Automatic welding device for bell and spigot

Abstract

The utility model provides an automatic bell and spigot welding device, which relates to the field of bell and spigot welding equipment, and comprises roller ring equipment, a mounting frame, a multi-stage telescopic piece, a six-degree-of-freedom mechanical arm, a welder, a fixing frame, a feeding roller, a rotating roller, a first U-shaped limiting table, an electromagnetic fixing assembly and a supporting limiting assembly, according to the device, edge rolling and welding procedures of the steel plate are integrally completed to prepare the bell and spigot, specifically, the liftable six-degree-of-freedom mechanical arm and the welding device are adopted to automatically complete welding, the welding of the inner side and the outer side of the steel plate butt joint can be completed without manually holding a welding gun to climb, and then the welding efficiency is remarkably improved; and in addition, the position of the steel plate cannot deviate and shake in the edge rolling and welding processes, and the stability of the steel plate in the machining process is remarkably improved through multi-point limiting.

Description

Technical Field

[0001] The utility model relates to the field of socket welding equipment, in particular to an automatic socket welding device. Background Art

[0002] Currently, in the preparation process of the socket, the raw material steel plate needs to be rolled first. The rolling can be completed using the existing roller coiling machine. After the steel plate is rolled, the welding process at the joint is carried out. A 60-degree groove is pre-opened at both ends of the steel plate to facilitate subsequent welding.

[0003] However, the existing welding process requires manual operation of holding a welding gun and climbing up to weld the inner and outer sides of the steel plate joint in sequence. In addition, the position of the steel plate needs to be manually determined after rolling before welding. In summary, the degree of automation in the socket preparation welding process is poor, and the welding efficiency needs to be improved. Utility Model Content

[0004] The purpose of the present invention is to solve the problems raised in the above background technology, and then proposes an automatic socket welding device.

[0005] The technical solution adopted by the utility model to solve its technical problems is:

[0006] An automatic socket welding device includes a roller ring device, a mounting frame, a multi-stage telescopic member, a six-degree-of-freedom robotic arm, a welder, a fixing frame, a feed roller, a rotating roller, a first U-shaped limit platform, an electromagnetic fixing assembly, and a support limit assembly.

[0007] The mounting brackets are spaced apart at the rear side of the roller ring equipment;

[0008] The multi-stage telescopic member is provided on a mounting frame and is connected to a six-freedom robotic arm, and a welder is provided on the six-freedom robotic arm;

[0009] The fixing frame is tilted and arranged on one side of the roller ring equipment;

[0010] The feeding roller and the rotating roller are both rotatably connected to the fixed frame;

[0011] A plurality of first U-shaped limit platforms are arranged on the fixed frame;

[0012] The electromagnetic fixing assembly is arranged on one of the first U-shaped limit platforms to fix the position of the steel plate during welding;

[0013] The support and limiting components are arranged on the mounting frame to make the steel plate more stable during the rolling process.

[0014] Furthermore, the electromagnetic fixing assembly includes a fixing plate, an electric push rod, an arc-shaped mounting plate and an electromagnet, wherein a fixing plate is provided on one of the first U-shaped limit platforms, an electric push rod is provided on the fixing plate, the electric push rod is connected to the arc-shaped mounting plate, and an electromagnet is provided on the arc-shaped mounting plate to fit therewith.

[0015] The above solution can firmly define the position of the steel plates during the welding process of the inner and outer sides of the butt joint by using the electromagnetic fixing assembly.

[0016] Furthermore, the support and limiting assembly includes a U-shaped connecting frame, a supporting roller and a second U-shaped limiting platform. The U-shaped connecting frame is provided on the mounting frame. The U-shaped connecting frame is rotatably connected to the supporting roller and is fixed with the second U-shaped limiting platform.

[0017] The above solution can support the inner side of the steel plate during the rolling process through the support and limit components, and at the same time limit the horizontal position of the steel plate at multiple points.

[0018] Furthermore, a rubber layer is provided on the inner walls of the first U-shaped limiting platform and the second U-shaped limiting platform.

[0019] The above solution can reduce the wear between the steel plate and the U-shaped limit platform through the rubber layer.

[0020] Furthermore, the six-degree-of-freedom robotic arm is provided with a weld tracking device located on one side of the welder.

[0021] The above solution can accurately locate the weld seam with the help of weld seam tracking equipment regardless of whether it is welding on the inside or outside of the steel plate joint.

[0022] Furthermore, the first U-shaped limiting platform and the second U-shaped limiting platform are both provided with limiting grooves of the same size, and the width of the limiting grooves is adapted to the width of the steel plate.

[0023] Furthermore, a first visual sensor is provided on one of the first U-shaped limit platforms.

[0024] Furthermore, a second visual sensor is provided on the second U-shaped limit platform.

[0025] The above solution can accurately locate the inner and outer welds in turn by using two visual sensors working in sequence. After positioning, the feedback signal is sent to the controller to control the roller ring equipment to stop working and use the electromagnetic fixing component to complete the position limitation of the steel plate, and then the subsequent automatic welding process can be carried out.

[0026] Compared with the prior art, the beneficial effects of the present invention are:

[0027] This device integrates the rolling and welding processes of the steel plate to prepare the socket. Specifically, it uses a liftable six-degree-of-freedom robotic arm and a welder to automatically complete the welding. There is no need for manual labor to hold the welding gun and climb up to complete the welding of the inside and outside of the socket, thereby significantly improving the welding efficiency. In addition, the position of the steel plate will not shift or shake during the rolling and welding process, and the multi-point limit significantly improves the stability of the steel plate during processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0029] Figure 2 for Figure 1 A partial enlarged view of the part marked A;

[0030] Reference numerals:

[0031] 1. Roller ring equipment; 2. Mounting frame; 21. Multi-stage telescopic part; 22. Six-degree-of-freedom robotic arm; 23. Welding machine; 24. Weld seam tracking equipment; 3. Fixed frame; 31. Feed roller; 32. Rotating roller; 33. First U-shaped limit table; 34. Fixed plate; 35. Electric push rod; 36. Arc-shaped mounting plate; 37. Electromagnet; 41. U-shaped connecting frame; 42. Support roller; 43. Second U-shaped limit table; 5. Vision sensor. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. The present invention is further described in conjunction with the drawings and embodiments:

[0033] like Figure 1 and Figure 2 As shown, an automatic socket welding device includes a roller ring device 1, a mounting frame 2, a multi-stage telescopic member 21, a six-degree-of-freedom robot arm 22, a welder 23, a fixing frame 3, a feed roller 31, a rotating roller 32, a first U-shaped limit platform 33, an electromagnetic fixing component, and a support limit component.

[0034] The mounting frame 2 is spaced apart and arranged at the rear side of the roller ring device 1;

[0035] The multi-stage telescopic member 21 is provided on the mounting frame 2 and is connected to a six-degree-of-freedom robotic arm (the multi-stage telescopic member 21 is one of a multi-stage telescopic rod or a multi-stage electric push rod 35), and the six-degree-of-freedom robotic arm 22 is provided with a welder 23 (the six-degree-of-freedom robotic arm 22 and the welder 23 are both prior art and their principles are not described here);

[0036] The fixing frame 3 is tilted and arranged on one side of the roller ring device 1;

[0037] The feeding roller 31 and the rotating roller 32 are both rotatably connected to the fixed frame 3;

[0038] A plurality of first U-shaped limiting platforms 33 are arranged on the fixing frame 3;

[0039] The electromagnetic fixing assembly is arranged on one of the first U-shaped limiting platforms 33 to fix the position of the steel plate during welding;

[0040] The support and limiting assembly is arranged on the mounting frame 2 to make the steel plate more stable during the rolling process.

[0041] Further refinement of the embodiment of the present invention is as follows: Figure 1 and Figure 2 As shown, the electromagnetic fixing assembly includes a fixing plate 34, an electric push rod 35, an arc-shaped mounting plate 36 and an electromagnet 37, wherein a fixing plate 34 is provided on one of the first U-shaped limit platforms 33, an electric push rod 35 is provided on the fixing plate 34, the electric push rod 35 is connected to the arc-shaped mounting plate 36, and an electromagnet 37 is provided on the arc-shaped mounting plate 36 to fit therewith, and the electromagnet 37 is in contact with and fits with a local area of the steel plate.

[0042] Further refinement of the embodiment of the present invention is as follows: Figure 1 and Figure 2 As shown, the support and limit assembly includes a U-shaped connecting frame 41, a support roller 42 and a second U-shaped limit platform. The U-shaped connecting frame 41 is provided on the mounting frame 2. The U-shaped connecting frame 41 is rotatably connected to the support roller 42 and is fixed with a second U-shaped limit platform. The first U-shaped limit platform 33 and the second U-shaped limit platform are both provided with limit grooves of the same size, and the width of the limit grooves is adapted to the width of the steel plate.

[0043] In a further optimization of the above embodiment, a rubber layer is provided on the inner walls of the first U-shaped limit platform 33 and the second U-shaped limit platform. The rubber layer and the limit groove are not shown in the figure. The rubber layer can reduce the wear between the steel plate and the inner wall of the limit groove of the first U-shaped limit platform 33 / the second U-shaped limit platform. It should be noted that the distance between the inner wall of the limit groove and the outer edges on both sides of the steel plate is very small.

[0044] Further refinement of the embodiment of the present invention is as follows: Figure 1 and Figure 2As shown, the six-degree-of-freedom robotic arm 22 is provided with a weld tracking device 24 located on one side of the welder 23 .

[0045] Further refinement of the embodiment of the present invention is as follows: Figure 1 and Figure 2 As shown, a first visual sensor 5 is provided on one of the first U-shaped limit platforms 33, and a second visual sensor 5 is provided on the second U-shaped limit platform. The second visual sensor 5 is not shown in the figure.

[0046] It should be noted that the roller ring equipment 1, the multi-stage telescopic part 21, the six-degree-of-freedom robotic arm 22, the welder 23, the weld tracking equipment 24, the electric push rod 35, the electromagnet 37, the first visual sensor 5 and the second visual sensor 5 are all electrically connected to the controller, which is not shown in the figure.

[0047] The workflow of this utility model:

[0048] First, the raw material steel plate required for the preparation of the socket is fed into the roller ring device 1. Then, one end of the steel plate passes through the winding rollers and contacts the feed roller 31 on the fixed frame 3. At the same time, the steel plate that has passed through is exactly in the limit groove of the first U-shaped limit platform 33. The limit groove can prevent the steel plate from deviating in the left and right directions during the winding process.

[0049] Then, accurate rolling parameters are pre-set in the roller device 1, and then the roller device 1 is started. At this time, the outer surface of the steel plate will be in contact with the rotating roller 32 under the operation of the roller device 1. At the same time, the steel plate will separate from the feeding roller 31, and then the steel plate will pass through the first U-shaped limit platforms 33 in sequence for multi-point position control.

[0050] As the roller device 1 continues to work, the steel plate will pass through the limiting groove of the second U-shaped limiting platform for double left and right limiting. At the same time, the surface of the support roller 42 will contact the inner side of the steel plate to provide support. By providing multiple points of support and limiting, the stability of the steel plate during the rolling process is ensured, and the rolling process of the steel plate is then completed.

[0051] After one circle of the steel plate is rolled, the butt joint of the steel plate is between the rolling rollers of the roller device 1. The rolling device continues to operate and the controller controls the first visual sensor 5 to work. When the first visual sensor 5 detects the butt joint of the steel plate, it immediately feeds back a signal to the controller. The controller then controls the roller device 1 to stop working. At the same time, the controller controls the electric push rod 35 to drive the electromagnet 37 to fit the steel plate. The electromagnet 37 is then energized to achieve positional limitation of the steel plate. The controller then controls the multi-stage telescopic member 21 to drive the six-degree-of-freedom robotic arm 22 to descend. The six-degree-of-freedom robotic arm 22 then drives the welder 23 to move to complete the welding process of the butt joint on the inner side of the steel plate.

[0052] After the welding of the inner side butt joint of the steel plate is completed, the electromagnet 37 is powered off under the control of the controller, and the second visual sensor 5 and the roller device 1 are working. At this time, the roller device 1 continues to operate to move the steel plate butt joint upward. When the second visual sensor 5 detects the steel plate butt joint, it will immediately feedback a signal to the controller, and then the controller controls the roller device 1 to stop working again. After the roller device 1 stops working, the controller controls the multi-stage telescopic member 21 to operate again, thereby driving the six-degree-of-freedom robot 22 to rise above the steel plate. Then, the six-degree-of-freedom robot and the welder 23 cooperate to complete the welding of the outer side of the steel plate butt joint.

[0053] Whether welding the inside or outside of the steel plate butt joint, the weld seam is accurately located by the weld seam tracking device 24. The weld seam tracking device adopts existing technology and its principle is not described here. It is composed of a laser and a high-definition camera.

[0054] This completes the processing and preparation process of the socket, and then the socket is unloaded and the above process is repeated to start the next round of processing;

[0055] Compared with the existing technology, this device integrates the rolling and welding processes of the steel plate to prepare the socket. Specifically, it adopts a liftable six-degree-of-freedom robotic arm 22 and a welder 23 to automatically complete the welding. There is no need for manual hand-held welding guns to climb up to complete the welding of the inside and outside of the socket. At the same time, the weld position can be accurately located during the welding process, thereby significantly improving the welding efficiency. In addition, the position of the steel plate will not shift or shake during the rolling and welding process, and the multi-point limit significantly improves the stability of the steel plate during processing.

[0056] In some embodiments, the fixing frame 3 is connected to a first telescopic member provided on the ground, and the support and limit assembly is connected to a second telescopic member provided on the mounting frame 2; this embodiment is not shown in the figure; this embodiment can change the diameter of the socket ring after preparation by pre-changing the rolling parameters of the roller ring equipment 1 and relying on the efficient cooperation of the first telescopic member and the second telescopic member. It should be noted that before the diameter of the prepared socket ring needs to be changed, the orientation of the electric push rod 35 is first adjusted so that the subsequent electromagnet 37 can contact and fit with a part of the steel plate to ensure the fixing effect during the steel plate welding process. Specifically, when the fixing frame 3 moves upward, the diameter of the subsequently prepared socket ring is reduced, and the support and limit assembly moves downward to contact the inner side of the steel plate; when the fixing frame 3 moves downward, the diameter of the subsequently prepared socket ring becomes larger, and the support and limit assembly moves upward to contact the inner side of the steel plate.

[0057] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and improvements are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic socket welding device, comprising a roller ring device (1), characterized in that: It also includes a mounting frame (2), a multi-stage telescopic member (21), a six-degree-of-freedom robotic arm (22), a welder (23), a fixing frame (3), a feeding roller (31), a rotating roller (32), a first U-shaped limiting platform (33), an electromagnetic fixing assembly, and a supporting limiting assembly. The mounting frame (2) is spaced apart and arranged on the rear side of the roller ring device (1); The multi-stage telescopic member (21) is provided on the mounting frame (2) and is connected to a six-freedom robotic arm, and a welder (23) is provided on the six-freedom robotic arm (22); The fixing frame (3) is tilted and arranged on one side of the roller ring device (1); The feeding roller (31) and the rotating roller (32) are both rotatably connected to the fixed frame (3); A plurality of first U-shaped limiting platforms (33) are arranged on the fixing frame (3); The electromagnetic fixing assembly is arranged on one of the first U-shaped limiting platforms (33) to fix the position of the steel plate during the welding process; The support and limiting assembly is arranged on the mounting frame (2) to make the steel plate more stable during the rolling process.

2. The socket automatic welding device according to claim 1, characterized in that: The electromagnetic fixing assembly comprises a fixing plate (34), an electric push rod (35), an arc-shaped mounting plate (36), and an electromagnet (37), wherein a fixing plate (34) is provided on a first U-shaped limit platform (33), an electric push rod (35) is provided on the fixing plate (34), the electric push rod (35) is connected to the arc-shaped mounting plate (36), and an electromagnet (37) is provided on the arc-shaped mounting plate (36) and is in contact with the arc-shaped mounting plate.

3. The automatic socket welding device according to claim 1, characterized in that: The support and limiting assembly comprises a U-shaped connecting frame (41), a supporting roller (42) and a second U-shaped limiting platform (43); the U-shaped connecting frame (41) is provided on the mounting frame (2); the supporting roller (42) is rotatably connected to the U-shaped connecting frame (41) and the second U-shaped limiting platform (43) is fixedly provided.

4. The automatic socket welding device according to claim 3, characterized in that: A rubber layer is provided on the inner walls of the first U-shaped limiting platform (33) and the second U-shaped limiting platform (43).

5. The automatic socket welding device according to claim 1, characterized in that: The six-degree-of-freedom mechanical arm (22) is provided with a weld tracking device (24) located on one side of the welder (23).

6. The automatic socket welding device according to claim 4, characterized in that: The first U-shaped limiting platform (33) and the second U-shaped limiting platform (43) are both provided with limiting grooves of the same size, and the width of the limiting grooves is adapted to the width of the steel plate.

7. The automatic socket welding device according to claim 1, characterized in that: A first visual sensor (5) is provided on one of the first U-shaped limiting platforms (33).

8. The automatic socket welding device according to claim 3, characterized in that: A second visual sensor is provided on the second U-shaped limiting platform (43).

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