Internal and external synchronous welding system of shell ring flange double-welding robot

Abstract

The utility model discloses a double-welding robot internal and external synchronous welding system for a shell ring flange, which relates to the technical field of shell ring flange welding and comprises a fixed seat and a robot welding workstation, a suspension arm and a feeding frame are respectively mounted on the fixed seat, a trolley track system is mounted on the fixed seat, and the robot welding workstation is mounted on the trolley track system. A prefabricated trolley is slidably connected to the middle of the trolley track system, and the robot welding work station is installed on the top of the fixing base through a guide rail. When the internal and external synchronous welding system for the shell ring flange double-welding robot is used, a shell ring to be welded can be placed on the feeding frame, and then the shell ring is moved to the bottom of a robot welding workstation from the feeding frame through a supporting V-shaped plate lead screw lifting machine and a V-shaped supporting plate on the prefabricated trolley; and synchronous welding of the inside and the outside of the shell ring can be realized by matching with a welding robot body and a robot vision system, so that the working efficiency is improved, intelligent manufacturing is realized, and the welding quality is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of cylinder section flange welding, in particular to a cylinder section flange double welding robot internal and external synchronous welding system. BACKGROUND

[0002] In the pipeline system, the cylinder section and the cylinder section need to be connected together, so the cylinder section needs to be welded with the flange to facilitate the mutual connection between the cylinder sections. Under the background of intelligent manufacturing, the intelligent welding demand of cylinder section flange welding is increasingly urgent. The position deviation of the weld caused by the assembly process of the cylinder section and the flange may cause miswelding, incomplete welding, etc. Therefore, the welding robot needs to find the weld position autonomously to complete the accurate welding of the flange and the inner and outer rings of the cylinder section.

[0003] When the existing cylinder section and the flange are welded, in order to facilitate operation, a roller frame and a cross operating machine are usually used for welding. The cylinder section is rotated by the roller frame, and the worker operates the cross operating machine for welding. This method requires manual searching of the weld, especially for large-diameter cylinder section and flange welding, which is not convenient for manual operation. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing a cylinder section flange double welding robot internal and external synchronous welding system to solve the problem that the existing cylinder section and the flange need manual searching of the weld when welded, which is not convenient for workers to operate.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: a cylinder section flange double welding robot internal and external synchronous welding system, comprising: a fixed seat and a robot welding workstation, a suspension arm and a feeding rack are respectively installed on the fixed seat, a trolley track system is installed on the fixed seat, a prefabricated trolley is slidably connected in the middle of the trolley track system, and the robot welding workstation is installed on the top of the fixed seat through a guide rail.

[0006] The trolley track system comprises a track bottom plate and a track body, and a rack is installed on the inner wall of the track body.

[0007] Preferably, the prefabricated trolley comprises a trolley base, walking wheels are connected through the periphery of the trolley base, a roller guide rail, a roller displacement servo motor and a trolley driving servo motor are respectively installed on the top of the trolley base, an output end of the roller displacement servo motor is connected with a roller displacement screw rod through a shaft coupling, a driving roller frame and a driven roller frame are respectively installed on the top of the roller guide rail, a supporting V-shaped plate screw rod elevator and a V-shaped supporting plate are installed on the top of the driving roller frame and the driven roller frame, and a lifting plate servo motor is installed on one side of the supporting V-shaped plate screw rod elevator.

[0008] Preferably, the robot welding workstation comprises a track base, the top of the track base is provided with a longitudinal moving linear guide, the top of the longitudinal moving linear guide is provided with a longitudinal moving driving system, the top of the longitudinal moving driving system is provided with a column, the side of the column is provided with a lifting linear guide, one side of a group of the lifting linear guide is provided with a robot lifting platform through a support platform, the top of the robot lifting platform is respectively provided with a gun cleaner, a welding robot body and a welding wire barrel, one side of the robot lifting platform is provided with a robot vision system, the top of the column is provided with a lifting driving speed reducer, the output end of the lifting driving speed reducer is connected with a lifting driving chain wheel through an output shaft, the back of the column is respectively provided with a robot electrical cabinet and a welding machine.

[0009] Preferably, the top of the support V-shaped plate screw rod elevator is provided with a gas cylinder, and the top of the gas cylinder is connected with a connecting block.

[0010] Preferably, one side of the connecting block is connected with a telescopic block through a groove, and one side of the telescopic block is connected with a pressure roller through a rotating shaft.

[0011] Preferably, connecting rods are connected between two groups of the telescopic blocks, and the bottom of the connecting rods is provided with telescopic rods.

[0012] Preferably, a screw rod is connected through the middle of the telescopic rod, and the input end of the screw rod is connected with a transmission motor through a connecting shaft.

[0013] Compared with the prior art, the beneficial effects of the double-welding robot internal and external synchronous welding system for flange of cylinder segment are as follows: when the double-welding robot internal and external synchronous welding system for flange of cylinder segment is used, the cylinder segment to be welded can be placed on the feeding rack, then the cylinder segment is moved from the feeding rack to the bottom of the robot welding workstation through the support V-shaped plate screw rod elevator and the V-shaped support plate on the prefabricated trolley, and the internal and external of the cylinder segment can be synchronously welded by cooperating with the welding robot body and the robot vision system, so that the work efficiency is improved, intelligent manufacturing is realized, and the welding quality is improved, which are the use characteristics of the double-welding robot internal and external synchronous welding system for flange of cylinder segment.

[0014] 1. When the double-welding robot internal and external synchronous welding system for flange of cylinder segment is used, the cylinder segment on the feeding rack can be moved to the bottom of the robot welding workstation through the prefabricated trolley, then the welding robot body and the robot vision system on one side of the robot welding workstation can accurately synchronously weld the internal and external of the cylinder segment, so that the welding efficiency is improved, and manual searching of the welding bead is not needed.

[0015] 2. The double-welding robot of the cylinder segment flange can realize synchronous inner and outer welding, and when in use, the transmission motor can be started according to the use requirement, the transmission motor drives the connecting rod to move through the screw rod and the telescopic rod, the connecting rod is installed between the two groups of telescopic blocks, so that the telescopic rod drives the pressing wheel to move through the telescopic block, the pressing wheel is driven downward by the air cylinder, the pressing wheel moves into the inner ring of the cylinder segment, so that the cylinder segment can be limited, and the shaking of the cylinder segment can be avoided. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a three-dimensional structure schematic view of the utility model;

[0017] Figure 2 It is a first perspective three-dimensional structure schematic view of the robot welding work station of the utility model;

[0018] Figure 3 It is a second perspective three-dimensional structure schematic view of the robot welding work station of the utility model;

[0019] Figure 4 It is a first perspective three-dimensional structure schematic view of the prefabricated trolley of the utility model;

[0020] Figure 5 It is a second perspective three-dimensional structure schematic view of the prefabricated trolley of the utility model;

[0021] Figure 6 It is a three-dimensional structure schematic view of the trolley track system of the utility model;

[0022] Figure 7 It is a top view cut structure schematic view of the connecting block of the utility model;

[0023] Figure 8 It is a front view structure schematic view of the air cylinder of the utility model.

[0024] In the figure: 1, fixed seat; 2, suspension arm; 3, feeding frame; 4, trolley track system; 5, prefabricated trolley; 6, robot welding workstation; 401, track bottom plate; 402, track body; 403, rack; 501, trolley base; 502, walking wheel; 503, roller guide rail; 504, roller displacement servo motor; 505, trolley driving servo motor; 506, roller displacement screw; 507, driving roller frame; 508, driven roller frame; 509, support V-shaped plate screw lifter; 5010, V-shaped support plate; 5011, lifting plate servo motor; 601, track base; 602, longitudinal displacement linear guide rail; 603, longitudinal displacement driving system; 604, column; 605, lifting linear guide rail; 606, robot lifting platform; 607, gun cleaner; 608, welding robot body; 609, welding wire barrel; 6010, robot vision system; 6011, lifting drive speed reducer; 6012, lifting drive sprocket; 6013, robot electrical cabinet; 6014, welding machine; 7, air cylinder; 8, connecting block; 9, telescopic block; 10, compression wheel; 11, connecting rod; 12, telescopic rod; 13, screw rod; 14, transmission motor. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. 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 labor fall within the scope of protection of the present application.

[0026] Please refer to Figure 1 The present application provides a technical solution: a double-welding robot internal and external synchronous welding system for flange of cylinder joint, comprising: a fixed seat 1 and a robot welding workstation 6, the fixed seat 1 is respectively provided with a suspension arm 2 and a feeding frame 3, the fixed seat 1 is provided with a trolley track system 4, the middle of the trolley track system 4 is slidably connected with a prefabricated trolley 5, and the robot welding workstation 6 is installed on the top of the fixed seat 1 through a guide rail;

[0027] The trolley track system 4 comprises a track bottom plate 401 and a track body 402, the inner wall of the track body 402 is provided with a rack 403, the prefabricated trolley 5 comprises a trolley base 501, walking wheels 502 are connected around the trolley base 501, a roller guide rail 503, a roller displacement servo motor 504 and a trolley drive servo motor 505 are installed on the top of the trolley base 501, a roller displacement screw rod 506 is connected to the output end of the roller displacement servo motor 504 through a shaft coupling, a driving roller frame 507 and a driven roller frame 508 are installed on the top of the roller guide rail 503, support V-shaped plate screw rod elevators 509 and V-shaped support plates 5010 are installed on the top of the driving roller frame 507 and the driven roller frame 508, a lifting plate servo motor 5011 is installed on one side of the support V-shaped plate screw rod elevator 509, the robot welding workstation 6 comprises a track base 601, a longitudinal displacement linear guide rail 602 is installed on the top of the track base 601, a longitudinal displacement driving system 603 is installed on the top of the longitudinal displacement linear guide rail 602, a column 604 is installed on the top of the longitudinal displacement driving system 603, lifting linear guide rails 605 are installed on the side surface of the column 604, a robot lifting platform 606 is installed on one side of a group of lifting linear guide rails 605 through a support platform, a gun cleaner 607, a welding robot body 608 and a welding wire barrel 609 are installed on the top of the robot lifting platform 606, a robot vision system 6010 is installed on one side of the robot lifting platform 606, a lifting driving speed reducer 6011 is installed on the top of the column 604, a lifting driving chain wheel 6012 is connected to the output end of the lifting driving speed reducer 6011 through an output shaft, a robot electrical cabinet 6013 and a welding machine 6014 are installed on the back of the column 604.

[0028] In specific implementation, the barrel segment flange double-welding robot internal and external synchronous welding system first hoists the barrel segment into the feeding racks on both sides through the crane, starts the lifting plate servo motor 5011, drives the support V-shaped plate screw rod elevator 509 and the V-shaped support plate 5010 to move to the lowest position, then starts the trolley drive servo motor 505 and the roller displacement servo motor 504, rotates the roller displacement screw rod 506 and drives the prefabricated trolley 5 to move through the trolley base 501, simultaneously moves along the roller guide rail 503 through the walking wheels 502, which can increase the stability of the entire prefabricated trolley 5, when the prefabricated trolley 5 moves to the position below the barrel segment along the track body 402, the support V-shaped plate lifting servo motor drives the support V-shaped plate screw rod elevator 509 to rise, so that the barrel segment rises and separates from the feeding rack 3.

[0029] One of the welding robot bodies 608 of the robot welding station 6 moves upward to a suitable position according to the size of the diameter of the cylinder segment, and is ready for outer welding, and the other moves downward to a suitable position, and is ready for inner welding. When the prefabrication trolley 5 moves to below the robot welding station 6 with the cylinder segment, the side flange is adapted to the position of the welding robot body 608, and the robot welding station 6 moves longitudinally to the cylinder segment, so that the robot vision system 6010 is above the flange weld to be welded.

[0030] After rotating one circle, the robot vision system 6010 cooperates with the welding robot body 608 to measure the inside and outside of the weld to be welded. According to the measurement result, the welding power source and the welding robot body 608 are used to perform the backing welding of the weld. After rotating another circle, the robot vision system 6010 cooperates with the welding robot body 608 to measure the weld spacing at every angle. According to the measurement result, the welding power source and the welding robot body 608 are used to perform the multi-layer and multi-pass cover welding of the weld.

[0031] After the welding of one side of the cylinder segment is completed, the prefabrication trolley 5 moves backward along the trolley guide rail system through the driving mechanism, and the robot welding station 6 retreats. The two welding robot bodies 608 are switched up and down under the action of the lifting drive speed reducer 6011 and the lifting drive sprocket 6012. Then the prefabrication trolley 5 moves forward to move the flange at the other end to a suitable position. The robot welding station 6 moves longitudinally so that the robot vision system 6010 is above the flange weld to be welded. The switching between inner and outer welding is performed, and the above-mentioned actions are repeated to weld the flange cylinder at the other end.

[0032] When the welding of one side of the cylinder segment is completed, the finished cylinder segment is lifted away by the suspension arm 2, and the prefabrication trolley 5 is below the cylinder segment at the other side. The above-mentioned steps are repeated to complete the welding of the cylinder segment at the other side.

[0033] Referring to Figures 1-6 It can be seen that when the flange of the cylinder segment is welded, the cylinder segment is moved from the loading rack 3 to the bottom of the robot welding station 6 by the prefabrication trolley 5, and the inside and outside of the cylinder segment are synchronously welded by the welding robot body 608, so as to improve the work efficiency. The robot vision system 6010 can realize automatic searching of the weld, automatic alignment, intelligent manufacturing, and improvement of the welding quality.

[0034] The top of the support V-shaped plate screw rod elevator 509 is provided with a pneumatic cylinder 7, the top of the pneumatic cylinder 7 is connected with a connecting block 8, one side of the connecting block 8 is connected with a telescopic block 9 through a groove, one side of the telescopic block 9 is connected with a pressure roller 10 through a rotating shaft, two groups of telescopic blocks 9 are connected with a connecting rod 11, the bottom of the connecting rod 11 is provided with a telescopic rod 12, the middle of the telescopic rod 12 penetrates and is connected with a screw rod 13, the input end of the screw rod 13 is connected with a transmission motor 14 through a connecting shaft, and the screw rod 13 is in threaded connection with the telescopic rod 12.

[0035] In specific implementation, when the cylinder segment flange double-welding robot internal and external synchronous welding system is used, the transmission motor 14 can be started when the cylinder segment is supported on the support V-shaped plate screw rod elevator 509 through the V-shaped support plate 5010, the transmission motor 14 drives the screw rod 13 to rotate, the screw rod 13 is in threaded connection with the telescopic rod 12, and the other end of the screw rod 13 is connected to the support V-shaped plate screw rod elevator 509 through a bearing, so that the screw rod 13 drives the telescopic rod 12 to move when rotating, the telescopic rod 12 is installed at the bottom of the connecting rod 11, and the connecting rod 11 is installed between the two groups of telescopic blocks 9, so that the telescopic rod 12 drives the telescopic blocks 9 to extend along the connecting block 8 when moving, and the telescopic blocks 9 drive the pressure roller 10 on one side to move into the inner ring of the cylinder segment, the pneumatic cylinder 7 is started, and the pneumatic cylinder 7 moves downward, and the pneumatic cylinder 7 drives the pressure roller 10 to be pressed tightly to the inner ring of the cylinder segment through the connecting block 8 and the telescopic block 9, so that the cylinder segment can be fixed, and the cylinder segment is prevented from moving when being transferred.

[0036] Referring to Figures 1-8 It can be known that, in use, the connecting rod 11 drives the telescopic blocks 9 to move along the connecting block 8 through the cooperation of the screw rod 13 and the telescopic rod 12 according to the use requirement, the telescopic blocks 9 drive the pressure roller 10 to move into the inner ring of the cylinder segment, and then the pneumatic cylinder 7 is started, the pneumatic cylinder 7 drives the pressure roller 10 to move downward, and the pressure roller 10 can fix and limit the cylinder segment.

[0037] In summary, the cylinder segment flange double-welding robot internal and external synchronous welding system can place the cylinder segment to be welded on the feeding frame 3 in use, then transfer the cylinder segment to the prefabrication trolley 5 through the support V-shaped plate screw rod elevator 509 and the V-shaped support plate 5010 on the prefabrication trolley 5, and then drive the cylinder segment to move to the bottom of the robot welding work station 6 by the prefabrication trolley 5, and weld the cylinder segment by the two groups of welding robot bodies 608 on one side of the robot welding work station 6, and the automatic and accurate welding can be realized by cooperating with the robot vision system 6010 during welding, which is the use feature of the cylinder segment flange double-welding robot internal and external synchronous welding system, and the contents not described in detail in the description belong to the prior art known to the person skilled in the art.

[0038] Although the utility model has been explained in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments or make equivalent replacement to part of the technical features, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A double-welding robot for a cylinder segment flange, comprising: The utility model provides a fixed seat (1) and robot welding workstation (6), it is characterized by: the fixed seat (1) is installed with suspension arm (2) and loading frame (3) respectively, the fixed seat (1) is installed with trolley track system (4), the middle sliding joint of trolley track system (4) has prefabricated trolley (5), and robot welding workstation (6) is installed through guide rail on the top of fixed seat (1), The trolley track system (4) includes track bottom plate (401) and track body (402), the inner wall of track body (402) is installed with rack (403), the prefabricated trolley (5) includes trolley base (501), the four all through connections of trolley base (501) have walking wheel (502), the top of trolley base (501) is installed with roller guide rail (503), roller displacement servo motor (504) and trolley drive servo motor (505) respectively, the output end of roller displacement servo motor (504) is connected with roller displacement screw rod (506) through shaft coupling, the top of roller guide rail (503) is installed with driving roller frame (507) and driven roller frame (508) respectively, the top of driving roller frame (507) and driven roller frame (508) is installed with support V type board screw rod elevator (509) and V type support plate (5010) respectively, one side of support V type board screw rod elevator (509) is installed with lifting plate servo motor (5011).

2. The double-welding robot inner and outer synchronous welding system for cylinder segment flange according to claim 1, characterized in that: The robot welding workstation (6) includes track base (601), the top of track base (601) is installed with longitudinal displacement linear guide rail (602), the top of longitudinal displacement linear guide rail (602) is installed with longitudinal displacement drive system (603), the top of longitudinal displacement drive system (603) is installed with stand (604), the side surface of stand (604) is installed with lifting linear guide rail (605), one side of a group of lifting linear guide rail (605) is installed with robot lifting platform (606) through support platform, the top of robot lifting platform (606) is installed with gun cleaner (607), welding robot body (608) and welding wire barrel (609) respectively, one side of robot lifting platform (606) is installed with robot vision system (6010), the top of stand (604) is installed with lifting drive speed reducer (6011), the output end of lifting drive speed reducer (6011) is connected with lifting drive sprocket (6012) through output shaft, the back of stand (604) is installed with robot electrical cabinet (6013) and welding machine (6014) respectively.

3. The double-welding robot inner and outer synchronous welding system of a cylinder segment flange according to claim 2, characterized in that: The top of support V type plate screw rod elevator (509) is installed with pneumatic cylinder (7), the top of pneumatic cylinder (7) is connected with connecting block (8).

4. The double-welding robot inner and outer synchronous welding system of a cylinder segment flange according to claim 3, characterized in that: One side of connecting block (8) is connected with telescopic block (9) through groove, one side of telescopic block (9) is connected with pressure roller (10) through rotating shaft.

5. The double-welding robot inner and outer synchronous welding system of a cylinder segment flange according to claim 4, characterized in that: Connecting rod (11) is connected between two groups of telescopic block (9), and telescopic rod (12) is installed at the bottom of connecting rod (11).

6. The double-welding robot inner and outer synchronous welding system of a cylinder segment flange according to claim 5, characterized in that: The middle of the telescopic rod (12) is connected with a screw rod (13), and the input end of the screw rod (13) is connected with a transmission motor (14) through a connecting shaft.

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