CN112958961A

CN112958961A - Automatic welding workstation for flexible multi-section pipes

Info

Publication number: CN112958961A
Application number: CN202110171763.2A
Authority: CN
Inventors: 缪寿洪; 邱长伍; 程学文; 张伟
Original assignee: Shanghai Huanwei Intelligent Technology Co ltd
Current assignee: Shanghai Huanwei Intelligent Technology Co ltd
Priority date: 2021-02-08
Filing date: 2021-02-08
Publication date: 2021-06-15
Anticipated expiration: 2041-02-08
Also published as: CN112958961B

Abstract

The invention discloses an automatic welding workstation for flexible multi-section pipes, which comprises a connecting piece clamping device and a pipe clamping and measuring device which is arranged in a collinear way with the central line of the connecting piece clamping device, wherein the pipe clamping and measuring device comprises: the first clamping module is close to one side of the connecting piece clamping equipment and comprises a reference surface which is arranged at a preset interval with the connecting piece clamping equipment; the first sliding measurement module can move relative to the first clamping module, and comprises a first measurement device for detecting the length of a pipe with one end abutting against the reference surface, so that the first sliding measurement module is controlled to move towards the direction close to the reference surface according to a preset interval, the length of the pipe and a pipe compensation distance obtained by the distance between the first measurement device and the reference surface. Applying the device; when the length of the pipe has a deviation value with the preset length, the length between the pipe and the connecting piece is adjusted through the pipe compensation distance, so that the total length of a welded finished product is constant, and the yield of the welded finished product is improved.

Description

Automatic welding workstation for flexible multi-section pipes

Technical Field

The invention relates to the technical field of pipe welding, in particular to an automatic welding workstation for flexible multi-section pipes.

Background

In industries such as industry, building and the like, particularly in the building industry, in some steel structure use scenes, sometimes a plurality of sections of square pipes and a plurality of connecting pieces (such as castings, machined parts and other parts) need to be welded to form a longer welding finished product with new characteristics for assembling or welding the steel structure. When the robot automatic welding technology is adopted in the scene, the requirement on the precision of the length of the welded finished product is high. For example, a long square tube needs four short square tubes to be welded and spliced, if the total length is not controlled, the short square tubes are in negative tolerance size under the extreme condition, and the total length of the spliced tube can easily exceed the design allowable range under the condition of not controlling the length.

Disclosure of Invention

In view of the above, a first objective of the present invention is to provide an automatic welding workstation for flexible multi-segment pipes, which measures the length of the pipe and compensates the pipe distance when the pipe length has a deviation, so that the total length after splicing is constant, the total length of the welded product is ensured to meet the design requirement, and the yield of the welded product is improved.

In order to achieve the first object, the invention provides the following technical scheme:

the utility model provides a flexible multistage tubular product automatic weld workstation which characterized in that, including be used for to the connecting piece carry out the connecting piece clamping equipment of clamping centering and with the tubular product clamping measuring equipment of connecting piece clamping equipment central line collineation setting, tubular product clamping measuring equipment includes:

the first clamping module is close to one side of the connecting piece clamping equipment and comprises a reference surface which is arranged at a preset interval with the connecting piece clamping equipment;

the first sliding measurement module can move relative to the first clamping module and comprises a first measurement device for detecting the length of a pipe with one end abutting against the datum plane, and the first sliding measurement module is controlled to move towards the direction close to the connecting piece clamping equipment according to the pipe compensation distance obtained by the preset interval and the length of the pipe.

Preferably, the first sliding measurement module further comprises a first left-right centering device for centering and fixing the pipe left and right, and the first left-right centering device comprises:

a first left and right centering substrate;

the first clamping assembly and the second clamping assembly are arranged on the first left centering substrate and the first right centering substrate and are symmetrically arranged along the central line of the connecting piece clamping equipment;

the first centering power driving assembly is used for driving the first clamping assembly and the second clamping assembly to move towards/away from each other and move for equal distances;

and the first supporting plate is fixedly connected with the first left and right centering substrates and used for supporting the pipes, and the first supporting plate is arranged between the first clamping assembly and the second clamping assembly.

Preferably, the first measuring device is disposed on one side of the first left-right centering device, which is far away from the first clamping module, and the first measuring device includes:

a horizontal substrate;

the push plate component is fixedly arranged on the horizontal base plate and used for pushing the pipe to move along the direction parallel to the central line of the connecting piece clamping equipment;

and the distance detection component is used for detecting the push-out distance of the push plate component.

Preferably, the first clamping module comprises:

a second left-right centering device;

locate on the centering device about the second keep away from the baffle device of first slip measurement module one side, baffle device includes the dog and is used for driving the dog power drive subassembly that the dog removed along vertical direction, the dog forms towards the lateral wall of tubular product the reference surface.

Preferably, the connector clamping device comprises:

the third left-right centering device is used for centering and fixing the connecting piece left and right, and has the same structure as the first left-right centering device;

the device comprises a front and rear pre-centering device used for pre-centering the connecting piece and a front and rear centering device used for pre-centering the center of the connecting piece and a preset center, wherein the front and rear pre-centering device and the front and rear centering device are respectively vertical to the center line of the connecting piece clamping equipment.

Preferably, the front and rear centering device includes:

a front-rear centering mounting plate movable in a direction approaching/departing from a third support plate of the third left-right centering device;

the first front and rear clamping assemblies and the second front and rear clamping assemblies are arranged on the front and rear centering mounting plates in parallel, and the center line of the first front and rear clamping assemblies is perpendicular to the center line of the connecting piece clamping equipment;

and the front and rear centering power driving assembly is used for driving the first front and rear clamping assembly and the second front and rear clamping assembly to move in an opposite/opposite direction and move at equal distances.

Preferably, the front and rear pre-centering device comprises:

the pre-positioning baffle plate assembly and the pre-positioning push plate assembly are arranged at two ends of the third supporting plate along the direction of the central line of the connecting piece clamping equipment, and the pre-positioning push plate assembly can push the connecting piece on the third supporting plate to move to be in contact with the pre-positioning baffle plate assembly for pre-centering front and back;

the second upper pushing force driving assembly is used for driving the pre-positioning push plate assembly to move along the vertical direction.

Preferably, the method further comprises the following steps:

can follow vertical direction and remove and carry out the liftable roller device that supports to tubular product, first clamping module with it is equipped with to slide between the measurement module liftable roller device.

Preferably, the number of the pipe clamping measuring equipment and the number of the connecting piece clamping equipment are respectively a plurality;

all the pipe clamping and measuring devices and all the connecting piece clamping and measuring devices are sequentially and alternately arranged, the central lines of the pipe clamping and measuring devices and the connecting piece clamping and measuring devices are collinear, and any other pipe clamping and measuring device and the first pipe clamping and measuring device are arranged in a mirror image overturning mode along the vertical plane;

and the relative position of any connecting piece clamping equipment and the next adjacent first clamping module is fixed.

Preferably, the automatic welding workstation for flexible multi-segment pipes further comprises:

a plurality of robotic welding units;

the device comprises a workbench and a group of parallel rails arranged on the workbench;

the first pipe clamping measuring device, the second pipe clamping measuring device, the third pipe clamping measuring device and the fourth pipe clamping measuring device are sequentially arranged on the parallel rails;

the first clamping module of the first pipe clamping measuring device and the first clamping module of the second pipe clamping measuring device are respectively fixed with the parallel rails, and the third pipe clamping measuring device and the fourth pipe clamping measuring device slide along the parallel rails to move towards/away from the second pipe clamping measuring device.

The invention provides an automatic welding workstation for flexible multi-section pipes, which comprises a connecting piece clamping device for clamping and centering a connecting piece and a pipe clamping measuring device which is arranged in a collinear way with the central line of the connecting piece clamping device, wherein the pipe clamping measuring device comprises: the first clamping module is close to one side of the connecting piece clamping equipment and comprises a reference surface which is arranged at a preset interval with the connecting piece clamping equipment; the first sliding measurement module can move relative to the first clamping module and comprises a first measurement device for detecting the length of a pipe with one end abutting against a reference surface, and the first sliding measurement module is controlled to move towards the direction close to the connecting piece clamping equipment according to the preset interval and the pipe compensation distance obtained by the length of the pipe.

Compared with the prior art, the automatic welding workstation for the flexible multi-section pipe provided by the invention has the following technical effects:

firstly, the length of a pipe obtained by measuring the pipe through a first sliding measurement module and the distance between a first measurement device and a reference surface are obtained to obtain a pipe compensation distance, and the first sliding measurement module is controlled to move towards the reference surface according to the pipe compensation distance; when the length of the pipe has a deviation value with the preset length, the length between the pipe and the connecting piece is adjusted through the pipe compensation distance, so that the total length of a welded finished product is constant, and the yield of the welded finished product is improved; accumulated errors caused by machining errors are compensated when the pipe and the connecting piece are spliced, and the compensation effect is optimized, so that the machining difficulty of machining raw materials is reduced, and the machining cost is reduced;

and secondly, the pipe is automatically centered front and back, and the connecting piece is automatically centered front and back, left and right, so that the clamping and alignment time of welding raw materials is greatly shortened, the automatic operation of pipe welding is realized, the welding quality is improved, the consistency of a welded finished product is ensured, and the production efficiency is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of an automatic welding workstation for flexible multi-segment pipes according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a workbench according to an embodiment of the present invention;

FIG. 3 is a partially enlarged schematic view of FIG. 2;

FIG. 4 is a schematic front view of the structure of FIG. 3;

FIG. 5 is a schematic structural diagram of a liftable roller device provided by an embodiment of the invention;

fig. 6 is a schematic structural diagram of a first measurement device according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a first axial structure of a first left-right centering device according to an embodiment of the present invention;

FIG. 8 is a schematic second axial view of the first left-right centering device according to the embodiment of the present invention;

fig. 9 is a schematic partial structural view of a connector clamping device according to an embodiment of the present invention;

fig. 10 is a schematic view of a first mounting structure of the connector clamping device according to the embodiment of the present invention;

fig. 11 is a schematic view of a second mounting structure of the connector clamping device according to the embodiment of the present invention;

fig. 12 is a schematic view of an assembly structure of an automatic welding workstation for flexible multi-segment pipes according to an embodiment of the present invention.

The drawings are numbered as follows:

a workbench 1000, a first automatic welding unit 2000, a second automatic welding unit 3000 and a main control center 4000;

a first liftable roller device 1010, a second liftable roller device 1020, a parallel track 1030, a first sliding measurement module 1040, a first clamping module 1050, a connecting piece clamping device 1060, a third liftable roller device 1070, a fourth liftable roller device 1080 and a fifth liftable roller device 1090;

the device comprises a power roller 10101, a guide shaft 10102, a roller lifting cylinder 10103 and a fixed base 10104;

the device comprises a first left-right centering device 1041, a movable base 1042, a servo motor 1043, a first measuring device 1044 and a pressing device 1045;

a vertical power driving assembly 10441, an elastic piece mounting plate 10442, a sliding rail 10443, a sliding block 10444, a horizontal base plate 10445, a pushing cylinder mounting plate 10446, a pushing cylinder 10447, a pushing plate 10448, an L-shaped plate 10449, a lifting guide rail 104410, a disc 104411, a clamping piece 104412, an encoder mounting plate 104413, a sliding block mounting plate 104414, an encoder 104415, a spring shaft 104416, a pressing spring 104417 and a vertical base plate 104418;

a left-right centering cylinder 10411, a left-right clamping mounting plate 10412, a roller unit 10413, a rib plate 10414, a second linear slide rail mechanism 10415, a first left-right centering base plate 10416, a first linear slide rail mechanism 10417, a first supporting plate 10418, a transition gear 10419, a driving rack 104110 and a driven rack 104111;

the device comprises a front and rear centering cylinder 106012, a linear slide rail mechanism 106013, a front and rear centering mounting plate 106014, a parallel air claw 106015, a first front and rear clamping assembly 106016, a second front and rear clamping assembly 106017, a first upper pushing force driving assembly 106018, a second upper pushing force driving assembly 106019, a pre-positioning baffle assembly 106020, a pre-positioning push plate assembly 106021, a pressing cylinder 106022, a pressing block 106023, a pressing and pushing cylinder 106024, a pushing cylinder 1060211 and a pushing plate 1060212.

Detailed Description

The embodiment of the invention discloses an automatic welding workstation for flexible multi-section pipes, which is used for measuring the length of the pipe and compensating the pipe distance when the length of the pipe has deviation, so that the total length after splicing is constant, the total length of a welded finished product is ensured to meet the design requirement, and the yield of the welded product is improved.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 12, fig. 1 is a schematic structural diagram of an automatic welding workstation for flexible multi-segment pipes according to an embodiment of the present invention; FIG. 2 is a schematic structural diagram of a workbench according to an embodiment of the present invention; FIG. 3 is a partially enlarged schematic view of FIG. 2; FIG. 4 is a schematic front view of the structure of FIG. 3; FIG. 5 is a schematic structural diagram of a liftable roller device provided by an embodiment of the invention; fig. 6 is a schematic structural diagram of a first measurement device according to an embodiment of the present invention; FIG. 7 is a schematic diagram of a first axial structure of a first left-right centering device according to an embodiment of the present invention; FIG. 8 is a schematic second axial view of the first left-right centering device according to the embodiment of the present invention; fig. 9 is a schematic partial structural view of a connector clamping device according to an embodiment of the present invention; fig. 10 is a schematic view of a first mounting structure of the connector clamping device according to the embodiment of the present invention; fig. 11 is a schematic view of a second mounting structure of the connector clamping device according to the embodiment of the present invention; fig. 12 is a schematic view of an assembly structure of an automatic welding workstation for flexible multi-segment pipes according to an embodiment of the present invention.

In a specific embodiment, the automatic welding workstation for flexible multi-section pipes provided by the invention comprises a connecting piece clamping device 1060 for clamping and centering a connecting piece and a pipe clamping and measuring device arranged in a collinear way with the central line of the connecting piece clamping device 1060. It can be understood that the automatic welding workstation for flexible multi-section pipes generally comprises a plurality of sections of pipes and connecting pieces which are sequentially arranged, the connecting pieces are used for connecting two pipes, the pipes and the connecting pieces are preferably the same type of pipes in a square pipe or a circular pipe, and the central lines of the connecting piece clamping equipment 1060 and the pipe clamping measuring equipment are collinear, so that the axes of welded finished products are ensured to be on the same straight line.

The pipe clamping and measuring equipment comprises a first clamping module 1050 and a first sliding measuring module 1040; the first clamping module 1050 is disposed near one side of the connector clamping device 1060, the first clamping module 1050 includes a reference surface which is spaced from the connector clamping device 1060 by a preset distance, and the connector clamping device 1060 is also provided with a reference surface, it can be understood that the reference surface is generally a vertical surface; the first clamping module 1050 is used for clamping the pipe, so that the end wall of the pipe is aligned with the reference surface and then is kept stationary, and subsequent welding operation is facilitated. The first clamping module 1050 may be configured as a clamping cylinder or other clamping device; likewise, the connector clamping device 1060 may be configured with reference to the structure of the first clamping module 1050.

The first sliding measurement module 1040 can move relative to the first clamping module 1050, preferably, the first sliding measurement module 1040 and the first clamping module 1050 are disposed on the same workbench 1000, the first clamping module 1050 is fixed to the workbench 1000, and meanwhile, the first clamping module 1050 and the connecting piece clamping device 1060 are relatively fixed in position; the linear power driving device is arranged at the bottom of the first sliding measurement module 1040 to adjust the distance of the first sliding measurement module 1040 relative to the first clamping module 1050 according to the length of the pipe, the first sliding measurement module 1040 includes a first measurement device 1044 for detecting the length of the pipe with one end abutting against the reference surface, and the first sliding measurement module 1040 is controlled to move towards the direction close to the connecting piece clamping device 1060 according to the pipe compensation distance obtained by the preset interval, the length of the pipe and the distance between the first measurement device 1044 and the reference surface. The first measurement device 1044 may be a sensor device such as an infrared sensor or a distance sensor, so as to measure the length of the pipe, and in other embodiments, the specific structure of the first measurement device 1044 may also be set as required, which is within the protection scope of the present invention. It can be understood that, the distance between the connecting member clamping device 1060 and the first clamping module 1050 is fixed by the reference surface of the first clamping module 1050, the actual length L1 of the pipe is obtained by measuring the length of the pipe by the first measuring device 1044, an error value Δ L, which is L2-L1, is obtained according to the actual length L1 of the pipe and the preset length L2 of the pipe, a preset interval D is provided between the reference surface and the connecting member clamping device 1060, when L1 is greater than L2, the pipe compensation distance D1 is D +/Δ L, the first sliding measuring module 1040 is pushed to drive the pipe to move the pipe compensation distance D1 in the direction close to the connecting member clamping device 1060, at this time, an overlapping portion of Δ L exists between the connecting member and the pipe, so as to ensure that the length of the welded finished pipe is still equal to the sum of the preset length and the connecting member length, when the actual length of the pipe is greater than the preset length of the pipe, ensuring that the total length of a welded finished product is constant, and compensating length errors; similarly, when L1 is smaller than L2, the pipe compensation distance D1 is D- Δ L, the first sliding measurement module 1040 is pushed to drive the pipe to move in the direction close to the connecting piece clamping device 1060 by the pipe compensation distance D1, a Δ L gap exists between the connecting piece and the pipe, the gap is connected and fixed by welding to ensure that the total length of a welded finished product is constant, and when the actual length of the pipe is smaller than the preset length of the pipe, the length error is compensated, so that the yield of the welded finished product is improved; meanwhile, when the production line comprises welding of multiple sections of pipes and connecting pieces, accumulated errors caused by machining errors are compensated when the pipes and the connecting pieces are spliced, and compensation effects are optimized.

firstly, the length of the pipe obtained by measuring the length of the pipe by the first sliding measurement module 1040 and the distance between the first measurement device 1044 and the reference surface are obtained as the pipe compensation distance, and the first sliding measurement module 1040 is controlled to move towards the reference surface according to the pipe compensation distance; when the length of the pipe has a deviation value with the preset length, the length between the pipe and the connecting piece is adjusted through the pipe compensation distance, so that the total length of a welded finished product is constant, and the yield of the welded finished product is improved; accumulated errors caused by machining errors are compensated when the pipe and the connecting piece are spliced, and the compensation effect is optimized, so that the machining difficulty of machining raw materials is reduced, and the machining cost is reduced;

and secondly, the pipe is automatically centered front and back, and the connecting piece is automatically centered front and back, left and right, so that the clamping and aligning time of welding raw materials is greatly shortened, the welding quality is improved, the consistency of a welding finished product is ensured, and the production efficiency is improved.

As shown in fig. 4 and 5, specifically, the first measuring device 1044 is disposed on a side of the first left-right centering device 1041, which is far away from the first clamping module 1050, and the first measuring device 1044 includes:

a horizontal base plate 10445;

the push plate component is fixedly arranged on the horizontal base plate 10445 and used for pushing the pipe to move along the direction parallel to the center line of the connecting piece clamping equipment 1060;

a distance detection component for detecting the push-out distance of the push plate component.

The first measurement device 1044 further includes a vertical power driving assembly 10441 for driving the horizontal substrate 10445 to move in the vertical direction; before and after measurement, the vertical power driving assembly 10441 drives the horizontal base plate 10445 to move in the vertical direction, so that when the length of the pipe needs to be measured, the push plate assembly on the horizontal base plate 10445 is driven to move upwards, the push plate assembly can be in contact with the end wall of the pipe, and after the length of the pipe is measured, the horizontal base plate 10445 is driven to return to the initial position, so that the pipe is prevented from moving in the length direction by the first measuring device 1044.

It can be understood that when the pipe length measuring device is applied to the automatic welding workstation of the flexible multi-section pipe, the datum plane is preset according to needs, the distance between the datum plane and the pipe length measuring device is also a known value, the distance between the pipe pushed by the push plate assembly and the datum plane is detected through the distance detection assembly, and the length of the pipe can be obtained by subtracting the distance between the datum plane and the pipe length measuring device from the pushing distance of the push plate assembly. Wherein, the push plate assembly is preferably a combination of a push cylinder 10447 and a push plate member, the push plate cylinder and the horizontal base plate 10445 are fixed by a push cylinder mounting plate 10446, and the push direction of the push plate cylinder is perpendicular to the reference surface. The distance detection assembly can be set as a sensor, such as an infrared sensor, a distance sensor and the like, the distance of pushing out of the push plate assembly is detected, the distance detection assembly is connected with the control device and sends the distance to the control device, the control device calculates the length of the pipe according to the known distance and the length detected by the distance detection assembly, the device can measure the length of the pipe before the pipe is welded, distance compensation can be carried out according to the length of the pipe, the total length of the welded pipe is enabled to be constant, and the consistency of the size of a welded finished product is guaranteed.

By applying the first measurement device 1044, the following technical effects are achieved:

firstly, one end of a pipe is pushed to be aligned with a reference surface through a push plate assembly, a distance detection assembly detects the push distance of the push plate assembly, the length of the pipe is obtained through calculation according to the known distance between the push plate assembly and the reference surface and the push distance of the push plate assembly, the length of the pipe is measured in an indirect measurement mode, meanwhile, the pipe can be centered with the reference surface, and subsequent welding positioning is facilitated;

secondly, in order to improve the length measurement accuracy, the disc 104411 is arranged to abut against the push plate assembly, so that the disc 104411 rotates under the action of friction force, and the rotated arc length of the disc 104411 is measured through the encoder 104415, so that the push-out distance of the push plate assembly is obtained, and the measurement accuracy is improved; make distance detection subassembly and push pedal subassembly firm contact through the elastic component, prevent the phenomenon of skidding to further improve measurement accuracy.

Specifically, the distance sensing assembly includes a puck 104411 and an encoder 104415. The disc 104411 is disposed on one side of the moving direction of the push plate assembly and abuts against the push plate assembly, the moving direction of the push plate assembly is a reference line, the disc 104411 can be disposed on either side of the left side or the right side of the reference line, the bottom end of the disc 104411 is connected to the encoder 104415, and the encoder 104415 measures the rotating arc length of the disc 104411 to obtain the push-out distance of the push plate assembly. Encoder 104415 and disc 104411 detachable fixed connection, and the centre of a circle collineation of encoder 104415's output shaft and disc 104411, the two is preferably through clamping piece 104412 detachable fixed connection, clamping piece 104412 suit is in the circumference of the end that stretches out of disc 104411 and the end that stretches out of encoder 104415, clamping piece 104412 is the open-ended annular sleeve pipe in one side, the opening part sets up threaded fastener to clamp disc 104411 and encoder 104415, its simple structure, the setting is convenient for.

The disc 104411 offsets with the push pedal subassembly, and when the push pedal subassembly stretched out, made disc 104411 around self axis rotation through frictional force, drive encoder 104415's projecting shaft synchronous rotation simultaneously and measure with the rotation arc length to disc 104411, and then obtain the distance that pushes out of push pedal subassembly. The structure can accurately measure the push-out distance of the push plate assembly, and errors are reduced.

In order to make the pushing plate assembly and the disk 104411 closely contact with each other, an elastic member is disposed between the horizontal base plate 10445 and the distance detection assembly, and the distance detection assembly is slidably connected to the horizontal base plate 10445 to slide against the pushing plate assembly relative to the horizontal base plate 10445 under the action of the elastic member, so that the disk 104411 and the pushing plate assembly are improved in friction force therebetween through elastic force. In one embodiment, the horizontal base plate 10445 is provided with an elastic member mounting plate 10442 along a vertical direction, one end of the elastic member is fixedly connected to the elastic mounting plate, and the other end of the elastic member is fixed to the push plate assembly, for example, by bonding or other means. Therefore, the friction force between the push plate assembly and the disc 104411 is improved, the disc 104411 cannot slip or rotate in a missing way due to poor contact, and the detection precision is further improved.

Furthermore, in order to prevent the distance detection assembly from deviating during the sliding process to affect the detection accuracy, the device further comprises a linear guide assembly which is arranged between the horizontal base plate 10445 and the distance detection assembly and used for guiding the sliding of the distance detection assembly, wherein the linear guide assembly is a linear slide rail 10443 and a slide block 10444 mechanism or other mechanical mechanisms, the linear movement of the distance detection assembly is kept when the distance detection assembly slides along the elastic member, and the distance detection assembly is prevented from swinging or swinging along the direction perpendicular to the push plate assembly as a reference, so that the disc 104411 rotates the encoder 104415 to perform wrong counting, and the detection accuracy is reduced; meanwhile, the circular disc 104411 abutted against the push plate assembly is supported by the linear guide assembly, so that the detection error of the circular disc 104411 caused by the deviation of the circular disc 104411 under the action of the push plate assembly is prevented.

Specifically, the guide assembly is a slide rail 10443 and a slide block 10444, the slide rail 10443 is fixedly arranged on a horizontal base plate 10445 and is perpendicular to the pushing direction of the push plate assembly, the slide block 10444 is arranged at the bottom of the distance detection assembly, a slide block mounting plate 104414 and an encoder mounting plate 104413 are arranged between the guide assembly and the disc 104411, the slide block 10444 is arranged at the bottom of the slide block mounting plate 104414, a disc 104411 is arranged above the encoder mounting plate 104413, and an encoder 104415 is arranged below the encoder mounting plate. This arrangement improves the reliability of the relative rotation of the disk 104411 and the pusher plate assembly, further improving the accuracy of detection.

The elastic member is a spring shaft 104416, and the spring shaft 104416 includes a guide shaft and a pressing spring 104417 sleeved on the guide shaft. It can be understood that the elastic member mounting plate 10442 and the slider mounting plate 104414 are respectively provided with a through hole, one end of the guide shaft is fixed with the elastic member mounting plate 10442, the other end of the guide shaft slides in the through hole of the slider mounting plate 104414, and the pressing spring 104417 is sleeved on the guide shaft, and the two ends of the pressing spring 104417 are respectively contacted and pressed with the elastic member mounting plate 10442 and the slider mounting plate 104414. The device is simple in structure and convenient to arrange, and meanwhile the elastic force direction of the pressing spring 104417 is ensured through the guide shaft, so that the reliability of the device is further improved.

In this embodiment, the push plate assembly includes push plate spare and push cylinder 10447, and the stiff end of push cylinder 10447 and horizontal base plate 10445 detachable fixed connection, and the loose end of push cylinder 10447 links firmly with the push plate spare, and the push plate spare sets up along vertical direction. The stiff end of push cylinder 10447 is fixed through push pedal cylinder mounting panel with horizontal base plate 10445, and the push pedal spare sets up along vertical direction, and it can be understood that push pedal spare and reference surface are parallel. Preferably, the push plate member comprises a push plate 10448 and an L-shaped plate 10449 disposed above the push plate 10448, the vertical end wall of the push plate 10448 being flush with the end wall of the short side of the L-shaped plate 10449, and the long side of the L-shaped plate 10449 abutting the disk 104411. It is understood that the push plate 10448 is pushed out by a distance not exceeding the length of the long side of the L-shaped plate 10449 so that the disc 104411 can abut against the long side of the L-shaped plate 10449, and it is within the scope of the present invention to set the length of the long side of the L-shaped plate 10449 as desired; push plate 10448 and L-shaped plate 10449 are secured by threaded fasteners, such as screws. In other embodiments, the structure of the push plate assembly can be set by itself as long as the same technical effect can be achieved.

The specific working process is as follows: the vertical power driving assembly 10441 drives the tube length measuring device to move above the first supporting plate 10418 along the ascending guide rail 104410 of the vertical base plate 104418 until the push plate assembly of the tube length measuring device is opposite to the end face of the tube; the pushing cylinder 10447 is pushed to ventilate, so that the pushing plate is pushed forwards until the other end face of the pipe touches the reference plate; the circumferential rotation distance of the disc 104411 is read by an encoder 104415, and the walking distance of the L-shaped plate 10449 is calculated and set as L1; the distance between the pipe length measuring device and the reference plate is known, so that the distance between the L-shaped plate 10449 and the reference plate can be obtained and is set as L2; the actual length of the pipe is L0 ═ L2-L1, whereby the length measurement of the pipe was completed.

As shown in fig. 7 and 8, in this embodiment, the first sliding measurement module 1040 further includes a first left-right centering device 1041 for centering and fixing the pipe left and right, and the first left-right centering device 1041 includes:

a first left and right centering substrate;

the first clamping assembly and the second clamping assembly are arranged on the first left and right centering base plates and symmetrically arranged along the central line of the connecting piece clamping equipment 1060;

the first centering power driving assembly is used for driving the first clamping assembly and the second clamping assembly to move towards/away from each other and move for the same distance;

and the first supporting plate is fixedly connected with the first left and right centering base plates and used for supporting the pipe, and the first supporting plate is arranged between the first clamping assembly and the second clamping assembly.

The first supporting plate 10418 is used for placing a pipe, and the first supporting plate 10418 is arranged between the first clamping assembly and the second clamping assembly; the first support plate 10418 is preferably a rectangular plate of regular shape that is fixed to the first left and right centering base plate and the first clamping assembly and the second clamping assembly move relative to the first support plate 10418. The first clamping assembly and the second clamping assembly are arranged in parallel and symmetrically on two sides of the transverse datum line, preferably on two sides of a vertical plane where the transverse datum line is located, so that the first clamping assembly and the second clamping assembly can be arranged conveniently. The transverse datum line is preferably the central line of the welding pipe clamping equipment in the length direction, and the welding pipe clamping equipment is used for centering by means of collinear connection of the central line of the pipe and the central line of the welding pipe clamping equipment. The first clamping assembly and the second clamping assembly are preferably arranged in the same structure, if the first clamping assembly and the second clamping assembly are arranged to be clamping claws, the first centering power driving assembly is used for synchronously driving the first clamping assembly and the second clamping assembly to move in the opposite direction/opposite direction, the moving distance is equal, the first centering power driving assembly drives the two clamping claws to synchronously move in the direction close to the transverse datum line, so that the pipe is centered left and right, the centering time is shortened through synchronous movement, and the centering efficiency is improved.

In an embodiment, the first supporting plate 10418, the first clamping assembly, the second clamping assembly and the first centering power driving assembly are equally disposed on the first left and right centering base plate 10416, and a mounting frame or other structures may be disposed below the first left and right centering base plate 10416, so that the height of the first left and right centering base plate 10416 can meet design requirements, preferably, two vertical plates are disposed on the first left and right centering base plate 10416, respectively, the two vertical plates are disposed at two ends of the first supporting plate 10418 along the transverse reference line direction, and are fixed with the first supporting plate 10418 through screws, so as to ensure the fixed position of the first supporting plate 10418.

Specifically, in order to carry out left and right synchronous centering to the tubular product, the power drive assembly in first centering includes:

a left and right centering cylinder 10411;

a group of driving rack 104110 and driven rack 104111 which are arranged in parallel, and a transition gear 10419 which is arranged between the driving rack 104110 and the driven rack 104111, wherein the left and right positioning cylinders are fixedly connected with the driving rack 104110;

a first linear slide rail mechanism 10417 disposed between the driving rack 104110 and the first left and right centering base plate 10416, and a second linear slide rail mechanism 10415 disposed between the driven rack 104111 and the first left and right centering base plate 10416, wherein the first linear slide rail mechanism 10417 and the second linear slide rail mechanism 10415 are disposed in parallel and perpendicular to the transverse reference line, respectively.

The driving rack 104110 and the driven rack 104111 have the same structure, the transition gear 10419 is arranged between the driving rack 104110 and the driven rack 104111 and is respectively engaged with the driving rack 104110 and the driven rack 104111, the driving rack 104110 and the driven rack 104111 are respectively provided with a step surface for supporting the transition gear 10419, and further, a support rod is arranged between the transition gear 10419 and the first left and right centering base plate 10416 and is sleeved on the transition gear 10419 to support the transition gear 10419. It can be understood that, when the driving rack 104110 is driven by the first centering power driving assembly to move, the transition gear 10419 rotates along its axis to drive the driven rack 104111 to move, the driving rack 104110 and the driven rack 104111 move in opposite directions, and the moving distances of the two are equal, so as to ensure that the distances between the first clamping assembly and the transverse reference line and the distance between the second clamping assembly and the transverse reference line are equal, so as to drive the first clamping assembly and the second clamping assembly to move synchronously and realize the left-right centering of the pipe. Furthermore, the first linear rail mechanism 10417 and the second linear rail mechanism 10415 have the same structure, and the first linear rail mechanism 10417 is taken as an example for illustration, and includes a rail and a slider engaged with the rail, and the slider is fixed to the first clamping assembly to drive the first clamping assembly to move.

In order to adapt to the height of the pipe, a supporting member can be arranged between the first clamping assembly and the sliding block, and the supporting member can be arranged according to the requirement, such as a rib plate 10414 and the like. In other embodiments, the structure of the first centering power driving assembly can be set by itself as long as the same technical effect can be achieved; preferably, the first clamping assembly is detachably and fixedly connected with the first linear slide mechanism 10417, the second clamping assembly and the second linear slide mechanism 10415 respectively; such as by threaded fasteners. Meanwhile, in order to make the first left and right centering base plate 10416 compact, a left and right centering cylinder 10411 and a front and rear centering means are provided on the first left and right centering base plate 10416 on both sides of the transverse reference line, respectively.

In this embodiment, for convenience of arrangement, the first and second clamping assemblies are identical in structure, and preferably each comprise a left and right clamping mounting plate 10412 and a plurality of roller units 10413. The roller units 10413 are respectively arranged on the end edges of the left and right clamping mounting plates 10412 along a straight line, and it can be understood that the end edges of the left and right clamping mounting plates 10412 are edges for clamping the pipe left and right; the roller unit 10413 includes a rolling shaft and rollers disposed at two ends of the rolling shaft, the rollers are connected to the rolling shaft through bearings, the left and right clamping mounting plates 10412 are provided with rolling shaft mounting holes for mounting the rolling shaft, the two are in clearance fit, and the rolling shaft mounting holes are preferably disposed in a vertical direction. Meanwhile, the end edges of any roller unit 10413 and the left and right clamping mounting plates 10412 are flush with each other to be in contact with the pipe, so that after the left and right centering of the pipe is completed by the first clamping assembly and the second clamping assembly, the pipe is subjected to micro-pressure compression for pre-positioning through the roller unit 10413 and the end walls of the left and right clamping mounting plates 10412, the pipe can move in the front and back direction in the front and back centering process of the front and back centering device, the friction force between the pipe and the end walls of the left and right clamping mounting plates 10412 is reduced through the roller unit 10413, and the pipe can move back and forth conveniently. In one embodiment, the number of the roller units 10413 is four, and two roller units 10413 are provided at both ends of the left and right clamp mounting plates 10412 in the transverse reference line direction, respectively.

On the basis of the above embodiments, in order to compress the centered pipe, the first left-right centering device 1041 further includes a compressing device 1045 which moves in the vertical direction and is used for compressing the pipe onto the first support plate 10418, the compressing device 1045 is disposed on the first left-right centering substrate 10416, in order to give way to the subsequent operation of the pipe after compression, the compressing device 1045 can move relative to the first support plate 10418, for example, an air cylinder and a linear slide rail mechanism are disposed, and the sliding direction of the compressing device is perpendicular to the first support plate 10418, and the specific arrangement mode can refer to the sliding arrangement mode of the front-back centering mounting plate 106014 and the first support plate 10418. The compressing device 1045 comprises a compressing cylinder and a compressing block fixed to the extending end of the compressing cylinder, and one side wall of the compressing block, which is in contact with the pipe, is a horizontal wall.

In one embodiment, the first clamping module 1050 includes a second left-right centering device and a baffle device; the second left-right centering device comprises a second left-right centering substrate, a third clamping assembly, a fourth clamping assembly, a second centering power driving assembly, a second supporting plate and a second pressing device, the specific structure of the second left-right centering device can refer to the first left-right centering device 1041, and preferably, the structures of the first left-right centering device and the first pressing device are the same. The baffle device is arranged on the second left-right centering device and far away from one side of the first sliding measurement module 1040, the baffle device comprises a stop block and a stop block power driving assembly used for driving the stop block to move along the vertical direction, and the stop block forms a reference surface facing the side wall of the pipe. The stop block power driving assembly is preferably an air cylinder, the extending end of the air cylinder is connected with the stop block through a guide rod, and a guide block is fixed below the second supporting plate and sleeved and slidably connected with the guide rod, so that the stop block can be guided to slide.

When the pipe is installed, the stop block is driven to rise through the stop block power driving assembly until the stop block protrudes out of a second supporting plate of the second left-right centering device, the distance between the first sliding measurement module 1040 and the reference surface is adjusted according to the length of the pipe, two ends of the pipe are respectively lapped on the first supporting plate and the second supporting plate, the first centering power driving assembly and the second centering driving assembly are respectively driven to perform left-right centering on the pipe, and first left-right centering positioning of the pipe is completed;

after the first left-right centering positioning is completed, the first centering power driving assembly and the second centering power driving assembly are opened simultaneously, the vertical power driving assembly 10441 drives the horizontal base plate to ascend until the push plate assembly is opposite to the end face of the pipe, the air cylinder is pushed to ventilate so that the push plate piece moves forwards until the other end face of the pipe is in contact with the reference surface of the baffle plate, wherein the distance between the first sliding measurement module 1040 and the reference surface is known, and the actual length L1 of the pipe is obtained according to the push-out distance of the push plate and the distance between the first sliding measurement module 1040 and the reference surface;

after the measurement is finished, the roller units of the first left-right centering device 1041 and the second left-right centering device respectively compress the pipe, meanwhile, the compressing device 1045 of the first left-right centering device 1041 moves to the position right above the pipe, then the compressing cylinder drives the pressing block to compress the pipe, at the moment, the centering and compressing actions of the first sliding measurement module 1040 are finished, the second left-right centering device of the first clamping module 1050 is in an open state, one end of the pipe is locked with the first sliding measurement module 1040, and the other end of the pipe is only tightly close to the stopper without any locking action; the stop block power driving assembly is ventilated to enable the push rod to retract, and the guide rod connected with the push rod also retracts, so that the stop block is driven to sink, and the pipe is moved forwards and retracted. The first sliding measurement module 1040 is driven to drive the first left-right centering device 1041 and the fixed pipe to move towards the connecting piece clamping device 1060, so that the pipe and the connecting piece can be spliced. It can be seen that, after the main control center 4000 adjusts the position of the first clamping module 1050 for the first time, the position is fixed in the same batch unless the product specification is changed, so that the position of the stopper is fixed, and the preset interval between the stopper and the connecting piece clamping device 1060 is a fixed value.

In this particular embodiment, the connector clamping device 1060 includes a third left-right centering device, a front-rear centering device, and a front-rear pre-centering device. Based on the structure of the connecting piece, the front and rear pre-centering devices pre-center the connecting piece, and center the connecting piece with the preset center through the front and rear centering devices, and the front and rear pre-centering devices and the front and rear centering devices are respectively perpendicular to the center line of the connecting piece clamping equipment 1060.

The third left-right centering device is used for centering and fixing the connecting piece left and right, and has the same structure as the first left-right centering device 1041; the third left-right centering device comprises a third left-right centering substrate, a fifth clamping assembly, a sixth clamping assembly, a third centering power driving assembly, a third supporting plate and a third pressing device, and the specific structure of the third left-right centering device can refer to the first left-right centering device 1041, and preferably, the structures of the first left-right centering device and the third left-right centering device are the same. The third supporting plate is used for placing a connecting piece and is arranged between the fifth clamping assembly and the sixth clamping assembly; the third support plate is preferably a rectangular plate of regular shape, whose position is fixed and the fifth and sixth clamping assemblies move relative to the third support plate. The fifth clamping assembly and the sixth clamping assembly are arranged in parallel and symmetrically on two sides of the transverse datum line, and preferably are arranged in parallel and symmetrically on two sides of a vertical plane where the transverse datum line is located, so that the fifth clamping assembly and the sixth clamping assembly can be conveniently arranged. The transverse datum line is preferably the central line of the welding pipe clamping equipment in the length direction, and the central line of the connecting piece and the central line of the welding pipe clamping equipment are collinear for centering. The fifth clamping assembly and the sixth clamping assembly are preferably arranged in the same structure, if the fifth clamping assembly and the sixth clamping assembly are arranged to be clamping claws, the third centering power driving assembly is used for synchronously driving the fifth clamping assembly and the sixth clamping assembly to move in the opposite direction/opposite direction and the moving distance is equal, the third centering power driving assembly drives the two clamping claws to synchronously move in the direction close to the transverse datum line, so that the left centering and the right centering of the connecting piece are realized, the left centering and the right centering time are shortened through synchronous movement, and the left centering and the right centering efficiency are improved.

In one embodiment, the third support plate, the fifth clamping assembly, the sixth clamping assembly and the third centering power driving assembly are all arranged on the third left and right centering base plate respectively, an installation frame or other structures can be arranged below the third left and right centering base plate, so that the height of the third left and right centering base plate can meet design requirements, preferably, two vertical plates are arranged on the third left and right centering base plate respectively, the two vertical plates are arranged at two ends of the third support plate along the direction of the transverse datum line respectively, and are fixed with the third support plate through screws respectively, so that the position of the third support plate is ensured to be fixed.

As shown in fig. 9, 10 and 11, in order to realize the centering of the center of the connecting member with the preset center, the apparatus further comprises:

the device comprises a front and rear pre-centering device used for carrying out front and rear pre-centering on the connecting piece and a front and rear centering device used for carrying out front and rear centering on the center of the connecting piece and a preset center, wherein the front and rear pre-centering devices and the front and rear centering device are respectively vertical to a transverse datum line. The structure of the front and rear centering devices can be set by referring to the structures of the first clamping assembly, the second clamping assembly and the first centering power driving assembly, so that the production and the processing are facilitated. It can be understood that the front-back direction is set based on the length direction of the transverse datum line, and the front-back pre-centering device firstly performs rough alignment on the connecting piece and then performs accurate alignment through the front-back centering device. In order that the front and rear centering devices can clamp the connecting piece, the front and rear pre-centering devices are arranged on the inner sides of the front and rear centering devices along the transverse datum line, so that the front and rear centering devices can clamp the connecting piece after the front and rear pre-centering devices are aligned.

Further, to achieve the front-rear centering of the connecting member, the front-rear centering device includes a front-rear centering mounting plate 106014 capable of moving in a direction approaching to/away from the third supporting plate, a first front-rear clamping assembly 106016, a second front-rear clamping assembly 106017, and a front-rear centering power driving assembly for driving the first front-rear clamping assembly 106016 and the second front-rear clamping assembly 106017 to move toward/away from each other and move by an equal distance.

A linear power driving assembly is arranged between the front and rear centering mounting plate 106014 and the third left and right centering base plate, and comprises a front and rear centering cylinder 106012 and a linear slide rail mechanism 106013, wherein the front and rear centering cylinder 106012 is fixedly connected with the front and rear centering mounting plate 106014 and moves along the front and rear centering mounting plate 106014 along the linear slide rail mechanism 106013 to the direction close to or far away from the third support plate, so that the connecting piece can be subjected to welding or other procedures after front and rear centering or abdicating; wherein the linear slide rail mechanism 106013 is disposed parallel to the first linear slide rail mechanism and the second linear slide rail mechanism of the third centering power drive assembly. Preferably, the first front-to-back clamp assembly 106016 and the second front-to-back clamp assembly 106017 are disposed in parallel on the front-to-back centering mounting plate 106014 with the center line perpendicular to the lateral reference line, and the front-to-back centering mounting plate 106014 is disposed in a vertical orientation. In one embodiment, the structures of the first front-to-back clamping assembly 106016 and the second front-to-back clamping assembly 106017 can be configured with reference to the structures of the fifth clamping assembly and the sixth clamping assembly, and will not be described herein again. Or, the front and rear centering power driving assembly is a parallel air claw 106015, and two extending ends of the parallel air claw 106015 are fixedly connected with the first front and rear clamping assembly 106016 and the second front and rear clamping assembly 106017 respectively; centre gripping subassembly 106016 around first and centre gripping subassembly 106017 sets up respectively to the grip block before and after the second to increase with the area of contact of connecting piece, optimize centering effect around, above-mentioned device simple structure is convenient for set up simultaneously.

The centering of the connector is achieved by the left-right centering device and the front-rear centering device, and it can be understood that the intersection point of the center line of the first front-rear clamping assembly 106016 and the second front-rear clamping assembly 106017 and the transverse reference line is the preset center, which is the fixed point. Preferably, the preset center is the center of the third support plate, so that the device is integrally arranged, and the installation error is reduced.

In this particular embodiment, the front and rear pre-centering device comprises:

the prepositioning baffle plate component 106020 and the prepositioning push plate component 106021 are arranged at the two ends of the third supporting plate along the direction of the transverse datum line, and the prepositioning push plate component 106021 can push the connecting piece on the third supporting plate to move to be in contact with the prepositioning baffle plate component 106020 for front and back pre-centering;

a first upper pushing force driving assembly 106018 for driving the pre-positioning shutter assembly 106020 to move in the vertical direction and a second upper pushing force driving assembly 106019 for driving the pre-positioning push plate assembly 106021 to move in the vertical direction.

The pre-positioning baffle assembly 106020 comprises a horizontal plate and a vertical plate fixed with the horizontal plate, the vertical plate is used for blocking the connecting piece, and the first upper pushing force driving assembly 106018 drives the pre-positioning baffle assembly 106020 to move for a preset distance in the vertical direction, so that the horizontal plate and the third support plate 8 are positioned on the same horizontal plane; the pre-positioning push plate assembly 106021 comprises a front pre-centering cylinder 1060211 and a rear pre-centering cylinder 1060212, the front pre-centering cylinder and the rear pre-centering cylinder are arranged along the direction of a longitudinal datum line, and in order to achieve connection of the second upper pushing force driving assembly 106019 and the pre-positioning push plate assembly 106021, a push plate adapter, such as an L-shaped plate, is arranged between the first upper pushing force driving assembly and the pre-positioning push plate assembly, so that a space is provided for installation of the; similarly, a flapper adapter is provided between the first upper pushing force driver assembly 106018 and the pre-positioned flapper assembly 106020. First upper pushing force driving assembly 106018 and second upper pushing force driving assembly 106019 are preferably identical in structure and each include a cylinder and a linear slide mechanism. In other embodiments, only one cylinder may be provided to achieve the vertical movement of the pre-positioning baffle assembly 106020 and the pre-positioning push plate assembly 106021, so as to save cost. The connecting piece can pass through the third supporting plate and the horizontal plate in sequence under the pushing of the pre-positioning push plate assembly 106021 until the connecting piece stops contacting with the vertical plate, and it can be understood that the two ends of the connecting piece are positioned at the inner sides of the first front-rear clamping assembly 106016 and the second front-rear clamping assembly 106017, so that the front-rear pre-positioning of the connecting piece is realized.

On the basis of the above embodiments, in order to press the connector after centering, the device further comprises a pressing device which moves along the vertical direction and is used for pressing the connector on the third supporting plate,

the pressing device is arranged on the third left-right centering base plate, and can move relative to the supporting seat in order to give way for subsequent operation of the connecting piece after being pressed, if the air cylinder and the linear slide rail mechanism are arranged, the sliding direction of the pressing device is perpendicular to the supporting seat, and the specific arrangement mode can refer to the sliding arrangement mode of the front-back centering mounting plate 106014 and the third supporting plate. The pressing device comprises a pressing cylinder 106022 and a pressing block 106023 fixed with the extending end of the pressing cylinder 106022, and the contact surface of the pressing block 106023 and the connecting piece is a horizontal plane.

The specific working process is as follows: before the connecting piece is manually fed, the first upper pushing force driving assembly 106018 is ventilated, the pre-positioning baffle is pushed to ascend through the baffle adapter piece, and the vertical plate of the pre-positioning baffle is higher than the third supporting plate to play a role in blocking and primary positioning; in addition, vertical plates are provided inside the first front-to-back clamp assembly 106016 and the second front-to-back clamp assembly 106017 to pre-position the connectors in the front-to-back orientation; the second upper pushing force driving assembly 106019 pushes the pre-positioning push plate assembly 106021 to move upwards along the linear slide rail mechanism through the push plate adaptor, so that the push plate 1060212 in the front of the second upper pushing force driving assembly can be opposite to the connecting piece, and after the device is in place, the connecting piece is manually placed above the third supporting plate;

firstly, performing front and back initial positioning, ventilating a pushing cylinder 1060211 of the pre-positioning push plate assembly 106021, pushing a connecting piece by a pushing plate 1060212 to move forwards until the connecting piece touches a vertical plate to stop, then retracting the pre-positioning push plate assembly 106021, and retracting a second upper pushing force driving assembly 106019 after retraction to give way for welding; synchronously, the pre-positioning baffle assembly 106020 and the first upper pushing force driving assembly 106018 retract to complete front and rear pre-positioning;

the left and right centering cylinders are ventilated, and the left and right centering cylinders sequentially pass through the driving rack, the left and right clamping mounting plates and the roller units arranged on the driving rack, and the driving rack and the transition gear to drive the driven rack, the left and right clamping mounting plates and the roller units on the driven rack to move, so that the roller units on the two sides synchronously move towards the middle, and the left and right centering positioning of the connecting piece is realized; after the positioning is finished, the left and the right are kept in a clamping state. Then, front-back centering positioning is carried out, before the front-back centering positioning is realized, the parallel air claws 106015 are opened, so that the distance between the first front-back clamping component 106016 and the second front-back clamping component 106017 is larger than the length of the connecting piece, the front-back centering air cylinder 106012 is used for ventilating to drive the front-back centering mounting plate 106014 to move towards the direction close to the connecting piece until the first front-back clamping component 106016 and the second front-back clamping component 106017 are opposite to the front-back end wall of the connecting piece; then the parallel air claw 106015 is ventilated, the first front-back clamping assembly 106016 and the second front-back clamping assembly 106017 synchronously move towards the middle until the front-back end surfaces of the connecting piece are touched, and the first front-back clamping assembly 106016 and the second front-back clamping assembly 106017 synchronously move under the driving of the parallel air claw 106015, so that the action consistency is high, and the front-back positioning of the connecting piece is realized. It can be understood that the left and right centering positioning is in a pressing state at this time, and the friction force is not large because the left and right centering positioning is pressed by the rollers and is in line contact with two side surfaces of the connecting piece. Therefore, the parallel pneumatic claw 106015 can move under the condition that the connecting piece is pressed by the roller, and front and back centering positioning is realized.

After the front and rear centering positioning is finished, the pressing and pushing cylinder 106024 is used for ventilating, the pressing device moves towards the direction of the connecting piece until the pressing block 106023 moves right above the connecting piece, then the pressing cylinder 106022 is used for ventilating, the pressing block 106023 is pressed downwards until the pressing block is tightly pressed on the connecting piece, after the pressing, the parallel gas claws 106015 are opened, the front and rear centering cylinder 106012 is used for ventilating to bring the parallel gas claws 106015 back to the initial position, then the parallel gas claws 106015 are folded to give way for welding, and therefore the left and right, front and rear centering positioning and pressing actions of the connecting piece are finished.

As shown in fig. 3 and 5, preferably, in order to effectively support the pipe, the device further comprises:

can follow the liftable roller device that vertical direction removed and supported tubular product, be equipped with liftable roller device between first clamping module 1050 and first slip measurement module 1040. The liftable roller device comprises a roller lifting cylinder 10103, a guide shaft 10102, a power roller 10101 and a fixed base 10104. Wherein, roller lift cylinder 10103 sets up on lift cylinder mount pad, and it stretches out end and power roller 10101 fixed to drive it and remove along vertical direction, set up on the roller mount pad at power roller 10101 simultaneously, set up guiding axle 10102 respectively at the both ends of roller mount pad, be equipped with on the lift cylinder mount pad with guiding axle 10102 complex guide block, the two sliding connection. The power roller 10101 rotates along the axis of the power roller 10101, the pipe is lapped on the power roller 10101, and when the pipe moves under the driving of the power device, the power roller 10101 rotates around the axis of the power roller 10101 under the action of the friction force of the pipe. In one embodiment, a first liftable roller device 1010 is arranged on the workbench, a second liftable roller device 1020 is arranged on the parallel track, and the pipe clamping and measuring device comprises a third liftable roller device 1070 and a fifth liftable roller device 1090 which are respectively arranged close to the first clamping module 1050 and the first sliding measuring module 1040, preferably, the distance between the fifth liftable roller device 1090 and the first clamping module 1050, and the distance between the third liftable roller device 1070 and the first sliding measuring module 1040 are fixed; meanwhile, in order to support the pipe at the head end, a fourth liftable roller device 1080 fixedly arranged on the parallel track is arranged between the third liftable roller device 1070 and the fifth liftable roller device 1090.

When a pipe is clamped, the power roller 10101 is lifted to be higher than the first supporting plate, the pipe is lapped on the power roller 10101, the roller lifting cylinder 10103 is controlled to descend through the control device, and two ends of the pipe are clamped with the first clamping module 1050 and the first sliding measurement module 1040 respectively; and realize the support to tubular product jointly through first clamping module 1050 and first slip measurement module 1040, first liftable roller device 1010 and second liftable roller device 1020, from this with the automatic feeding that can realize tubular product, and can effectively support tubular product, prevent because the tubular product overlength leads to the centre to cave in and the length and the angular deviation that produce influence the welding effect.

As shown in fig. 1, 4 and 12, in particular, the automatic welding workstation for flexible multi-segment pipes comprises:

the number of the pipe clamping measuring equipment and the number of the connecting piece clamping equipment are respectively a plurality;

all the pipe clamping and measuring devices and all the connecting piece clamping and measuring devices 1060 are sequentially and alternately arranged, the central lines are collinear, and any other pipe clamping and measuring device and the first pipe clamping and measuring device are arranged in a mirror image overturning mode along the vertical surface; the pipe clamping measuring devices and the connecting piece clamping devices 1060 are alternately arranged, it can be understood that the distance between the first clamping module 1050 of the first pipe clamping measuring device and the first connecting piece clamping device 1060 is fixed, namely a preset interval is set, the second pipe clamping measuring device and the first pipe clamping measuring device are arranged in a mirror image overturning mode along a vertical surface, and the first connecting piece clamping device 1060 is preferably arranged in a mirror image mode with the center as the center; the relative positions of the first clamping module 1050 of the first pipe clamping measuring device and the first clamping module 1050 of the second pipe clamping measuring device are fixed to the first connecting piece clamping device 1060 respectively, so that the other pipe clamping measuring devices and the other connecting piece clamping devices 1060 are based on the first connecting piece clamping device 1060, the precision of the device is improved, and errors are reduced. Further, the relative position of any one of the connector clamping devices 1060 and the next adjacent first clamping module 1050 is fixed, so as to further reduce the length error between the connector clamping device 1060 and the first clamping module 1050.

As shown in fig. 4 and 12, further, the automatic welding workstation for flexible multi-segment pipes further comprises:

a plurality of robotic welding units;

a table 1000 and a set of parallel rails 1030 disposed on the table 1000;

the first pipe clamping measuring device, the second pipe clamping measuring device, the third pipe clamping measuring device and the fourth pipe clamping measuring device are sequentially arranged on the parallel track 1030;

the first clamping module 1050 of the first pipe clamping measuring device and the first clamping module 1050 of the second pipe clamping measuring device are fixed to the parallel rail 1030 respectively, and the third pipe clamping measuring device and the fourth pipe clamping measuring device slide along the parallel rail 1030 to move in a direction close to/far from the second pipe clamping measuring device.

In one embodiment, a parallel rail is arranged on the workbench 1000, a first liftable roller device 1010 is fixedly arranged at the head end of the parallel rail 1030, and a second liftable roller device 1020, a first pipe clamping and measuring device, a first connecting piece clamping and measuring device 1060, a second pipe clamping and measuring device, a second connecting piece clamping and measuring device 1060, a third pipe clamping and measuring device, a third connecting piece clamping and measuring device 1060 and a fourth pipe clamping and measuring device are sequentially arranged along the length direction of the parallel rail 1030; the second pipe clamping measuring device, the third pipe clamping measuring device and the fourth pipe clamping measuring device are arranged in a mirror image mode with the first pipe clamping measuring device by taking the first connecting piece clamping device 1060 as a center, meanwhile, a first clamping module 1050 and a first connecting piece clamping device 1060 of the first pipe clamping measuring device are fixedly arranged on the parallel rail 1030, and a first sliding measuring module 1040 of the first pipe clamping measuring device can slide towards the direction close to the first clamping module 1050 along the parallel rail 1030; the movable base 1042 is arranged at the bottom of the first sliding measurement module 1040 and driven by a servo motor 1043, the first clamping module 1050 of the second pipe clamping measurement device is also fixedly arranged on the parallel rail 1030 and is provided with a preset interval with the first connecting piece clamping device 1060, and the first sliding measurement module 1040 of the second pipe clamping measurement device can slide along the parallel rail 1030 to a direction close to the first clamping module 1050; the first sliding measurement module 1040, the second connecting piece clamping device 1060, the third pipe clamping measurement device, the third connecting piece clamping device 1060 and the fourth pipe clamping measurement device of the second pipe clamping measurement device are all connected to the parallel rails 1030 in a sliding manner. Meanwhile, the relative positions of the second connecting piece clamping device 1060 and the first clamping module 1050 of the third pipe clamping and measuring device are fixed, and the relative positions of the third connecting piece clamping device 1060 and the first clamping module 1050 of the fourth pipe clamping and measuring device are fixed.

In the welding process, the tube 4011 and the connector 4021 complete splicing and clamping, and at the same time, splicing and clamping of the tubing 4012 and the connector 4022, and the tubing 4013 and the connector 4023 are completed, then the spliced and clamped tubing 4012 and the connector 4021 are pushed to complete splicing and clamping, and the spliced and clamped pipe 4013 and the connecting piece 4022 are pushed to complete splicing and clamping, the pipe 4014 moves forwards to complete splicing and clamping with the connecting piece 4023, after all the pipes and the connecting pieces are spliced and clamped, a plurality of robot welding units sequentially weld all the spliced parts, as shown in fig. 12, the first automatic welding unit 2000 and the second automatic welding unit 3000 perform welding from two sides to the middle, the lifting roller device at the head end of the finished product and the fixed roller conveyor line module arranged on the workbench 1000 are conveyed away, and the whole process is fully automated except for manual feeding. Therefore, the pipe welding is realized section by section, the welding efficiency is improved, and the welding error is reduced.

Above-mentioned flexible multistage tubular product automatic weld workstation, through the manual work with welding raw materials such as a plurality of square pipes and a plurality of connecting pieces material loading back, this workstation at first carries out left and right directions automatic centering location and compresses tightly, fore-and-aft direction automatic centering location and compresses tightly the raw and other materials of material loading, then carries out length measurement to these square pipe raw materials. The measuring module feeds back the length measurement result to the workstation master control center 4000. The main control center 4000 firstly determines the position of the connecting piece according to the known length requirement, then finely adjusts the splicing distance between the square tube and the connecting piece to compensate the length processing error, and keeps fixed to wait for the robot to weld. And after the welding is finished, conveying the finished product away by the conveying line. The workstation can have the function of accurately measuring the length of the welding raw material, and can automatically adjust the position of a workpiece according to the requirement in advance so as to compensate the processing error of the raw material, so that the workstation has higher control capability of the length of a welding finished product. In addition, the left-right and front-back centering functions of the workstation and the moving adjustment capability of the raw material clamping module enable the whole workstation to have the characteristic of flexibility and adapt to the changes of the length and the section size of the square tube within a certain range. In addition, the automatic welding technology of the robot is adopted, so that the welding quality and efficiency can be effectively ensured.

The length measurement is carried out to the square tube raw materials of every material loading to on this basis, can compensate because of the accumulated deviation of many root length pipes length that machining error brought when square tube raw materials and connecting piece splice. The longer the splicing length, the better the compensation effect. In addition, the production line can reduce the processing difficulty of processing raw materials and reduce the processing cost; can greatly shorten the clamping time of welding raw materials, improve the welding quality, and ensure the consistency and the production efficiency of a welded finished product

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The utility model provides a flexible multistage tubular product automatic weld workstation which characterized in that, including be used for to the connecting piece carry out the connecting piece clamping equipment of clamping centering and with the tubular product clamping measuring equipment of connecting piece clamping equipment central line collineation setting, tubular product clamping measuring equipment includes:

2. The automated welding workstation of claim 1, wherein the first sliding measurement module further comprises a first left-right centering device for centering and securing the tubing left-right, the first left-right centering device comprising:

a first left and right centering substrate;

3. The automatic welding workstation of flexible multistage tubular product of claim 2, characterized in that, first measuring device locates the first left and right centering device and keeps away from first clamping module one side, first measuring device includes:

a horizontal substrate;

4. The automated welding workstation of flexible multi-segment tubing of claim 1, wherein the first clamping module comprises:

a second left-right centering device;

5. The automatic welding workstation of flexible multi-segment tubing according to claim 2, wherein said connector clamping device comprises:

6. The automated welding workstation of flexible multi-segment tubing of claim 5, wherein the front-to-back centering device comprises:

7. The automated welding workstation of flexible multi-segment tubing of claim 6, wherein said front and back pre-centering device comprises:

8. The automated welding workstation of flexible multi-segment tubing of claim 1, further comprising:

9. The automatic welding workstation for the flexible multi-section pipe according to claim 1, wherein the number of the pipe clamping measuring devices and the number of the connecting piece clamping devices are respectively a plurality;

10. The automated welding workstation of flexible multi-segment tubing of claim 9, further comprising:

a plurality of robotic welding units;