Synchronous four-point welding device for inner and outer fillet welds of straight pipe flange through laser scanning

Abstract

The laser scanning straight pipe flange inner and outer fillet weld synchronous four-point welding device comprises a base, a rail is laid on the base, and a left moving base and a right moving base are arranged at the left end and the right end of the rail correspondingly; the welding structure comprises a welding combination structure body symmetrically fixed to the upper portion of the left moving base and the upper portion of the right moving base, a welding wire storage structure is arranged on one side of the welding combination structure body, a vertical servo motor structure is arranged on the other side of the welding combination structure body, and a pressing structure is arranged below the vertical servo motor structure. The multi-direction adjustable sliding frames are arranged on the welding combination structure body, and the welding gun and the laser tracker structure are arranged on the multiple multi-direction adjustable sliding frames. Roller brackets are respectively arranged at the upper ends of the left moving base and the right moving base, and material receiving mechanisms are also arranged at the upper ends of the left moving base and the right moving base. The welding gun can be controlled for welding, synchronous four-point welding operation of laser scanning of inner and outer fillet welds of the straight pipe flange is achieved, and the welding efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and more particularly to a laser scanning synchronous four-point welding device for inner and outer corner welds of a straight pipe flange. Background Art

[0002] Currently, automated and intelligent pipe welding technology in China is in the research, development, and application stages. Some domestic pipe processing companies use traditional manual welding with handheld torches, while others have begun using welding robots for pipe welding. Manual welding is labor-intensive and inefficient, while robotic pipe welding can only weld one seam at a time, resulting in low welding efficiency.

[0003] In order to improve welding efficiency, it is necessary to design a processing equipment that can automatically detect the position of the straight pipe flange corner weld, automatically adjust the welding gun position, and automatically and simultaneously perform four-point welding of the inner and outer corner welds of the straight pipe flange. Summary of the Invention

[0004] Aiming at the problem of low welding efficiency in the prior art, the present invention provides a laser scanning four-point welding device for the inner and outer corner welds of a straight pipe flange.

[0005] In order to achieve the above-mentioned object, the present invention provides a laser scanning straight pipe flange internal and external fillet weld synchronous four-point welding device, comprising a base, the base having a fixed side and a movable side facing the fixed side, the base located on the movable side being installed with two mutually parallel first slide rails, the first slide rails being perpendicular to the fixed side, the fixed side and the movable side being respectively provided with a first slide plate, one of the first slide plates being slidably connected to the two first slide rails, and the other first slide plate being fixed to the base on the fixed side; welding mechanisms, roller brackets and material receiving mechanisms are respectively and symmetrically arranged on the two first slide plates along a direction from the fixed side and the fixed side moving away from each other to the fixed side and the fixed side moving towards each other;

[0006] The welding mechanism comprises a first box body, a first support frame and a rotary head are installed on the first box body, a second chute is installed on the first support frame near the material receiving mechanism and vertically to the ground at the upstream side, a multi-directional adjustable sliding frame is installed on the rotary head and the second chute respectively; the multi-directional adjustable sliding frame comprises a first servo sliding frame, a second servo sliding frame and a third servo sliding frame which are sequentially arranged from bottom to top, the second servo sliding frame is fixed on the first servo sliding frame, a sliding frame connecting support is installed on the second servo sliding frame, the third servo sliding frame is fixed on the side wall of the sliding frame connecting support, the sliding directions of the first servo sliding frame, the second servo sliding frame and the third servo sliding frame are perpendicular to each other in the three-dimensional space; two first connecting shafts are connected to the two multi-directional adjustable sliding frames respectively, the first connecting shafts are fixed on the third servo sliding frames, the first connecting shafts are parallel to the ground, a laser tracker is rotatably connected to the first connecting shaft through a laser tracker fixing clamp, a welding gun is rotatably connected to the first connecting shaft through a welding gun fixing clamp;

[0007] A first cylinder is installed on one side of the second chute at the upstream side, the first cylinder has a first telescopic end, the first telescopic end is located at the lower side, the first telescopic end is bent towards the multi-directional adjustable sliding frame on the second chute and is fixedly connected to the first servo sliding frame; two second sliding rails which are parallel to each other are laid vertically to the ground on the second chute, a third chute is slidably connected to the second sliding rails, the sliding direction of the first servo sliding frame on the second chute is perpendicular to the ground and is fixed on the third chute; a vertical servo motor is arranged in the second chute, the vertical servo motor is connected to the first cylinder; two welding wire storage mechanisms are arranged on the welding mechanism, one welding wire storage mechanism is arranged on the first support frame, and the other welding wire storage mechanism is arranged on the first box body;

[0008] The roller bracket comprises a second box body, two first rollers are rotatably connected to the second box body through flange support shafts near the welding mechanism at the upstream side, the two first rollers are arranged side by side at the same horizontal height, and the top heights of the two first rollers are higher than the top height of the second box body;

[0009] The material receiving mechanism comprises a material supporting frame, one side of the material supporting frame is connected with a feeding frame through a rotating shaft, the other side of the material supporting frame is provided with a second cylinder below, the second cylinder has a second telescopic end, the top of the second telescopic end is provided with a dummy shaft, the bottom of the side of the material supporting frame away from the feeding frame is provided with an axle pin elbow plate, the dummy shaft is connected to the axle pin elbow plate through a cylinder axle pin, the bottom of the second cylinder is provided with a first connecting plate, the first connecting plate is provided with a second connecting plate, the second connecting plate is located below the second cylinder, the first connecting plate and the second connecting plate are connected through a rotating shaft; the side of the material supporting frame away from the feeding frame is provided with a material receiving frame, the feeding frame, the material supporting frame and the material receiving frame are arranged side by side from the feeding side to the discharging side, and a part of the material supporting frame is located on the material receiving frame.

[0010] The first driving motor is fixedly connected to the first sliding plate, and the first driving motor is located close to the discharging side of the welding mechanism.

[0011] In the preferred solution, the welding mechanism is movably connected to the first sliding plate through a first moving mechanism, the first moving mechanism comprises two third sliding rails, the two third sliding rails are parallel to the first sliding rails and are fixed to the first sliding plate, a moving base is slidably connected to the two third sliding rails, a third cylinder is installed on the moving base, the third cylinder is parallel to the third sliding rails, the third cylinder has a third telescopic end, the third telescopic end is located away from the material receiving mechanism, the top of the third telescopic end extends out of the moving base, a mounting seat is arranged on the first sliding plate below the top of the third telescopic end, the top of the third telescopic end is fixed to the mounting seat, and the first box cover is arranged on the third cylinder and is fixedly connected with the moving base.

[0012] In the preferred solution, a second driving motor is fixedly installed on the side of the moving base close to the discharging side, a first valve group is further arranged on the moving base, the first valve group is located on the side of the third cylinder away from the telescopic end, and the second driving motor is connected to the third cylinder through the first valve group.

[0013] In the preferred solution, a material blocking plate is connected to the material supporting frame through a rotating shaft, the material blocking plate is in an L shape, and the opening of the material blocking plate faces the discharging side; a fourth cylinder is installed below the side of the material supporting frame close to the feeding frame, the fourth cylinder has a fourth telescopic end, and the fourth telescopic end is connected to the material blocking plate through a rotating shaft.

[0014] In the preferred solution, a material supporting frame is connected to the material supporting frame through a rotating shaft, the material blocking plate is in an L shape, and the opening of the material blocking plate faces the discharging side; a fourth cylinder is installed below the side of the material supporting frame close to the feeding frame, the fourth cylinder has a fourth telescopic end, and the fourth telescopic end is connected to the material blocking plate through a rotating shaft.

[0015] In the preferred solution, welding power sources are respectively installed on the two first sliding plates close to the base.

[0016] Preferably, the fixed side is provided with an operation table near the feeding side.

[0017] Preferably, the first support frame is L-shaped.

[0018] Preferably, the receiving frame is internally provided with a rotary cylinder near one side of the material supporting frame, the rotary cylinder is rotationally connected with a rotary shaft above the rotary cylinder, the rotary shaft extends out of the upper surface of the receiving frame, and the material supporting frame is located on the rotary shaft.

[0019] Preferably, the third sliding plate is provided with a pressing mechanism, the pressing mechanism comprises a profiled support and a profiled wheel, the profiled support is L-shaped, the profiled support is provided with a first connecting bottom surface parallel to the ground at the bottom, and the profiled wheel is mounted at the bottom of the first connecting bottom surface.

[0020] The beneficial effects of the present application are as follows:

[0021] The four multi-directional adjustable carriages in the device are adjusted according to the preset positions, so that the four welding guns reach the welding positions, the laser tracker structure is started at the same time, the four corner weld positions are scanned, the program controls the four welding guns to weld at the same time, the laser scanning straight pipe flange inner and outer corner weld synchronous four-point welding operation is realized, and the welding efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a front view of the laser scanning straight pipe flange inner and outer corner weld synchronous four-point welding equipment;

[0023] Figure 2 is a top view of the laser scanning straight pipe flange inner and outer corner weld synchronous four-point welding equipment;

[0024] Figure 3 is a left / right welding mechanism view of the laser scanning straight pipe flange inner and outer corner weld synchronous four-point welding equipment;

[0025] Figure 4 is a Figure 1 A-A sectional view shown in the figure;

[0026] Figure 5 is a lower half part perspective view of the welding mechanism;

[0027] Figure 6 is a lower half part top view of the welding mechanism;

[0028] Figure 7 is an upper half part schematic view of the welding mechanism;

[0029] Figure 8 is an upper half part top view of the welding mechanism;

[0030] Figure 9 is a perspective view of the roller bracket;

[0031] Figure 10 is a sectional view of the material receiving mechanism;

[0032] Figure 11 is a schematic view of the material receiving mechanism as a whole;

[0033] Figure 12 is a schematic view of the first moving mechanism and the first sliding plate combination;

[0034] Figure 13 is a layout view of the first sliding plate and the first driving motor.

[0035] In the drawings, I - fixed side; II - moving side; III - feeding side; IV - discharging side; 1 - base; 2 - first sliding rail; 3 - first sliding plate; 4 - welding mechanism; 5 - roller bracket; 6 - material receiving mechanism; 7 - welding power supply; 8 - welding wire storage mechanism; 9 - first moving mechanism; 10 - material blocking plate; 11 - multidirectional adjustable sliding carriage; 12 - first air cylinder; 13 - second sliding rail; 14 - third sliding plate; 15 - vertical servo motor; 16 - first driving motor; 17 - fourth air cylinder; 18 - operating table; 20 - pipe; 21 - pressing mechanism; 22 - welding combination mechanism body; 23 - shaft pin toggle plate; 24 - air cylinder shaft pin; 25 - bracket toggle plate; 26 - bracket shaft pin; 27 - rotating shaft; 28 - rotating air cylinder; 29 - second valve group; 30 - striker; 31 - striker mounting seat; 32 - proximity switch; 33 - switch mounting support; 34 - travel switch; 35 - sliding block corner plate; 41 - first box body; 42 - first support frame; 43 - second sliding plate; 44 - multidirectional adjustable sliding carriage; 45 - rotating head; 46 - first connecting shaft; 47 - laser tracker; 48 - welding torch; 49 - laser tracker fixing clamp; 40 - welding torch fixing clamp; 44a - first servo sliding carriage; 44b - second servo sliding carriage; 44c - third servo sliding carriage; 44d - sliding carriage connecting support; 40a - lower torch clamp; 40b - upper cover; 51 - second box body; 52 - flange support shaft; 53 - first roller; 61 - material supporting frame; 62 - feeding frame; 63 - second air cylinder; 64 - material receiving frame; 81 - wire feeder; 82 - wire feeder bracket; 91 - third sliding rail; 92 - moving base; 93 - third air cylinder; 94 - second driving motor; 95 - first valve group; 211 - template support; 212 - guide wheel. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work should fall within the protection scope of the present application.

[0037] A laser scanning straight pipe flange inner and outer corner weld synchronous four-point welding device, comprising a base 1, a first sliding rail 2 is laid on the top of the base 1, and a left moving base and a right moving base (two moving bases 92) are arranged at the left and right ends of the first sliding rail 2 respectively; the two moving bases 92 are respectively provided with a welding mechanism 4, the welding mechanism 4 comprises a left welding combined structure and a right welding combined structure which are symmetrical in structure, wherein the left welding combined structure is arranged above the left moving base, and the right welding combined structure 6 is arranged above the right moving base.

[0038] The welding mechanism comprises a welding combined structure body 22 which is fixed symmetrically above the left moving base and the right moving base, the welding combined structure body comprises a first box body 41 and a first support frame 42, a welding wire storage mechanism 8 is arranged on one side of the welding combined structure body 22, a vertical servo motor 15 is arranged on the other side of the welding combined structure body 22, a pressing structure 21 is arranged below the vertical servo motor 15, and a plurality of multidirectional adjustable sliding racks 11 are arranged on the welding combined structure body 22, and a plurality of welding guns 48 and laser tracker structures 47 are arranged on the multidirectional adjustable sliding racks 11.

[0039] Roller brackets 5 are arranged at the upper ends of the left moving base and the right moving base respectively, flange support shafts 52 are rotatably connected to the roller brackets 5, and two first rollers 53 are arranged side by side on the upper portions of the flange support shafts 52.

[0040] The upper ends of the left moving base and the right moving base are also provided with a material receiving mechanism 6, the material receiving mechanism 6 comprises a material receiving rack 64, a second cylinder 63 is arranged on one side of the material receiving rack 64, an axle pin elbow plate 23 is connected through a cylinder axle pin 24 above the second cylinder 63, a material supporting rack 61 is welded on one side above the axle pin elbow plate 23, a feeding rack 62 is connected through a rotating shaft on the other side of the material supporting rack 61, a supporting plate elbow plate 25 is arranged on the bottom of the side of the material supporting rack 61 close to the feeding rack 62, and a fourth cylinder 17 is connected below the supporting plate elbow plate 25 through a supporting plate axle pin 26. The other side of the material supporting rack 61 is welded with the supporting plate elbow plate 25, and the supporting plate elbow plate 25 is fixed on the other side of a pipe supporting rack 30 through a supporting plate axle pin 26.

[0041] 61-material supporting rack; 62-feeding rack; 63-second cylinder; 64-material receiving rack;

[0042] 23-axle pin toggle plate; 24-cylinder axle pin; 25-support plate toggle plate; 26-support plate axle pin; 27-rotating shaft; 28-rotating cylinder;

[0043] Welding power supplies are respectively provided on both sides of the left movable base and the right movable base, and the welding power supplies include a left welding power supply and a right welding power supply.

[0044] The welded assembly body 22 is L-shaped.

[0045] The number of the multi-directionally adjustable slides 11 is four, and each of them is disposed at the upper end of the welding assembly body 22 .

[0046] An operating platform 18 is provided on the right movable base.

[0047] A second driving motor 94 is provided inside the left movable base and the right movable base.

[0048] Example 1

[0049] like Figures 1-13 As shown, a laser scanning straight pipe flange internal and external fillet weld synchronous four-point welding device includes a base 1, the base 1 having a fixed side I and a movable side II facing the fixed side I. The base 1 located on the movable side II is installed with two mutually parallel first slide rails 2, and the first slide rails 2 are perpendicular to the fixed side I. The fixed side I and movable side II are respectively provided with a first slide 3, one of the first slides 3 is slidably connected to the two first slide rails 2, and the other first slide 3 is fixed to the base 1 on the fixed side I; on the two first slides 3, a welding mechanism 4, a roller bracket 5, and a material receiving mechanism 6 are symmetrically arranged in sequence along the direction from the fixed side I and the fixed side I to the direction from the fixed side I and the fixed side I to the fixed side I.

[0050] The welding mechanism 4 comprises a first box body 41, a first support frame 42 and a rotary head 45 are installed on the first box body 41, the second slide plate 43 is installed on the first support frame 42 and is perpendicular to the ground near the upstream side of the material receiving mechanism 6, and a multi-directional adjustable sliding frame 44 is installed on the rotary head 45 and the second slide plate 43 respectively; the multi-directional adjustable sliding frame 44 comprises a first servo sliding frame 44a, a second servo sliding frame 44b and a third servo sliding frame 44c which are sequentially arranged from bottom to top, the second servo sliding frame 44b is fixed on the first servo sliding frame 44a, a sliding frame connecting support 44d is installed on the second servo sliding frame 44b, the third servo sliding frame 44c is fixed on the side wall of the sliding frame connecting support 44d, and the sliding directions of the first servo sliding frame 44a, the second servo sliding frame 44b and the third servo sliding frame 44c are perpendicular to each other in three-dimensional space; two first connecting shafts 46 are connected to the two multi-directional adjustable sliding frames 44 respectively, the first connecting shaft 46 is fixed on the third servo sliding frame 44c, the first connecting shaft 46 is parallel to the ground, the laser tracker 47 is rotationally connected to the first connecting shaft 46 through the laser tracker fixing clamp 49, and the welding gun 48 is rotationally connected to the first connecting shaft 46 through the welding gun fixing clamp 40;

[0051] A first air cylinder 12 is installed on one side of the upstream of the second slide plate 43, the first air cylinder 12 has a first telescopic end, the first telescopic end is located below, the first telescopic end is bent and fixedly connected to the first servo sliding frame 44a on the multi-directional adjustable sliding frame 44 located on the second slide plate 43; two second slide rails 13 which are parallel to each other are laid on the second slide plate 43 and are perpendicular to the ground, a third slide plate 14 is slidably connected to the second slide rail 13, the sliding direction of the first servo sliding frame 44a located on the second slide plate 43 is perpendicular to the ground and is fixed on the third slide plate 14; a vertical servo motor 15 is arranged in the second slide plate 43, and the vertical servo motor 15 is connected to the first air cylinder 12; two welding wire storage mechanisms 8 are arranged on the welding mechanism 4, one welding wire storage mechanism 8 is arranged on the first support frame 42, and the other welding wire storage mechanism 8 is arranged on the first box body 41;

[0052] The roller bracket 5 comprises a second box body 51, two first rollers 53 are rotationally connected to the second box body 51 through flange support shafts 52 near the upstream side of the welding mechanism 4, the two first rollers 53 are arranged side by side at the same horizontal height, and the top height of the two first rollers 53 is higher than the top height of the second box body 51;

[0053] The material receiving mechanism 6 comprises a material supporting frame 61, one side of the material supporting frame 61 is connected with a feeding frame 62 through a rotating shaft, the other side of the material supporting frame 61 is provided with a second cylinder 63 below, the second cylinder 63 has a second telescopic end, the top of the second telescopic end is provided with a dummy shaft, the bottom of the side of the material supporting frame 61 away from the feeding frame 62 is provided with an axle pin elbow plate 23, the dummy shaft is connected to the axle pin elbow plate 23 through a cylinder axle pin 24, the bottom of the second cylinder 63 is provided with a first connecting plate, the first connecting plate is provided with a second connecting plate, the second connecting plate is located below the second cylinder 63, the first connecting plate and the second connecting plate are connected through a rotating shaft; the side of the material supporting frame 61 away from the feeding frame 62 is provided with a material receiving frame 64, the feeding frame 62, the material supporting frame 61 and the material receiving frame 64 are arranged side by side from the feeding side III to the discharging side IV, and a part of the material supporting frame 61 is located on the material receiving frame 64.

[0054] The first driving motor 16 is fixedly connected to the first sliding plate 3, and the first driving motor 16 is located close to the discharging side IV of the welding mechanism 4.

[0055] The welding mechanism 4 is movably connected to the first sliding plate 3 through a first moving mechanism 9, the first moving mechanism 9 comprises two third sliding rails 91, the two third sliding rails 91 are parallel to the first sliding rail 2 and are fixed to the first sliding plate 3, a moving base 92 is slidably connected to the two third sliding rails 91, a third cylinder 93 is installed on the moving base 92, the third cylinder 93 is parallel to the third sliding rail 91, the third cylinder 93 has a third telescopic end, the third telescopic end is located away from the material receiving mechanism 6, the top of the third telescopic end extends out of the moving base 92, a mounting seat is arranged on the first sliding plate 3 below the top of the third telescopic end, the top end of the third telescopic end is fixed to the mounting seat, and the first box body 41 covers the third cylinder 93 and is fixedly connected with the moving base 92.

[0056] The second driving motor 94 is fixedly installed on the side of the moving base 92 close to the discharging side IV, and the moving base 92 is further provided with a first valve group 95, the first valve group 95 is located on the side of the third cylinder 93 away from the telescopic end, and the second driving motor 94 is connected to the third cylinder 93 through the first valve group 95.

[0057] The material supporting frame 61 is connected with a material blocking plate 10 through a rotating shaft, the material blocking plate 10 is in an L shape, and the opening of the material blocking plate 10 faces the discharging side IV; a fourth cylinder 17 is installed below the material supporting frame 61 close to the feeding frame 62, the fourth cylinder 17 has a fourth telescopic end, and the fourth telescopic end is connected with the material blocking plate 10 through a rotating shaft.

[0058] The material supporting frame 61 is provided with a supporting plate shaft pin 26 at the bottom of the side close to the feeding frame 62, and the fourth cylinder 17 is connected to the supporting plate toggle plate 25 through the supporting plate shaft pin 26.

[0059] The two first sliding plates 3 are respectively provided with welding power sources 7 close to the base 1.

[0060] The fixed side I is provided with an operation table 18 close to the feeding side III.

[0061] The first supporting frame 42 is L-shaped.

[0062] The material receiving frame 64 is provided with a rotary cylinder 28 inside the side close to the material supporting frame 61, a rotary shaft 27 is rotationally connected above the rotary cylinder 28, the top of the rotary shaft 27 extends out of the upper surface of the material receiving frame 64, and the material supporting frame 61 is partially located on the rotary shaft 27.

[0063] The third sliding plate is provided with a pressing mechanism 21, the pressing mechanism 21 comprises a close-to-die support 211 and a close-to-die wheel 212, the close-to-die support 211 is L-shaped, the close-to-die support 211 is provided with a first connecting bottom surface parallel to the ground at the bottom, and the close-to-die wheel 212 is mounted at the bottom of the first connecting bottom surface.

[0064] The working process of the device is as follows:

[0065] When the equipment processing part pipe 20 is to be processed, the first driving motor 16 on the first sliding plate 3 controls the first sliding plate 3 to move from the moving side II to the fixed side I, the second driving motor 94 on the moving base 92 controls the two moving bases 92 to move to the middle along the third sliding rail 91 to adapt to the length of the pipe 20; at this time, the second cylinder 63 is elongated, the material supporting frame 61 is moved to the upper end, the pipe 20 is turned over on the material supporting frame 61; then the second cylinder 63 is shortened, the material supporting frame 61 is moved to the lower end, the pipe 20 is moved downward on the material supporting frame 61 until the flanges on both sides are moved to the two first rollers 53; at this time, the first extension end of the first cylinder 12 is driven downward by the vertical servo motor 15, so that the pressing structure 21 presses down on the pipe 20; the four adjustable carriages 11 on the equipment are adjusted according to the preset position to make the four welding guns 48 reach the welding position; the flange supporting shaft 52 is driven to rotate by the rotating motor, so that the two first rollers 53 in the form of a circle also rotate, driving the pipe 20 to rotate, and the laser in the laser tracker 47 is started to scan the positions of the four corner welds to obtain the specific shape of the weld; then the above action (pipe 20 rotation) is repeated, while the four welding guns 48 are controlled to weld according to the specific shape of the weld, and the welding guns 48 are controlled to swing to realize synchronous four-point welding of the inner and outer corner welds of the straight pipe flange by laser scanning, until one round of welding is completed.

[0066] The laser scans the weld, understands the change of the gap size of the weld, then the program controls the welding torch to swing large when the gap is large, the pipe rotates slowly, the welding meat is filled more, and the welding meat in the large gap position is ensured to be filled; the program controls the welding torch to swing small when the gap is small, the pipe rotates fast, the welding meat is filled less, and the welding meat in the small gap position is ensured not to be too much.

[0067] The above merely describes the preferred embodiments of the present application, but the protection scope of the present application is not limited to this. Any skilled person in the art can make equivalent replacements or changes according to the technical scheme and the inventive concept of the present application within the disclosed technical scope, which should be covered in the protection scope of the present application.

Claims

1. A laser scanning straight pipe flange internal and external fillet weld synchronous four-point welding device, characterized in that: The invention comprises a base (1), wherein the base (1) has a fixed side (I) and a movable side (II) facing the fixed side (I), and the base (1) located on the movable side (II) is installed with two mutually parallel first slide rails (2), and the first slide rails (2) are perpendicular to the fixed side (I), and the fixed side (I) and the movable side (II) are respectively provided with a first slide plate (3), one of the first slide plates (3) is slidably connected to the two first slide rails (2), and the other first slide plate (3) is fixed to the base (1) of the fixed side (I); a welding mechanism (4), a roller bracket (5) and a material receiving mechanism (6) are respectively and symmetrically arranged on the two first slide plates (3) along the direction from the fixed side (I) and the fixed side (I) moving away from each other to the direction from the fixed side (I) and the fixed side (I) moving toward each other; The welding mechanism (4) includes a first box body (41), a first support frame (42) and a rotary head (45) are installed on the first box body (41), a second slide (43) is installed on the upstream side of the first support frame (42) close to the material receiving mechanism (6) perpendicular to the ground, and a multi-directional adjustable slide (44) is installed on the rotary head (45) and the second slide (43) respectively; the multi-directional adjustable slide (44) includes a first servo slide (44a), a second servo slide (44b) and a third servo slide (44c) arranged in sequence from bottom to top, the second servo slide (44b) is fixed on the first servo slide (44a), and the second servo slide (44b) is installed with a slide connecting member. The connecting bracket (44d) is provided, the third servo slide (44c) is fixed on the side wall of the slide connecting bracket (44d), and the sliding directions of the first servo slide (44a), the second servo slide (44b) and the third servo slide (44c) are perpendicular to each other in three-dimensional space; the two multi-directional adjustable slides (44) are respectively connected to a first connecting shaft (46), the first connecting shaft (46) is fixed to the third servo slide (44c), the first connecting shaft (46) is parallel to the ground, the first connecting shaft (46) is rotatably connected to the laser tracker (47) through the laser tracker fixing clamp (49), and the first connecting shaft (46) is rotatably connected to the welding gun (48) through the welding gun fixing clamp (40); A first cylinder (12) is installed upstream of one side of the second slide (43), and the first cylinder (12) has a first telescopic end, which is located at the bottom. The first telescopic end is bent toward the multi-directional adjustable slide (44) located on the second slide (43) and is fixedly connected to the first servo slide (44a); two second slide rails (13) parallel to each other are laid on the second slide (43) perpendicular to the ground, and a third slide (14) is slidably connected to the second slide rail (13), which is located on the first servo slide (44a). The sliding direction of the first servo slide (44a) on the second slide (43) is perpendicular to the ground and is fixed to the third slide (14); a vertical servo motor (15) is provided in the second slide (43), and the vertical servo motor (15) is connected to the first cylinder (12); two welding wire storage mechanisms (8) are provided on the welding mechanism (4), one of the welding wire storage mechanisms (8) is located on the first support frame (42), and the other welding wire storage mechanism (8) is located on the first box (41); The roller bracket (5) comprises a second box (51), and the second box (51) is rotatably connected to two first rollers (53) via a flange support shaft (52) on the upstream side close to the welding mechanism (4), and the two first rollers (53) are arranged side by side at the same horizontal height, and the top height of the two first rollers (53) is higher than the top height of the second box (51); The material receiving mechanism (6) comprises a supporting frame (61), one side of the supporting frame (61) is connected to a feeding frame (62) via a rotating shaft, a second cylinder (63) is provided below the other side of the supporting frame (61), the second cylinder (63) has a second telescopic end, a dummy shaft is installed on the top of the second telescopic end, a shaft pin toggle plate (23) is provided at the bottom of the side of the supporting frame (61) away from the feeding frame (62), the dummy shaft is connected to the shaft pin toggle plate (23) via a cylinder shaft pin (24), and the second cylinder (63) The bottom of the material receiving rack (61) is provided with a first connecting plate, the first slide (3) is provided with a second connecting plate, the second connecting plate is located below the second cylinder (63), and the first connecting plate and the second connecting plate are connected by a rotating shaft; the side of the material supporting rack (61) away from the material feeding rack (62) is provided with a material receiving rack (64), the material feeding rack (62), the material supporting rack (61) and the material receiving rack (64) are arranged in parallel from the feeding side (III) to the discharging side (IV), and a part of the material supporting rack (61) is located on the material receiving rack (64).

2. The laser scanning straight pipe flange internal and external fillet weld synchronous four-point welding device according to claim 1 is characterized in that: The welding mechanism (4) is movably connected to the first slide (3) through a first moving mechanism (9), the first moving mechanism (9) comprising two third slide rails (91), the two third slide rails (91) being parallel to the first slide rail (2) and fixed on the first slide (3), the two third slide rails (91) being slidably connected to a movable base (92), the movable base (92) being provided with a third cylinder (93), the third cylinder (93) being parallel to the third slide rails (91), the third cylinder (93) having a third telescopic end, the third telescopic end being located in a direction away from the material receiving mechanism (6), the top of the third telescopic end extending out of the movable base (92), a mounting seat being provided on the first slide (3) below the top of the third telescopic end, the top end of the third telescopic end being fixed to the mounting seat, the first box (41) being covered on the third cylinder (93) and being fixedly connected to the movable base (92).

3. The laser scanning straight pipe flange internal and external fillet weld synchronous four-point welding device according to claim 2 is characterized in that: A second drive motor (94) is fixedly mounted on the side of the movable base (92) close to the discharge side (IV). A first valve group (95) is also provided on the movable base (92). The first valve group (95) is located on the side of the third cylinder (93) away from the telescopic end. The second drive motor (94) is connected to the third cylinder (93) through the first valve group (95).

4. The laser scanning straight pipe flange internal and external fillet weld synchronous four-point welding device according to claim 1 is characterized in that: The support frame (61) is connected to a baffle plate (10) via a rotating shaft, and the baffle plate (10) is L-shaped, with the opening of the baffle plate (10) facing the discharge side (IV); the support frame (61) is installed with a fourth cylinder (17) below the feeding frame (62), and the fourth cylinder (17) has a fourth telescopic end, and the fourth telescopic end is connected to the baffle plate (10) via a rotating shaft.

5. The laser scanning synchronous four-point welding device for inner and outer fillet welds of straight pipe flanges according to claim 4 is characterized in that: A support plate shaft pin (26) is provided at the bottom of the support rack (61) near the feeding rack (62), and the fourth cylinder (17) is connected to the support plate toggle plate (25) through the support plate shaft pin (26).

6. The laser scanning straight pipe flange internal and external fillet weld synchronous four-point welding device according to claim 1, characterized in that: Welding power sources (7) are respectively installed on the two first slides (3) close to the base (1).

7. The laser scanning straight pipe flange internal and external fillet weld synchronous four-point welding device according to claim 1, characterized in that: The fixed side (I) is provided with an operating platform (18) close to the feeding side (III).

8. The laser scanning straight pipe flange internal and external fillet weld synchronous four-point welding device according to claim 1, characterized in that: The first support frame (42) is L-shaped.

9. The laser scanning straight pipe flange internal and external fillet weld synchronous four-point welding device according to claim 1, characterized in that: A rotary cylinder (28) is provided inside the material receiving frame (64) near the side of the supporting frame (61), and a rotary shaft (27) is rotatably connected above the rotary cylinder (28). The top of the rotary shaft (27) extends out of the upper surface of the material receiving frame (64), and the supporting frame (61) is partially located on the rotary shaft (27).

10. The laser scanning straight pipe flange internal and external fillet weld synchronous four-point welding device according to claim 1, characterized in that: A pressing mechanism (21) is provided on the third slide. The pressing mechanism (21) comprises a mold support bracket (211) and a supporting wheel (212). The mold support bracket (211) is L-shaped. The bottom of the mold support bracket (211) has a first connecting bottom surface parallel to the ground. The bottom of the first connecting bottom surface is provided with a supporting wheel (212).

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