CN110744214A - Pipeline rib plate welding device and method - Google Patents
Pipeline rib plate welding device and method Download PDFInfo
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- CN110744214A CN110744214A CN201911011051.3A CN201911011051A CN110744214A CN 110744214 A CN110744214 A CN 110744214A CN 201911011051 A CN201911011051 A CN 201911011051A CN 110744214 A CN110744214 A CN 110744214A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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Abstract
The invention discloses a pipeline rib plate welding device and method. The device comprises a fixed end clamping device, a movable end clamping device, a manipulator operating system and a hydraulic lifting system; the fixed end clamping device is arranged at the fixed end, the movable end clamping device is arranged on the translational trolley, and the manipulator operating system is distributed at two stations at two ends of the pipeline workpiece; the welding method of the invention uses the welding device to synchronously control the visual system, the welding system and the clamping device, realizes the automatic operation of hoisting, moving, clamping, rotating and welding the workpiece, and realizes the double-station synchronous welding of the circumferential rib plates of the pipeline; can weld aiming at pipelines with different pipe lengths and pipe diameters.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a device and a method for welding a rib plate of a pipeline.
Background
The welding technology is the most basic, the most traditional and one of the most important processing technologies in the manufacturing industry, and is widely applied to various industries such as building engineering, mechanical manufacturing, electricians and electronics and the like. The pipeline rib plates are usually welded manually, and in the welding process, a large amount of manpower and material cost is consumed, and arc light, dust and the like are generated, so that certain influence is caused on the welding quality and the health of people.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a pipeline rib plate welding device and a pipeline rib plate welding method, which provide a semi-automatic solution for a pipeline circumferential rib plate welding task.
In order to achieve the technical purpose, the technical scheme of the invention is as follows:
a pipeline rib plate welding device comprises a fixed end clamping device, a movable end clamping device, a manipulator operating system and a hydraulic lifting system; the fixed end clamping device is arranged at the fixed end, the movable end clamping device is arranged on the horizontally-moving trolley, the manipulator operating system is distributed at two stations at two ends of the pipeline workpiece, and the hydraulic lifting system is positioned below the pipeline workpiece, wherein
The fixed end clamping device comprises a fixed end umbrella-shaped support frame, a fixed rotating motor and a fixed hydraulic system, wherein the fixed hydraulic system drives the umbrella-shaped support frame to open and close, and the fixed rotating motor drives the fixed end umbrella-shaped support frame to rotate;
the moving end clamping device comprises a trolley, a moving end umbrella-shaped support frame, a moving rotating motor and a moving hydraulic system, wherein the moving end umbrella-shaped support frame, the moving rotating motor and the moving hydraulic system are arranged on the trolley;
the manipulator operation system comprises a welding manipulator, a clamping manipulator, a line light source and a camera; the two welding manipulators are respectively corresponding to the two welding manipulators in position;
the hydraulic lifting system comprises a support frame, a guide pillar, a lifting hydraulic cylinder and a support vehicle; the lower end of the support frame is supported by a lifting hydraulic cylinder and a guide pillar, and the lifting hydraulic cylinder and the guide pillar are installed on the support vehicle.
Further, the fixed end umbrella-shaped support frame of the fixed end clamping device comprises a fixed end hydraulic cylinder, a fixed end long support rod connecting seat, a fixed end long support rod, a fixed end short support rod connecting seat and a fixed end self-adaptive plane, the fixed rotating motor is connected with the fixed rotating speed reducer, and an output shaft of the fixed rotating speed reducer is connected with a cylinder body of the fixed end hydraulic cylinder; the fixed end long support rod and the fixed end short support rod which are mutually hinged are uniformly distributed on the periphery of the fixed end hydraulic cylinder in pairs, the outer end of the fixed end long support rod is hinged with a fixed end self-adaptive plane, the inner end of the fixed end long support rod is hinged on an annular fixed end long support rod connecting seat on the fixed end hydraulic cylinder, and the inner end of the fixed end short support rod is hinged on the fixed end short support rod connecting seat on the fixed end hydraulic cylinder;
the moving end umbrella-shaped support frame of the moving end clamping device comprises a moving end hydraulic cylinder, a moving end long support rod connecting seat, a moving end long support rod, a moving end short support rod connecting seat and a moving end self-adaptive plane, the moving rotating motor is connected with the moving rotating speed reducer, and an output shaft of the moving rotating speed reducer is connected with a moving end hydraulic cylinder body; the mutual articulated long bracing piece of removal end and the short bracing piece of removal end evenly distributed in pairs in removal end pneumatic cylinder periphery, it articulates in removal end self-adaptation plane to remove the end long bracing piece outer end, remove end long bracing piece inner articulate on removing the end pneumatic cylinder annular removal end long bracing piece connecting seat, remove end short bracing piece inner articulate on removing the end pneumatic cylinder removal end short bracing piece connecting seat.
Furthermore, fixed rotatory reduction gear and removal rotatory reduction gear are turbine reducer, when realizing the speed reduction, support the integrated device and the pipe fitting is rotatory along circumference.
Furthermore, the fixed end long support rod connecting seat is combined into a ring shape by two semicircular components, 4 hinge connection bases are uniformly distributed on the fixed end long support rod connecting seat, and 4 fixed end long support rods and 4 fixed end short support rods are uniformly arranged on a vertical surface and a horizontal surface.
Furthermore, the trolley is a plate-shaped platform, more than 2 groups of wheels are arranged on two sides of the platform, and the wheels are arranged in the two C-shaped guide rails on the two sides; the trolley is provided with a vertical speed reducer, and an output shaft of the vertical speed reducer is connected with a gear; the gear is meshed with the rack; the rack is fixedly connected to the side surface of the C-shaped guide rail;
further, the manipulator operating system further comprises a lamp holder and a storage box, wherein the linear light source and the camera are installed on the lamp holder, and the position of the linear light source and the position of the camera can be adjusted according to the size of the pipeline workpiece.
Furthermore, the cross-sectional shape of support frame is the U type, guide pillar quantity is 4, evenly distributed is around hydraulic cylinder, but guide pillar and hydraulic cylinder are extending structure, and its expansion end all with the support frame rigid coupling.
Furthermore, rubber cushions are arranged on the surfaces of the fixed end self-adaptive plane and the moving end self-adaptive plane.
A pipeline ribbed plate welding method adopts the welding device to weld and comprises the following steps:
step 1: the device and the workpiece are prepared to be in place, the fixed end clamping device is arranged at the fixed end of one end station of the pipeline workpiece, the movable end clamping device is arranged on a trolley capable of translating, the trolley is positioned at the other end station of the pipeline workpiece, the hydraulic lifting system is positioned between the fixed end clamping device and the movable end clamping device and is lower than the mounting positions of the fixed end clamping device and the movable end clamping device, the pipeline workpiece with the known size is lifted to the hydraulic lifting system, and the stations at the two ends of the pipeline workpiece are both provided with manipulator operating systems;
step 2: the supporting frame of the hydraulic lifting system lifts the pipeline workpiece to a specified height and horizontally moves towards the fixed end until most of the umbrella-shaped supporting frame at the fixed end of the fixed end enters the inner side of the pipeline workpiece;
and step 3: the movable end clamping device moves horizontally towards the fixed end under the driving of a motor until most of the movable end umbrella-shaped support frame extends into the inner side of the pipeline workpiece;
and 4, step 4: adjusting the height of a support frame of a hydraulic lifting system to enable the axis of the pipeline workpiece and the axis of umbrella-shaped support frames at two ends to be close to an allowable range, starting a hydraulic pump of a fixed hydraulic system and a movable hydraulic system to enable the umbrella-shaped support frame at the fixed end of a fixed end clamping device and the umbrella-shaped support frame at the movable end of a movable end clamping device to tightly support the pipeline workpiece from the inside, closing the hydraulic pump, and descending the support frame of the hydraulic lifting system to a certain height;
and 5: the method comprises the following steps that a strip light is printed on a pipeline workpiece, a clamping manipulator captures a rib plate through visual recognition, the rib plate is placed on the strip light under the control of a computer, positioning is carried out through a visual system, a welding manipulator completes welding one side of the rib plate, a difference compensation calculation is carried out, welding is carried out on a welding seam on the back side of the rib plate, and after welding is completed, the welding manipulator and the clamping manipulator reset;
step 6: under the drive of a motor, a speed reducer is used for reducing speed to drive a fixed end umbrella-shaped support frame of a fixed end clamping device and a movable end umbrella-shaped support frame of a movable end clamping device to rotate, and after a pipeline workpiece is driven to rotate by a specified angle, the motor stops, and the next ribbed plate is polished, identified and positioned again to complete the welding of the next ribbed plate;
and 7: repeating the step 5 and the step 6 until all the ribbed plates are welded, resetting the mechanical arms at the two ends, lifting the support frame of the hydraulic lifting system to be in contact with the pipeline workpiece, contracting the umbrella-shaped support frame at the fixed end of the fixed end clamping device and the umbrella-shaped support frame at the movable end of the movable end clamping device under the driving of the hydraulic pump to be restored to the starting state, and lifting the pipeline workpiece away from the hydraulic lifting system;
and 8: and (4) hoisting the next pipeline workpiece to a support frame of the hydraulic lifting system, and repeating the steps to complete the welding process of all the rib plates.
The invention has the beneficial effects that:
the two ends of the welding device are provided with the vision system and the welding system for synchronous control, so that double-station synchronous welding of the circumferential rib plates of the pipeline is realized; the problem that a welding task can only be performed according to the length of a fixed rod is solved by arranging the fixed end clamping device and the movable end clamping device, and the movable end is driven by a gear rack so that the clamping device can weld pipelines with different pipe lengths; through the matching use of the short support rod, the long support rod and the hydraulic cylinder, the clamping device can weld rib plates for pipelines with different pipe diameters; the clamping device is pushed and pulled by using the hydraulic cylinder, so that the welding device can perform welding tasks on pipes with different pipe diameters; the support frame of the hydraulic lifting system is U-shaped, and can be positioned and supported aiming at pipelines with different shapes. The welding method provided by the invention has the advantages that the welding device is used for synchronously controlling the vision system, the robot welding system and the clamping device, so that the automatic operation of hoisting, moving, clamping, rotating and welding the workpiece is realized, the double-station synchronous welding of the circumferential rib plates of the pipeline is realized, and the welding automation and the production efficiency of the workpiece are obviously improved.
Drawings
FIG. 1 is a schematic structural diagram of a welding device in a pipeline rib plate welding device and method according to the present invention;
FIG. 2 is a schematic structural view of a fixed end clamping device of a welding device in the device and method for welding a rib plate of a pipeline according to the present invention;
FIG. 3 is a schematic structural diagram of an umbrella-shaped support frame at the fixed end of a welding device in the device and method for welding a rib plate of a pipeline according to the present invention;
FIG. 4 is a schematic view of a connecting seat structure of a long supporting rod at a fixed end of a welding device in the device and method for welding a rib plate of a pipeline according to the present invention;
FIG. 5 is a schematic structural diagram of a fixed end hydraulic cylinder and a fixed end short strut base of a welding device in the device and method for welding a rib plate of a pipeline according to the present invention;
FIG. 6 is a schematic structural view of a moving end clamping device of a welding device in the welding device and method for rib plates of a pipeline according to the present invention;
FIG. 7 is a schematic view of a rack and pinion transmission part of a moving end clamping device of a welding device in the welding device and method for rib plates of a pipeline according to the present invention;
FIG. 8 is a schematic structural diagram of a fixed end umbrella-shaped support frame of a welding device in the device and method for welding a rib plate of a pipeline according to the present invention;
FIG. 9 is a schematic structural diagram of a robot system of a welding device in the welding device and method for rib plates of pipelines according to the present invention;
FIG. 10 is a schematic structural diagram of a hydraulic lifting system of a welding device in the device and method for welding a rib plate of a pipeline according to the present invention;
the reference numbers in the figures are as follows:
1-fixed end clamping device; 101-stationary rotating machine; 102-fixed end motor coupling; 103-fixed rotary speed reducer; 104-fixed hydraulic system; 105-fixed end reduction coupling; 106-fixed end hydraulic cylinder; 107-fixed end long support rod connecting seat; 108-fixed end long support bar; 109-fixed end self-adaptive plane; 110-fixed end short support bar; 111-fixed end short support rod connecting seat; 2, a mobile end clamping device; 201 — moving the rotating electrical machine; 202-moving end motor coupling; 203-moving and rotating speed reducer; 204 — mobile hydraulic system; 205-a trolley; 206-C-type guide rail; 207-vertical reducer; 208-a gear; 209-rack; 210-moving end reduction coupling; 211-moving end hydraulic cylinder; 212-moving end long support rod connection seat; 213-moving end long support rod; 214-mobile end adaptation plane; 215-moving end short support bar; 216-moving end short support rod connection seat; 3-manipulator operation system; 301-welding robot; 302-clamping manipulator; 303-a lamp holder; 304-a storage box; 305-a line light source; 306-a camera; 4-a hydraulic lifting system; 401-a support frame; 402-guide pillars; 403-hydraulic lifting cylinder; 404-support vehicle.
Detailed Description
In order that the invention may be more clearly understood, the following detailed description of the embodiments of the invention is given with reference to the accompanying drawings and examples.
As shown in fig. 1-10, the pipeline rib plate welding device of the present invention includes a fixed end clamping device 1, a movable end clamping device 2, a manipulator operating system 3, and a hydraulic lifting system 4; the fixed end clamping device 1 is arranged at the fixed end, the movable end clamping device 2 is arranged on the translational trolley 205, and the manipulator operation system 3 is distributed at two stations at two ends of the pipeline workpiece; the hydraulic lifting system 4 is located in a position below the pipe work (possibly in a pit at a level below ground), wherein
The fixed end clamping device 1 comprises a fixed end umbrella-shaped support frame, a fixed rotating motor 101 and a fixed hydraulic system 104, wherein the fixed hydraulic system 104 drives the umbrella-shaped support frame to open and close, and the fixed rotating motor 101 drives the fixed end umbrella-shaped support frame to rotate;
the moving end clamping device 2 comprises a trolley 205, a moving end umbrella-shaped support frame arranged on the trolley 205, a moving rotating motor 201 and a moving hydraulic system 204, wherein the moving hydraulic system 204 drives the moving end umbrella-shaped support frame to open and close, and the moving rotating motor 201 drives the moving end umbrella-shaped support frame to rotate;
the manipulator operation system 3 comprises a welding manipulator 301, a clamping manipulator 302, a linear light source 305 and a camera 306; two welding manipulators 301 are provided, one fixed end is positioned at the fixed end clamping device 1, the other fixed end is arranged on the trolley 205, and two clamping manipulators 302 are respectively corresponding to the two welding manipulators 301 in position;
the hydraulic lifting system 4 comprises a support frame 401, a guide post 402, a lifting hydraulic cylinder 403 and a support vehicle 404; the lower end of the support frame 401 is supported by a lifting cylinder 403 and a guide post 402, and the lifting cylinder 403 and the guide post 402 are mounted on a support carriage 404.
As shown in fig. 2 to 5, the fixed end umbrella-shaped supporting frame of the fixed end clamping device 1 includes a fixed end hydraulic cylinder 106, a fixed end long supporting rod connecting seat 107, a fixed end long supporting rod 108, a fixed end short supporting rod 110, a fixed end short supporting rod connecting seat 111, and a fixed end adaptive plane 109, the fixed rotating electrical machine 101 is connected with the fixed rotating speed reducer 103 through a fixed end electrical machine coupler 102, an output shaft of the fixed rotating speed reducer 103 is connected with a cylinder body of the fixed end hydraulic cylinder 106 through a fixed end speed reducing coupler 105, specifically, a flange plate may be arranged at the bottom of the hydraulic cylinder 106, a plurality of screw holes are uniformly arranged, and the flange plate is; a fixed end long support rod 108 and a fixed end short support rod 110 which are hinged with each other are uniformly distributed at the periphery of the fixed end hydraulic cylinder 106 in pairs, the outer end of the fixed end long support rod 108 is hinged with a fixed end adaptive plane 109, the inner end of the fixed end long support rod 108 is hinged on an annular fixed end long support rod connecting seat 107 on the fixed end hydraulic cylinder 106, and the inner end of the fixed end short support rod 110 is hinged on a fixed end short support rod connecting seat 111 on the fixed end hydraulic cylinder 106;
as shown in fig. 6 to 8, the moving end umbrella-shaped support frame of the moving end clamping device 2 is the same as the fixed end umbrella-shaped support frame of the fixed end clamping device 1, the moving end umbrella-shaped support frame includes a moving end hydraulic cylinder 211, a moving end long support rod connecting seat 212, a moving end long support rod 213, a moving end short support rod 215, a moving end short support rod connecting seat 216, and a moving end adaptive plane 214, the moving rotating electrical machine 201 is connected with the moving rotating speed reducer 203 through a moving end electrical machine coupler 202, and the output shaft of the moving rotating speed reducer 203 is connected with the cylinder body of the moving end hydraulic cylinder 211 through a moving end speed reducing coupler 210; the removal end long support rod 213 and the removal end short support rod 215 that articulate each other evenly distributed in pairs in removing end pneumatic cylinder 211 periphery, it articulates to have removal end self-adaptation plane 214 to remove end long support rod 213 outer end, remove end long support rod 213 inner articulates on removing the end pneumatic cylinder 211 annular removal end long support rod connecting seat 212, remove end short support rod 215 inner articulates on removing the end pneumatic cylinder 211 removal end short support rod connecting seat 216.
The above-mentioned fixed hydraulic system 104 and the mobile hydraulic system 204 are well known in the art, and may include a hydraulic pump and a motor cooperating with each other, the hydraulic pump inlet and outlet pipes of the fixed hydraulic system 104 are respectively connected to the fixed end hydraulic cylinder 106, and the hydraulic pump inlet and outlet pipes of the mobile hydraulic system 204 are respectively connected to the mobile end hydraulic cylinder 211.
The fixed rotary speed reducer 103 and the movable rotary speed reducer 203 are turbine speed reducers, and support the whole device and the pipe fitting to rotate along the circumferential direction while realizing speed reduction. The turbine speed reducer has the advantages of large transmission ratio and accurate output rotation angle.
The fixed end long support rod connecting seat 107 is formed by combining two semicircular components into a ring shape, the two semicircular components can be connected in a conventional mode, for example, the two semicircular components are connected through bolts, 4 hinge connection bases are uniformly distributed on the fixed end long support rod connecting seat 107, and 4 fixed end long support rods 108 and 4 fixed end short support rods 110 are uniformly arranged on a vertical plane and a horizontal plane.
The trolley 205 is a plate-shaped platform, more than 2 groups of wheels are arranged on two sides of the platform, and the wheels are arranged in the two C-shaped guide rails 206 on the two sides; a vertical speed reducer 207 is arranged on the trolley 205, and an output shaft of the vertical speed reducer 207 is connected with a gear 208; the gear 208 is meshed with a rack 209; the rack 209 is fixedly connected to the side surface of the C-shaped guide rail 206;
the manipulator operation system 3 further comprises a lamp holder 303 and a storage box 304, wherein the linear light source 305 and the camera 306 are installed on the lamp holder 303, and the positions of the linear light source and the camera can be adjusted according to the size of the pipeline workpiece.
The cross-sectional shape of support frame 401 is the U type, guide pillar 402 is 4 in quantity, evenly distributed is around hydraulic cylinder 403, but guide pillar 402 and hydraulic cylinder 403 are extending structure, and its expansion end all with support frame 401 rigid coupling.
Rubber cushions are arranged on the surfaces of the fixed end self-adaptive plane 109 and the moving end self-adaptive plane 214.
The invention relates to a pipeline rib plate welding method, which adopts the welding device to weld and comprises the following steps:
step 1: the equipment and the workpiece are ready to be in place, the fixed end clamping device 1 is arranged at the fixed end of one end station of the pipeline workpiece, the movable end clamping device 2 is arranged on the trolley 205 capable of translating, the trolley 205 is positioned at the other end station of the pipeline workpiece, the hydraulic lifting system 4 is positioned between the fixed end clamping device 1 and the movable end clamping device 2 and is lower than the mounting positions of the fixed end clamping device 1 and the movable end clamping device 2, the pipeline workpiece with known size is lifted to the hydraulic lifting system 4, and the two end stations of the pipeline workpiece are both provided with the manipulator operation systems 3;
step 2: the supporting frame 401 of the hydraulic lifting system 4 lifts the pipeline workpiece to a specified height and horizontally moves towards the fixed end until most of the umbrella-shaped supporting frame at the fixed end enters the inner side of the pipeline workpiece;
and step 3: the moving end clamping device 2 moves horizontally towards the fixed end under the driving of a motor until most of the moving end umbrella-shaped support frame extends into the inner side of the pipeline workpiece;
and 4, step 4: adjusting the height of a support frame 401 of the hydraulic lifting system 4 to enable the axis of the pipeline workpiece and the axis of umbrella-shaped support frames at two ends to be close to an allowable range, starting hydraulic pumps of the fixed hydraulic system 104 and the movable hydraulic system 204 to enable the umbrella-shaped support frame at the fixed end of the fixed end clamping device 1 and the umbrella-shaped support frame at the movable end of the movable end clamping device 2 to tightly support the pipeline workpiece from the inside, closing the hydraulic pumps, and descending the support frame 401 of the hydraulic lifting system 4 to a certain height;
and 5: the method comprises the following steps that a strip light is printed on a pipeline workpiece, a clamping manipulator 302 captures a rib plate through visual recognition, the rib plate is placed on the strip light under the control of a computer, positioning is carried out through a visual system, a welding manipulator 301 finishes welding one side of the rib plate, a difference compensation calculation is carried out, welding is carried out on a welding seam on the back side of the rib plate, and after welding is finished, the welding manipulator 301 and the clamping manipulator 302 reset;
step 6: under the drive of a motor, a speed reducer is used for reducing speed to drive a fixed end umbrella-shaped support frame of the fixed end clamping device 1 and a movable end umbrella-shaped support frame of the movable end clamping device 2 to rotate, and after a pipeline workpiece is driven to rotate by a specified angle, the motor stops, and the next ribbed plate is polished, identified and positioned again to complete the welding of the next ribbed plate;
and 7: repeating the step 5 and the step 6 until all the rib plates are welded, resetting the mechanical arms at the two ends, lifting the support frame 401 of the hydraulic lifting system 4 to be in contact with the pipeline workpiece, driving the umbrella-shaped support frame at the fixed end of the fixed end clamping device 1 and the umbrella-shaped support frame at the movable end of the movable end clamping device 2 to be contracted and restored to the starting state under the drive of the hydraulic pump, and lifting the pipeline workpiece away from the hydraulic lifting system 4;
and 8: and (4) hoisting the next pipeline workpiece to the support frame 401 of the hydraulic lifting system 4, and repeating the steps to complete the welding process of all the ribbed plates.
The hydraulic lifting system 4 is arranged in a pit right below the pipeline workpiece, and the number of the hydraulic lifting system 4 can be adjusted according to the length of the pipeline workpiece. The translation motion may be provided by techniques known in the art, such as by positioning the support cart 404 of the hydraulic lift system 4 on a fixed track, by power drive and rack and pinion drive, or by other means, and will not be described in detail herein.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention. The technology not related to the invention can be realized by the prior art.
Claims (9)
1. A pipeline ribbed plate welding device is characterized by comprising a fixed end clamping device (1), a movable end clamping device (2), a manipulator operating system (3) and a hydraulic lifting system (4); the fixed end clamping device (1) is arranged at the fixed end, the movable end clamping device (2) is arranged on a translational trolley (205), the manipulator operation system (3) is distributed on two stations at two ends of a pipeline workpiece, and the hydraulic lifting system (4) is positioned below the pipeline workpiece, wherein
The fixed end clamping device (1) comprises a fixed end umbrella-shaped support frame, a fixed rotating motor (101) and a fixed hydraulic system (104), wherein the fixed hydraulic system (104) drives the umbrella-shaped support frame to open and close, and the fixed rotating motor (101) drives the fixed end umbrella-shaped support frame to rotate;
the moving end clamping device (2) comprises a trolley (205), a moving end umbrella-shaped support frame, a moving rotating motor (201) and a moving hydraulic system (204), wherein the moving end umbrella-shaped support frame, the moving rotating motor (201) and the moving hydraulic system (204) are arranged on the trolley (205), the moving hydraulic system (204) drives the moving end umbrella-shaped support frame to open and close, and the moving rotating motor (201) drives the moving end umbrella-shaped support frame to rotate;
the manipulator operation system (3) comprises a welding manipulator (301), a clamping manipulator (302), a linear light source (305) and a camera (306); two welding manipulators (301), one fixed end is positioned at the fixed end clamping device (1), the other fixed end is arranged on the trolley (205), and two clamping manipulators (302) are respectively corresponding to the two welding manipulators (301);
the hydraulic lifting system (4) comprises a support frame (401), a guide post (402), a lifting hydraulic cylinder (403) and a support vehicle (404); the lower end of the support frame (401) is supported by a lifting hydraulic cylinder (403) and a guide post (402), and the lifting hydraulic cylinder (403) and the guide post (402) are installed on a support vehicle (404).
2. The pipe rib welding apparatus of claim 1, wherein:
the fixed end umbrella-shaped support frame of the fixed end clamping device (1) comprises a fixed end hydraulic cylinder (106), a fixed end long support rod connecting seat (107), a fixed end long support rod (108), a fixed end short support rod (110), a fixed end short support rod connecting seat (111) and a fixed end self-adaptive plane (109), the fixed rotating motor (101) is connected with the fixed rotating speed reducer (103), and an output shaft of the fixed rotating speed reducer (103) is connected with a cylinder body of the fixed end hydraulic cylinder (106); an oil inlet pipe and an oil outlet pipe of the fixed hydraulic system (104) are respectively connected with the fixed end hydraulic cylinder (106), a fixed end long support rod (108) and a fixed end short support rod (110) which are hinged with each other are uniformly distributed on the periphery of the fixed end hydraulic cylinder (106) in pairs, the outer end of the fixed end long support rod (108) is hinged with a fixed end self-adaptive plane (109), the inner end of the fixed end long support rod (108) is hinged on an annular fixed end long support rod connecting seat (107) on the fixed end hydraulic cylinder (106), and the inner end of the fixed end short support rod (110) is hinged on a fixed end short support rod connecting seat (;
remove the umbrella form support frame of removal end of holding clamping device (2) including removing end pneumatic cylinder (211), removing end long support rod connecting seat (212), remove end long support rod (213), remove end short support rod (215), remove end short support rod connecting seat (216), remove end self-adaptation plane (214), it links to each other with removal rotary reducer (203) to remove rotating electrical machines (201), it links to each other with removal end pneumatic cylinder (211) cylinder body to remove rotary reducer (203) output shaft, and the business turn over oil pipe that removes hydraulic system (204) links to each other with removal end pneumatic cylinder (211) respectively, and mutual articulated removal end long support rod (213) and removal end short support rod (215) are evenly distributed in pairs in removal end pneumatic cylinder (211) periphery, it has removal end self-adaptation plane (214) to articulate in removal end long support rod (213) outer end, it articulates in removal end long support rod (213) inner and holds long plane (214) in annular removal on removing end pneumatic cylinder (211) to The inner end of the moving end short supporting rod (215) is hinged on a moving end short supporting rod connecting seat (216) on the moving end hydraulic cylinder (211) on the supporting rod connecting seat (212).
3. The pipe rib welding apparatus of claim 2, wherein: the fixed rotary speed reducer (103) and the movable rotary speed reducer (203) are turbine speed reducers, and the whole device and the pipe fitting are supported to rotate along the circumferential direction while speed reduction is achieved.
4. The pipe rib welding apparatus of claim 2, wherein: the fixed end long support rod connecting seat (107) is combined into a ring shape by two semicircular components, 4 hinge connection bases are uniformly distributed on the fixed end long support rod connecting seat (107), and 4 fixed end long support rods (108) and 4 fixed end short support rods (110) are uniformly arranged on a vertical surface and a horizontal surface.
5. The pipe rib welding apparatus of claim 1, wherein: the trolley (205) is a plate-shaped platform, more than 2 groups of wheels are arranged on two sides of the platform, and the wheels are arranged in two C-shaped guide rails (206) on two sides; the trolley (205) is provided with a vertical speed reducer (207), an output shaft of the vertical speed reducer (207) is connected with a gear (208), the gear (208) is meshed with a rack (209), and the rack (209) is fixedly connected to the side surface of the C-shaped guide rail (206).
6. The pipe rib welding apparatus of claim 1, wherein: the manipulator operation system (3) further comprises a lamp holder (303) and a storage box (304), wherein the linear light source (305) and the camera (306) are installed on the lamp holder (303), and the position of the linear light source and the position of the camera can be adjusted according to the size of a pipeline workpiece.
7. The pipe rib welding apparatus of claim 1, wherein: the cross-sectional shape of support frame (401) is the U type, guide pillar (402) quantity is 4, evenly distributed is around hydraulic cylinder (403), guide pillar (402) and hydraulic cylinder (403) are extending structure, and its expansion end all with support frame (401) rigid coupling.
8. A pipeline fin welding device as claimed in claim 1, wherein: rubber cushions are arranged on the surfaces of the fixed end self-adaptive plane (109) and the movable end self-adaptive plane (214).
9. A method of welding ribs of pipes using the welding apparatus of any one of claims 1 to 8, comprising the steps of:
step 1: the device and the workpiece are ready to be in place, the fixed end clamping device (1) is arranged at the fixed end of one end station of the pipeline workpiece, the movable end clamping device (2) is arranged on a translational trolley (205), the trolley (205) is positioned at the other end station of the pipeline workpiece, the hydraulic lifting system (4) is positioned between the fixed end clamping device (1) and the movable end clamping device (2) and is lower than the mounting positions of the fixed end clamping device (1) and the movable end clamping device (2), the pipeline workpiece with known size is lifted to the hydraulic lifting system (4), and the stations at the two ends of the pipeline workpiece are both provided with manipulator operating systems (3);
step 2: a supporting frame (401) of the hydraulic lifting system (4) lifts the pipeline workpiece to a specified height and horizontally moves towards the fixed end until most of the umbrella-shaped supporting frame at the fixed end of the fixed end enters the inner side of the pipeline workpiece;
and step 3: the moving end clamping device (2) moves horizontally towards the fixed end under the driving of a motor until most of the moving end umbrella-shaped support frame extends into the inner side of the pipeline workpiece;
and 4, step 4: adjusting the height of a support frame (401) of a hydraulic lifting system (4), enabling the axis of a pipeline workpiece and the axis of umbrella-shaped support frames at two ends to be close to an allowable range, starting hydraulic pumps of a fixed hydraulic system (104) and a movable hydraulic system (204), enabling the umbrella-shaped support frame at the fixed end of a fixed end clamping device (1) and the umbrella-shaped support frame at the movable end of a movable end clamping device (2) to support the pipeline workpiece from the inside, closing the hydraulic pumps, and descending the support frame (401) of the hydraulic lifting system (4) to a certain height;
and 5: the method comprises the following steps that a strip light is printed on a pipeline workpiece, a clamping manipulator (302) captures a rib plate through visual recognition, the rib plate is placed on the strip light under the control of a computer, positioning is carried out through a visual system, a welding manipulator (301) completes welding one side of the rib plate, a weld joint on the back side of the rib plate is welded through difference compensation calculation, and after welding is completed, the welding manipulator (301) and the clamping manipulator (302) reset;
step 6: under the drive of a motor, a speed reducer is used for reducing speed to drive a fixed end umbrella-shaped support frame of a fixed end clamping device (1) and a movable end umbrella-shaped support frame of a movable end clamping device (2) to rotate, and after a pipeline workpiece is driven to rotate by a specified angle, the motor stops, and the next ribbed plate is polished, identified and positioned again to complete the welding of the next ribbed plate;
and 7: repeating the step 5 and the step 6 until all the rib plates are welded, resetting the manipulators at the two ends, lifting a support frame (401) of the hydraulic lifting system (4) to be in contact with the pipeline workpiece, driving a fixed end umbrella-shaped support frame of the fixed end clamping device (1) and a movable end umbrella-shaped support frame of the movable end clamping device (2) to contract and recover to a starting state by a hydraulic pump, and lifting the pipeline workpiece away from the hydraulic lifting system (4);
and 8: and (3) hoisting the next pipeline workpiece to a support frame (401) of the hydraulic lifting system (4), and repeating the steps to complete the welding process of all the rib plates.
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Application publication date: 20200204 Assignee: Dichuang Technology (Yixing) Co.,Ltd. Assignor: WUHAN University OF SCIENCE AND TECHNOLOGY Contract record no.: X2023980052026 Denomination of invention: A pipeline rib plate welding device and method Granted publication date: 20210928 License type: Common License Record date: 20231214 |
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