Flange rib plate placing rack of pipe section rib plate welding machine

Abstract

This utility model discloses a stiffener plate placement rack for a pipe section flange stiffener plate welding machine, comprising two parallel strip-shaped base plates. Corresponding ends of the two base plates are fixed by end plates. Multiple partition plates are evenly spaced on the top surface of each base plate along its extension direction. A stiffener plate placement groove with a width matching the stiffener plate thickness is formed between adjacent partition plates of the same strip-shaped base plate. The stiffener plate placement grooves of the two strip-shaped base plates are positioned correspondingly. A toothed rack is provided at the bottom of each strip-shaped base plate. A limiting plate is provided on the top surface of one strip-shaped base plate away from the edge of the other strip-shaped base plate. From the above structure, it can be seen that the stiffener plate placement rack of this utility model allows multiple stiffener plates to be welded and fixed to be erected sequentially on the rack. This facilitates the feeding chute to sequentially feed the stiffener plates placed on the rack from bottom to top, starting between adjacent strip-shaped base plates, thereby saving stiffener plate feeding time and ensuring the accuracy of stiffener plate feeding position.

Description

Technical Field

[0001] This utility model relates to the technical field of automated processing of main components of ultra-high voltage steel pipe transmission towers, specifically to a stiffener plate placement rack for a pipe section flange stiffener plate welding machine. Background Technology

[0002] Ultra-high voltage (UHV) transmission refers to transmission lines with AC voltage levels exceeding 1000kV or DC voltage levels exceeding ±800kV. In flat terrain, UHV transmission lines typically use angle steel towers, whose main components are angle steel members. However, for projects requiring long spans (such as crossing the Yangtze or Yellow River), due to the extremely large spans, UHV steel pipe transmission towers with steel pipe components are required. The overall size of UHV steel pipe transmission towers is very large (for example, the Baihetan-Jiangsu ±800kV UHV DC transmission project on the Yangtze River in Ma'anshan, Anhui, has a height of nearly 280 meters). Therefore, the amount of steel pipe sections required is extremely large, and the connection between adjacent sections is... The flanges at both ends of the pipe section are connected and fixed by bolts. The flanges at the ends of the pipe section components are connected to each other by bolts. Because the bolts are evenly distributed around the pipe section component during flange connection, and the flange is essentially an outward flange formed at the end of the pipe section, its connection strength is even higher than that of direct welding at the end of the pipe section. Moreover, the fixing efficiency of bolt connection is also higher than that of complete welding around the entire circle. Furthermore, flange connection can effectively realize the connection between pipe section components of different diameters, the connection between tapered pipe section components, and the connection between cylindrical pipe section components and tapered pipe section components.

[0003] Due to the extremely large size of transmission towers, the strength requirements for the connection between adjacent pipe sections are very high. Furthermore, once constructed, transmission towers must withstand the forces of lateral winds for extended periods, further increasing the strength requirements for the connection between adjacent pipe sections. Since flanges act as flanges at the ends of pipe sections, they not only increase the contact area but also raise the lever arm against bending. Therefore, to ensure the connection strength between adjacent pipe sections, multiple stiffening plates are evenly distributed and fixed at the pipe section ends and flange connections. This prevents deformation between the flange and the pipe section component, effectively improving the strength between them.

[0004] Because each pipe segment has flanges at both ends, and each flange connection to the pipe segment requires multiple stiffening plates (generally no fewer than six), the welding workload for fixing these stiffening plates at the flange connections at the pipe segment ends is enormous. Furthermore, the welding quality requirements for these stiffening plates are extremely high, necessitating full welding of both edges of the contact surfaces between the stiffening plates and the pipe segment and flanges. If the stiffening plates are welded manually, the production efficiency is extremely low, making this process a bottleneck to overall production efficiency.

[0005] Therefore, the applicant has developed a device that can automatically, quickly and effectively weld stiffeners to solve the above-mentioned technical problems. However, it is still necessary to develop a stiffener placement rack for simultaneously placing multiple stiffeners to match the above-mentioned device, so that the welding device can automatically and continuously weld and fix the multiple stiffeners placed in the stiffener placement rack in sequence. Utility Model Content

[0006] The purpose of this utility model is to overcome the shortcomings of the prior art and provide a stiffener plate placement rack for a pipe section flange stiffener plate welding machine. Through the structural design of the stiffener plate placement rack, multiple stiffener plates to be welded and fixed are sequentially erected on the stiffener plate placement rack, which facilitates the feeding chute to feed the stiffener plates placed on the stiffener plate placement rack sequentially from bottom to top between two adjacent strip bottom plates, thereby saving stiffener plate feeding time and ensuring the accuracy of stiffener plate feeding position.

[0007] The technical solution adopted by this utility model is: The stiffener plate placement frame of the pipe section flange stiffener plate welding machine includes two parallel strip-shaped base plates. The corresponding ends of the two strip-shaped base plates are fixedly connected by end plates. The top surfaces of the two strip-shaped base plates are provided with an equal number of partition plates distributed at equal intervals along the extension direction. The thickness of the partition plates is equal to the thickness of the groove wall B of the feeding trough. A stiffener plate placement groove with a groove width matching the stiffener plate thickness is formed between two adjacent partition plates of the same strip-shaped base plate. The positions of the stiffener plate placement grooves of the two strip-shaped base plates are one-to-one. The bottom of each strip-shaped base plate is provided with a toothed rack. A limiting plate is fixedly provided on the top surface of one strip-shaped base plate away from the edge of the other strip-shaped base plate. The limiting plate is fixedly connected to the end plate and partition plates of the strip-shaped base plate. The end of the stiffener plate placement groove of the other strip-shaped base plate away from the limiting plate is open.

[0008] A further improvement of this utility model is that a transition groove is formed between the end plate and the partition plate closest to the end plate, and the width of the transition groove is less than the thickness of the stiffener.

[0009] A further improvement of this utility model is that, between the end plates away from the limiting plate, at a position corresponding to the partition plate, a rib contact rod C is horizontally fixed along the extension direction of the strip base plate, adjustable vertically. Both ends of the rib contact rod C pass through the vertical groove A of the partition plate and are detachably fixed to the vertical groove B of the end plate. The bottom of the rib placed in the rib placement groove contacts the bottom of the groove and the rib contact rod C, and the end facing the limiting plate contacts the limiting plate. When placed... When the stiffener placement rack with stiffeners is connected to the strip groove transmission, the end face of the stiffener that contacts the limiting plate is on the same plane as the end face of the flange of the tapered connector A on the side away from the tapered connector A. The top of the stiffener is parallel to the bottom of the outer wall of the pipe section corresponding to the axis position. When the stiffener of the stiffener placement rack is conveyed by the strip groove to the position directly below the axis position of the pipe section, the top of the end face of the stiffener that contacts the limiting plate is in close contact with the bottom of the end face of the flange of the tapered connector A on the side away from the tapered connector A.

[0010] A further improvement of this utility model is that the stiffener contact rod C includes a core rod B whose two ends are respectively fixedly connected to the corresponding end plates. The length of the core rod B is greater than the distance between the opposite end faces of the end plates at both ends of the stiffener placement frame. The outer side wall of the portion of the core rod B located between the end plates is covered with a ceramic sleeve B. The groove width of the vertical groove A matches the diameter of the ceramic sleeve B, and the groove width of the vertical groove B matches the diameter of the core rod B. The vertical groove A extends upward through the top of the partition plate.

[0011] A further improvement of this utility model is that the sidewalls of the core rod B extending from both ends of the ceramic sleeve B are provided with external threads, and the part of the core rod B extending from the end plate is connected to the nut B through the external threads and fixedly connected to the end plate.

[0012] A further improvement of this utility model is that the end plate is provided with a lifting opening in the middle and between the strip-shaped bottom plate, and the end plate is provided with a lifting rod above and below the lifting opening.

[0013] A further improvement of this utility model is that the distance between the limiting upright plate and the end of the rib placement groove of the other strip bottom plate facing the limiting upright plate is less than the bottom length of the rib.

[0014] A further improvement of this utility model is that a reflector B is provided at the bottom of the end plate located between the strip base plates.

[0015] A further improvement of this utility model is that the strip-shaped base plates are respectively arranged along the extension direction of the strip groove, the distance between the two strip-shaped base plates is greater than the length of the feeding groove provided in the strip groove, and the two strip-shaped base plates are respectively located on two opposite sides of the photoelectric sensor B.

[0016] A further improvement of this utility model is that the rack is used to connect with the strip groove for transmission.

[0017] The beneficial effects of this utility model are as follows: First, through the structural design of the stiffener plate placement rack, multiple stiffener plates to be welded and fixed are erected sequentially on the stiffener plate placement rack, which facilitates the feeding chute to feed the stiffener plates placed on the stiffener plate placement rack sequentially from bottom to top between two adjacent strip bottom plates, thereby saving stiffener plate feeding time and ensuring the accuracy of stiffener plate feeding position.

[0018] Secondly, through the action of the stiffener contact rod C set in the stiffener placement frame, the side wall surface A of the stiffener placed in the stiffener placement frame can always be in contact with the limiting upright plate and keep the stiffener in an upright state.

[0019] Third, the rib placement groove formed by the strip base plate on one side of the rib placement rack is open at both ends, thus it can be used for ribs of different lengths.

[0020] Fourth, the lifting opening and lifting rod formed by the end plate of the rib plate placement rack facilitate the turnover and retrieval of lights.

[0021] Fifth, by setting transition grooves at both ends of the stiffener placement frame with a groove width smaller than the thickness of the stiffener, the stiffener is prevented from being placed in the transition groove. This creates a transition signal before the stiffeners on the stiffener placement frame are loaded and after all the stiffeners on the stiffener placement frame are loaded and spot welded, thus avoiding misoperation that could affect the welding of the stiffeners or even damage the equipment. Attached Figure Description

[0022] Figure 1 This is a top view of an automatic welding machine.

[0023] Figure 2 This is a partial sectional view of the main view of an automatic welding machine.

[0024] Figure 3 A partial sectional view of the main view of an automatic welding machine after the pipe section has been installed and connected.

[0025] Figure 4 This is a magnified front view of the rib plate loading device (with the limit bar hidden).

[0026] Figure 5 This is an enlarged front sectional view of the welding apparatus.

[0027] Figure 6 This is a magnified front view of the pipe section lifting device.

[0028] Figure 7 A magnified left-hand view of the flange of the pipe section facing the end of the pipe section rotating motor, in preparation for welding the stiffening plate.

[0029] Figure 8 Enlarged right-side sectional view of the flange of the pipe section facing away from the rotating motor, in preparation for welding the stiffening plate.

[0030] Figure 9 This is a magnified right-side sectional view of the strip groove.

[0031] Figure 10 This is a top-down enlarged schematic diagram of the strip groove.

[0032] Figure 11 This is a magnified front view of the feeding trough.

[0033] Figure 12 This is a rear-view enlarged schematic diagram of the feeding trough.

[0034] Figure 13 This is an enlarged front sectional view of the feeding trough.

[0035] Figure 14 This is a top-down enlarged schematic diagram of the stiffener plate placement frame.

[0036] Figure 15 This is a magnified, upward-view diagram of the stiffener plate placement frame.

[0037] Figure 16 This is a magnified front view of the rib plate placement frame.

[0038] Figure 17 This is an enlarged front sectional view of the rib plate placement frame.

[0039] Figure 18 This is a right-side enlarged sectional view of the stiffener plate placement frame.

[0040] Figure 19 This is a top-view enlarged schematic diagram of a ribbed plate placement rack.

[0041] Figure 20 This is a magnified front view of the stiffening rib.

[0042] Figure 21 This is a schematic diagram of the rib welding process from a top-down view of an automatic welding machine.

[0043] Figure 22 A schematic diagram of the loading process of stiffener plates in a strip channel with a stiffener plate placement rack, viewed from above. Detailed Implementation

[0044] Combination Figures 14-19It is understood that the stiffener plate placement frame of the pipe section flange stiffener plate welding machine includes two parallel strip-shaped base plates 73. The corresponding ends of the two strip-shaped base plates 73 are fixedly connected by end plates 74. The top surfaces of the two strip-shaped base plates 73 are respectively provided with an equal number of partition plates 76 distributed at equal intervals along the extension direction. The thickness of the partition plates 76 is equal to the thickness of the groove wall B of the feeding trough 6. The groove width between two adjacent partition plates 76 of the same strip-shaped base plate 73 is equal to the thickness of the stiffener plate 110. The rib plate placement grooves 77 of the two strip-shaped base plates 73 are positioned one-to-one. Each strip-shaped base plate 73 has a toothed rack 75 at its bottom. A limiting plate 78 is fixedly installed on the top surface of one strip-shaped base plate 73 away from the edge of the other strip-shaped base plate 73. The limiting plate 78 is fixedly connected to the end plate 74 and the partition plate 76 of the corresponding strip-shaped base plate 73. The end of the rib plate placement groove 77 of the other strip-shaped base plate 73 away from the limiting plate 78 is open. A transition groove 86 is formed between the end plate 74 and the partition plate 76 closest to it. The width of the transition groove 86 is less than the thickness of the rib plate 110. Between the end plates 74 furthest from the limiting plate 78, at a position corresponding to the partition plate 76, a rib contact rod C79 is also fixed vertically and adjustablely, horizontally arranged along the extension direction of the strip base plate 73. Both ends of the rib contact rod C79 pass through the vertical groove A80 of the partition plate 76 and are detachably fixedly connected to the vertical groove B84 of the end plate 74. The bottom of the rib 110 placed in the rib placement groove 77 contacts the bottom of the groove 77 and the rib contact rod C79, and the end facing the limiting plate 78 contacts the limiting plate 78. When the rib 110 is placed... When the frame 5 is connected to the strip groove 4, the end face of the stiffener 110 that contacts the limiting plate 78 is on the same plane as the end face of the flange 103 at the end of the tapered connector A2 that faces away from the tapered connector A2. The top of the stiffener 110 is parallel to the bottom of the outer wall of the pipe section 102 at the axial position. When the stiffener 110 of the stiffener placement frame 5 is conveyed by the strip groove 4 to the position directly below the axial position of the pipe section 102, the top of the end face of the stiffener 110 that contacts the limiting plate 78 is in close contact with the bottom of the end face of the flange 103 at the end of the tapered connector A2 that faces away from the tapered connector A2. The stiffener contact rod C79 includes a core rod B82 whose two ends are fixedly connected to the corresponding end plates 74. The length of the core rod B82 is greater than the distance between the opposite end faces of the end plates 74 at both ends of the stiffener placement frame 5. The outer side wall of the portion of the core rod B82 located between the end plates 74 is covered with a ceramic sleeve B83. The groove width of the vertical groove A80 matches the diameter of the ceramic sleeve B83, and the groove width of the vertical groove B84 matches the diameter of the core rod B82. The vertical groove A80 extends upward through the top of the partition plate 76.The core rod B82 extends from both ends of the ceramic sleeve B83 and has external threads on its sidewalls. The portion of the core rod B82 extending from the end plate 74 is connected to the end plate 74 via an external threaded nut B81 and fixedly connected to the end plate 74. The end plate 74 has a lifting opening 87 in its middle section, located between the strip-shaped base plates 73. Lifting rods 85 are formed above and below the lifting openings 87 on the plate 74. The distance between the limiting plate 78 and the end of the rib placement groove 77 of the other strip-shaped base plate 73 facing the limiting plate 78 is less than the bottom length of the rib 110. A reflector B is provided at the bottom of the end plate 74 between the strip-shaped base plates 73. The strip-shaped base plates 73 are respectively arranged along the extension direction of the strip-shaped groove 4. The distance between the two strip-shaped base plates 73 is greater than the length of the feeding groove 6 provided in the strip-shaped groove 4, and the two strip-shaped base plates 73 are respectively located on opposite sides of the photoelectric sensor B49. The rack 75 is used for transmission connection with the strip-shaped groove 4.

[0045] Combination Figures 1-19It is known that the automatic welding machine for the stiffening plates of the flanges of ultra-high voltage steel pipe transmission towers includes a strip base 1. The strip base 1 is sequentially provided with a tapered connector A2 for connecting to the inner wall of the end of the pipe section 102, a stiffening plate loading device, a welding device, and a tapered connector B3 for connecting to the inner wall of the end of the pipe section 102, arranged along the direction from one end to the other. The tapered connector A2 and the tapered connector B3 are coaxially arranged. The tapered connector A2 is coaxially fixed to the output shaft 15 of the pipe section rotation motor 11. The pipe section rotation motor 11 and... The end of the strip base 1 is fixedly connected, and the conical connector B3 is coaxially fixed to the rotating shaft 41 extending from the bearing seat 21. The reinforcing plate loading device, the welding device, and the bearing seat 21 of the conical connector B3 are respectively adjustablely fixedly connected to the strip base 1 along the extension direction of the strip base 1 via the strip track 22. The diameters of the conical connector A2 and the conical connector B3 decrease in opposite directions. The welding device includes a fixed spot welding robot 8, a full welding robot A9, and a full welding robot B10. The spot welding robot 8 is located in the fixed... The bottom of pipe segment 102, fixed between conical connector A2 and conical connector B3, is served by the full welding robots A9 and B10, which are located on either side of the pipe segment 102. When the pipe segment rotation motor 11 rotates the pipe segment 102 until the rib plate fixing point is at the bottom of the pipe segment 102, the rib plate loading device sequentially loads the rib plates 110 from the rib plate placement frame 5 to the bottom of the outer wall of the pipe segment 102 connecting to the conical connector A2 and the flange 103 for contact and fixation. 8. The stiffening plate 110 fed by the stiffening plate feeding device is spot welded to the two sides of the pipe section 102 and flange 103. When the pipe section rotation motor 11 rotates the pipe section 102 until the spot-welded stiffening plate 110 corresponds to the position of the full welding robot A9 and the full welding robot B10 in sequence, the full welding robot A9 fully welds and fixes one side of the spot-welded stiffening plate 110 that contacts the pipe section 102 and flange 103, and the full welding robot B10 fully welds and fixes the other side of the spot-welded stiffening plate 110 that contacts the pipe section 102 and flange 103.

[0046] A photoelectric sensor A17 is fixed to one side of the extended end of the output shaft 15 of the pipe section rotation motor 11. The pipe section 102, which is fixed between the tapered connector A2 and the tapered connector B3, has mounting holes 104 evenly provided along the edge of the flange 103 at one end of the tapered connector A2, and positioning pins 105 are detachably and coaxially fixed to each of them. A reflector A107 is fixed to the center of the end face of the positioning pin 105 facing away from the tapered connector B3. The distance between the photoelectric sensor A17 and the center of the output shaft 15 is equal to the distance between the reflector A107 and the rotation axis of the pipe section 102. When the pipe section 102 rotates until the reflector A107 corresponds to the photoelectric sensor A17, the photoelectric sensor A17 receives the light signal emitted by the photoelectric sensor A17 reflected by the reflector A107 and controls the pipe section rotation motor 11 to stop rotating. At this time, the connection between the bottom of the pipe section 102 at one end of the tapered connector A2 and the flange 103 is the fixing point of the stiffener.

[0047] The pipe section rotation motor 11 is located on the side wall of the extended end of the output shaft 15 and is sway-adjustably fixed with a swing adjustment rod 19. The photoelectric sensor A17 is sway-adjustably fixed to the swing adjustment rod 19 along the extension direction of the swing adjustment rod 19.

[0048] The swing adjustment rod 19 has a strip-shaped hole in the middle along the extension direction of the swing adjustment rod 19. The photoelectric sensor A17 is adjustablely fixed in the strip-shaped hole along the extension direction of the strip-shaped hole by adjusting the slider.

[0049] The swing adjustment rod 19 is provided with an arc-shaped strip 18 that is matched and sleeved with a circular boss 16 that is coaxial with the end face of the output shaft 15 of the pipe section rotation motor 11. The arc-shaped strip 18 is fixedly connected to the circular boss 16 by a locking bolt D20.

[0050] There is a gap between the photoelectric sensor A17 and the positioning pin 105 fixed to the flange 103.

[0051] The photoelectric sensor A17 is provided with a light signal transmitter A and a light signal receiver A on the end face facing the pipe section 102.

[0052] The outer wall of the positioning pin 105 is coaxially provided with a limiting protrusion 106 at the end facing the photoelectric sensor A17. The diameter of the limiting protrusion 106 is larger than the inner diameter of the mounting hole 104, and the axial length of the limiting protrusion 106 of all positioning pins 105 is equal.

[0053] The reflector A107 is provided at the center of the end face of the positioning pin 105 facing the photoelectric sensor A17, and a central groove 108 matching the reflector A107 is provided. The reflector A107 is located at the bottom of the central groove 108. The distance between the reflector A107 of all positioning pins 105 and the end face of the positioning pin 105 with the central groove 108 is equal.

[0054] The locating pin 105 has anti-slip texture 109 on its surface.

[0055] The axial length of the portion of the positioning pin 105 that extends into the mounting hole 104 is less than or equal to the axial length of the mounting hole 104.

[0056] The rib feeding device includes an adjustable and fixed strip groove 4 extending along the strip base 1. The extension direction of the strip groove 4 is perpendicular to the strip base 1. The top of the strip groove 4 is open, and a rib placing frame 5 is placed on the top of the strip groove 4. The rib placing frame 5 moves along the extension direction of the strip groove 4 via a transmission wheel 47 provided along the top edge of the strip groove 4. A rib feeding motor 30, which is connected to the transmission wheel 47, is fixed inside the strip groove 4. The area of ​​the strip groove 4 corresponds to... A vertically movable feeding trough 6 is located directly below the axis of the tapered connector A2. A lifting cylinder 45 is fixed inside the strip-shaped groove 4 to drive the feeding trough 6 to move vertically. The telescopic rod A56 of the lifting cylinder 45 drives the feeding trough 6 to move upward until the top of the rib plate 110 at the corresponding position of the rib plate placement frame 5 and the side wall facing the tapered connector A2 and the bottom of the side wall of the pipe section 102 are respectively in limited contact with the flange 103. Alternatively, the feeding trough 6 is driven to move downward until the top of the feeding trough 6 is lower than the rib plate. At the bottom of the plate placement rack 5, the distance between the two side walls B of the feeding trough 6 matches the thickness of the rib plate 110. The rib plates 110 placed on the rib plate placement rack 5 are placed at equal intervals along the extension direction of the strip groove 4. The thickness of the trough wall B is equal to the distance between two adjacent rib plates 110 placed on the rib plate placement rack 5. When the rib plate placement rack 5 is placed at the starting end of the conveying of the strip groove 4, the rib plate 110 placed on the rib plate placement rack 5 that is far from the starting end of the conveying of the strip groove 4 is located at... Between the starting end of the strip groove 4 and the feeding groove 6, a photoelectric sensor B49 is also fixed inside the strip groove 4 on one side of the lifting cylinder 45. After receiving the light signal emitted by the photoelectric sensor B49 reflected by the rib plate placement frame 5 or the rib plate 110 placed on the rib plate placement frame 5, the photoelectric sensor B49 controls the rib plate feeding motor 30 to stop rotating. At this time, the corresponding part of the rib plate placement frame 5 or the rib plate 110 that reflects the light signal emitted by the photoelectric sensor B49 is located directly above the feeding groove 6.

[0057] The top surface of the photoelectric sensor B49 is equipped with a light signal transmitter B67 and a light signal receiver B68.

[0058] The cross-section of the feeding trough 6 is a "U" shaped structure, and the top of the feeding trough 6 and the end facing the conical connector A2 and the conical connector B3 are both open.

[0059] The lower part of the feeding trough 6, the end facing the conical connector A2, and the end facing the conical connector B3 are respectively fixed with rib contact rod A57 and rib contact rod B58. When the feeding trough 6 moves upward under the driving action of the lifting cylinder 45 until the rib contact rod A57 and rib contact rod B58 are in contact with the bottom of the corresponding rib 110 in the rib placement frame 5, the top of the rib 110 is parallel to the bottom of the outer wall of the pipe section 102 corresponding to the axial position, and the end face of the rib 110 facing the conical connector A2 is parallel to the end face of the flange 103 at the end of the conical connector A2 facing away from the conical connector A2.

[0060] The rib contact rod A57 and rib contact rod B58 each include a core rod A59 whose two ends are fixedly connected to the side wall of the feeding trough 6. The length of the core rod A59 is less than or equal to the distance between the outer walls of the two opposite side walls B of the feeding trough 6. The outer wall of the part of the core rod A59 located inside the feeding trough 6 is covered with a ceramic sleeve A65.

[0061] The two ends of the core rod A59 of the rib contact rod A57 are respectively fixedly connected to the corresponding fixed connection holes 63 in the feeding trough 6. The two ends of the core rod A59 of the rib contact rod B58 are respectively fixedly connected to the strip-shaped connection hole 60 in an adjustable manner. The width of the strip-shaped connection hole 60 is equal to the diameter of the core rod A59. The core rod A59 of the rib contact rod B58 is an internal angle bolt. The outer walls of the two opposite side walls B of the feeding trough 6 are provided with matching strip-shaped countersunk holes 62 corresponding to the strip-shaped connection holes 60. The outer diameter of the nut 64 at one end of the internal angle bolt and the distance between opposite sides of the nut A61 connected by threads at the other end of the internal angle bolt are both equal to the width of the strip-shaped countersunk hole 62. The axial length of the nut 64 and the axial length of the nut A61 are both less than or equal to the depth of the strip-shaped countersunk hole 62. The total length of the internal angle bolt is equal to the distance between the outer walls of the two opposite side walls B of the feeding trough 6.

[0062] The output shaft of the rib feeding motor 30 is coaxially fixed with a drive wheel 51. The drive wheel 51 is connected to the driven wheel A52 of the axle A53, which is coaxially fixed to the transmission wheel 47, via a transmission belt 50. The transmission wheel 47 is a gear. The bottom of the rib placement frame 5 is provided with a matching rack 75 corresponding to the gear. The axle A53 is rotatably connected to the groove wall A71 of the strip groove 4.

[0063] Multiple axles A53 are arranged in parallel. At least one axle A53 is provided on each side of the feeding trough 6. The distance between the transmission wheels 47 fixed by two adjacent axles A53 is less than the length of the rib plate placement frame 5 along the extension direction of the strip groove 4. Furthermore, the distance between the transmission wheel 47 fixed by the axle A53 closest to the end of the strip groove 4 and the end of the strip groove 4 is less than the length of the rib plate placement frame 5 along the extension direction of the strip groove 4.

[0064] The two ends of the axle A53 are respectively fixed with transmission wheels 47 on the same axis.

[0065] The groove wall A71 of the strip groove 4 is also rotatably connected to a driven wheel B54 via a wheel axle B55, and the driven wheel B54 is connected to the transmission belt 50.

[0066] The top edge of the outer wall of the groove wall A71 of the strip groove 4 is provided with two rows of rollers A46 along the extension direction of the strip groove 4. The rim edge of the side groove wall A71 of the rollers A46 away from the strip groove 4 is provided with a rim protrusion A48 coaxially. The rollers A46 are evenly spaced and the bottom of the rib plate placement frame 5, which is connected to the transmission wheel 47 through the rack 75, contacts the top of the rim of the rollers A46. The bottom edge of the side groove wall A71 on both sides of the rib plate placement frame 5 is respectively in limiting contact with the rim protrusion A48 of the contacting rollers A46.

[0067] Limiting crossbars 72 are fixed at both ends between the groove walls A71 of the strip groove 4. The height of the top edge of the limiting crossbar 72 is higher than the height of the bottom edge of the rib plate placement frame 5 which is connected to the transmission wheel 47.

[0068] The bottom of the strip groove 4 is movably and fixedly connected to the strip track 22 via a sliding block A28. The strip groove 4 is movably and adjustablely connected to the sliding block A28 via a hydraulic piston cylinder A42. A hydraulic oil tank A70 is fixed inside the strip groove 4. A pump motor A69 is also fixed inside the hydraulic oil tank A70. The output shaft of the pump motor A69 extends into the hydraulic oil tank A70 and drives the hydraulic pump A fixed inside the hydraulic oil tank A70. The hydraulic oil pumped out by the hydraulic pump A is connected to the hydraulic piston cylinder A42 via a pressure oil pipe A. The hydraulic piston cylinder A42 is connected to the hydraulic oil tank A70 via a return oil pipe A. The top of the pump motor A69, the top of the hydraulic oil tank A70, and the top of the hydraulic piston cylinder A42 are all lower than the top edge of the groove wall A71 of the strip groove 4.

[0069] The hydraulic piston cylinders A42 are symmetrically distributed at the bottom of the strip groove 4. The telescopic rod B66 of the hydraulic piston cylinder A42 extends downward. The bottom end of the telescopic rod B66 is fixedly connected to the slide A28. The pressure oil pipes A of each hydraulic piston cylinder A42 are connected in parallel to each other and then connected to the hydraulic pump A. The return oil pipes A of each hydraulic piston cylinder A42 are connected in parallel to each other and then connected to the hydraulic oil tank A70.

[0070] The hydraulic piston cylinder A42 is fixedly connected to the outer side of the side wall A71 of the strip groove 4 via the connecting plate 43.

[0071] The bottom surface of the slide block A28 is provided with a slide groove A29 that corresponds to and matches the strip track 22.

[0072] The slide block A28 or slide groove A29 is provided with locking bolts A for locking and fixing with the strip track 22.

[0073] The rib plate placement rack 5 includes two parallel strip-shaped base plates 73, which are respectively arranged along the extension direction of the strip groove 4. The corresponding ends of the two strip-shaped base plates 73 are fixedly connected by end plates 74. The distance between the two strip-shaped base plates 73 is greater than the length of the feeding trough 6 provided in the strip groove 4. The two strip-shaped base plates 73 are respectively located on two opposite sides of the photoelectric sensor B49. The top surfaces of the two strip-shaped base plates 73 are respectively provided with an equal number of partition plates 76 distributed at equal intervals along the extension direction. The thickness of the partition plates 76 is equal to the thickness of the trough wall B of the feeding trough 6. Adjacent partition plates 76 of the same strip-shaped base plate 73 form a rib plate placement groove 77 with a groove width matching the thickness of the rib plate 110. The positions of the rib placement grooves 77 of each strip base plate 73 correspond one-to-one. The bottom of each strip base plate 73 is provided with a rack 75 for transmission connection with the strip groove 4. A limiting plate 78 is fixedly provided on the top surface of one strip base plate 73 away from the edge of the other strip base plate 73. The limiting plate 78 is fixedly connected to the end plate 74 and the partition plate 76 of the strip base plate 73. The end of the rib placement groove 77 of the other strip base plate 73 away from the limiting plate 78 is open. The distance between the limiting plate 78 and the end of the rib placement groove 77 of the other strip base plate 73 facing the limiting plate 78 is less than the bottom length of the rib 110. The bottom of the end plate 74 located between the strip base plates 73 is provided with a reflector B.

[0074] The transition groove 86 formed between the end plate 74 and the partition plate 76 closest to the end plate 74 has a width smaller than the thickness of the stiffener 110.

[0075] Between the end plates 74 furthest from the limiting plate 78, at a position corresponding to the partition plate 76, a rib contact rod C79 is also fixed vertically and adjustablely, horizontally arranged along the extension direction of the strip base plate 73. Both ends of the rib contact rod C79 pass through the vertical groove A80 of the partition plate 76 and are detachably fixedly connected to the vertical groove B84 of the end plate 74. The bottom of the rib 110 placed in the rib placement groove 77 contacts the bottom of the groove 77 and the rib contact rod C79, and the end facing the limiting plate 78 contacts the limiting plate 78. When the rib 110 is placed... When the frame 5 is connected to the strip groove 4, the end face of the stiffener 110 that contacts the limiting plate 78 is on the same plane as the end face of the flange 103 at the end of the tapered connector A2 that faces away from the tapered connector A2. The top of the stiffener 110 is parallel to the bottom of the outer wall of the pipe section 102 at the axial position. When the stiffener 110 of the stiffener placement frame 5 is conveyed by the strip groove 4 to the position directly below the axial position of the pipe section 102, the top of the end face of the stiffener 110 that contacts the limiting plate 78 is in close contact with the bottom of the end face of the flange 103 at the end of the tapered connector A2 that faces away from the tapered connector A2.

[0076] The stiffener contact rod C79 includes a core rod B82 whose two ends are fixedly connected to the corresponding end plates 74. The length of the core rod B82 is greater than the distance between the opposite end faces of the end plates 74 at both ends of the stiffener placement frame 5. The outer side wall of the portion of the core rod B82 located between the end plates 74 is covered with a ceramic sleeve B83. The groove width of the vertical groove A80 matches the diameter of the ceramic sleeve B83, and the groove width of the vertical groove B84 matches the diameter of the core rod B82. The vertical groove A80 extends upward through the top of the partition plate 76.

[0077] The sidewalls of the core rod B82 extending from both ends of the ceramic sleeve B83 are provided with external threads. The part of the core rod B82 extending from the end plate 74 is connected to the nut B81 through the external thread and is fixedly connected to the end plate 74.

[0078] The end plate 74 is provided with a lifting opening 87 in the middle and between the strip bottom plates 73. The end plate 74 is provided with a lifting rod 85 above and below the lifting opening 87.

[0079] The welding device includes a slide B7 that is movably and fixedly connected to the strip track 22. The slide B7 has side seats 31 fixedly connected to each side of the strip track 22 via side frames 96. The side seats 31 are respectively higher than the slide B7. The spot welding robot 8 is fixedly connected to the top surface of the slide B7. The full welding robot A9 and the full welding robot B10 are respectively fixedly connected to the top surface of the side seat 31 on their respective sides. The bottom surface of the slide B7 is provided with a sliding groove B32 that is matched and connected to the strip track 22.

[0080] The spot welding robot 8, full welding robot A9, and full welding robot B10 all have the same structure, including a robot mounting base 88. A revolution drive motor 89 is fixed at the center of the top surface of the robot mounting base 88. The revolution output axis of the revolution drive motor 89 extends upward and is fixedly connected to one end of the revolution swing arm 90. A rotation drive motor 91 is fixed to the bottom of the other end of the revolution swing arm 90. The rotation output axis of the rotation drive motor 91 extends upward and is rotatably connected to the revolution swing arm 90. After extending upward from the revolution swing arm 90, the rotation output axis is fixedly connected to the bottom of the bottom rod of the robot arm 94. The bottom rod of the robot arm 94 and the revolution swing arm 90 are rotatably connected around the axis of the rotation output axis. A welding torch 95 is detachably fixedly connected to the gripping end of the gripping arm of the robot arm 94.

[0081] The bottom of the self-rotation drive motor 91 is fixedly connected to a slider 92. The top edge of the robot mounting base 88 is fixedly provided with an annular guide rail 93 at the position corresponding to the sliding trajectory of the slider 92. The annular guide rail 93 is coaxially arranged with the revolution output shaft of the revolution drive motor 89. The bottom of the slider 92 is provided with a matching arc groove corresponding to the annular guide rail 93. The bottom surface of the slider 92 is in contact with the top surface of the base 88.

[0082] The slide block B7 or slide groove B32 is provided with locking bolts B for locking and fixing with the strip track 22.

[0083] The pipe section rotation motor 11 is fixed to the support base 13 via the support frame A12, and the support base 13 is detachably fixed to one end of the strip base 1 via the sliding limit frame A14.

[0084] The bearing seat 21 is fixed to the slide C24 by the support frame B23. The bottom surface of the slide C24 is provided with a sliding groove C26 that corresponds to and matches the strip track 22. The slide C24 or the sliding groove C26 is provided with a locking bolt C27 for locking and fixing with the strip track 22.

[0085] The end of the strip base 1 away from the rotating motor 11 of the pipe section is also detachably fixedly connected to a sliding limit frame B25.

[0086] The strip base 1 is also provided with a pipe section lifting device between the welding device and the tapered connector B3 for connecting with the inner wall of the end of the pipe section 102. The strip track 22 of the pipe section lifting device is adjustablely fixedly connected to the strip base 1 along the extension direction of the strip base 1.

[0087] The pipe section lifting device includes a slide D33, and a horizontally arranged lifting base plate 34 is movably connected above the slide D33. The four corners of the top surface of the lifting base plate 34 are respectively provided with support wheels 35 whose wheel surface taper matches the side wall of the pipe section 102. The shafts 39 of the support wheels 35 extend coaxially from the two ends of the support wheels 35. The shafts 39 are rotatably connected to the support frame 36, and the support frame 36 is fixedly connected to the top surface of the lifting base plate 34.

[0088] The lifting base plate 34 is connected to the slide D33 by a hydraulic piston cylinder B37 for vertical adjustment. A hydraulic oil tank B100 is fixed on the slide D34. A pump motor B38 is also fixed in the hydraulic oil tank B100. The output shaft of the pump motor B38 extends into the hydraulic oil tank B100 and drives the hydraulic pump B fixed in the hydraulic oil tank B100. The hydraulic oil pumped out by the hydraulic pump B is connected to the hydraulic piston cylinder B37 through the pressure oil pipe B. The hydraulic piston cylinder B37 is connected to the hydraulic oil tank B100 through the return oil pipe B.

[0089] The hydraulic piston cylinders B37 are symmetrically distributed at the four corners of the top surface of the slide D33. The telescopic rods C101 of the hydraulic piston cylinders B37 extend upwards, and the top of the telescopic rods C101 are fixedly connected to the bottom surface of the lifting base plate 34. The pressure oil pipes B of each hydraulic piston cylinder B37 are connected in parallel to each other and then connected to the hydraulic pump B. The return oil pipes B of each hydraulic piston cylinder B37 are connected in parallel to each other and then connected to the hydraulic oil tank B100.

[0090] The top of the facing surfaces of the support frame 36 corresponding to the axles 39 at both ends of the support wheel 35 are respectively provided with axle placement grooves 40 that match the axles 39, and the top of the axle placement grooves 40 extends upward through the top of the support frame 36.

[0091] The support rollers 35 are axially limited between the support frames 36 connected to the shafts 39 at both ends.

[0092] The bottom of the slide D33 has multiple sets of matching rollers B97 on both sides corresponding to the strip track 22. The rim of the roller B97 is coaxial with the edge of the strip track 22 and has a rim protrusion B99. The slide D33 achieves lateral positioning with the strip track 22 through the rim protrusion B99.

[0093] The slide D33 is fixedly equipped with a mobile drive motor 98 that is connected to at least one set of rollers B97.

[0094] When the pipe section 102 is a cylindrical tubular structure, the wheel surface taper of the supporting wheel 35 is 0.

[0095] like Figure 20It is understood that the stiffening plate 110 includes a side wall surface A112 for connecting the flange 103 to the end face facing the pipe section 102 and a top wall surface 114 for connecting the side wall of the pipe section 102. The connection between the side wall surface A112 and the top wall surface 114 is provided with a stress-relieving concave wall surface 115. The bottom of the stiffening plate 110 also includes a horizontal bottom wall surface 111 connected to the side wall surface A112. The bottom of the stiffening plate 110, on the side of the horizontal bottom wall surface 111 away from the side wall surface A112, is provided with an inclined bottom wall surface 113. The inclined bottom wall surface 113 is inclined upward along the direction away from the side wall surface A112. The end of the inclined bottom wall surface 113 away from the side wall surface A112 is connected to the end of the top wall surface 114 away from the side wall surface A112 through a side wall surface B.

[0096] Combination Figures 1-22 The specific steps for welding the end flange stiffening plates of ultra-high voltage steel pipe transmission towers using the automatic welding machine described in this application are as follows.

[0097] The preparation work for the automatic welding machine of this application before welding includes the following steps: First, move the tapered connector B3 along the strip track 22 away from the tapered connector A2 to its furthest position. Then, move the pipe section lifting device along the strip track 22 to the middle position between the tapered connector A2 and the tapered connector B3. Move the welding device and the stiffener plate loading device along the strip track 22 away from the tapered connector A2, so that there is enough space between the stiffener plate loading device and the tapered connector A2 to allow the flange 103 of the pipe section 102 facing the tapered connector A2 to be adjusted along the strip track 22. Then, lift the pipe section 102, with flanges 103 welded and fixed at both ends and stiffener plates 110 to be welded, and place it on the pipe section lifting device so that the pipe section 102 faces the tapered connector A2. The flange 103 at one end of the tapered connector A2 is located between the tapered connector A2 and the stiffener loading device; then the lifting device is separated from the pipe section 102 placed on the pipe section lifting device. The lifting base plate 34 of the pipe section lifting device is moved up and down by the extension and retraction of the telescopic rod C101 of the hydraulic piston cylinder B37 to adjust the pipe section 102 to be coaxial with the tapered connector A2 and the tapered connector B3, and the pipe section 102 is moved towards the tapered connector A2 until the inner wall of the flange 103 facing the tapered connector A2 contacts the tapered connector A2. Then the tapered connector B3 moves towards the pipe section 102 so that the pipe section 102 is clamped and fixed by the tapered connector A2 and the tapered connector B3; the operator The locating pins 105 are inserted into the mounting holes 104 of the flange 103, which is connected to the tapered connector A2, and the limiting ring 106 of the locating pins 105 is made to fit against the end face of the flange 103 facing away from the tapered connector B3. Since the position to be welded to the stiffener 110 is the middle position of two adjacent mounting holes 104, the number of stiffeners 110 to be welded to the flange 103 and the included angle A between two adjacent stiffeners 110 are calculated based on the number of mounting holes 104 on the flange 103. The angle B between the swing adjusting rod 19 and the vertical direction is adjusted to half of the included angle A by rotating the arc strip 18 and the circular boss 16. Finally, the locking bolt D20 is used to secure the angle B. The arc-shaped strip 18 is fixed to the circular boss 16, and the photoelectric sensor A17 is adjusted along the swing adjustment rod 19 until the distance between the photoelectric sensor A17 and the axis of the pipe section 102 is equal to the distance between the axis of the mounting hole 104 and the axis of the pipe section 102. Then the photoelectric sensor A17 is fixed to the swing adjustment rod 19. Then the operator places the stiffening plates 110 that need to be welded and fixed in sequence into the stiffening plate placement groove 77 of the stiffening plate placement frame 5, so that the horizontal bottom wall surface 111 of the stiffening plate 110 contacts the bottom of the groove of the stiffening plate placement groove 77 with the limiting upright plate 78, the side wall surface A112 of the stiffening plate 110 contacts the limiting upright plate 78, and the inclined bottom wall surface 113 of the stiffening plate 110 contacts the stiffening plate contact rod C79.Then, the stiffener plate placement frame 5, filled with stiffener plates 110, is placed on the end of the vertical groove 4 on the same side as the full welding robot A9 relative to the pipe section 102. The rack 75 at the bottom of the stiffener plate placement frame 5 is connected to the drive wheel 47 of the vertical groove 4. The wheel rim protrusions A48 of the rollers A46 on both sides of the vertical groove 4 contact and are laterally limited with the back side bottom edge of the strip bottom plate 73 of the stiffener plate placement frame 5. In addition, the side of the limiting plate 78 of the stiffener plate placement frame 5 faces the flange 103 connected to the tapered connector A2. Then, the vertical groove 4 is adjusted and moved along the strip track 22 so that the side wall A112 of the stiffener plates 110 placed in the stiffener plate placement frame 5 on the vertical groove 4 and the end face of the flange 103 connected to the tapered connector B3 are located at the end of the tapered connector B3. After being placed on the same plane, the rib plate 110 is locked and fixed to the strip track 22 by locking bolt A; and the height of the vertical groove 4 is adjusted up and down by the extension and retraction of the extension rod B66 of the hydraulic piston cylinder A42 so that when the rib plate 110 is conveyed to the pipe section 102 directly below through the vertical groove 4, the top of the side wall A112 of the rib plate 110 is in contact with the end face of the flange 103 connected to the tapered connector A2 facing the tapered connector B3, and the top height of the rib plate placement frame 5 is lower than the bottom height of the flange 103 connected to the tapered connector A2; then, the welding device is adjusted and moved along the strip track 22 so that the spot welding robot 8, the full welding robot A9, and the full welding robot B10 can all weld the rib plate 110 connected to the flange 103 connected to the tapered connector A2. After welding, the welding is secured to the strip track 22 by locking bolt B. Based on the axial height of the pipe segment 102 connected by tapered connectors A2 and B3, and the number of welding ribs 110 required, the positions of the ribs 110 for the full welding robots A9 and B10 are set. The number of ribs 110 between each of the full welding robots A9 and B10 and the spot welding robot 8 is calculated. This allows control over the number of times the lifting cylinder 45 needs to be raised and the number of welding operations required by each of the spot welding robot 8, full welding robot A9, and full welding robot B10. The full welding robots A9 and B10 are delayed compared to the spot welding robot 8 in their welding operations. The number of times the welding process is performed, and the number of times the full welding robots A9 and B10 still need to perform full welding after the spot welding robot 8 completes all spot welding of the stiffener 110 at one end of the pipe segment 102; when the height of the axis of the pipe segment 102 connected by the tapered connector A2 and the tapered connector B3 from the ground is less than or equal to 1.5 meters, the full welding robots A9 and B10 respectively weld the lower edge of the stiffener 110 that has rotated to its side; when the height of the axis of the pipe segment 102 connected by the tapered connector A2 and the tapered connector B3 from the ground is greater than or equal to 1.7 meters, the full welding robots A9 and B10 respectively weld the upper edge of the stiffener 110 that has rotated to its side.When the height of the axis of pipe segment 102 connected by tapered connectors A2 and B3 from the ground is within the range of 1.5 meters to 1.7 meters, according to the actual situation, full welding robots A9 and B10 are set to weld the upper or lower edge of the stiffening plate 110 that has rotated to its current position. (For example, when there are 6 stiffening plates evenly distributed between the flange 103 at one end of pipe segment 102 and the end of pipe segment 102, full welding robots A9 and B10 respectively perform full welding on the stiffening plate 110 that has rotated to a position above the axis of pipe segment 102 and forms a 30-degree angle with the horizontal plane where the axis of pipe segment 102 is located. Although the height of the axis of pipe segment 102 from the ground is less than 1.7 meters, due to...) When the stiffening plate 110 is fully welded, it tilts upwards along the axis away from the pipe section 102. Therefore, the full welding robots A9 and B10 can still choose to weld the upper edge of the stiffening plate 110 located at the full welding processing position. In this case, the full welding robot A9 performs the first full welding process after the spot welding robot completes two spot welding processes and performs the third spot welding process. The full welding robot B10 performs the first full welding process after the spot welding robot completes four spot welding processes and performs the fifth spot welding process. (Spot welding robot 8, full welding robot A9, and full welding robot B all perform six welding processes). This minimizes the damage to the eyes of surrounding personnel caused by the arc light generated during full welding.

[0098] After the pre-welding preparations are completed, the automatic welding machine of this application includes the following steps when performing welding: First, the rib plate feeding motor 30 starts, thereby driving the rib plate placement frame 5 to move the placed rib plate 110 from one end of the vertical groove 4 to the other. When the photoelectric sensor B49 receives the light signal reflected by the reflector B at the bottom of the end plate 74 between the strip base plates 73 of the rib plate placement frame 5 (the intensity of the light signal reflected by the reflector B is comparable to the intensity of the light signal emitted by the photoelectric sensor B49, and much greater than the intensity of the light signal reflected by other parts such as the bottom of the rib plate 110 placed on the rib plate placement frame 5, the bottom of the pipe section 102, or the bottom of the rib plate 110 welded to the pipe section 102), the rib plate feeding motor 30 stops rotating. At this time, the end plate 74 reflecting the light signal is exactly above the feeding trough 6 of the vertical groove 4. Simultaneously, the pipe section rotation motor 11 starts (if the photoelectric sensor A17 has already received the light signal reflected by the reflector A107, the pipe section rotation motor 11 does not start, and proceeds directly to the steps after the photoelectric sensor A17 receives the light signal reflected by the reflector A107); after the pipe section rotation motor 11 starts, it drives the pipe section 102 to rotate around the axis, and also drives the flange 103 and the positioning pin 105 fixed by the mounting hole 104 of the flange 103 to rotate. When the photoelectric sensor A17 receives the light signal reflected by the reflector A107 (the intensity of the light signal reflected by the reflector A107 is comparable to the intensity of the light signal emitted by the photoelectric sensor A17, and much greater than the intensity of the light signal emitted by the other parts of the positioning pin 105 or the flange 107), (Intensity of the reflected light signal from 03), the pipe section rotation motor 11 pauses rotation. At this time, the vertical plane where the axis of flange 103 is located and the axis of symmetry of the two adjacent positioning pins 105 at the bottom of flange 103 are in the same vertical plane, which is the position of the stiffener 110 to be welded. At the same time, the stiffener feeding motor 30 also restarts. After the stiffener feeding motor 30 restarts, it drives the stiffener placement frame 5 to move the placed stiffener 110. When the photoelectric sensor B49 receives the light signal reflected from the bottom of the stiffener 110 placed on the stiffener placement frame 5 (the intensity of the light signal reflected from the bottom of the stiffener 110 is between the intensity of the light signal reflected from the reflector B and the intensity of the light signal reflected from the bottom of pipe section 102 or the stiffener welded to pipe section 102), The light signal reflected from the bottom of plate 110 and other parts is at an intermediate intensity. The rib plate feeding motor 30 stops rotating. At this time, the rib plate 110 reflecting the light signal is located directly above the feeding trough 6 of the vertical trough 4. At the same time, the lifting cylinder 45 starts to extend the telescopic rod A56 upward. The telescopic rod A56 of the lifting cylinder 45 extends upward and moves the feeding trough 6 upward until it contacts the rib plate 110 placed on the rib plate placement frame 5 and located directly above the feeding trough 6. The rib plate 110 is lifted upward so that it moves upward away from the corresponding rib plate placement trough 77 until the top wall surface 114 and side wall surface 112 of the rib plate 110 contact and fix the connection between the pipe section 102 and the flange 103 fixed to the tapered connector A2.During the pre-welding preparation process, the vertical groove 4 is adjusted and moved along the horizontal track 22 until the side wall surface A112 of the stiffener 110 placed in the stiffener placement frame 5 on the vertical groove 4 is aligned with the end face of the flange 103 connected to the tapered connector A2 facing the tapered connector B3, and then fixed. Therefore, during the upward movement of the stiffener 110 by the loading chute 6, the side wall surface A112 of the stiffener 110, which is moved upward by the loading chute 6, will always be in contact with the end face of the flange 103. Even during the pre-welding preparation process, when the vertical groove is adjusted and moved along the horizontal track 22, there is still a slight gap between the side wall surface A112 of the stiffener 110 placed in the stiffener placement frame 5 on the vertical groove 4 and the end face of the flange 103 connected to the tapered connector A2 facing the tapered connector B3, and they are not aligned with the same plane. In terms of fixation, during the upward movement of the rib plate 110 in the feeding trough 6, when the rib plate 110 moves upward and leaves the limiting plate 78 of the rib plate placement groove 77 on the side closest to the flange 103, since the rib plate 110 is not limited in the direction parallel to the axis of the pipe section 102 at this time, and since the rib plate contact rod A57 and rib plate contact rod B58 in the feeding trough 6 are in contact with the horizontal bottom wall surface 111 and the inclined bottom wall surface 113 of the rib plate 110 respectively, the rib plate 110 will move downward and towards the flange 103 end of the tapered connector A2 under the action of gravity, until the side wall surface A112 of the rib plate 110 contacts and limits the end face of the flange 103, and then moves upward again while always adhering to the end face of the flange 103 until the top wall surface of the rib plate 110 contacts and is fixed to the bottom of the pipe section 102.

[0099] Then, the spot welding robot 8 controls its welding torch 95 to spot weld and fix the top wall surface 114 and the two sides of the side wall surface 112 of the stiffening plate 110 to the corresponding pipe section 102 and flange 103, respectively. After completing the spot welding, the spot welding robot 8 controls the welding torch 95 to return to the starting position. Then, the lifting cylinder 45 starts to retract the telescopic rod A56 downwards. When the lifting cylinder 45 starts to retract the telescopic rod A56 downwards to the starting position, the pipe section rotation motor 11 starts again; after the pipe section rotation motor 11 starts again, it drives... The moving pipe section 102 rotates around its axis, causing the stiffening plate 110, which completes the spot welding at the bottom of the pipe section 102, to rotate from bottom to top toward the side of the full welding robot A9. This also drives the flange 103 and the positioning pin 105 fixed to the mounting hole 104 of the flange 103 to rotate. When the photoelectric sensor A17 receives the light signal reflected by the reflector A107 again, the pipe section rotation motor 11 stops rotating again. At this time, the vertical plane where the axis of the flange 103 is located and the flange 103 rotates through the adjacent mounting through hole 104 are at an angle. The axes of symmetry of the two adjacent positioning pins 105 at the bottom are located in the same vertical plane, which is the position of the stiffening plate 110 to be welded adjacent to the stiffening plate 110 that has been spot-welded previously. At the same time, the stiffening plate feeding motor 30 starts again. After the stiffening plate feeding motor 30 starts again, it drives the stiffening plate placement frame 5 to move the placed stiffening plate 110. When the photoelectric sensor B49 receives the light signal reflected from the bottom of the stiffening plate 110 placed on the stiffening plate placement frame 5 again, the stiffening plate feeding motor 30 stops rotating. At this time, the rib plate 110 reflecting the light signal is located directly above the feeding trough 6 of the vertical trough 4. The rib plate 110 and the rib plate 110 that has just been spot-welded are adjacent to each other in the rib plate placement frame 5. At the same time, the lifting cylinder 45 is activated to extend the telescopic rod A56 upward. Repeat the above steps until the spot welding of the rib plate 110 is completed. Until all the rib plates 110 that need to be welded at the connection between the pipe section 102 and the end flange 103 have been spot-welded, the rib plate feeding motor 30, the lifting cylinder 45 and the spot welding robot 8 no longer work.

[0100] When the number of spot welding operations completed by the spot welding robot 8 reaches the number of delayed welding operations completed by the full welding robot A9, while the spot welding robot 8 is performing spot welding, the full welding robot A9 controls its welding torch 95 to perform full welding on the corresponding edge of the rib plate 110 that has already been spot welded, and the pipe section 102 and flange 103. After completing spot welding, the spot welding robot 8 and the full welding robot A9, after completing full welding, control their respective welding torches 95 to return to the starting position and repeat the previous operation, so that the spot welding robot 8 can perform spot welding on the rib plate 110 at the corresponding position and the full welding robot A9 can perform full welding on the rib plate 110 at the corresponding position again. When the number of spot welding operations completed by the spot welding robot 8 reaches the number of delayed welding operations completed by the full welding robot B10, while the spot welding robot 8 is performing spot welding... Simultaneously, the full welding robot A9 controls its welding gun 95 to perform full welding on the same side edge of the rib plate 110 that has already been spot welded at the corresponding position, and on the same side edge of the pipe section 102 and flange 103. The full welding robot B10 controls its welding gun 95 to perform full welding on the other side edge of the rib plate 110 that has already been fully welded on one side at the corresponding position, and on the other side edge of the pipe section 102 and flange 103. After the spot welding is completed, the spot welding robot 8, the full welding robot A9, and the full welding robot B10 control their respective welding guns 95 to return to the starting position and repeat the previous operation, so that the spot welding robot 8 can perform spot welding on the rib plate 110 at the corresponding position, the full welding robot A9 can perform full welding on the rib plate 110 at the corresponding position, and the full welding robot B10 can perform full welding on the rib plate 110 at the corresponding position.

[0101] After the stiffening plates 110 that need to be welded at the connection between pipe segment 102 and end flange 103 have been spot-welded, the pipe segment rotation motor 11 starts again to drive the pipe segment 102 to rotate around the axis. During the process of rotating the stiffening plates 110 at the bottom of the pipe segment 102 from bottom to top towards the full welding robot A9, when the photoelectric sensor A17 receives the light signal reflected by the reflector A107 again, the pipe segment rotation motor 11 stops rotating again. The full welding robot A9 controls its welding gun 95 to connect the already spot-welded stiffening plates 110 at the corresponding positions to the pipe segment 102 and... Flange 103 undergoes full welding on one side edge. Full welding robot B10 controls its welding gun 95 to perform full welding on the stiffening plate 110, which has already completed full welding on one side edge, and the other side edge of pipe section 102 and flange 103. After the full welding is completed, full welding robot A9 and full welding robot B10 control their respective welding guns 95 to return to the starting position and repeat the previous operation so that full welding robot A9 can perform full welding on the stiffening plate 110 at the corresponding position and full welding robot B10 can perform full welding on the stiffening plate 110 at the corresponding position again.

[0102] After the stiffening plates 110 that need to be welded at the connection between pipe segment 102 and flange 103 have all been fully welded on the same side edge, the pipe segment rotation motor 11 starts again to drive the pipe segment 102 to rotate around the axis. During the process of the stiffening plates 110 with spot welding at the bottom of the pipe segment 102 rotating from bottom to top towards the full welding robot A9, when the photoelectric sensor A17 receives the light signal reflected by the reflector A107 again, the pipe segment rotation motor 11 stops rotating again. The full welding robot B10 controls its welding gun 95 to perform full welding on the stiffening plates 110 with one side edge already fully welded at the corresponding position, and the other side edge of the pipe segment 102 and flange 103. After the full welding is completed, the full welding robot B10 controls its welding gun 95 to return to the starting position and repeats the previous operation so that the full welding robot B10 can perform full welding on the stiffening plates 110 at the corresponding position again.

[0103] Once the stiffening plates 110 required for welding at the connection between pipe section 102 and flange 103 have been fully welded on both sides, preparations can be made for welding the stiffening plates 110 at the connection between the other end flange 103 of pipe section 102. The steps are as follows: First, loosen the locking bolts A and B of the welding device and the stiffener plate loading device respectively, and move them along the strip track 22 away from the tapered connector A2, so that there is enough space between the stiffener plate loading device and the tapered connector A2 to allow the flange 103 of the pipe section 102 facing the tapered connector A2 to be adjusted along the strip track 22; then loosen the locking bolt C27, and move the tapered connector B3 along the strip track 22 away from the tapered connector A2 until it is separated from the pipe section 102 and makes contact with the sliding limit frame B25; then, drive the pipe section lifting device with the moving drive motor 98 to move the pipe section 102 along the strip track 22 away from the tapered connector A2 until the flange 103 of the pipe section 102 after the stiffener plate 110 welding is separated from the tapered connector A2, and continue to move until the pipe section lifting device is located at the strip track 22. The pipe section 102 is positioned at the middle of the shaped track 22. After the pipe section 102 is lifted by the lifting device and separated from the pipe section support device, the pipe section 102 is rotated 180 degrees around the vertical axis, so that the flange 103 with the welded stiffener 110 faces the tapered connector B3, and the flange 103 without the welded stiffener 110 faces the tapered connector A2. Then, the support wheels 35 at both ends of the pipe section support device are swapped, and the tapered wheel surface of the swapped support wheel 35 must be matched with the side wall of the pipe section 102 again during installation. Then, the pipe section 102 is placed on the pipe section support device and the lifting device is separated from the pipe section 102. Then, the steps after the pipe section 102 is placed on the pipe section support device and separated from the lifting device are repeated, so as to weld the stiffener 110 at the connection between the other end of the pipe section 102 and the flange 103.

[0104] During the normal welding process of stiffener 110, when the photoelectric sensor B49 receives the light signal reflected by the reflector B of the stiffener placement frame 5 connected to the vertical groove 4 and the light signal reflected by the placed stiffener 110, and then receives the light signal reflected by the reflector B again, the stiffener feeding motor 30 stops rotating again. This indicates that all stiffeners 110 on the stiffener placement frame 5 have been lifted by the feeding trough 6 and welded and fixed at the connection between the pipe section 102 and the flange 103, and there are no remaining stiffeners 110. At this time, the stiffener placement frame 5 needs to be removed from the vertical groove 4 and then placed back on the vertical groove 4 at the same starting position as before. The stiffener feeding motor 30 is then started again so that the stiffener placement frame 5 moves along the vertical groove 4 until the photoelectric sensor B49 receives the light signal reflected by the reflector B of the newly replaced stiffener placement frame 5. Then, the normal welding process continues as described above.

[0105] After the flanges at both ends of pipe section 102 have completed the welding of stiffening plates 110, first loosen the locking bolts A and B of the welding device and the stiffening plate loading device respectively, and move them along the strip track 22 away from the tapered connector A2, so that there is enough space between the stiffening plate loading device and the tapered connector A2 to facilitate the adjustment of the flange 103 of pipe section 102 facing the tapered connector A2 along the strip track 22; then loosen the locking bolt C27, and move the tapered connector B3 along the strip track 22 towards the tapered connector A2 until it is separated from pipe section 102 and makes contact with the sliding limit frame B25; then move the flanges along the strip track 22 away from the tapered connector A2 until it is in contact with the sliding limit frame B25; then move the flanges along the strip track 22 away from the tapered connector A2. The drive motor 98 drives the pipe section lifting device to move the pipe section 102 along the strip track 22 away from the tapered connector A2 until the flange 103 of the pipe section 102 with the stiffener 110 welded is separated from the tapered connector A2. Then, the pipe section lifting device is located in the middle of the strip track 22. Then, the pipe section 102 is lifted by the lifting device and transferred to the pipe section stacking or transfer area where the stiffener 110 welded has been completed. The previous steps are repeated to lift another pipe section 102 with stiffener 110 to be welded and to the automatic welding machine for welding.

[0106] The pipe section lifting device is not a necessary structure. For pipe sections 102 with shorter axial lengths, the pipe section lifting device can be directly removed. (First, disassemble the sliding limit bracket B25 from the strip base 1. Then, move the tapered connector B3 and the pipe section lifting device along the strip track 22 until one end of the tapered connector A2 separates from the strip base 1. Then, reconnect the tapered connector B3 to the strip track 22 of the strip base 1. Finally, fix the sliding limit bracket B25 back to the strip base 1.) And move the tapered connector B3 to contact the limiting clamp B25 (and move the tapered connector B3 to contact the limiting clamp B25). The operation is different from the above: after directly lifting the pipe section 102 with the lifting device, lift the end of the flange 103 of the stiffening plate 110 to be welded to connect with the tapered connector A2, then keep the pipe section 102 stationary with the lifting device, and move the tapered connector B3 along the strip track 22 to connect with the flange 103 at the other end of the pipe section 102, and clamp and fix the pipe section 102 coaxially. At this time, the lifting device and the tapered connector B3 are then moved to connect with the flange 103 at the other end of the pipe section 102. After separating pipe segment 102, the remaining steps are the same as described above. After the stiffening plate 110 at the connection of flange 103 at one end of pipe segment 102 is welded, the lifting device is connected to pipe segment 102, ensuring that pipe segment 102 remains in its current state. Then, the tapered connector B3 is moved along the strip track 22 until it contacts the sliding limit frame B25. Next, the lifting device rotates pipe segment 102 until it separates from tapered connector A2, and then rotates pipe segment 102 180 degrees around the vertical axis, thereby separating the pipe segment 102 from the tapered connector A2. After the flange 103 at the other end of pipe segment 102, where the stiffening plate 110 has not yet been welded, faces the tapered connector A2, the pipe segment 102 is hoisted to the flange 103 and connected to the tapered connector A2. Then, the pipe segment 102 is kept in place by the lifting device, and the tapered connector B3 is moved along the strip track 22 to the flange 103 where the stiffening plate 110 of the pipe segment 102 has been welded, and the pipe segment 102 is clamped and fixed coaxially. At this time, the lifting device is separated from the pipe segment 102, and the remaining steps are the same as above.

[0107] This application is also applicable to the welding of stiffening plates at flange connections of columnar or tapered steel pipes in other technical fields where flanges are provided at the ends.

[0108] The automatic stiffener welding machine can realize the automated continuous welding production of stiffeners at the flange connection of the pipe section end, which improves the welding efficiency and welding effect of stiffeners at the flange connection of the pipe section component end.

[0109] The photoelectric sensor A, which is mounted on the swing adjustment rod, is rotatably and adjustablely fixed to the pipe section rotation motor. The photoelectric sensor A is also adjustablely and movable along the swing adjustment rod. This allows for adjustment based on the flange size of different pipe section structures and the different welding quantities of stiffeners, thereby improving the applicability of the welding machine.

[0110] By using the adjustable and fixed tapered connector B along the strip track, the stiffener loading device, and the welding device, the stiffeners can be automatically welded at the end flange connections of pipe sections with different axial lengths, thus improving the applicability of the welding machine.

[0111] The hydraulic piston cylinder A and welding device of the stiffener loading device are respectively connected to welding guns of spot welding robot, full welding robot A and full welding robot B for welding. Thus, the loading height of the stiffener can be adjusted according to the different radial dimensions of the pipe section and the flange connection of the pipe section, as well as the spot welding and full welding position of the stiffener on the corresponding side edge, further improving the applicability of the welding machine.

[0112] The trough structure and corresponding rib plate placement rack of the rib plate feeding device enable the automated feeding of rib plates to be welded, which are pre-placed on the rib plate placement rack, to the bottom of the flange connection of the pipe section, facilitating automatic spot welding and fixing by the spot welding robot.

[0113] The feeding trough structure of the stiffener plate feeding device not only ensures that the stiffener plates placed on the stiffener plate placement rack are kept vertical and lifted upwards to the bottom of the flange connection with the pipe section, but also ensures that the stiffener plates are always in contact with the corresponding flange end face during the upward lifting process.

[0114] The stiffener contact rods A and B of the feeding trough ensure that the top surface of the supported stiffener is always parallel to the bottom of the pipe section side wall.

[0115] The stiffener contact rod B can be adjusted up and down and fixed to the feeding trough, thus adapting to different shapes of stiffeners required for fixing at the flange connection of different types of pipe sections, further improving the applicability of the stiffener feeding device.

[0116] By utilizing the photoelectric sensor B, the specific position that the stiffener placement frame has moved to under the action of the transmission wheel in the vertical slot can be determined based on the intensity of the received reflected light signal, and subsequent automated operations can be performed accordingly.

[0117] The rollers and wheel flange A on the vertical groove allow the stiffener placement frame to move more easily along the extension direction of the vertical groove, and limit the movement on both sides of the stiffener placement frame. This ensures that the stiffener to be spot welded can accurately correspond to the position of the loading groove, thus ensuring that the stiffener can be loaded smoothly.

[0118] The spot welding robot, full welding robot A, and full welding robot B are rotatably connected to the robot mounting base fixed to the revolution drive motor through the end of their respective revolution pendulums, and are further connected to the revolution pendulums around the vertical axis through the rotation drive motor. This can effectively improve the diversity of the welding range and welding angle of the spot welding robot, full welding robot A, and full welding robot B, and improve the welding effect and efficiency of the stiffener plate.

[0119] The stability of the spot welding robot, the full welding robot A, and the full welding robot B during their revolution adjustment is ensured by matching the annular guide rail on the robot mounting base with the arc-shaped groove on the bottom of the slider fixed to the bottom of the self-rotating drive motor.

[0120] The structure of the positioning pins connected to the mounting through holes of the flange of the stiffening plate to be welded ensures that the reflector A and the mounting through holes of the flange are set coaxially, and ensures that the distance between the reflector and the photoelectric sensor A is equal for each positioning pin fixed in the mounting through hole.

[0121] The anti-slip texture on the surface of the locating pin can improve the fixing effect between the locating pin and the mounting through hole, without increasing the difficulty or complexity of disassembling and assembling the locating pin and the mounting through hole.

[0122] The stress-relieving concave wall surface provided by the stiffener plate allows the stress generated at the connection between the pipe section and the flange during the welding of the stiffener plate to be released on the stress-relieving concave wall surface, thereby avoiding deformation at the connection between the pipe section and the flange during the welding of the stiffener plate, and thus facilitating continuous welding of the stiffener plate at the flange connection at the end of the pipe section.

[0123] By using the pipe section support device, it is possible to ensure that the pipe section will not bend downwards in the middle due to gravity during welding, thereby reducing the stress between the flanges connected by tapered connectors A and B and the pipe section and the welded stiffener, thus improving the welding effect of the stiffener and further improving the connection strength between the flange and the pipe section.

[0124] The height of the support rollers of the pipe section lifting device can be adjusted up and down according to the diameter of the pipe section by the action of the hydraulic piston cylinder B, thereby improving the applicability of the pipe section lifting device.

[0125] The axles at both ends of the support roller are placed in the axle placement grooves set on the top of the facing surfaces of the corresponding support frame, which facilitates the replacement of the support roller according to different cylindrical or conical pipe sections, different taper of conical pipe sections, and when welding stiffening plates at different end flange connections of conical pipe sections. This improves the applicability of the pipe section support device and the replacement efficiency of the support roller.

[0126] Slide B corresponds to the side seats fixed on both sides of the strip track, which are higher than slide B. The spot welding robot is fixed to slide B, and full welding robot A and full welding robot B are fixed to the side seats on their respective sides. This allows the slide B to be adjusted along the strip track so that the area for spot welding of the stiffening plate at the bottom of the pipe section is within the welding range of the spot welding robot. At the same time, the stiffening plate after spot welding can be rotated with the pipe section to the corresponding position and then within the welding range of full welding robot A and full welding robot B respectively.

[0127] Through the strip-shaped countersunk holes provided on the outer walls of the two opposite sides of the feeding trough, the axial length of the nut at one end of the inner angle bolt and the axial length of the matching nut A are both less than or equal to the depth of the strip-shaped countersunk hole, and the total length of the inner angle bolt is equal to the distance between the outer walls of the two opposite sides of the feeding trough, thereby avoiding interference when the inner angle bolt and its matching nut pass through the area between the strip bottom plates of the stiffener placement frame.

Claims

1. A gusset placement rack for a pipe section flange gusset welding machine, characterised in that: The system includes two parallel strip-shaped base plates (73), with corresponding ends of the two strip-shaped base plates (73) fixedly connected by end plates (74). The top surfaces of the two strip-shaped base plates (73) are each provided with an equal number of partition plates (76) distributed at equal intervals along the extending direction. The thickness of the partition plates (76) is equal to the thickness of the wall B of the feeding trough (6). Adjacent partition plates (76) of the same strip-shaped base plate (73) form a rib placement groove (77) with a groove width matching the thickness of the rib plate (110). The positions of the rib placement grooves (77) of the strip base plate (73) correspond one to one. The bottom of the strip base plate (73) is provided with a toothed rack (75). A limiting plate (78) is fixedly provided on the top surface of one strip base plate (73) away from the edge of the other strip base plate (73). The limiting plate (78) is fixedly connected to the end plate (74) and the partition plate (76) provided on the strip base plate (73). The end of the rib placement groove (77) of the other strip base plate (73) away from the limiting plate (78) is open.

2. The stiffener plate placement rack of the pipe section flange stiffener plate welding machine as described in claim 1, characterized in that: The transition groove (86) formed between the end plate (74) and the partition plate (76) closest to the end plate (74) has a width smaller than the thickness of the stiffener (110).

3. The stiffener plate placement rack of the pipe section flange stiffener plate welding machine as described in claim 1, characterized in that: Between the end plates (74) away from the limiting plate (78), at a position corresponding to the partition plate (76), there is a horizontally arranged rib contact rod C (79) that extends along the strip base plate (73). The two ends of the rib contact rod C (79) pass through the vertical groove A (80) provided in the partition plate (76) and are detachably fixed to the vertical groove B (84) provided in the end plate (74). The bottom of the rib (110) placed in the rib placement groove (77) contacts the bottom of the groove (77) and the rib contact rod C (79), and the end facing the limiting plate (78) contacts the limiting plate (78). When the rib (110) is placed, the rib placement groove (78) is in contact with the bottom of the groove (77) and the rib contact rod C (79). When the frame (5) is connected to the strip groove (4), the end face of the stiffener (110) that contacts the limiting plate (78) is on the same plane as the end face of the flange (103) of the tapered connector A (2) facing away from the tapered connector A (2), and the top of the stiffener (110) is parallel to the bottom of the outer wall of the pipe section (102) at the axis position. When the stiffener (110) of the stiffener placement frame (5) is conveyed by the strip groove (4) to the position directly below the axis position of the pipe section (102), the top of the end face of the stiffener (110) that contacts the limiting plate (78) is in close contact with the bottom of the end face of the flange (103) of the tapered connector A (2) facing away from the tapered connector A (2).

4. The gasket placement frame of a pipe section flange gasket welding machine as claimed in claim 3, characterized in that: The rib contact rod C (79) includes a core rod B (82) whose two ends are fixedly connected to the corresponding end plates (74). The length of the core rod B (82) is greater than the distance between the opposite end faces of the end plates (74) at both ends of the rib placement frame (5). The outer side wall of the part of the core rod B (82) located between the end plates (74) is covered with a ceramic sleeve B (83). The groove width of the vertical groove A (80) matches the diameter of the ceramic sleeve B (83). The groove width of the vertical groove B (84) matches the diameter of the core rod B (82). The vertical groove A (80) extends upward through the top of the partition plate (76).

5. The stiffener plate placement rack of the pipe section flange stiffener plate welding machine as described in claim 4, characterized in that: The core rod B (82) has external threads on the side walls extending from both ends of the ceramic sleeve B (83). The part of the core rod B (82) extending from the end plate (74) is connected to the nut B (81) through the external threads and is fixedly connected to the end plate (74).

6. The stiffener plate placement rack of the pipe section flange stiffener plate welding machine as described in claim 1, characterized in that: The end plate (74) is provided with a lifting opening (87) in the middle and between the strip bottom plate (73), and the end plate (74) is provided with a lifting rod (85) above and below the lifting opening (87).

7. The gasket placement frame of a pipe section flange gasket welding machine as claimed in claim 1, characterized in that: The distance between the limiting plate (78) and the rib placement groove (77) of another strip bottom plate (73) facing the end of the limiting plate (78) is less than the bottom length of the rib (110).

8. The stiffener plate placement rack of the pipe section flange stiffener plate welding machine as described in claim 1, characterized in that: The end plate (74) is provided with a reflector B at the bottom between the strip base plate (73).

9. The stiffener plate placement rack of the pipe section flange stiffener plate welding machine as described in claim 1, characterized in that: The strip base plates (73) are respectively arranged along the extension direction of the strip groove (4), the distance between the two strip base plates (73) is greater than the length of the feeding groove (6) provided in the strip groove (4), and the two strip base plates (73) are respectively located on the two opposite sides of the photoelectric sensor B (49).

10. The stiffener plate placement rack of the pipe section flange stiffener plate welding machine as described in claim 1, characterized in that: The racks (75) are used for transmission connection with the slots (4).

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