, a double-headed ball screw 15 movably connected to the inner cavity of the main board 12, and a servo motor five 14 fixedly connected to the main board 12. The end of the output shaft of the servo motor five 14 is fixedly connected to one end of the double-headed ball screw 15. The outer rings at both ends of the double-headed ball screw 15 are both threadedly connected with ball nuts two. The outside of the ball nut two is fixed with a clamping plate 13. Through the setting of the servo motor five 14, the rotation of the servo motor five 14 can drive the double-headed ball screw 15 fixedly connected thereto to rotate. The rotation of the double-headed ball screw 15 causes the distance between the two ball nuts two threadedly connected thereto to change. When the ball nut two moves, it can drive the clamping plate 13 fixedly connected thereto to move, thereby enabling the position between the two clamping plates 13 in the clamping structure to change.
[0030] During the use of this structure, when one clamping structure 5 is in the clamping position, the other clamping structure 5 drives the flange to align with the pipeline under the action of the robotic arm adapted thereto, improving the flange clamping efficiency.
[0031] All the electrical components involved in this application are prior arts. Those skilled in the art understand their connection methods. Through those skilled in the art, all the electrical components in this application are connected to their adapted power supplies through wires, and a suitable controller is selected according to the actual situation to meet the control requirements. For the specific connection and control sequence, please refer to the following description. The electrical connection is completed in the order of the working sequence of each electrical component. The detailed connection means are well-known technologies in this field. The following mainly introduces the working principle and process, and no further description of electrical control will be made.
[0032] In summary, when the flange welding feeding structure of the automatic ship pipe production line is in use, the flanges are neatly placed in the flange tray 8. After the flange at the clamping position is clamped and taken away, the position adjustment structure works. The servo motor 16 rotates. The rotation of the servo motor 16 can drive the ball screw 19 to rotate. The rotation of the ball screw 19 can cause the ball nut 18 threadedly connected thereto to move in the direction of the ball screw 19. When the ball nut 18 moves, it can drive the placement groove 9 to move, and the placement groove 9 drives the flange tray 8 to move until another flange moves to the clamping position. If all the flanges in a row are clamped and taken away, the electric telescopic rod 17 extends, and the electric telescopic rod 17 drives the flange tray 8 to move, so that another row of flanges in the flange tray 8 can be moved to the clamping position.
[0033] When this structure is in use, one clamping structure is located at the clamping position, and the other clamping structure 5 drives the flange to align with the pipe. If the positional relationship between the first robotic arm 4 and the second robotic arm 6 is as shown in the accompanying drawings of the specification, after the flange is aligned with the pipe and riveted and welded, the clamping structure 5 connected to the first robotic arm 4 releases the clamping of the flange. The servo motor 21 drives the rotary platform 2 to rotate until the clamping structure 5 moves to the clamping position. The servo motor 23 connected to the second robotic arm 6 drives the second robotic arm 6 to rotate, so that the other clamping structure 5 can be located on the side of the support base 1 close to the pipe. The electric telescopic rod 11 extends, and the electric telescopic rod 11 changes the position of the other clamping structure 5. The combined use of the electric telescopic rod 11 and the second robotic arm 6 adjusts the position of the flange until the flange is aligned with the pipe. During the alignment process of the flange and the pipe, the clamping structure 5 at the clamping position can clamp the flange, improving the flange clamping efficiency.
[0034] All the standard parts used in this utility model can be purchased from the market. The special-shaped parts can be customized according to the descriptions in the specification and the attached drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts, and equipment all adopt conventional models in the prior art, which will not be elaborated here. The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art. Although the embodiments of the present utility model have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.
Claims
1. A flange welding feeding structure for an automatic production line of ship pipes, comprising a clamping structure and a position adjustment structure, characterized in that: The position adjustment structure comprises a base (10), an electric telescopic rod 2 (17) fixedly connected to the base (10), a translation structure fixedly connected to the end of the output shaft of the electric telescopic rod 2 (17), and a placement groove (9) fixedly connected to the movable end of the translation structure, wherein a flange tray (8) is placed in the placement groove (9), and flanges are evenly placed in the flange tray (8); The clamping structure comprises a support seat (1), a rotating platform (2) movably connected to the top of the support seat (1), a support rod (3) fixedly connected to the top of the rotating platform (2), a first mechanical arm (4) connected to one side of the support rod (3), a clamping structure (5) movably connected to the other end of the first mechanical arm (4), a second mechanical arm (6) connected to the other side of the top of the support rod (3), and an electric telescopic rod (11) movably connected to the other end of the second mechanical arm (6); the other end of the electric telescopic rod (11) is fixedly connected to another clamping structure (5).
2. The flange welding feeding structure for the automatic production line of ship pipes according to claim 1 is characterized by: The translation structure comprises a moving block (20) fixedly connected to the end of the output shaft of the electric telescopic rod (17), a ball screw (19) movably connected to the moving block (20), a ball nut (18) threadedly connected to the ball screw (19), and a servo motor (16) fixedly connected to the moving block (20), the end of the output shaft of the servo motor (16) being fixedly connected to the end of the ball screw (19), and the ball nut (18) being fixedly connected to the bottom of the placement groove (9).
3. The flange welding feeding structure for the automatic production line of ship pipes according to claim 1 is characterized by: A servo motor 2 (21) is fixedly connected to the top of the support seat (1), and the output shaft end of the servo motor 2 (21) is fixedly connected to the bottom of the rotary platform (2).
4. The flange welding feeding structure for the automatic production line of ship pipes according to claim 1 is characterized by: The top end of the support rod (3) is fixedly connected to two servo motors three (23), the end of the output shaft of the servo motor three (23) is fixedly connected to a rotating rod, the rotating rod is movably connected to the support rod (3), the other end of one of the rotating rods is connected to the first mechanical arm (4), and the other end of the other rotating rod is connected to the second mechanical arm (6).
5. The flange welding feeding structure for the automatic production line of ship pipes according to claim 1 is characterized by: The end of the first mechanical arm (4) away from the support rod (3) is fixedly connected to a servo motor four (22), the end of the output shaft of the servo motor four (22) is fixedly connected to a rotating plate (7), and the other end of the rotating plate (7) is connected to the clamping structure (5); the end of the second mechanical arm (6) away from the support rod (3) is fixedly connected to another servo motor four (22), the end of the output shaft of the other servo motor four (22) is fixedly connected to another rotating plate (7), and the electric telescopic rod one (11) is fixedly connected to the other rotating plate (7).
6. The flange welding feeding structure for the automatic production line of ship pipes according to claim 1 is characterized by: The clamping structure comprises a main board (12), a double-headed ball screw (15) movably connected to the inner cavity of the main board (12), and a servo motor five (14) fixedly connected to the main board (12), the output shaft end of the servo motor five (14) is fixedly connected to one end of the double-headed ball screw (15), the outer rings of both ends of the double-headed ball screw (15) are threadedly connected to ball nuts two, and a clamping plate (13) is fixed to the outer side of the ball nut two.