CN211564913U

CN211564913U - Manifold welding system

Info

Publication number: CN211564913U
Application number: CN201922443021.1U
Authority: CN
Inventors: 程远; 袁玉荣; 马庆庆
Original assignee: Nanjing Yingnigema Industrial Automation Technology Co ltd
Current assignee: Nanjing Yingnigema Industrial Automation Technology Co ltd
Priority date: 2019-12-30
Filing date: 2019-12-30
Publication date: 2020-09-25
Anticipated expiration: 2029-12-30

Abstract

The utility model discloses a manifold welding system, which comprises a supporting and positioning device and a welding device with a traveling mechanism; the supporting and positioning device comprises a first positioner, a second positioner, a plurality of supporting roller frames and a guide rail, wherein the supporting roller frames are positioned between the first positioner and the second positioner; the welding device comprises a walking track and a bottom plate paved on the walking track, wherein the walking track comprises a linear guide rail paved in the horizontal direction and a rack arranged on the inner side wall of the track; a welding robot and a carrying robot are fixed on the bottom plate; a welding gun and a laser tracker are fixedly connected to a sixth shaft of the welding robot, and a robot gripper is fixedly connected to a sixth shaft of the carrying robot; and the bottom plate is also provided with a material frame positioning component and a secondary positioning device.

Description

Manifold welding system

Technical Field

The utility model relates to a manifold welding system.

Background

In the prior art, when the manifold is welded, the pipeline is supported at a fixed point by using a support frame fixed on the ground, the support device can not meet the requirements of welding the pipelines with different sizes and specifications and different lengths, and in addition, the whole welding scheme for welding the manifold on the pipeline is not provided at present.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that a manifold welding system is provided, this welding system can be applicable to the welding of manifold on the pipeline of various length and various sizes.

For solving the technical problem, the utility model discloses the technical scheme who adopts does:

a manifold welding system comprises a supporting and positioning device and a welding device with a traveling mechanism; the supporting and positioning device comprises a first positioner, a second positioner, a plurality of supporting roller frames and a guide rail, wherein the supporting roller frames are positioned between the first positioner and the second positioner; the welding device comprises a walking track and a bottom plate paved on the walking track, wherein the walking track comprises a linear guide rail paved in the horizontal direction and a rack arranged on the inner side wall of the track; a welding robot and a carrying robot are fixed on the bottom plate; a welding gun and a laser tracker are fixedly connected to a sixth shaft of the welding robot, and a robot gripper is fixedly connected to a sixth shaft of the carrying robot; and the bottom plate is also provided with a material frame positioning component and a secondary positioning device.

The support roller frame comprises a driving support roller frame and a driven support roller frame.

Wherein the support roller frame comprises at least two active support roller frames.

The driven support roller frame comprises a first frame and a second frame, wherein the first frame is provided with a first support frame, a second support frame and a transverse moving mechanism, and the first support frame and the second support frame are driven by the transverse moving mechanism to move close to each other or move away from each other; the second machine frame is provided with a longitudinal moving mechanism, the driving end of the longitudinal moving mechanism is connected with the first machine frame, and the first machine frame is driven by the longitudinal moving mechanism to move up and down along the longitudinal direction; the second rack is fixed on a bottom plate, the bottom plate is fixedly connected with the adapter plate, the bottom of the adapter plate is provided with a sliding block, and the sliding block is matched and connected with a guide rail paved on the ground; the first support frame comprises a support frame I erected on the first machine frame and a roller I which is positioned in the support frame I and is rotationally connected with the support frame I through a rotating shaft or a bearing; the second support frame is including erectting support frame II on first frame and being located support frame II and rotate the gyro wheel II who is connected through pivot or bearing and support frame II.

The active support roller frame comprises a first frame and a second frame, wherein the first frame is provided with a first support frame, a second support frame and a transverse moving mechanism, and the first support frame and the second support frame are driven by the transverse moving mechanism to move close to each other or move away from each other; the second machine frame is provided with a longitudinal moving mechanism, the driving end of the longitudinal moving mechanism is connected with the first machine frame, and the first machine frame is driven by the longitudinal moving mechanism to move up and down along the longitudinal direction; the second rack is fixed on a bottom plate, the bottom plate is fixedly connected with the adapter plate, the bottom of the adapter plate is provided with a sliding block, and the sliding block is matched and connected with a guide rail paved on the ground; the first support frame comprises a support frame I erected on the first machine frame and a roller I which is positioned in the support frame I and is rotationally connected with the support frame I through a rotating shaft or a bearing; the second support frame comprises a support frame II erected on the first machine frame and a roller II positioned in the support frame II and rotationally connected with the support frame II through a rotating shaft or a bearing; the device also comprises a rotating mechanism for driving the roller to rotate; the rotating mechanism comprises a motor and a speed reducer in transmission connection with the motor, the motor shell is fixedly connected with the speed reducer shell through a flange, the speed reducer is fixed on the supporting frame, and the driving end of the speed reducer is fixedly connected with the rotating shaft of the roller; the driving mechanism comprises a driving motor and a gear in transmission connection with the driving motor, and the driving motor is fixed on the extension plate; the extension plate is fixedly connected with the adapter plate, and racks which are mutually matched and connected with the gears are arranged on the inner side wall of the guide rail.

The transverse moving mechanism comprises a rotating handle and a screw rod fixedly connected with the rotating handle, the screw rod transversely penetrates through the first rack, the tail end of the screw rod is fixedly connected with the first rack through a bearing, the starting end of the screw rod is connected with the rotating handle, and the rotating handle is fixedly connected with the first rack through a bearing; one side of the screw is provided with a forward thread, the other side of the screw is provided with a reverse thread, the forward thread end and the reverse thread end of the screw are both sleeved with nuts, and the support frame I and the support frame II are respectively fixedly connected with the corresponding nuts; the middle part of the screw rod is fixedly connected with the first frame through a bearing.

The longitudinal moving mechanism comprises a motor and a screw rod lifter in transmission connection with the motor, the motor and the screw rod lifter are fixed on the second rack, and the top end of a screw rod of the screw rod lifter is fixedly connected with the connecting end of the first rack through a bearing; the longitudinal moving mechanism also comprises guide mechanisms which are arranged on two sides of the screw rod lifter in pairs; the guide mechanism comprises a guide shaft and a guide shaft bearing seat sleeved outside the guide shaft, the guide shaft bearing seat is fixed on the second rack, one end of the guide shaft is fixedly connected with the lower bottom plate of the first rack, and the other end of the guide shaft penetrates through the guide shaft bearing seat and longitudinally moves along the guide shaft bearing seat.

The robot gripper comprises a mounting plate fixedly connected with a sixth shaft of the transfer robot, a first transfer plate, a vision system, a clamping jaw air cylinder, a clamping jaw fixedly connected with the driving end of the clamping jaw air cylinder and an electromagnet fixed at the lower end of the clamping jaw through a connecting piece I; the mounting plate is fixed on the first adapter plate through a connecting piece II, the vision system is fixed on the first adapter plate through the second adapter plate, and the fixed end of the clamping jaw air cylinder is fixed on the first adapter plate.

The material frame positioning assembly comprises four positioning frames, the four positioning frames are arranged on the base in a quadrilateral mode, and the four positioning frames are located at four vertex angles of the quadrilateral mode respectively; each positioning frame comprises a square cavity with an opening at the top, wherein two adjacent sides of the square cavity extend upwards, and the top end of the extending part is turned out towards the outside of the cavity; two adjacent sides of every locating rack that have extension portion are located tetragonal periphery, and the tip of extension portion is 45 ~ 60 towards the contained angle of the portion of turning out and the horizontal plane of turning out outside the cavity.

The secondary positioning device comprises a support, a plurality of support frames fixed on the support and a placing area fixed on the support frames, wherein the placing area is provided with a first hollow grabbing area and a second hollow grabbing area, one end of the placing area is provided with a baffle, and the baffle is provided with a through hole; the positioning sensor is fixed on the outer side of the baffle plate relative to the placing area through a connecting piece, and a probe of the positioning sensor is placed at the position of the through hole of the baffle plate.

Has the advantages that: the utility model discloses welding system can be applicable to the welding of manifold on the pipeline of various length and various size, on the one hand it utilizes the support positioner to support the location to the pipeline of different length, and the support positioner can also carry out corresponding regulation to the vertical height of its central axis and ground and its placing angle on the supporting roller frame according to the difference of pipeline size simultaneously to the support positioner's suitability has effectively been improved; on the other hand, the welding device can grab and weld the manifold at the same time, and the welding device can also walk on the walking track, so that the welding device can move relative to the pipeline to be welded, and the manifold at different positions on the pipeline can be welded.

Drawings

FIG. 1 is a schematic view of a driven support roller carriage;

FIG. 2 is an elevation view of the driven support roller frame;

FIG. 3 is a schematic view of a driven support roller frame laid on a track;

FIG. 4 is a schematic view of the structure of the active support roller frame laid on the track;

FIG. 5 is a partial schematic view of an active support roller;

FIG. 6 is a schematic structural diagram I of the movable positioner;

FIG. 7 is a schematic structural diagram II of the movable positioner;

FIG. 8 is a schematic structural view of the fixed displacement machine;

FIG. 9 is a schematic view of the structure for fixing the pipes to be welded to the supporting and positioning device;

FIG. 10 is a schematic structural view of the supporting and positioning device;

fig. 11 is a schematic structural view of the manifold welding system of the present invention;

FIG. 12 is a schematic view of a welding apparatus;

FIG. 13 is a schematic view of the welding apparatus with a protective enclosure;

FIG. 14 is a schematic view of the sixth axis of the welding robot connected to the welding gun assembly;

FIG. 15 is a schematic structural view of a welding device laid on a traveling rail;

FIG. 16 is a schematic diagram of a robotic gripper;

FIG. 17 is a schematic view of the robot gripper attached to the sixth axis of the transfer robot;

FIG. 18 is a schematic structural diagram of a robot gripper for gripping a workpiece to be welded on a secondary positioning device;

FIG. 19 is a schematic structural diagram I of the secondary positioning device;

FIG. 20 is a schematic structural diagram II of the secondary positioning device;

FIG. 21 is a schematic structural diagram III of the secondary positioning device;

FIG. 22 is a schematic view of the structure of the secondary positioning device on which the work pieces to be welded are placed;

FIG. 23 is a schematic structural view of a frame positioning assembly;

FIG. 24 is a schematic view of the positioning frame;

FIG. 25 is a schematic view of the structure of the frame on the frame positioning assembly;

FIG. 26 is a top view of the carriage on the carriage positioning assembly;

FIG. 27 is a schematic view showing the construction of a travel drive mechanism;

fig. 28 is a schematic structural view of a baseplate laid on a running rail in the manifold welding device with a running mechanism according to the present invention;

fig. 29 is a schematic structural view of an uninstalled base plate laid on a running rail.

Detailed Description

The invention will be better understood from the following examples. However, those skilled in the art will readily appreciate that the description of the embodiments is only for illustrating the present invention and should not be taken as limiting the invention as detailed in the claims.

As shown in fig. 1 to 29, the manifold welding system of the present invention includes a supporting and positioning device 161 and a welding device 162 with a traveling mechanism; the supporting and positioning device 161 comprises a first positioner (a fixed positioner 111), a second positioner (a movable positioner 112) and a plurality of supporting roller frames 200 positioned between the first positioner 111 and the second positioner 112; the device further comprises a track 114 laid on the ground, a guide rail 104 is laid on the track 114, and sliding blocks (116, 103) which are matched and connected with the guide rail 104 are arranged at the bottoms of the second positioner 112 and the support roller frame 200; wherein the supporting roller frame 200 comprises a driving supporting roller frame 109 (supporting roller frame II109) and a driven supporting roller frame 101 (supporting roller frame II101), or the supporting roller frame 200 comprises at least two driving supporting roller frames 109; the welding device 162 includes a traveling rail 142 and a bottom plate 128 laid on the traveling rail 142, the traveling rail 142 includes a linear guide 153 laid in a horizontal direction and a rack 155 provided on an inner side wall of the rail 142; a welding robot 122 and a transfer robot 124 are fixed on the bottom plate 128, and the welding robot 122 and the transfer robot 124 are respectively fixed on the bottom plate 128 through lifting seats (130, 129) (the bottom plate 128 is provided with a plurality of bolt holes 160 for installation); a welding gun assembly 123 is fixedly connected to the sixth shaft 132 of the welding robot 122, wherein the welding gun assembly 123 comprises a welding gun 133 and a laser tracker 135, the welding gun 133 is fixedly connected with the sixth shaft 132 of the welding robot 122, and the laser tracker 135 is fixedly connected with the sixth shaft 132 of the welding robot 122 through an adapter plate 134; the sixth shaft 20 of the transfer robot 124 is fixedly connected with a robot gripper 125; the bottom plate 128 is also provided with a material frame positioning component 127 and a secondary positioning device 126.

The driven support roller frame 101 comprises a first frame 64 and a second frame 71, wherein the first frame 64 is provided with a first support frame 81, a second support frame 81 and a transverse moving mechanism, and the first support frame 81 and the second support frame 82 move close to each other or move away from each other under the drive of the transverse moving mechanism; a longitudinal moving mechanism is arranged on the second frame 71, the driving end of the longitudinal moving mechanism is connected with the first frame 64, and the first frame 64 moves up and down along the longitudinal direction under the driving of the longitudinal moving mechanism; the second frame 71 is fixed on the bottom plate 75, the bottom plate 75 is fixedly connected with the adapter plate 102, the bottom of the adapter plate 102 is provided with a sliding block 103, and the sliding block 103 is mutually matched and connected with a guide rail 104 laid on the ground.

The first support frame 81 comprises a support frame I62 erected on the first frame 64 and a roller I83 positioned in the support frame I62 and rotatably connected with the support frame I62 through a bearing 61 (a rotating shaft of the roller I83 is fixedly connected with the support frame I62 through the bearing 61); the second support frame 82 comprises a support frame II85 erected on the first frame 64 and a roller II84 positioned in the support frame II85 and rotationally connected with the support frame II85 through a bearing; the transverse moving mechanism of the driven support roller frame 101 comprises a rotating handle 65 and a screw 66 fixedly connected with the rotating handle 65, the screw 66 traverses the first frame 64, the tail end of the screw 66 is fixedly connected with the first frame 64 through a bearing 86, the starting end of the screw 66 is connected with the rotating handle 65, and the rotating handle 65 is fixedly connected with the first frame 64 through a bearing 87. One side of the screw 66 is provided with a forward thread 67, and the other side of the screw 66 is provided with a reverse thread 69, so that when the rotating handle 65 rotates, the first support frame 81 and the second support frame 82 move close to each other or move away from each other; nuts (70, 68) are sleeved at the forward thread end and the reverse thread end of the screw 66, the support frame I62 is fixedly connected with the nut I68, and the support frame II85 is fixedly connected with the nut II 70; the middle part of the screw 66 is also provided with a bearing 79, the screw 66 is fixedly connected with the first frame 64 through the bearing 79, and two sides of the bearing 79 are also respectively provided with a connecting shaft 80.

The bottom of the supporting frame I62 is provided with a sliding block I63, the supporting frame I62 is erected on the first frame 64, and the sliding block I62 is driven by the transverse moving mechanism to transversely move relative to the first frame 64 along the side edge of the first frame 64; the bottom of the support frame II85 is provided with a slide block II88, the support frame II85 is erected on the first frame 64, and the slide block II88 is driven by the transverse moving mechanism to transversely move relative to the first frame 64 along the side edge of the first frame 64.

The longitudinal moving mechanism of the driven supporting roller frame 101 comprises a motor 72 and a screw rod lifter 73 in transmission connection with the motor 72, fixing parts of the motor 72 and the screw rod lifter 73 are fixed on the second frame 71, the top end of a screw rod 89 of the screw rod lifter 73 is connected with the center of a lower bottom plate 90 of the first frame 64, and the connecting part of the top end of the screw rod 89 and the first frame 64 (the connecting part is located in the center of the bottom of the first frame) is fixedly connected through a bearing 74. The screw rod lifter 73 is fixed on the bottom plate 75 of the second frame 71 through a connecting plate 91, a through hole 78 is formed on the bottom plate 75 of the second frame 71, and a screw rod 89 of the screw rod lifter 73 extends out of the through hole 78. Wherein, the longitudinal moving mechanism further comprises guide mechanisms 92, and the guide mechanisms 92 are arranged on two sides of the screw rod lifter 73 in pairs; the guide mechanism 92 comprises a guide shaft 76 and a guide shaft bearing seat 77 sleeved outside the guide shaft 76, the guide shaft bearing seat 77 is fixed on the second frame 71, one end of the guide shaft 76 is fixedly connected with the lower bottom plate 90 of the first frame 64, and the other end of the guide shaft 76 penetrates through the guide shaft bearing seat 77 and longitudinally moves along the guide shaft bearing seat 77.

By manually adjusting the distance between the two rollers 60 (the distance between the center points of the two rollers 60) by rotating the handle 65, the rollers 60 are brought into contact with the workpiece, and the driven supporting roller frame 101 is moved on the guide rail 104 by manual pushing.

The active support roller frame 109 comprises a first frame 64 and a second frame 71, wherein the first frame 64 is provided with a first support frame 81, a second support frame 81 and a transverse moving mechanism, and the first support frame 81 and the second support frame 82 move close to each other or move away from each other under the drive of the transverse moving mechanism; a longitudinal moving mechanism is arranged on the second frame 71, the driving end of the longitudinal moving mechanism is connected with the first frame 64, and the first frame 64 moves up and down along the longitudinal direction under the driving of the longitudinal moving mechanism; the second frame 71 is fixed on a bottom plate 75, the bottom plate 75 is fixedly connected with an adapter plate 102, a sliding block 103 is arranged at the bottom of the adapter plate 102, and the sliding block 103 is mutually matched and connected with a guide rail 104 laid on the ground; the first support frame 81 comprises a support frame I62 erected on the first frame 64 and a roller I83 positioned in the support frame I62 and rotatably connected with the support frame I62 through a bearing 61 (the rotating shaft of the roller I83 is fixedly connected with the support frame I62 through the bearing 61); the second support frame 82 comprises a support frame II85 erected on the first frame 64 and a roller II84 positioned in the support frame II85 and rotationally connected with the support frame II85 through a bearing; the active support roller carrier 109 further comprises a rotating mechanism 93 for driving the roller 60 to rotate; the rotating mechanism 93 comprises a motor 94 and a speed reducer 95 in transmission connection with the motor 94, a shell of the motor 94 is fixedly connected with a shell of the speed reducer 95 through a flange 96, the speed reducer 95 is fixed on a support frame 98, and a driving end of the speed reducer 95 is fixedly connected with a rotating shaft of the roller 60; the driving support roller frame 109 further comprises a driving mechanism, the driving mechanism comprises a driving motor 97 and a gear 99 in transmission connection with the driving motor 97, and the driving motor 97 is fixed on the extension plate 105; the second frame 71 is fixed on a bottom plate 75, the bottom plate 75 is fixedly connected with an adapter plate 102, a sliding block 103 is arranged at the bottom of the adapter plate 102, and the sliding block 103 is mutually matched and connected with a guide rail 104 laid on the ground; the extension plate 105 is fixedly connected with the adapter plate 102, and the inner side wall of the guide rail 104 is provided with a rack 100 which is matched and connected with the gear 99.

The transverse moving mechanism of the active support roller frame 109 comprises a rotating handle 65 and a screw 66 fixedly connected with the rotating handle 65, the screw 66 traverses the first frame 64, the tail end of the screw 66 is fixedly connected with the first frame 64 through a bearing 86, the starting end of the screw 66 is connected with the rotating handle 65, and the rotating handle 65 is fixedly connected with the first frame 64 through a bearing 87. One side of the screw 66 is provided with a forward thread 67, and the other side of the screw 66 is provided with a reverse thread 69, so that when the rotating handle 65 rotates, the first support frame 81 and the second support frame 82 move close to each other or move away from each other; nuts (70, 68) are sleeved at the forward thread end and the reverse thread end of the screw 66, the support frame I62 is fixedly connected with the nut I68, and the support frame II85 is fixedly connected with the nut II 70; the middle part of the screw 66 is also provided with a bearing 79, the screw 66 is fixedly connected with the first frame 64 through the bearing 79, and two sides of the bearing 79 are also respectively provided with a connecting shaft 80.

The longitudinal moving mechanism of the active supporting roller frame 109 comprises a motor 72 and a screw rod lifter 73 in transmission connection with the motor 72, fixing parts of the motor 72 and the screw rod lifter 73 are fixed on the second frame 71, the top end of a screw rod 89 of the screw rod lifter 73 is connected with the center of a lower bottom plate 90 of the first frame 64, and the connecting part of the top end of the screw rod 89 and the first frame 64 (the connecting part is located in the center of the bottom of the first frame) is fixedly connected through a bearing 74. The screw rod lifter 73 is fixed on the bottom plate 75 of the second frame 71 through a connecting plate 91, a through hole 78 is formed on the bottom plate 75 of the second frame 71, and a screw rod 89 of the screw rod lifter 73 extends out of the through hole 78. Wherein, the longitudinal moving mechanism further comprises guide mechanisms 92, and the guide mechanisms 92 are arranged on two sides of the screw rod lifter 73 in pairs; the guide mechanism 92 comprises a guide shaft 76 and a guide shaft bearing seat 77 sleeved outside the guide shaft 76, the guide shaft bearing seat 77 is fixed on the second frame 71, one end of the guide shaft 76 is fixedly connected with the lower bottom plate 90 of the first frame 64, and the other end of the guide shaft 76 penetrates through the guide shaft bearing seat 77 and longitudinally moves along the guide shaft bearing seat 77.

The second frame 71 of the active support roller carrier 109 is fixed on the bottom plate 75, the bottom plate 75 is fixedly connected with the adapter plate 102, the bottom of the adapter plate 102 is provided with a slide block 103, a guide rail 104 is laid on the ground, and the slide block 103 is matched and connected with the guide rail 104; the adapter plate 102 further comprises an extension plate 105, a driving motor 97 (the driving motor 97 is arranged in the box body 121) is arranged on the extension plate 105, a driving end of the driving motor 97 is fixedly connected with the gear 99, a rack 100 which is mutually matched and connected with the gear 99 is arranged on the inner side wall of the guide rail 104, the driving motor 97 rotates to drive the gear 99 to rotate, and therefore the sliding block 103 at the bottom of the adapter plate 102 moves along the guide rail 104.

By manually adjusting the distance between the two rollers 60 (the distance between the center points of the two rollers 60) by rotating the handle 65, the rollers 60 are brought into contact with the workpiece, and the active support roller frame 109 is moved on the guide rail 104 by the driving mechanism.

A first positioner (fixed positioner 111) in the supporting and positioning device 161 is fixed at one end of the track 114 through a fixing seat 120, the first positioner 111 comprises a motor driving mechanism 119 and a three-jaw chuck 107, the three-jaw chuck 107 is fixedly connected with the rotating end of the motor driving mechanism 119, and the three-jaw chuck 107 is used for fixing the pipeline 110 to be welded; the second positioner (movable positioner 112) in the supporting and positioning device 161 is located at the other end of the track 114, a slider structure 116 is arranged at the bottom, the second positioner 112 comprises a motor driving mechanism 118 and a three-jaw chuck 113, the three-jaw chuck 113 is fixedly connected with the rotating end of the motor driving mechanism 118, the three-jaw chuck 113 is used for fixing the pipeline 110 to be welded, the second positioner 112 further comprises a travelling mechanism 115, the travelling mechanism 115 comprises a driving motor and a gear 117 in transmission connection with an output shaft of the driving motor, and the gear 117 is in mutual matching connection with the rack 100 arranged on the inner side wall of the track 114. When the driving motor rotates, the gear 117 is driven to rotate, so that the second positioner 112 moves back and forth along the guide rail 104 through the slider structure 116.

A plurality of supporting roller frames are paved on the rail 114 of the supporting and positioning device 161, and the driven supporting roller frame 101 and the driving supporting roller frame 109 can be paved on the rail 114 at the same time; alternatively, only the active support roller frame 109 may be laid on the rail 114. When a driven supporting roller frame 101 and a driving supporting roller frame 109 are laid on a track 114 at the same time, a pipeline 110 to be welded is hung on the supporting roller frame, the placing angle of the pipeline 110 to be welded on the supporting roller frame is preset through a rotating mechanism 93 of the driving supporting roller frame 109, then the horizontal width of a connecting line of central points of two rollers 60 of each supporting roller frame is manually adjusted, so that the pipeline 110 to be welded is fixed on the supporting roller frame, then, the axial height of the pipeline 110 to be welded, namely the vertical height of the central axis of the pipeline 110 to be welded and the ground is adjusted through a longitudinal moving mechanism of the supporting roller frame, so that the central axis of the pipeline 110 to be welded is superposed with the central axes of fixing devices (a position changing machine 108) at two ends of the track 114, at the moment, a driving mechanism of the driving supporting roller frame 109 is driven, the driving supporting roller frame 109 moves on the guide rail 104, thereby driving the pipeline 110 to be welded on the driving supporting roller frame 109 to move together, moving the driven supporting roller frame 101 along with the pipeline 110 to be welded under the action of friction force until one end of the pipeline 110 to be welded is clamped into the three-jaw chuck 107 of the fixed positioner 111 at the end of the track 114, and manually screwing the three-jaw chuck 107; finally, the movable positioner 112 moves along the guide rail 104 to the other end of the pipe to be welded 110, the end of the pipe to be welded 110 is clamped into the three-jaw chuck 113 of the movable positioner 112, and the three-jaw chuck 113 is manually tightened; therefore, the pipeline 110 to be welded is fixed in the positioner 108 at two ends of the track 114 (the pipeline 110 to be welded is fixedly connected with the rotating end of the motor driving mechanism of the positioner), and at the moment, the horizontal width of the connecting line of the central points of the two rollers 60 of each supporting roller frame is manually adjusted again, so that the supporting roller frames only support the pipeline 110 to be welded and do not play a role in fixing.

When only the active supporting roller frames 109 are laid on the track 114, the pipeline 110 to be welded is hung on the supporting roller frames, the placing angle of the pipeline 110 to be welded on the supporting roller frames is preset through the rotating mechanism 93 of one of the active supporting roller frames 109, then the horizontal width of the connecting line of the central points of the two rollers 60 of each supporting roller frame is manually adjusted, so that the pipeline 110 to be welded is fixed on the supporting roller frames, then the axial height of the pipeline 110 to be welded, namely the vertical height of the central axis of the pipeline 110 to be welded and the ground is adjusted through the longitudinal moving mechanism of the supporting roller frames, so that the central axis of the pipeline 110 to be welded is superposed with the central axes of the fixing devices (the positioner 108) at the two ends of the track 114, at the moment, the driving mechanisms of all the active supporting roller frames 109 are driven, the driving mechanisms drive the active supporting roller frames 109 to move on the guide rails 104, so as to drive the pipeline 110 to be welded, until one end of the pipeline 110 to be welded is clamped into a three-jaw chuck 107 of a fixed positioner 111 at the end of a track 114, and the three-jaw chuck 107 is manually screwed; finally, the movable positioner 112 moves along the guide rail 104 to the other end of the pipe to be welded 110, the end of the pipe to be welded 110 is clamped into the three-jaw chuck 113 of the movable positioner 112, and the three-jaw chuck 113 is manually tightened; therefore, the pipeline 110 to be welded is fixed in the positioner 108 at two ends of the track 114 (the pipeline 110 to be welded is fixedly connected with the rotating end of the motor driving mechanism of the positioner), and at the moment, the horizontal width of the connecting line of the central points of the two rollers 60 of each supporting roller frame is manually adjusted again, so that the supporting roller frames only support the pipeline 110 to be welded and do not play a role in fixing.

The robot gripper 125 comprises a mounting plate 8 fixedly connected with a sixth shaft 20 of the transfer robot 124, a first transfer plate 10, a vision system 11, a clamping jaw air cylinder (13, 14), a clamping jaw (17, 15) fixedly connected with the driving end of the clamping jaw air cylinder (13, 14) and an electromagnet 16 fixed at the lower end of the clamping jaw through a connecting piece I90; the mounting plate 8 is fixed on the upper base plate of the first adapter plate 10 through a triangular connector II9, the vision system 11 is fixed on the side of the first adapter plate 10 through a second adapter plate 12, and the fixed ends of the clamping jaw cylinders (13, 14) are fixed on the lower base plate of the first adapter plate 10. The two clamping jaw air cylinders (13, 14) are respectively a clamping jaw air cylinder 13 and a clamping jaw air cylinder 14, and the clamping jaw air cylinders 13 and the clamping jaw air cylinders 14 are arranged side by side along the horizontal direction; the clamping jaw air cylinder 13 is correspondingly connected with the clamping jaw pair 15, the clamping jaw air cylinder 14 is correspondingly connected with the clamping jaw pair 17, and an electromagnet 16 is fixedly connected below the clamping jaw pair 17 through a connecting piece I90.

The secondary positioning device 126 comprises a bracket 22 fixed on the bottom plate 128, a plurality of support frames 21 fixed on the bracket 22, and a placing area 25 fixed on the support frames 21, wherein the plurality of support frames 21 are all fixed on the bracket 22 through a positioning plate 29; the placing area 25 is provided with a first hollow grabbing area 23 and a second hollow grabbing area 24, one end (lower end) of the placing area 25 is provided with a baffle 30, and the baffle 30 is provided with a through hole 26; the secondary positioning device 126 further comprises an in-place sensor 27, the in-place sensor 27 is fixed on the outer side of the baffle 30 relative to the placing area 25 through a connecting piece 28, a probe of the in-place sensor 27 faces the through hole 26 of the baffle 30, and the in-place sensor 27 can be a laser ranging sensor; the heights of the support frames 21 are sequentially increased from left to right, so that the included angle A between the inclined edge of the placing area 25 and the horizontal plane is 20-30 degrees, the cross section of the placing area 25 is V-shaped or U-shaped, and the workpiece 19 to be welded is placed on the placing area 25.

The robot gripper 125 sucks up the workpiece 19 (manifold) to be welded in the material frame 5 through the electromagnet 16 (electrifying) below the robot gripper 125 (sucking positions are random, namely the position sucked by the electromagnet is any position on the workpiece), then the workpiece is placed on the placing area 25 of the secondary positioning device 126, after the electromagnet 16 is powered off, the in-position sensor 27 of the secondary positioning device 126 detects that the workpiece 19 to be welded is placed in the placing area 25 and slides to the lower end part of the placing area 25, and the two pairs of clamping jaws (15, 17) of the robot gripper 125 of the handling robot 124 are respectively placed in the first grabbing area 23 and the second grabbing area 24 to grab the workpiece 19 to be welded, so that the grabbing position of the robot gripper 125 on the workpiece is fixed when grabbing the workpiece 19 to be welded, and is not any position on the workpiece.

The material frame positioning assembly is composed of four positioning frames 1, the four positioning frames 1 are arranged on the base 6 in a quadrilateral mode, bolt holes are formed in the bottoms of the positioning frames 1, and the positioning frames 1 are fixed on the base 128 through bolts; the four positioning frames 1 are respectively positioned at four top corners of the quadrangle; each positioning frame 1 comprises a square cavity 7 with an opening at the top, wherein two adjacent sides of the square cavity 7 extend upwards, and the top end of the extension part 2 is turned out towards the cavity 7; every locating rack 1 has two adjacent sides of extension 2 and is located tetragonal periphery, and the tip of extension 2 is 45 ~ 60 towards the contained angle of the portion of turning out 3 and the horizontal plane that the cavity was evaginated. The locating rack 1 is made of steel. When the material frame 5 is hung above the material frame positioning component 127, the material frame 5 placing point does not need to be additionally positioned or the angle of the material frame 5 placing point is adjusted, and the material frame 5 automatically slides into the material frame positioning component 127 through the self weight of the material frame 5.

The welding device 162 further comprises a walking driving mechanism, the walking driving mechanism comprises a driving motor I131 and a gear I154 in transmission connection with an output shaft of the driving motor I131, wherein the driving motor I131 is fixed on the mounting substrate 141, the mounting substrate 141 is fixedly connected with the bottom plate 128, and the bottom of the bottom plate 128 is further connected with a sliding block structure 152 through a transfer block 151. The sliding block structure 152 is matched and connected with a guide rail I153 laid on the walking track 142; the gear I154 is in transmission connection with the rack 155; the driving motor I131 rotates to drive the gear I154 to rotate, so that the bottom plate 128 is connected to the traveling rail 142 through the mutual matching of the slider structure 152 and the guide rail I153 and moves left and right relative to the traveling rail 142, and the welding device 162 welds manifolds at different positions on the pipeline 110 to be welded.

The welding device 162 is further provided with a welding power source 138, a protective gas cylinder 137 and a dust suction device 139 on the bottom plate 128, wherein the periphery of the bottom plate 128 is further provided with a protective guard 136, the welding device further comprises a drag chain 140 in which electric wires and gas pipes which need to walk are placed, and the drag chain 140 is connected with the welding robot 122 and moves together with the welding robot 122.

The robot gripper 125 in the welding device 162 magnetically sucks the manifold located in the material frame 5 through the electromagnet 16 located below the clamping jaws, and after the manifold is secondarily positioned through the secondary positioning device 126, the robot gripper 125 grips the manifold by using the two pairs of clamping jaws of the robot gripper 125 and places the manifold at the position to be welded on the pipeline 110; the secondary positioning device 126 enables the gripping position of the robot gripper 125 on the workpiece (manifold) to be fixed, rather than any position on the workpiece, when gripping the manifold on the secondary positioning device 126; the material frame positioning component 127 extends upwards through the adjacent peripheral edge of the positioning frame 1, and an outward-turning edge is designed at the top end of the extending position, so that the material frame 5 placed on the positioning component 127 can automatically slide to the corresponding position according to self weight, and the material frame 5 can be placed on a required placing position without performing additional positioning or angle adjustment on a placing point of the material frame 5.

The pipeline 110 to be welded is fixed on the supporting and positioning device 161, the manifold is placed on the pipeline 110 to be welded through the carrying robot 124, a groove is formed in the position, corresponding to the welding position, of the pipeline 110 to be welded, the manifold is convenient to place, the welding gun assembly 123 welds the manifold, the pipeline 110 to be welded rotates under the driving of the positioner 108, accordingly, welding of all points on the circumference of the pipeline 110 is achieved, the welding device 162 moves along the walking track 142 under the driving of the walking driving mechanism, and accordingly welding of all points on the pipeline 110 in the axial direction is achieved.

Claims

1. A manifold welding system, characterized by: comprises a supporting and positioning device and a welding device with a traveling mechanism; the supporting and positioning device comprises a first positioner, a second positioner, a plurality of supporting roller frames and a guide rail, wherein the supporting roller frames are positioned between the first positioner and the second positioner; the welding device comprises a walking track and a bottom plate paved on the walking track, wherein the walking track comprises a linear guide rail paved in the horizontal direction and a rack arranged on the inner side wall of the track; a welding robot and a carrying robot are fixed on the bottom plate; a welding gun and a laser tracker are fixedly connected to a sixth shaft of the welding robot, and a robot gripper is fixedly connected to a sixth shaft of the carrying robot; and the bottom plate is also provided with a material frame positioning component and a secondary positioning device.

2. The manifold welding system of claim 1, wherein: the support roller frame comprises a driving support roller frame and a driven support roller frame.

3. The manifold welding system of claim 1, wherein: the support roller frame comprises at least two active support roller frames.

4. The manifold welding system of claim 2, wherein: the driven support roller frame comprises a first frame and a second frame, wherein the first frame is provided with a first support frame, a second support frame and a transverse moving mechanism, and the first support frame and the second support frame are driven by the transverse moving mechanism to move close to each other or move away from each other; the second machine frame is provided with a longitudinal moving mechanism, the driving end of the longitudinal moving mechanism is connected with the first machine frame, and the first machine frame is driven by the longitudinal moving mechanism to move up and down along the longitudinal direction; the second rack is fixed on a bottom plate, the bottom plate is fixedly connected with the adapter plate, the bottom of the adapter plate is provided with a sliding block, and the sliding block is matched and connected with a guide rail paved on the ground; the first support frame comprises a support frame I erected on the first machine frame and a roller I which is positioned in the support frame I and is rotationally connected with the support frame I through a rotating shaft or a bearing; the second support frame is including erectting support frame II on first frame and being located support frame II and rotate the gyro wheel II who is connected through pivot or bearing and support frame II.

5. The manifold welding system of claim 2, wherein: the active support roller frame comprises a first frame and a second frame, wherein the first frame is provided with a first support frame, a second support frame and a transverse moving mechanism, and the first support frame and the second support frame are driven by the transverse moving mechanism to move close to each other or move away from each other; the second machine frame is provided with a longitudinal moving mechanism, the driving end of the longitudinal moving mechanism is connected with the first machine frame, and the first machine frame is driven by the longitudinal moving mechanism to move up and down along the longitudinal direction; the second rack is fixed on a bottom plate, the bottom plate is fixedly connected with the adapter plate, the bottom of the adapter plate is provided with a sliding block, and the sliding block is matched and connected with a guide rail paved on the ground; the first support frame comprises a support frame I erected on the first machine frame and a roller I which is positioned in the support frame I and is rotationally connected with the support frame I through a rotating shaft or a bearing; the second support frame comprises a support frame II erected on the first machine frame and a roller II positioned in the support frame II and rotationally connected with the support frame II through a rotating shaft or a bearing; the device also comprises a rotating mechanism for driving the roller to rotate; the rotating mechanism comprises a motor and a speed reducer in transmission connection with the motor, the motor shell is fixedly connected with the speed reducer shell through a flange, the speed reducer is fixed on the supporting frame, and the driving end of the speed reducer is fixedly connected with the rotating shaft of the roller; the driving mechanism comprises a driving motor and a gear in transmission connection with the driving motor, and the driving motor is fixed on the extension plate; the extension plate is fixedly connected with the adapter plate, and racks which are mutually matched and connected with the gears are arranged on the inner side wall of the guide rail.

6. The manifold welding system of claim 4 or 5, wherein: the transverse moving mechanism comprises a rotating handle and a screw rod fixedly connected with the rotating handle, the screw rod transversely penetrates through the first rack, the tail end of the screw rod is fixedly connected with the first rack through a bearing, the starting end of the screw rod is connected with the rotating handle, and the rotating handle is fixedly connected with the first rack through a bearing; one side of the screw is provided with a forward thread, the other side of the screw is provided with a reverse thread, nuts are sleeved at the forward thread end and the reverse thread end of the screw, and the support frame I and the support frame 11 are respectively fixedly connected with the corresponding nuts; the middle part of the screw rod is fixedly connected with the first frame through a bearing.

7. The manifold welding system of claim 4 or 5, wherein: the longitudinal moving mechanism comprises a motor and a screw rod lifter in transmission connection with the motor, the motor and the screw rod lifter are fixed on the second rack, and the top end of a screw rod of the screw rod lifter is fixedly connected with the connecting end of the first rack through a bearing; the longitudinal moving mechanism also comprises guide mechanisms which are arranged on two sides of the screw rod lifter in pairs; the guide mechanism comprises a guide shaft and a guide shaft bearing seat sleeved outside the guide shaft, the guide shaft bearing seat is fixed on the second rack, one end of the guide shaft is fixedly connected with the lower bottom plate of the first rack, and the other end of the guide shaft penetrates through the guide shaft bearing seat and longitudinally moves along the guide shaft bearing seat.

8. The manifold welding system of claim 2, wherein: the robot gripper comprises a mounting plate fixedly connected with a sixth shaft of the transfer robot, a first transfer plate, a vision system, a clamping jaw air cylinder, a clamping jaw fixedly connected with the driving end of the clamping jaw air cylinder and an electromagnet fixed at the lower end of the clamping jaw through a connecting piece I; the mounting plate is fixed on the first adapter plate through a connecting piece II, the vision system is fixed on the first adapter plate through the second adapter plate, and the fixed end of the clamping jaw air cylinder is fixed on the first adapter plate.

9. The manifold welding system of claim 2, wherein: the material frame positioning assembly consists of four positioning frames, the four positioning frames are arranged on the base in a quadrilateral mode, and the four positioning frames are located at four vertex angles of the quadrilateral respectively; each positioning frame comprises a square cavity with an opening at the top, wherein two adjacent sides of the square cavity extend upwards, and the top end of the extending part is turned out towards the outside of the cavity; two adjacent sides of every locating rack that have extension portion are located tetragonal periphery, and the tip of extension portion is 45 ~ 60 towards the contained angle of the portion of turning out and the horizontal plane of turning out outside the cavity.

10. The manifold welding system of claim 2, wherein: the secondary positioning device comprises a support, a plurality of support frames fixed on the support and a placing area fixed on the support frames, wherein the placing area is provided with a first hollow grabbing area and a second hollow grabbing area, one end of the placing area is provided with a baffle, and the baffle is provided with a through hole; the positioning sensor is fixed on the outer side of the baffle plate relative to the placing area through a connecting piece, and a probe of the positioning sensor is placed at the position of the through hole of the baffle plate.