CN103567677B - Integrated workstation based on robot cutting, welding and carrying in pipe processing - Google Patents
Integrated workstation based on robot cutting, welding and carrying in pipe processing Download PDFInfo
- Publication number
- CN103567677B CN103567677B CN201310508495.4A CN201310508495A CN103567677B CN 103567677 B CN103567677 B CN 103567677B CN 201310508495 A CN201310508495 A CN 201310508495A CN 103567677 B CN103567677 B CN 103567677B
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- Prior art keywords
- robot
- welding
- cutting
- axle
- base
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- Expired - Fee Related
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- 238000003466 welding Methods 0.000 title claims abstract description 57
- 238000005520 cutting process Methods 0.000 title claims abstract description 46
- 238000009987 spinning Methods 0.000 claims description 10
- 239000002023 wood Substances 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000003116 impacting effect Effects 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000020004 porter Nutrition 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
- B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
- B23K37/053—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work aligning cylindrical work; Clamping devices therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
- B23K37/0229—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member being situated alongside the workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/06—Tubes
Landscapes
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention discloses an integrated workstation based on robot cutting, welding and carrying in pipe processing. The integrated workstation comprises a headstock and tailstock position changer, a movable support, a welding robot, a cutting robot, a middle sliding rail and two side sliding rails, wherein the headstock and tailstock position changer comprises a headstock base and a tailstock base; a pipe workpiece is clamped between clamping and fixing devices on the headstock base and the tailstock base; a lifting driving device is installed on a sliding base of the movable support; a roller is installed on the lifting driving device and is tangent with the pipe workpiece; the welding robot and the cutting robot are slidably installed on the two side sliding rails on the two sides of the pipe workpiec respectively to finish carrying, cutting and welding operation and the like. The integrated workstation based on the robot cutting, welding and carrying in pipe processing is an integrated working system, can ensure good consistency in pipe processing, improves the processing quality and the processing precision of the whole pipe workpiece, and is simple in structure, less in equipment and small in occupied area.
Description
Technical field
The present invention relates to pipeline processing field, particularly relate to a kind of robot workstation mainly for pipeline processing.
Background technology
At present, for the processing such as pipeline tapping, welding, domestic most employing special plane completes.Mainly contain two kinds of working methods: one is completely fixed by pipeline, special plane along on pipeline circumferentially guide rail adjustment station, complete cutting and welding processing.Another kind adopts the device such as positioner to change pipeline station, and this mode is better than front one, can complete the processing of workpiece spindle upwards multiple circumferential position.
But the no matter special plane of which kind of working method, because its specific aim is stronger, although the effect of simple cutting or simple welding is pretty good, but be that segmentation completes owing to cutting, carrying and weld in whole workpiece processing, need to reorientate when changing processing mode, the crudy of such duct work entirety, machining accuracy all can not be guaranteed, and homogeneity of product is poor.And the special plane quantity needed for the pipeline of different size is more, floor space relatively also can be larger.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the invention provides the integral type work station of a kind of cutting based on pipeline processing, welding, transfer robot, ensure that the uniformity that pipeline processing is good, improve crudy and the precision of duct work entirety, and structure is simple, equipment is few, and floor space is little.
Technical scheme: for achieving the above object, technical scheme of the present invention is as follows:
Based on the integral type work station of the cutting of pipeline processing, welding, transfer robot, comprise frame positioner, movable supporting frame, welding robot, cutting robot, middle slide rail and two wood side-guides end to end; The described positioner of frame end to end comprises headstock base, tailstock base and clamping and fixing device, described headstock base is fixed on the floor of middle extreme, described tailstock base sliding formula is arranged on middle slide rail, between the clamping and fixing device of duct work clamping on headstock base and tailstock base; The described movable supporting frame be positioned at below duct work, comprise sliding bottom, lifting drive and roller, described sliding bottom slidingtype is arranged on middle slide rail, described lifting drive is arranged on sliding bottom, described roller is arranged on lifting drive, and tangent with duct work; Described welding robot and cutting robot respectively slidingtype are arranged on two wood side-guides of duct work both sides, the output of described welding robot end axle is connected with welding gun and conveying robot respectively by two flanges, and the output of described cutting robot end axle is connected with burning torch and conveying robot respectively by two other flange.
When duct work being transported to end to end near frame positioner by described welding robot and cutting robot, now frame positioner one end fixed-piping workpiece end to end, after the movable supporting frame be in below duct work regulates suitable height, support duct work, with facilitate the duct work other end successfully clamping on frame positioner end to end, be then positioned at cutting and welding processing that the welding robot of duct work both sides and cutting robot carry out integral type.
Further, respectively from the base of described welding robot to welding gun, the base of described cutting robot is to burning torch, be connected with end axle by the first axle, the second axle, the 3rd axle, the 4th axle, the 5th axle successively, wherein the first axle, the 4th axle and end axle drive spiral arm to implement spinning movement, and other three axles drive spiral arm to implement wobbling action.
Further, described each robot respectively there are two ring flanges, be respectively a ring flange and No. two ring flanges, a described ring flange is respectively used to drive welding gun or burning torch spinning movement, and described No. two ring flanges drive conveying robot spinning movement by the angle bar of L-type.
Further, the outlet end part of the end axle of described welding robot and cutting robot is also provided with anticollision device.Can fast reaction when running into accident, stop impacting.
Further, described lifting drive is hydraulic lift or screw rod lifting device.Can supporting pipeline workpiece, so that clamping, reduce the bending and distortion caused due to the deadweight of duct work simultaneously.
Further, what described clamping and fixing device adopted is pneumatic three-jaw self-centering chuck, can fix to clamp the duct work of all size size.
Further, the vertical direction of work station is provided with grating, for the whole process of detection and positioning.
Beneficial effect: in the machining workstation of (1) whole duct work of the present invention, structure is simple, and floor space is little, and robot consumption is few, and mechanization degree is high, easy to operate.In addition, after duct work is clamping, welding processing can be implemented immediately when cutting complete, do not need to be transported to other positions to reorientate, the duct work of such processing is better relative to the workpiece uniformity of being processed by general cutting special welding machine, improves crudy and the precision of duct work entirety.When welding processing, because welding process is longer relative to the working angles time, now cutting robot mainly can carry out porter's energy, improves the service efficiency of robot.
(2) connecting axle of the employing in addition in the present invention respectively can spinning movement and wobbling action, can complete welding, cutting neatly, carry and to fix etc. work, can adapt to the processing of the parts of all size.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of work station of the present invention.
Accompanying drawing 2 is the structural representation of robot of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further described.
As shown in Figure 1, based on the integral type work station of the cutting of pipeline processing, welding, transfer robot, frame positioner 1, movable supporting frame 2, welding robot 3, cutting robot 4, two wood side-guide 5 and middle slide rail 6 is end to end comprised, the described positioner of frame end to end 1 comprises headstock base, tailstock base and clamping and fixing device, described headstock base is fixed on the floor of middle slide rail 5 end, described tailstock base sliding formula is arranged on two wood side-guides 5, between the clamping and fixing device of duct work clamping on headstock base and tailstock base, described clamping and fixing device selects pneumatic three-jaw self-centering chuck, the described movable supporting frame 2 be positioned at below duct work, comprise sliding bottom, lifting drive and roller, described sliding bottom slidingtype is arranged on two wood side-guides 5, described lifting drive is arranged on sliding bottom, described roller is arranged on lifting drive, and tangent with duct work, described welding robot 3 and cutting robot 4 respectively slidingtype are arranged on the middle slide rail 6 of duct work both sides, the output of described welding robot 3 end axle 13 is connected with welding gun and conveying robot 18 respectively by two ring flanges, the output of described cutting robot 4 end axle 13 is connected with burning torch and conveying robot 18 respectively by two other ring flange, two ring flanges that described each robot is installed, be respectively a ring flange 14 and No. two ring flanges 15, a described ring flange 14 is respectively used to drive welding gun or burning torch spinning movement, described No. two ring flanges 15 drive conveying robot 18 spinning movement by the angle bar of L-type.At the outlet end part of the end axle 13 of described welding robot 3 and cutting robot 4, anticollision device 16 is also installed, can fast reaction when running into accident, stop impacting.Described lifting drive is motor lowering or hoisting gear or hydraulic lift.
As shown in Figure 2, respectively from the base of described welding robot 3 to welding gun, the base of described cutting robot 4 is to burning torch, connected and composed by the first axle 8, second axle 9, the 3rd axle 10, the 4th axle 11, the 5th axle 12 and end axle 13 successively, wherein the first axle 8, the 4th axle 11 and end axle 13 drive spiral arm to implement spinning movement, other three axles drive spiral arm to implement wobbling action, can ensure welding gun, burning torch and manipulator nimbly and freely, 360 degree work without dead angle.This work station comprises the processing such as carrying, intersection cutting, welding of duct work and arm connecting plate etc.Be mainly used in the duct work part processing in the fields such as oil, chemical industry, ocean platform.During work: cutting robot 4 and welding robot 3 are moved to correct position by screw rod transmission along slide rail 5, capture duct work.Duct work is moved to the position at the pneumatic type three-jaw self-centering chuck place of frame positioner 1 headstock end to end, three grab one end that duct work clamped by chuck with this.Simultaneously, start lifting drive, under the cooperation of the Grating examinations navigation system of installing at the vertical direction of work station, removable bracing frame 2 is moved to correct position along slide rail 5 and supports duct work, again by screw rod transmission along slide rail 5 movable tail frame to correct position, the other end of fixed-piping workpiece.Then, cut according to the processing request of workpiece.After cutting, cutting robot mainly implements carrying work, gripping arm, and the annex auxiliary welding machine people such as reinforcement complete welding processing, finally completes the processing of whole duct work.Whole clamping process is by the position of movable part in the auto-lock function steady job station of screw mandrel.
The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (7)
1., based on the integral type work station of the cutting of pipeline processing, welding, transfer robot, it is characterized in that: comprise frame positioner (1), movable supporting frame (2), welding robot (3), cutting robot (4), middle slide rail (6) and two wood side-guides (5) end to end;
The described positioner of frame end to end (1) comprises headstock base, tailstock base and clamping and fixing device, described headstock base is fixed on the floor of middle slide rail (6) end, described tailstock base sliding formula is arranged on middle slide rail (6), between the clamping and fixing device of duct work clamping on headstock base and tailstock base;
Be positioned at the described movable supporting frame (2) below duct work, comprise sliding bottom, lifting drive and roller, described sliding bottom slidingtype is arranged on middle slide rail (6), described lifting drive is arranged on sliding bottom, described roller is arranged on lifting drive, and tangent with duct work;
Described welding robot (3) and cutting robot (4) respectively slidingtype are arranged on two wood side-guides (5) of duct work both sides, the output at described welding robot (3) end axle (13) is connected with welding gun and conveying robot (18) respectively by two ring flanges, and the output at described cutting robot (4) end axle (13) is connected with burning torch and conveying robot (18) respectively by two other ring flange.
2. according to claim 1 based on the cutting of pipeline processing, welding, the integral type work station of transfer robot, it is characterized in that: respectively from the base of described welding robot (3) to welding gun, the base of described cutting robot (4) is to burning torch, successively by the first axle (8), second axle (9), 3rd axle (10), 4th axle (11), 5th axle (12) is connected with end axle (13), wherein the first axle (8), 4th axle (11) and end axle (13) drive spiral arm to implement spinning movement, other three axles drive spiral arm to implement wobbling action.
3. according to claim 1 based on the integral type work station of the cutting of pipeline processing, welding, transfer robot, it is characterized in that: described each robot respectively has two ring flanges, be respectively a ring flange (14) and No. two ring flanges (15), a described ring flange (14) is respectively used to drive welding gun or burning torch spinning movement, and described No. two ring flanges (15) drive conveying robot (18) spinning movement by the angle bar of L-type.
4., according to claim 1 based on the integral type work station of the cutting of pipeline processing, welding, transfer robot, it is characterized in that: the outlet end part of the end axle (13) of described welding robot (3) and cutting robot (4) is also provided with anticollision device (16).
5., according to claim 1 based on the integral type work station of the cutting of pipeline processing, welding, transfer robot, it is characterized in that: described lifting drive is hydraulic lift or motor lowering or hoisting gear.
6. according to claim 1 based on the integral type work station of the cutting of pipeline processing, welding, transfer robot, it is characterized in that: what described clamping and fixing device adopted is pneumatic three-jaw self-centering chuck.
7., according to claim 1 based on the integral type work station of the cutting of pipeline processing, welding, transfer robot, it is characterized in that: on the vertical direction of work station, grating is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310508495.4A CN103567677B (en) | 2013-10-24 | 2013-10-24 | Integrated workstation based on robot cutting, welding and carrying in pipe processing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310508495.4A CN103567677B (en) | 2013-10-24 | 2013-10-24 | Integrated workstation based on robot cutting, welding and carrying in pipe processing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103567677A CN103567677A (en) | 2014-02-12 |
| CN103567677B true CN103567677B (en) | 2015-06-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310508495.4A Expired - Fee Related CN103567677B (en) | 2013-10-24 | 2013-10-24 | Integrated workstation based on robot cutting, welding and carrying in pipe processing |
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| DE102007046142A1 (en) * | 2007-09-27 | 2009-04-02 | Deere & Company, Moline | Apparatus and method for laser cutting |
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| US5673843A (en) * | 1995-06-07 | 1997-10-07 | Gainey; Kenneth Clifford | Transportable pipe welding and fabrication station |
| CN102649193A (en) * | 2011-02-24 | 2012-08-29 | 宝山钢铁股份有限公司 | Online laser cutting and welding device and method of band steel |
| CN102729045A (en) * | 2012-05-22 | 2012-10-17 | 戴刚平 | Integrated steel pipe and flange splicing and machining machine and machining process thereof |
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| CN103567677A (en) | 2014-02-12 |
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