Pipe and pipe fitting internal expanding and external clamping assembly and robot welding all-in-one machine

Abstract

The utility model discloses a pipe and pipe fitting internal expanding and external clamping assembling and robot welding all-in-one machine. The machine comprises an assembling and welding base; the assembly welding head frame is movably arranged on the assembly welding base and comprises a first assembly chuck and a first chuck clamping mechanism arranged on the first assembly chuck; the welding robot is arranged on the assembly welding base and comprises a robot welding gun connected to the end of the robot; the assembly welding tailstock is movably arranged on the assembly welding base and comprises a second assembly chuck and a second chuck clamping mechanism arranged on the second assembly chuck; one end of the tensioning mechanism is fixed on the installing and welding base, at least part of the tensioning mechanism is movably sleeved on the installing and welding head frame, the tensioning mechanism comprises an internal tensioning chuck and a follow-up mechanism, and the internal tensioning chuck is rotatably arranged on the follow-up mechanism; the assembling and welding head frame further comprises a connecting piece connected with the follow-up mechanism, the connecting piece is configured to enable the assembling and welding head frame to move in the first direction relative to the tensioning mechanism and the assembling and welding base, and the connecting piece is configured to enable the follow-up mechanism to rotate along with the first assembling chuck.

Description

Technical Field

[0001] The utility model relates to the field of mechanical processing, in particular to an internal expansion and external clamping assembly and robot welding integrated machine for pipes and pipe fittings. Background Art

[0002] At present, the demand for intelligent prefabrication of pipelines in industrial projects is becoming increasingly urgent, especially the demand for intelligent welding. Existing pipe and pipe fitting assembly machines are all mechanical (non-automatic, let alone intelligent), external (non-internal), visual, manual measurement, manual spot welding, and manual control assembly machines; existing pipe and pipe fitting welding machines are special machines (non-robot), intermittent welding layer by layer, visual, and manual control (cannot do without people).

[0003] Furthermore, the current pipe and fitting assembly machines and pipe and fitting welding machines are independent, and there is currently no integrated pipe and fitting assembly and welding machine suitable for the industrial pipeline industry.

[0004] In view of the limitations of existing technologies and the growth of market demand, it is urgent to develop a pipe and fitting internal expansion and external clamping assembly and robot welding machine that meets market demand, has a simple structure and is intelligent. Utility Model Content

[0005] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the utility model is to provide an integrated machine for pipe and pipe fitting internal expansion and external clamping assembly and robot welding, which has high integration and intelligence, adopts external clamping and internal expansion structure, and uses a welding robot equipped with a laser vision module to perform continuous welding, effectively solving the problems mentioned in the relevant background technology.

[0006] In order to achieve the above-mentioned purpose, the utility model provides a pipe and pipe fitting inner expansion and outer clamp assembly and robot welding integrated machine, which comprises:

[0007] Welding base;

[0008] A group welding head frame is movably arranged on the group welding base along a first direction, the group welding head frame comprises a first group of chucks and a first chuck clamping mechanism arranged on the first group of chucks, and the first group of chucks is provided with a first claw drivingly connected to the first chuck clamping mechanism;

[0009] A welding robot, connected to the assembly welding base, the welding robot comprising a robot welding gun connected to an end of the robot;

[0010] A welding tail frame is movably arranged on the welding base along the first direction, the welding tail frame comprises a second pair of chucks and a second chuck clamping mechanism arranged on the second pair of chucks, the second pair of chucks is provided with a second claw drivingly connected to the second chuck clamping mechanism; and

[0011] A tensioning mechanism, one end of which is fixed on the assembly welding base, at least part of which is arranged on the assembly welding head frame, the tensioning mechanism comprises an inner expansion chuck and a follower mechanism, and the inner expansion chuck is rotatably arranged on the follower mechanism;

[0012] Wherein, the assembly welding head frame also includes a connecting piece connected to the follower mechanism, and the connecting piece is configured to enable the assembly welding head frame to move in the first direction relative to the tensioning mechanism and the assembly welding base, and the connecting piece is configured to enable the follower mechanism to rotate following the first group of chucks.

[0013] In one feasible embodiment, the assembly welding head frame further includes a first box, a first displacement drive mechanism and a first circumferential drive mechanism, and the first group of chucks, the first chuck clamping mechanism, the first displacement drive mechanism and the first circumferential drive mechanism are all arranged on the first box;

[0014] Wherein, the first displacement driving mechanism is in driving connection with the assembly welding base to drive the assembly welding head frame to move along the first direction;

[0015] The first circumferential driving mechanism is in driving connection with the first pair of chucks to drive the first pair of chucks to rotate.

[0016] In one feasible embodiment, the tensioning mechanism also includes a support base and a tensioning drive assembly, the follower mechanism is fixedly arranged on the support base, and the support base is arranged in the first box body; the tensioning drive assembly is transmission-connected to the internal expansion chuck to drive the internal expansion chuck to tighten.

[0017] In one feasible embodiment, the follower mechanism includes a spline shaft, the connecting member includes a rotating flange connected to the first set of chucks and a spline sleeve sleeved on the outer circumference of the spline shaft, the spline shaft is arranged on the inner side of the rotating flange, and the spline sleeve is configured to be movable on the spline shaft and can drive the spline shaft to rotate.

[0018] In one feasible embodiment, the assembly welding tail frame further includes a second box, a second displacement drive mechanism and a second circumferential drive mechanism, and the second assembly chuck, the second chuck clamping mechanism, the second displacement drive mechanism and the second circumferential drive mechanism are all arranged on the second box;

[0019] Among them, the second displacement driving mechanism is in transmission connection with the group welding base to drive the group welding headstock to move along the first direction;

[0020] The second circumferential driving mechanism is in transmission connection with the second pair of chucks to drive the second pair of chucks to rotate.

[0021] In one feasible embodiment, the tube and pipe internal expansion and external clamping pair and robot welding integrated machine further includes a mobile trolley and a welding power source. The welding power source and the welding robot are arranged on the mobile trolley, and the welding power source is arranged close to the welding robot;

[0022] Among them, a third displacement driving mechanism is arranged on the mobile trolley. The third displacement driving mechanism is in transmission connection with the group welding base to drive the mobile trolley and the welding power source and the welding robot thereon to move along the first direction.

[0023] In one feasible embodiment, the welding power source includes a welding machine, a wire feeder and a wire feeding reel. Under the electric energy and signals provided by the welding machine, the wire feeder conveys the welding wire in the wire feeding reel to the robot welding gun.

[0024] In one feasible embodiment, such as when using argon arc welding and a cooling water tank can be set, the cooling water tank is configured to perform heat exchange with the robot welding gun to cool the robot welding gun.

[0025] In one feasible embodiment, the welding robot further includes a robot control module, a robot body and a teaching pendant. The robot welding gun is mechanically connected to the robot body. In response to the instructions of the robot control module, the robot body drives the robot welding gun to perform corresponding operations; the teaching pendant is configured to program and teach the welding path and parameters of the robot welding gun.

[0026] In one feasible embodiment, the welding robot is a vision welding robot, and a laser vision module is arranged at the robot welding gun.

[0027] In one feasible embodiment, the tube and pipe internal expansion and external clamping pair and robot welding integrated machine further includes at least one support device, and the support device is movably arranged on the group welding base along the first direction;

[0028] The support device includes a support block and a support lifting assembly connected to the support block. The support lifting assembly can drive the support block to move relative to the group welding base in a second direction, and the second direction is perpendicular to the first direction.

[0029] In one feasible embodiment, the group welding base includes at least two working areas arranged in a first direction. The group welding head frame and the group welding tail frame are arranged in the first working area, and the welding robot is arranged in the second working area.

[0030] In one feasible embodiment, linear guide rails and transmission parts adapted to the group welding head frame, the group welding tail frame and the moving trolley are respectively arranged on the group welding base.

[0031] In one feasible embodiment, the transmission part is a rack, and the first displacement driving mechanism and the second displacement driving mechanism are gear motors.

[0032] In one feasible embodiment, the tube and pipe internal expansion and external clamping group pairing and robot welding integrated machine further includes a main control mechanism. The main control mechanism is electrically connected to the group welding head frame, the welding robot, the welding power source, the group welding tail frame and the tensioning mechanism. The main control mechanism is configured to control any one or more of the group welding head frame, the welding robot, the welding power source, the group welding tail frame and the tensioning mechanism in response to the operations or commands of the user or the production line MES.

[0033] In one feasible embodiment, the main control mechanism includes an electrical cabinet and a control computer, and is controlled through a vision robot control system and group welding PLC control system software.

[0034] The device provided by the present utility model has the following technical effects:

[0035] 1. The tube and pipe internal expansion and external clamping group pairing and robot welding integrated machine of the present application uses a group welding head frame and a group welding tail frame to clamp different workpieces (pipe fittings / pipes), and then welds them through a welding robot, finally realizing the intelligent group pairing and welding of one-dimensional pipe segments, greatly improving the efficiency and quality of pipe segment group pairing and welding.

[0036] 2. The tube and pipe internal expansion and external clamping group pairing and robot welding integrated machine of the present application clamps and positions the workpiece (pipe) from the inside through a tensioning mechanism, and this tensioning mechanism cooperates with the first group pairing chuck on the group welding head frame to ensure the concentricity of two different workpieces (pipe fittings and pipes), reduce the group pairing misalignment amount, and improve the quality of the welded joint.

[0037] 3. The tube and pipe internal expansion and external clamping group pairing and robot welding integrated machine of the present application uses a welding robot equipped with a laser vision module to first measure the internal distance of the groove (leave a distance between the grooves of the pipe and the pipe fitting), then calculates the moving distance (moving distance = measured internal groove distance - required group pairing gap), and finally uses a precise transmission device to accurately adjust it to reach the expected group pairing gap requirement, ensuring the group pairing quality of the weld joint.

[0038] 4. The tensioning system of this application uses a spline shaft as a follower mechanism and is movably connected to the assembled welding headstock through a spline shaft sleeve, enabling the tensioning mechanism not to hinder the movement of the assembled welding headstock in the first direction (the spline sleeve moves on the spline shaft) during the assembly process, and also enabling the tensioning system (the pipe) to rotate with the assembled welding headstock (the pipe fitting) during the welding process.

[0039] The following will further illustrate the concept, specific structure and technical effects generated by this utility model in conjunction with the accompanying drawings to fully understand the purpose, features and effects of this utility model. Description of the Drawings

[0040] Figure 1 It is a schematic structural diagram of a preferred embodiment of the integrated pipe and pipe fitting internal expansion and external clamping assembly and robotic welding machine of this utility model;

[0041] Figure 2 It is a schematic structural diagram of a preferred embodiment of the assembled welding headstock in the integrated pipe and pipe fitting internal expansion and external clamping assembly and robotic welding machine of this utility model;

[0042] Figure 3 It is a schematic structural diagram of a preferred embodiment of the first circumferential drive mechanism in the integrated pipe and pipe fitting internal expansion and external clamping assembly and robotic welding machine of this utility model;

[0043] Figure 4 It is a schematic structural diagram of a preferred embodiment of the first chuck clamping mechanism in the integrated pipe and pipe fitting internal expansion and external clamping assembly and robotic welding machine of this utility model;

[0044] Figure 5 It is a schematic structural diagram of a preferred embodiment of the tensioning mechanism in the integrated pipe and pipe fitting internal expansion and external clamping assembly and robotic welding machine of this utility model;

[0045] Figure 6 It is a schematic structural diagram of a preferred embodiment of the assembled welding tailstock in the integrated pipe and pipe fitting internal expansion and external clamping assembly and robotic welding machine of this utility model;

[0046] Figure 7 It is a schematic structural diagram of a preferred embodiment of the welding power source and welding robot in the integrated pipe and pipe fitting internal expansion and external clamping assembly and robotic welding machine of this utility model;

[0047] Figure 8 It is a schematic structural diagram of a preferred embodiment of the assembled welding base in the integrated pipe and pipe fitting internal expansion and external clamping assembly and robotic welding machine of this utility model;

[0048] Figure 9It is a schematic structural diagram of a preferred embodiment of the support device in the integrated internal expansion and external clamping pair and robotic welding machine for pipe fittings of the present utility model;

[0049] Figure 10 It is a schematic diagram of the application state of a preferred embodiment of the integrated internal expansion and external clamping pair and robotic welding machine for pipe fittings of the present utility model. Specific embodiments

[0050] The following uses specific specific examples to illustrate the implementation manners of the present utility model. Those skilled in the art can easily understand other advantages and effects of the present utility model from the content disclosed in this specification. The present utility model can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present utility model. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0051] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present utility model in a schematic manner. Therefore, only the components related to the present utility model are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The types, quantities, and proportions of the components in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0052] For the purpose of illustration, some exemplary embodiments of the present utility model are described. It should be understood that the present utility model can be implemented in other ways not specifically shown in the drawings.

[0053] Figures 1 to 10 It shows the overall and partial structural schematic diagrams of the integrated internal expansion and external clamping pair and robotic welding machine for pipe fittings shown in an embodiment of the present application. Figure 2 It shows the structural schematic diagram of the group welding head frame in the welding integrated machine shown in an embodiment of the present application. As Figure 1 and Figure 2 shown, the integrated internal expansion and external clamping pair and robotic welding machine for pipe fittings in this embodiment includes a group welding base 1, a group welding head frame 2, a welding robot 3, a group welding tail frame 4, a tensioning mechanism 5, a welding power source 6, a support device 7, and a main control mechanism 8.

[0054] Specifically:

[0055] The assembly welding head frame 2 is movably arranged on the assembly welding base 1 along the first direction, and includes a first pair of chucks 21 and a first chuck clamping mechanism 22 arranged on the first pair of chucks 21. The first pair of chucks 21 is provided with a first claw 20 which is transmission-connected to the first chuck clamping mechanism 22. The first claw 20 is driven by the first chuck clamping mechanism 22 to clamp and release the workpiece (pipe fitting).

[0056] The assembly welding tail frame 4 is also movably arranged on the assembly welding base 1 along the first direction, and includes a second set of chucks 41 and a second chuck clamping mechanism 42 arranged on the second set of chucks 41. The second set of chucks 41 is provided with a second claw 40 which is transmission-connected to the second chuck clamping mechanism 42. The second claw 40 is driven by the second chuck clamping mechanism 42 to clamp and release the workpiece (pipe).

[0057] The welding robot 3 and the welding power source 6 are movably arranged on the assembly welding base 1 through a moving trolley 9, and the moving trolley 9 can move on the assembly welding base 1 along a first direction; wherein the welding robot 3 includes a robot welding gun 31 connected to the end of the welding robot 3; the welding power source 6 delivers the welding wire to the robot welding gun 31 through a wire feeding mechanism 62 under the power and signal provided by the welding machine 63, and then the robot welding gun 31 passes. After the pipe and the pipe fitting are clamped, the welding robot 3 performs welding on the assembly.

[0058] At least a part of the tensioning mechanism 5 is looped on the welding head frame 2, and includes an inner expansion chuck 51 and a follower mechanism 52, wherein the inner expansion chuck 51 is rotatably arranged on the follower mechanism 52. In addition, the welding head frame 2 also includes a connecting member 23 connected to the follower mechanism 52, and the connecting member 23 can move in the first direction relative to the tensioning mechanism 5 and the welding base 1, so that the tensioning mechanism 5 does not hinder the movement of the welding head frame 2 in the first direction during the assembly process, and the follower mechanism 52 can rotate with the welding head frame 2 during the welding process, thereby driving the inner expansion chuck 51 to rotate.

[0059] The supporting device 7 is movably disposed on the assembly welding base 1 along a first direction. When the workpiece is long, it can be supported by the supporting device 7 .

[0060] It should be noted that, in this embodiment, Figure 1 The X direction shown in FIG. 1 is a first direction (horizontal direction), and the Y direction is a second direction (vertical direction, gravity direction).

[0061] like Figure 2As shown, the assembly welding head frame 2 of this embodiment further includes a first box 200, a first displacement drive mechanism 24 and a first circumferential drive mechanism 25, and the first assembly chuck 21, the first chuck clamping mechanism 22, the first displacement drive mechanism 24 and the first circumferential drive mechanism 25 are all arranged on the first box 200. Among them, the first displacement drive mechanism 24 is connected to the assembly welding base 1 in a transmission manner to drive the assembly welding head frame 2 to move along the first direction; the first circumferential drive mechanism 25 is connected to the first assembly chuck 21 in a transmission manner to drive the first assembly chuck 21 to rotate.

[0062] Figure 3 FIG. 1 is a schematic diagram showing the structure of the first circumferential drive mechanism in the integrated welding machine shown in an embodiment of the present application. Figure 2 and Figure 3 As shown, in this embodiment, the first circumferential driving mechanism 25 includes a first slewing bearing 251 and a first slewing motor 252. One side of the first slewing bearing 251 is fixed to the first box body 200, and the other side is mounted with the first set of chucks 21 through the connecting member 23. A slewing gear ring 250 is provided on the outer circumference of the first slewing bearing 251, and a gear is installed on the driving shaft of the first slewing motor 252. The first slewing motor 252 can drive the first slewing bearing 251 meshed therewith to rotate by driving the gear, thereby rotating the first set of chucks 21. Of course, in other embodiments, the slewing gear ring 250 can also be provided on the inner circumference of the first slewing bearing 251.

[0063] Figure 4 FIG. 1 is a schematic diagram showing the structure of the first chuck clamping mechanism shown in an embodiment of the present application. Figure 4 As shown, in the present embodiment, the first chuck clamping mechanism 22 includes a first clamping motor 221, a first cylinder assembly 222, a sprocket reducer 223 and a first chuck drive shaft 224. The first clamping motor 221 serves as a power source. After increasing the torque through the sprocket reducer 223, the rotational motion is transmitted to the first chuck drive shaft 224. The first cylinder assembly 222 can drive the first chuck drive shaft 224 to move up and down in the second direction (vertical direction).

[0064] In some embodiments, the first set of chucks 21 can be a conventional machined chuck structure, which is a prior art and is not described in detail herein. The square head on the first chuck drive shaft 224 is inserted into the square hole of the first set of chucks 21 to push the claws to move inward to clamp the workpiece. When the workpiece needs to be released, the first clamping motor 221 is reversed and the first chuck drive shaft 224 is rotated in the opposite direction, and the claws move outward to release the workpiece.

[0065] Figure 5 FIG. 2 shows a schematic diagram of the structure of a tensioning mechanism shown in an embodiment of the present application. Figure 5As shown, the tensioning mechanism 5 of this embodiment further includes a support base 53 and a tensioning drive assembly 54. The support base 53 is fixed on the assembly welding base 1, and the tensioning drive assembly 54 is arranged on the support base 53. Moreover, the tensioning drive assembly 54 is in transmission connection with the internal expansion chuck 51 to drive the tensioning of the internal expansion chuck 51.

[0066] By way of example and not limitation, the follower mechanism 52 of this embodiment includes a spline shaft. The corresponding connecting member 23 includes a rotating flange 231 connected and arranged between the first pair of chucks 21 and the first slewing bearing 25, and a spline shaft sleeve 232 sleeved on the outer circumference of the spline shaft 52. The spline shaft 52 is arranged inside the rotating flange 231. The spline shaft sleeve 232 is configured to be movable on the spline shaft 52 and can drive the spline shaft 52 to rotate. By adopting this setting, it can be ensured that the tensioning mechanism 5 does not interfere with the movement of the assembly welding headstock 2 in the first direction during the pairing process (the spline shaft sleeve 232 moves on the spline shaft 52), and the tensioning system (pipe) can rotate with the assembly welding headstock 2 (pipe fitting) during the welding process.

[0067] By way of example and not limitation, the internal expansion chuck 51 of this embodiment is an electric tensioning chuck. The tensioning drive assembly 54 includes a tensioning servo motor 541, a tensioning transmission shaft 542, and a clutch assembly 543. The tensioning servo motor 541 is connected to the internal expansion chuck 51 through the tensioning transmission shaft 542. The clutch assembly 543 is used to control the separation and engagement of the follower mechanism 52 and the tensioning drive assembly 54. When separated, the follower mechanism 52 and the internal expansion chuck 51 can rotate with the first pair of chucks 21; when engaged, the tensioning transmission shaft 542 can tension and relax the internal expansion chuck 51. The internal expansion chuck 51 can expand along the inner wall of the pipe, thereby firmly clamping the pipe to prevent it from displacing or rotating during the welding process. The support base 53 provides fixation and support for the internal expansion chuck 51 and the follower mechanism 52, ensuring the stability of the entire tensioning mechanism 5.

[0068] Of course, in other embodiments not shown, the tensioning drive assembly 54 can also be driven in a hydraulic or pneumatic manner.

[0069] Figure 6 The structural schematic diagram of the assembly welding tailstock shown in an embodiment of the present application is shown. As Figure 6 As shown, the assembly welding tailstock 4 of this embodiment further includes a second box body 43, a second displacement drive mechanism 44, and a second circumferential drive mechanism 45. The second pair of chucks 41, the second chuck clamping mechanism 42, the second displacement drive mechanism 44, and the second circumferential drive mechanism 45 are all arranged on the second box body 43. Among them, the second displacement drive mechanism 44 is in transmission connection with the assembly welding base 1 to drive the assembly welding headstock 2 to move in the first direction; the second circumferential drive mechanism 45 is in transmission connection with the second pair of chucks 41 to drive the second pair of chucks 41 to rotate.

[0070] It can be understood that the second circumferential driving mechanism 45, the second group of chucks 41 and the second chuck clamping mechanism 42 can adopt a structure similar to the relevant components of the welding head frame 2, which will not be described in detail here.

[0071] Figure 7 FIG. 1 shows a schematic diagram of the structure of a welding power source and a welding robot shown in an embodiment of the present application. Figure 7 As shown, the welding power source 6 and the welding robot 3 are arranged on the mobile trolley 9, and the welding power source 6 is arranged close to the welding robot 3. The mobile trolley 9 is provided with a third displacement drive mechanism 91, which is transmission-connected to the assembly welding base 1 to drive the mobile trolley 9 and the welding power source 6 and the welding robot 3 thereon to move along the first direction.

[0072] As a demonstration but not limitation, in this embodiment, when argon arc welding is used, the welding power supply 6 includes a welder 63, a wire feeder 62, a wire feeding reel (not shown) and a cooling water tank 61. Under the power and signal provided by the welder 63, the wire feeder 62 delivers the welding wire in the wire feeding reel (not shown) to the robot welding gun 31. The cooling water tank 61 is configured to perform heat exchange with the robot welding gun 31 for cooling the robot welding gun 31.

[0073] In another embodiment, the welding power source 6 is further equipped with a gas cylinder 64 for storing welding-related gases.

[0074] As a demonstration but not limitation, the welding robot 3 also includes a robot control module 33, a robot body 32 and a teach pendant (not shown). The robot welding gun 31 is mechanically connected to the robot body 32. In response to the instructions of the robot control module, the robot body 32 drives the robot welding gun 31 to perform corresponding operations; the teach pendant is configured to be used for programming and teaching the welding path and parameters of the robot welding gun 31.

[0075] In this embodiment, the welding robot 3 is a visual robot, and a laser vision module 30 is provided at the robot welding gun 31. During the welding process, the welding robot 3 can monitor the welding groove in real time and collect data through the laser vision module 30. The welding robot 3 uses these data for accurate path planning and welding gun positioning. At the same time, the robot control module automatically adjusts the welding parameters, such as current, swing width, welding speed and wire feeding speed, according to the feedback information provided by the laser vision system, such as the gap between the pairs and the outer spacing of the groove, to adapt to the actual welding conditions. This intelligent coordination ensures the accuracy and adaptability of the welding process.

[0076] For example, the laser vision module 30 and the welding robot 3 are used to perform multi-point measurement of the inner groove spacing. Then, according to the measurement result of the inner groove spacing and the required butt joint gap to be retained, the butt welding headstock 2 is moved a suitable distance in the first direction (= inner groove spacing - butt joint gap).

[0077] Figure 8 The structural schematic diagram of the butt welding base shown in an embodiment of the present application is shown. By way of example and not limitation, as Figure 8 shown, in this embodiment, the butt welding base 1 is formed by combining a steel plate and a square pipe, which defines two working areas arranged in the first direction, namely the first working area 11 and the second working area 12. Among them, the butt welding headstock 2, the tensioning mechanism 5 and the butt welding tailstock 4 are arranged in the first working area 11, and the welding robot 3 and the welding power source are arranged in the second working area 12, that is, the mobile trolley 9 is arranged in the second working area 12.

[0078] In this embodiment, in the first working area 11, a first transmission mechanism 13 and a second transmission mechanism 14 are provided. The first transmission mechanism 13 includes a first linear guide rail 131 and a first linear rack 132 arranged in the first working area 11 along the first direction; the second transmission mechanism 14 includes a second linear guide rail 141 and a second linear rack 142 arranged in the first working area 11 along the first direction. The first displacement driving mechanism 24 on the butt welding headstock 2 is a gear motor meshing with the first linear rack 132, and the second displacement driving mechanism 44 on the butt welding tailstock 4 is a gear motor meshing with the second linear rack 142.

[0079] It can be understood that in this embodiment, the first linear guide rail 131 and the second linear guide rail 141 can be the same group of linear guide rails. Of course, in other embodiments, they can be different groups of guide rails.

[0080] It can be understood that the first linear rack 132 and the second linear rack 142 are not connected to avoid interference between the mechanisms. At the same time, a limiting structure can be provided at the edge of the corresponding guide rail or rack.

[0081] It can be understood that a third transmission mechanism 15 identical or similar to the first transmission mechanism 13 and the second transmission mechanism 14 can be provided in the second working area 12. It can be understood that the third displacement driving mechanism 91 of the mobile trolley 9 can adopt the same transmission method as the first displacement driving mechanism 24 and the second displacement driving mechanism 44, and will not be described in detail here. Of course, in other embodiments, the first transmission mechanism 13, the second transmission mechanism 14, the third transmission mechanism 15, the first displacement driving mechanism 24, the second displacement driving mechanism 44 and the third displacement driving mechanism 91 can also each choose to adopt other transmission methods, such as screw drive, belt drive, etc.

[0082] By way of example and not limitation, on each of the said working areas, the in - tube and out - clamp pipe fitting assembly and robotic welding integrated machine is further provided with at least one support device 7, and the support device 7 is movably arranged on the assembly and welding base along the first direction.

[0083] Figure 9 The structural schematic diagram of the support device shown in an embodiment of the present application is shown. As Figure 9 shown, in this embodiment, the support device 7 is movably arranged on the assembly and welding base 1 along the first direction (horizontal direction), and more specifically, is arranged in the first working area 11 for supporting the workpiece. The support device 7 includes a support block 71 and a support lifting assembly 72 connected to the support block 71, and the support lifting assembly 72 can drive the support block 71 to move relative to the assembly and welding base 1 in the second direction (gravity direction).

[0084] In this embodiment, the support lifting assembly 72 adopts a motor, a sprocket reducer and a lead screw transmission member to realize the lifting of the support block 71. Of course, in other embodiments, other methods can also be adopted, such as cylinders, hydraulics, etc.

[0085] It can be understood that, in order to realize the movement of each support device 7 in the first direction, a gear motor can be used to engage with the linear rack in each working area for transmission, which will not be described here.

[0086] Of course, in other embodiments, the number and transmission method of the support device 7 can be selected according to the actual situation, which is not limited here.

[0087] It can be understood that the in - tube and out - clamp pipe fitting assembly and robotic welding integrated machine further includes a main control mechanism 8, and the main control mechanism 8 is electrically connected to the assembly welding headstock 2, the welding robot 3, the assembly welding tailstock 4 and the tensioning mechanism 5. The main control mechanism 8 is configured to control any one or more of the assembly welding headstock 2, the welding robot 3, the assembly welding tailstock 4, the tensioning mechanism 5 and the welding power source 6 in response to the operation or command of the user.

[0088] By way of example and not limitation, the main control mechanism 8 includes an electrical cabinet (not shown) and a control computer (not labeled), and is controlled through a vision robot control system software and an assembly and welding PLC control system. The control computer can be installed in the first box body 200.

[0089] It can be understood that the negative electrode of the welding power source can be connected to the workpiece by setting a carbon brush mechanism 100.

[0090] Figure 10 The application state schematic diagram of the in - tube and out - clamp pipe fitting assembly and robotic welding integrated machine shown in an embodiment of the present application is shown. As Figure 10As shown in the figure, for the pipe fittings and pipe welder 63 in the figure, the specific process is as follows:

[0091] 1. Lift the pipe fitting 500 and hoist it onto the first pair of chucks 21 of the group welding headstock 2, and use an electric drive to drive the first jaw 20 to clamp the pipe fitting 500;

[0092] 2. After adjusting the height and spacing of the support device 7 (support trolley) according to the outer diameter and length of the pipe 600, lift the pipe 600 and hoist it onto the support device 7;

[0093] 3. Use the displacement drive mechanism (horizontal movement) of the support device 7 to move the pipe 600 to the left until the pipe 600 is sleeved into the internal expansion chuck of the expansion system 5;

[0094] 4. Drive the internal expansion chuck of the expansion system 5 to expand the pipe 600 from the inside;

[0095] 5. Use the second displacement drive mechanism of the group welding tailstock 4 to push the group welding tailstock 4 to the left until the pipe 600 enters the second pair of chucks 41;

[0096] 6. Drive the second jaw 40 on the second pair of chucks 41 to clamp the pipe 600 from the outside;

[0097] 7. Lower the support device 7 to an appropriate height so that it is disengaged from the contact with the pipe 600;

[0098] 8. Use the first displacement drive mechanism of the group welding headstock 2 to push the group welding headstock 2 to the right until the distance between the pipe fitting 500 and the pipe 600 reaches a certain value (such as 10 mm);

[0099] 9. Use the laser vision module 30 and the welding robot 3 to perform multi-point measurement of the inner groove spacing by driving the first pair of chucks 21;

[0100] 10. According to the measurement result of the groove spacing and the required butt joint gap requirement, move the group welding headstock 2 to the right by an appropriate distance (= inner groove spacing - butt joint gap);

[0101] 11. Use the first circumferential drive mechanism 25 to drive the first pair of chucks 21 to drive the pipe fitting 500 to rotate, and at the same time drive the pipe 600 to rotate through the spline follower mechanism;

[0102] 12. Use the welding power source 6 and the welding robot 3 to perform the first point spot welding of the pipe 600 and the pipe fitting 500;

[0103] 13. When the first point spot welding is completed, rotate the pipe section (pipe fitting 500 + pipe 600) by an angle, and at the same time measure the butt joint gap at the second point (symmetric point) spot welding position;

[0104] 14. After adjusting the welding parameters according to the butt joint gap value in point 2, perform spot welding at point 2;

[0105] 15. And so on, perform spot welding at other points;

[0106] 16. Rotate one week, and use the laser vision module 30 and the welding robot 3 to measure the butt joint gap at every other angle by driving the first butt joint chuck 21;

[0107] 17. According to the measurement results of the above butt joint gap, use the welding power source 6 and the welding robot 3 to perform root welding of the weld seam;

[0108] 18. Rotate one more week, and use the laser vision module 30 and the welding robot 3 to measure the outer groove spacing at every other angle by driving the first butt joint chuck 21;

[0109] 19. According to the measurement results of the above outer groove spacing, reverse-deduce the butt joint gap, and use the welding power source 6 and the welding robot 3 to perform multi-pass and multi-layer surfacing welding of the weld seam;

[0110] 20. After welding is completed, loosen each chuck and lift away the pipe section.

[0111] The above embodiments are only illustrative of the principles and effects of the present invention, and are not used to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A tube and pipe fitting internal expansion and external clamping assembly and robotic welding integrated machine, characterized in that, Comprising: Group welding base; Group welding headstock, movably arranged on the group welding base along a first direction, the group welding headstock includes a first pair of chucks and a first chuck clamping mechanism arranged on the first pair of chucks, and a first jaw is arranged on the first pair of chucks and is in transmission connection with the first chuck clamping mechanism; Welding robot, connected and arranged on the group welding base, the welding robot includes a robot welding torch connected to the end of the robot; Group welding tailstock, movably arranged on the group welding base along the first direction, the group welding tailstock includes a second pair of chucks and a second chuck clamping mechanism arranged on the second pair of chucks, and a second jaw is arranged on the second pair of chucks and is in transmission connection with the second chuck clamping mechanism; and Tightening mechanism, one end fixed on the group welding base, at least partially sleeved on the group welding headstock, the tightening mechanism includes an internal expansion chuck and a follow-up mechanism, and the internal expansion chuck is rotatably arranged on the follow-up mechanism; Wherein, the group welding headstock further includes a connecting member connecting the follow-up mechanism, the connecting member is configured to enable the group welding headstock to move relative to the tightening mechanism and the group welding base in the first direction, and the connecting member is configured to enable the follow-up mechanism to follow the rotation of the first pair of chucks.

2. The integrated machine for internal expansion and external clamping of pipe fittings and robotic welding according to claim 1, characterized in that, The group welding headstock further includes a first box body, a first displacement driving mechanism and a first circumferential driving mechanism, and the first pair of chucks, the first chuck clamping mechanism, the first displacement driving mechanism and the first circumferential driving mechanism are all arranged on the first box body; Wherein, the first displacement driving mechanism is in transmission connection with the group welding base to drive the group welding headstock to move along the first direction; The first circumferential driving mechanism is in transmission connection with the first pair of chucks to drive the first pair of chucks to rotate.

3. The tube and pipe internal expansion and external clamping assembly and robotic welding integrated machine according to claim 2, characterized in that, The tightening mechanism further includes a support base and a tightening driving assembly, the follow-up mechanism is fixedly arranged on the support base through a bearing and a bearing seat, the support base is arranged in the first box body and is connected to the group welding base; the tightening driving assembly is in transmission connection with the internal expansion chuck to drive the internal expansion chuck to tighten.

4. The inside expanding and outside clamping pipe fitting assembling and robot welding integrated machine according to claim 1 or 3, characterized in that, The follow-up mechanism includes a spline shaft, the connecting member includes a rotating flange plate connected and arranged on the first pair of chucks and a spline shaft sleeve sleeved on the outer circumference of the spline shaft, the spline shaft is arranged inside the rotating flange plate, and the spline shaft sleeve is configured to be movable on the spline shaft and can drive the spline shaft to rotate.

5. The inside-expanding and outside-clamping pipe fitting alignment and robotic welding integrated machine according to claim 1, characterized in that, The group welding tailstock further includes a second box body, a second displacement driving mechanism and a second circumferential driving mechanism, and the second pair of chucks, the second chuck clamping mechanism, the second displacement driving mechanism and the second circumferential driving mechanism are all arranged on the second box body; Wherein, the second displacement driving mechanism is in transmission connection with the group welding base to drive the group welding tailstock to move along the first direction; The second circumferential driving mechanism is in transmission connection with the second pair of chucks to drive the second pair of chucks to rotate.

6. The inside-expanding and outside-clamping pipe fitting assembling and robot welding integrated machine according to claim 1, wherein The tube and pipe internal expansion and external clamping assembly and robot welding integrated machine further includes a mobile trolley and a welding power source. The welding power source and the welding robot are arranged on the mobile trolley, and the welding power source is arranged close to the welding robot. Wherein, a third displacement driving mechanism is provided on the mobile trolley. The third displacement driving mechanism is in transmission connection with the assembly welding base to drive the mobile trolley and the welding power source and the welding robot thereon to move along the first direction.

7. The integrated internal expansion and external clamping pipe fitting alignment and robotic welding machine according to claim 6, wherein, The welding power source includes a welding machine, a wire feeder and a wire spool. Under the electric energy and signals provided by the welding machine, the wire feeder conveys the welding wire in the wire spool to the robot welding torch. When a cooling water tank is provided, the cooling water tank is configured to perform heat exchange with the robot welding torch for cooling the robot welding torch.

8. The internal expansion and external clamping pipe and fitting assembly and robotic welding integrated machine according to claim 6 or 7, characterized in that, The welding robot further includes a robot control module, a robot body and a teaching pendant. The robot welding torch is mechanically connected to the robot body. In response to the instructions of the robot control module, the robot body drives the robot welding torch to perform corresponding operations. The teaching pendant is configured to program and teach the welding path and parameters of the robot welding torch.

9. The tube and pipe fitting internal expansion and external clamping assembly and robotic welding integrated machine according to claim 8, characterized in that, The tube and pipe internal expansion and external clamping assembly and robot welding integrated machine further includes at least one support device. The support device is movably arranged on the assembly welding base along the first direction. The support device includes a support block and a support lifting assembly connected to the support block. The support lifting assembly can drive the support block to move relative to the assembly welding base in the second direction, and the second direction is perpendicular to the first direction.

10. The integrated machine for internal expansion, external clamping, alignment and robotic welding of pipe fittings according to claim 6, wherein The tube and pipe internal expansion and external clamping assembly and robot welding integrated machine further includes a main control mechanism. The main control mechanism is electrically connected to the assembly welding headstock, the welding robot, the welding power source, the assembly welding tailstock and the tensioning mechanism. The main control mechanism is configured to control any one or more of the assembly welding headstock, the welding robot, the welding power source, the assembly welding tailstock and the tensioning mechanism in response to the operations or commands of the user or the production line MES.

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