Intelligent header pipe welding robot and header pipe welding system

Abstract

The utility model relates to the technical field of welding, and provides an intelligent header pipe welding robot and a header pipe welding system. The intelligent header pipe welding robot comprises a base, a welding mechanism, a position changing mechanism and a measuring mechanism. The welding mechanism comprises a welding arm and a welding guide rail. The displacement mechanism comprises a clamping assembly and a displacement guide rail. Two stand columns are arranged on the rear end face of the base, a welding guide rail is fixedly arranged on the two stand columns, the welding mechanism and the measuring mechanism are slidably connected to the welding guide rail, a displacement guide rail is horizontally arranged on the upper end face of the base, and a clamping assembly is vertically arranged on the displacement guide rail. The tightening assembly comprises a first bracket and a second bracket, the first bracket is fixedly arranged at one end of the displacement guide rail, and the second bracket is slidably arranged at the other end of the displacement guide rail; the measuring mechanism can determine an initial welding spot and a welding path, and the welding mechanism can be matched with the measuring mechanism to automatically weld a workpiece.

Description

TECHNICAL FIELD

[0001] The utility model relates to welding technical field especially relates to a kind of intelligent header pipe welding robot and header pipe welding system. BACKGROUND

[0002] Header pipe of boiler is the key component connecting header and piping system, which plays a role in connecting and sealing between header and piping, ensuring the normal operation and safety of thermal system. Header is a container in boiler system, used for collecting and distributing heat energy, which is usually located at the top or side of boiler as the exchange area of flue gas and steam. Piping is the piping system that transfers heat energy from header to other parts, which is usually made of metal material with sufficient strength and high-temperature resistance. Joint is the connection between header and piping, so the weld between header pipe seat and piping is particularly important. Therefore, the integrity of weld must be maintained during welding.

[0003] CN102009251A discloses a kind of pipeline full position's full-automatic outside welding machine welding method, a kind of pipeline full position's full-automatic outside welding machine welding method, it is carried out according to the following steps: the pipe end face of pipeline is pretreated;The welded pipeline is routinely checked, and environmental maintenance and equipment debugging are carried out;Welding process parameters are input and saved into the trolley controller of automatic outside welding machine;The pipe end face of the pipe to be welded is machined to the required bevel by beveling machine, and the machined pipe end face is cleaned and paired;Check welding track and load welding trolley;The welded pipeline is preheated according to the requirements of welding process specification, and welded according to the specified welding process parameters.

[0004] CN208067677U discloses a kind of header pipe joint's welding auxiliary, including support on the outer circumferential surface of header support frame, support frame is connected with the pipe clamp that restricts pipe joint, pipe clamp limits the axial line of pipe joint and the axial line of header is vertical and coplanar. Support frame is arranged on the outer circumferential surface of header, and support frame is arranged with pipe clamp for limiting pipe joint, adjust the position of support frame to make pipe joint correspond to the position of mounting hole opened on header, the axial line of pipe joint and the axial line of header is vertical and coplanar, and the lower end surface of pipe clamp and the outer circumferential surface of header leave a distance to facilitate welding gun welding, weld a few points can pre-fix pipe joint, then support frame is removed to complete welding.

[0005] In the prior art, when the header pipe welding intelligent robot is welding, the header pipe seat needs to be installed on the positioner, the positioner cooperates with the welding robot to realize welding at different angles. However, before welding, the distance of the positioner needs to be adjusted according to the different sizes of the header pipe seat to clamp the header pipe seat. The positioner body is heavy and inconvenient to move. After clamping, the welding head needs to be manually moved to find the starting welding point. Manual operation not only has low welding efficiency, but also affects the welding path, finally leads to miswelding and missed welding, and affects the quality of the header pipe. Practical new type content

[0006] Through long-term practice, it is found that in the prior art, when the header pipe welding intelligent robot is welding, the header pipe seat needs to be installed on the positioner, the positioner cooperates with the welding robot to realize welding at different angles. However, before welding, the distance of the positioner needs to be adjusted according to the different sizes of the header pipe seat to clamp the header pipe seat. The positioner body is heavy and inconvenient to move. After clamping, the welding head needs to be manually moved to find the starting welding point. Manual operation not only has low welding efficiency, but also affects the welding path, finally leads to miswelding and missed welding, and affects the quality of the header pipe.

[0007] Therefore, the utility model aims at providing an intelligent header pipe welding robot and a header pipe welding system to at least solve the above technical problems in the prior art.

[0008] In one aspect of the utility model, an intelligent header pipe welding robot is provided, which comprises a base, a welding mechanism, a positioner and a measuring mechanism. The welding mechanism comprises a welding arm and a welding guide rail, and the positioner comprises a clamping assembly and a positioner guide rail. Two vertical columns are vertically arranged on the rear end surface of the base, and the welding guide rail is fixedly arranged on the vertical columns. The welding mechanism and the measuring mechanism are respectively slidably connected to the welding guide rail. The positioner guide rail is horizontally arranged on the upper end surface of the base, and the clamping assembly is vertically arranged on the positioner guide rail. The clamping assembly comprises a first bracket and a second bracket. The first bracket is fixedly arranged at one end of the positioner guide rail, and the second bracket is slidably arranged at the other end of the positioner guide rail. The measuring mechanism can determine the starting welding point and the welding path, and the welding mechanism can automatically weld the workpiece in cooperation with the measuring mechanism.

[0009] In one embodiment, the first bracket and the second bracket are respectively provided with chucks on the opposite sides.

[0010] In one embodiment, a rack is arranged on the welding guide rail, and the welding mechanism and the measuring mechanism move on the welding guide rail through the rack.

[0011] In one embodiment, a servo motor is arranged between the welding mechanism and the measuring mechanism, and the servo motor can drive the welding mechanism and the measuring mechanism to move on the welding guide rail.

[0012] In one embodiment, the measuring mechanism comprises a measuring assembly and a polishing assembly, the polishing assembly comprises a motor cavity and a polishing head, and the motor cavity is rotationally connected with the polishing head through a connecting shaft.

[0013] A gear is arranged in the motor cavity, the gear drives the connecting shaft to rotate, and the connecting shaft drives the polishing head to rotate.

[0014] In one embodiment, the connecting shaft comprises a fixed shaft and an extension shaft, and the fixed shaft and the extension shaft are telescopically connected. The lower end surface of the polishing head is further provided with a screw capable of cooperating with the connecting rod, and the polishing head is detachably connected with the connecting rod through the screw.

[0015] In one embodiment, a positioning pin is arranged between the fixed shaft and the extension shaft, and the fixed shaft and the extension shaft are fixed through the positioning pin.

[0016] In one embodiment, a switch button and an adjusting button are arranged on the motor cavity, the switch button can control the start and stop of the rotation of the polishing head, and the adjusting button can control the rotating speed of the polishing head.

[0017] In one embodiment, the lower end surface of the base is provided with at least two supporting legs.

[0018] The utility model discloses still a kind of header pipe welding system, the header pipe welding system includes the intelligent header pipe welding robot of any one of the above.

[0019] The utility model discloses an intelligent header pipe welding robot is provided with base, welding mechanism, positioner and measuring mechanism, the base is support structure, provides stable support force for robot, the welding mechanism includes welding arm and welding guide rail, and welding arm can realize multi -shaft linkage, and 360 degrees dead angle welding is carried out to header pipe, the positioner includes clamping subassembly and positioner guide rail, the rear end surface of base is perpendicularly provided with two stand, welding guide rail is fixedly arranged on the stand, welding mechanism and measuring mechanism are slidably connected on the welding guide rail respectively, the upper end surface of base is horizontally provided with positioner guide rail, the clamping subassembly is perpendicularly provided on positioner guide rail, and welding guide rail and positioner are parallel to each other, and welding arm moves left and right on welding guide rail, realizes the welding to header pipe, the first bracket and second bracket are included to the clamping subassembly, the first bracket is fixedly arranged at one end of positioner guide rail, the second bracket is slidably arranged at the other end of positioner guide rail, the operator can move second bracket on positioner guide rail freely according to the size of header pipe base, thereby clamping header pipe base, and second bracket can move freely on positioner guide rail, thereby speed up work efficiency, the measuring mechanism can determine starting welding point and welding path, the welding mechanism can cooperate with the measuring mechanism and automatically weld work piece, according to starting welding point determined by measuring mechanism, welding arm can automatically move to starting welding point along welding guide rail, and weld work piece according to welding path, and welding arm is not needed to be manually moved by operator, realize the intelligent welding of header pipe, and the phenomenon of lack of welding or miss welding does not appear in the welding process, improve the welding quality and welding efficiency simultaneously. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings, which form a part of this description, are included to provide a further understanding of the application. The embodiments of the application and its features (A and B) described hereinbelow are merely illustrative. Accordingly, those skilled in the art will recognize that modifications can be made to the embodiments as described herein without departing from the scope and spirit of the application. One or more embodiments of the application will be described and explained with additional specificity and detail through the use of the accompanying drawings in which:

[0021] Figure 1 A front view of the intelligent header pipe welding robot of one embodiment of the present application;

[0022] Figure 2 A rear view of the intelligent header pipe welding robot of one embodiment of the present application;

[0023] Figure 3 A structural schematic view of the measuring mechanism of one embodiment of the present application;

[0024] Figure 4 A rack schematic view of the welding guide rail of one embodiment of the present application.

[0025] BRIEF DESCRIPTION OF DRAWINGS

[0026] 1, base; 11, foot; 21, welding arm; 22, welding guide rail; 221, rack; 31, first bracket; 32, second bracket; 33, chuck; 34, variable position guide rail; 4, measuring mechanism; 41, measuring assembly; 42, polishing assembly; 421, motor cavity; 422, polishing head; 423, fixed shaft; 424, telescopic shaft; 425, positioning pin; 426, switch button; 427, adjustment button; 5, servo motor; 6, column DETAILED DESCRIPTION

[0027] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the present application, and are not intended to limit the present application.

[0028] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings. Obviously, the described embodiments are only a 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 should fall within the scope of protection of the present application.

[0029] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices; "fixed" or "fixedly connected" generally refers to common mechanical connection methods, such as threaded connection, welding or bonding, etc.

[0030] In the prior art, the header pipe welding intelligent robot needs to install the header pipe seat on the positioner when welding, and the positioner cooperates with the welding robot to realize welding at different angles. However, the distance of the positioner needs to be adjusted according to the different sizes of the header pipe seat before welding to clamp the header pipe seat. The positioner body is heavy and inconvenient to move. After clamping, the welding head needs to be manually moved to find the starting welding point. Manual operation not only reduces the welding efficiency, but also affects the welding path, resulting in miswelding and missed welding, and affecting the quality of the header pipe.

[0031] The utility model provides a kind of intelligent header pipe welding robot to solve above-mentioned technical problem, Figure 1 For the positive intention of the intelligent header pipe welding robot of the utility model one implementation form; Figure 2 For the rear intention of the intelligent header pipe welding robot of the utility model one implementation form; Figure 3 For the structural schematic diagram of the measuring mechanism of the utility model one implementation form; Figure 4 For the rack diagram of the welding guide rail of the utility model one implementation form.

[0032] As Figures 1-2 As shown in order to realize the intelligent welding of header pipe, prevent the phenomenon of lack of welding, improve welding efficiency, in an embodiment, intelligent header pipe welding robot is provided with base 1, welding mechanism, displacement mechanism and measuring mechanism 4;Wherein, base 1 is support structure, provides stable support force for robot, welding mechanism includes welding arm 21 and welding guide rail 22, welding arm 21 can realize multi-axis linkage, 360 ° dead angle welding is carried out to header pipe, displacement mechanism includes clamping assembly and displacement guide rail 34;The rear end surface of base 1 is vertically provided with two columns 6, specifically, column 6 is arranged at the left and right ends of base 1, the height of two columns 6 is higher than displacement mechanism, welding guide rail 22 is fixedly arranged on column 6, welding mechanism and measuring mechanism 4 are respectively slidably connected on welding guide rail 22, the upper end surface of base 1 is horizontally provided with displacement guide rail 34, clamping assembly is vertically arranged on displacement guide rail 34, welding guide rail 22 and displacement guide rail 34 are mutually parallel, welding arm is moved left and right on welding guide rail 22, realizes the welding of header pipe;Clamping assembly includes first bracket 31 and second bracket 32, first bracket is fixedly arranged at one end of displacement guide rail 34, second bracket 32 is slidably arranged at the other end of displacement guide rail 34, operating personnel can freely move second bracket 32 on displacement guide rail 34 according to the size of header pipe seat, so as to clamp header pipe seat, second bracket 32 can freely move on displacement guide rail 34, and work efficiency is accelerated;Measuring mechanism 4 can determine starting welding point and welding path, welding mechanism can cooperate with measuring mechanism 4 and automatically weld workpiece, according to the starting welding point determined by measuring mechanism 4, welding arm 21 can automatically move to its starting welding point along welding guide rail 22, and weld workpiece according to welding path, without manually moving welding arm 21 by operating personnel, realize the intelligent welding of header pipe, welding process will not appear the phenomenon of lack of welding, improve welding quality while improving welding efficiency.

[0033] In order to better fix header pipe seat, in an embodiment, the side opposite to first bracket 31 and second bracket 32 respectively is provided with chuck 33, specifically, in order to cooperate with the shape of header pipe, chuck 33 can be provided as circular.

[0034] In order to enable the welding arm 21 to move freely on the welding guide rail 22, in one embodiment, a rack 221 is provided on the welding guide rail 22, and the welding mechanism and the measuring mechanism 4 move on the welding guide rail 22 via the rack 221.

[0035] To provide the welding arm 21 and the measuring mechanism 4 with the power to move, in one embodiment, a servo motor 5 is provided between the welding arm 21 and the measuring mechanism 4. The servo motor 5 can drive the welding mechanism and the measuring mechanism 4 to move on the welding guide rail 22. Specifically, the servo mechanism first drives the measuring mechanism 4 to detect the workpiece and determine the starting weld point and welding path. At this time, although the welding arm 21 moves along with it, it does not perform welding operations. After the starting weld point and welding path are determined, the servo motor 5 drives the welding operation to the starting welding position to perform welding operations. At this time, the measuring mechanism 4 also moves along with it to observe the welding situation in real time and avoid the weld seam from shifting.

[0036] During the welding process of header pipes, impurities such as oil and rust at the bevel of the header pipe seat are often overlooked. If these impurities are not effectively cleaned, they will volatilize and generate gas during welding, forming pores. This not only affects the appearance of the weld but also its density and corrosion resistance. To increase the density of the weld, such as... Figure 2 As shown, in one embodiment, the measuring mechanism 4 includes a measuring component 41 and a grinding component 42. The grinding component 42 includes a motor cavity 421 and a grinding head 422. The motor cavity 421 and the grinding head 422 are rotatably connected via a connecting shaft. In a preferred embodiment, to ensure a secure connection between the connecting shaft and the grinding head 422 and to improve the service life of the header pretreatment device, a connecting component can be provided at one end of the connecting shaft. The connecting component may include a connecting seat, and the upper end face of the connecting seat may be provided with a connecting hole. The connecting hole is interference-fitted with the connecting shaft, and the connecting component can rotate with the rotation of the connecting shaft. Furthermore, a connecting rod can be fixedly mounted on the lower end face of the connecting seat. The connecting rod can connect the grinding head 422 and the connecting seat. The connecting rod can be a hollow structure with internal threads. The connecting rod can be fastened together with a screw that passes through the grinding head 422. Specifically, the measuring component 41 can not only obtain the welding start point and welding path, but also detect impurities such as oil stains and rust at the bevel. This information is sent to the human-machine interface device. Based on the information obtained, the operator controls the grinding component 42 to grind the bevel of the header pipe to remove impurities before starting the welding arm 21 to perform welding operations.

[0037] In order to achieve the grinding of the circular bevel, in one embodiment, a gear is provided in the motor cavity 421, the gear drives the connecting shaft to rotate, and the connecting shaft drives the grinding head 422 to rotate.

[0038] In order to match the height of the header pipe, facilitate the operator to polish, in an embodiment, the connecting shaft comprises a fixed shaft 423 and a telescopic shaft 424, the fixed shaft 423 and the telescopic shaft 424 are telescopically connected, wherein a positioning pin 425 is arranged between the fixed shaft 423 and the telescopic shaft 424, the fixed shaft 423 and the telescopic shaft 424 are fixed through the positioning pin 425, when the operator polishes, the positioning pin 425 is loosened, the polishing head 422 is stretched to the groove, and then the positioning pin 425 is tightened, and the polishing mechanism is started.

[0039] In order to facilitate the control of the start and stop of the polishing mechanism and the polishing efficiency, in an embodiment, a switch button 426 and an adjusting button 427 are arranged on the motor cavity 421, the switch button 426 can control the start and stop of the rotation of the polishing head 422, and the adjusting button 427 can control the rotating speed of the polishing head 422.

[0040] In order to provide stable support force for the intelligent header pipe welding robot, in an embodiment, at least two supporting legs 11 are arranged on the lower end surface of the base 1.

[0041] The utility model discloses still a kind of header pipe welding system, and header pipe welding system includes the intelligent header pipe welding robot of any one in the above.

[0042] It should be noted that, for the foregoing method embodiments, in order to simply describe, it is expressed as a series of action combinations, but those skilled in the art should know that the utility model is not limited by the described action sequence, because according to the utility model, some steps can be adopted in other order or simultaneously performed.Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily necessary for the utility model.

[0043] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0044] In the several embodiments provided by the utility model, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of units is only a logical function division. There can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical or other forms.

[0045] The units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, that is, can be located in one place, or can be distributed to multiple network units. Part or all of the units can be selected to achieve the purpose of the embodiment of the present application according to actual needs.

[0046] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0047] The above is only the preferred embodiment of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An intelligent header pipe welding robot, characterized in that, The intelligent header pipe welding robot includes: a base (1), a welding mechanism, a displacement mechanism, and a measuring mechanism (4); The welding mechanism includes a welding arm (21) and a welding guide rail (22), and the displacement mechanism includes a clamping assembly and a displacement guide rail (34); Two columns (6) are vertically arranged on the rear end face of the base (1), and the welding guide rail (22) is fixedly arranged on the two columns (6). The welding mechanism and the measuring mechanism (4) are slidably connected on the welding guide rail (22). The displacement guide rail (34) is horizontally arranged on the upper end face of the base (1), and the clamping assembly is vertically arranged on the displacement guide rail (34). The clamping assembly includes a first bracket (31) and a second bracket (32). The first bracket (31) is fixedly disposed at one end of the displacement guide rail (34), and the second bracket (32) is slidably disposed at the other end of the displacement guide rail (34). The measuring mechanism (4) can determine the starting weld point and the welding path, and the welding mechanism can cooperate with the measuring mechanism (4) to automatically weld the workpiece.

2. The intelligent header pipe welding robot according to claim 1, characterized in that... The first bracket (31) and the second bracket (32) are respectively provided with chucks (33) on the opposite side.

3. The intelligent header pipe welding robot according to claim 1, characterized in that, A rack (221) is provided on the welding guide rail (22), and the welding mechanism and the measuring mechanism (4) move on the welding guide rail (22) via the rack (221).

4. The intelligent header pipe welding robot according to claim 1, characterized in that, A servo motor (5) is provided between the welding arm (21) and the measuring mechanism (4), and the servo motor (5) can drive the welding mechanism and the measuring mechanism (4) to move on the welding guide rail (22).

5. The intelligent header pipe welding robot according to claim 4, characterized in that, The measuring mechanism (4) includes a measuring component (41) and a grinding component (42). The grinding component (42) includes a motor cavity (421) and a grinding head (422). The motor cavity (421) and the grinding head (422) are rotatably connected by a connecting shaft. A gear is provided inside the motor cavity (421), which drives the connecting shaft to rotate, and the connecting shaft drives the grinding head (422) to rotate.

6. The intelligent header pipe welding robot according to claim 5, characterized in that, The connecting shaft includes a fixed shaft (423) and a telescopic shaft (424), which are telescopically connected.

7. The intelligent header pipe welding robot according to claim 6, characterized in that, A positioning pin (425) is provided between the fixed shaft (423) and the telescopic shaft (424), and the fixed shaft (423) and the telescopic shaft (424) are fixed by the positioning pin (425).

8. The intelligent header pipe welding robot according to claim 5, characterized in that, The motor cavity (421) is provided with a switch button (426) and an adjustment button (427). The switch button (426) can control the start and stop of the rotation of the grinding head (422), and the adjustment button (427) can control the rotation speed of the grinding head (422).

9. The intelligent header pipe welding robot according to claim 1, characterized in that, The lower end face of the base (1) is provided with at least two support legs (11).

10. A header pipe welding system, characterized in that, The header pipe welding system includes the intelligent header pipe welding robot as described in any one of claims 1-9.

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