CN118478075A - A multi-degree-of-freedom intelligent welding device and working method thereof - Google Patents

Abstract

The invention belongs to the technical field of intelligent welding, and relates to an intelligent welding device with multiple degrees of freedom and a working method thereof. The device comprises an action control box body, wherein the action control box body is used for installing and arranging a first vertical moving mechanism and a rotary driving mechanism. The first vertical moving mechanism is used for driving the rotary driving mechanism and the positioning column to vertically move, the rotary driving mechanism is used for driving the welding gun to rotate, the positioning column is embedded in the branch pipeline and used for completing preliminary positioning of the device, the transverse moving mechanism is used for driving the welding gun to transversely move, the second vertical moving mechanism is used for driving the welding gun to vertically move, and the welding operation of the welding gun to the welding seam is achieved through the mutual cooperation of the rotary driving mechanism, the transverse moving mechanism and the second vertical moving mechanism. The invention can realize multi-degree-of-freedom welding, can realize automatic welding when two pipelines are connected vertically or at an acute angle, does not need to combine a track in the welding process and is convenient to operate.

Description

A multi-degree-of-freedom intelligent welding device and working method thereof

Technical Field

The invention belongs to the technical field of intelligent welding and relates to a multi-degree-of-freedom intelligent welding device and a working method thereof.

Background Art

In the traditional welding field of steel structures, manual welding is generally used. Manual welding has the problems of high labor intensity, poor working environment and high labor cost. With the development of intelligence, the combination of intelligence and welding technology is increasingly favored by enterprises. In the construction of water conservancy projects, the welding of metal pipes is very common. In the prior art, the intelligent welding scheme for metal pipes is mainly focused on the butt welding operation between pipes. The intelligent welding equipment moves in a circle along the butt joints of the two pipes and welds. For example, the new application with application number: CN202310367024.X discloses a pipeline full-position rotary arc welding device, including a welding full-position track, a welding trolley, and a TIG arc rotary welding gun, wherein the welding full-position track is fixed around the workpiece. The existing intelligent welding scheme for metal pipes of the device is mainly suitable for welding operations between parallel pipes or a single pipe, and is not suitable for automated welding of two pipes connected vertically or at an acute angle. Moreover, the device needs to be combined with the track for welding operations, and the welding operation process is cumbersome.

Summary of the invention

In order to overcome the shortcomings of the above-mentioned prior art, the purpose of the present invention is to provide a multi-degree-of-freedom intelligent welding device and a working method thereof. The present invention can realize multi-degree-of-freedom welding and can realize automatic welding when two pipes are connected vertically or at an acute angle.

In order to achieve the above object, the present invention adopts the following technical solutions:

The invention discloses a multi-degree-of-freedom intelligent welding device, comprising a motion control box, in which a first vertical moving mechanism is arranged, the first vertical moving mechanism is connected to a rotation drive mechanism, a positioning column is arranged on the rotation drive mechanism, a transverse moving mechanism is arranged on the rotation drive mechanism, a second vertical moving mechanism is arranged on the transverse moving mechanism, and a welding gun is arranged on the second vertical moving mechanism.

Furthermore, the first vertical moving mechanism includes a lifting drive motor, the lifting drive motor is connected to a power supply, the output end of the lifting drive motor is connected to an output gear through a rotating device, the output gear is meshed with a worm, the worm is connected to a rotation drive mechanism, and the worm, the lifting drive motor and the rotation drive mechanism are all arranged in a motion control box.

Furthermore, the rotational drive mechanism includes a rotational drive motor, which is connected to a power source and fixedly connected to a worm gear. An output end of the rotational drive motor is connected to a rotating shaft via a coupling. The rotating shaft is passed through the motion control box and extends to the outside. A transverse moving mechanism is fixedly arranged on the rotating shaft, and the transverse moving mechanism is located outside the motion control box.

Furthermore, a partition is arranged in the motion control box, and the partition separates the motion control box into an upper cavity and a lower cavity;

The worm is passed through the partition, the lifting drive motor and the output gear are located in the upper cavity, the rotating drive motor is located in the lower cavity, and a limit plate is provided on the worm, which is located between the output gear and the partition.

Furthermore, a second guide sleeve is provided on the partition, the second guide sleeve is located between the limit plate and the partition, a first guide sleeve is provided in the action control box, the end of the worm is movably embedded in the first guide sleeve, and the output gear is located between the first guide sleeve and the limit plate.

Furthermore, a connecting plate is provided on the motion control box, and the worm is connected to the rotation drive motor through a mounting disc.

Furthermore, the transverse moving mechanism includes a transverse moving panel, which is fixedly connected to a rotating shaft. The rotating shaft of the transverse moving panel is vertical. A transverse guide rail and a first electric push rod are arranged on the transverse moving panel. The first electric push rod is connected to a power supply. The transverse guide rail and the first electric push rod are arranged in parallel. A second vertical moving mechanism is slidably arranged on the transverse guide rail. The second vertical moving mechanism is connected to the output end of the first electric push rod.

Furthermore, the second vertical moving mechanism includes a vertical moving panel, which is arranged on the transverse guide rail. The vertical moving panel is perpendicular to the transverse guide rail. The vertical guide rail and the second electric push rod are arranged on the vertical moving panel. The second electric push rod is connected to the power supply. The vertical guide rail and the second electric push rod are arranged in parallel. A slider is slidably arranged on the vertical guide rail, and a welding gun is provided on the slider.

Furthermore, the positioning column has a truncated cone-shaped structure, the large end of the truncated cone-shaped positioning column is connected to the rotating shaft, and a plurality of annular positioning grooves are formed on the positioning column.

Based on the above structure, the present invention also discloses a working method of a multi-degree-of-freedom intelligent welding device, comprising the following steps:

The first vertical moving mechanism is started, and the positioning column is driven to move vertically by the first vertical moving mechanism until the positioning column is embedded in the branch pipe, thereby completing the preliminary positioning of the device;

The vertical distance between the welding gun and the weld is adjusted by the second vertical moving mechanism, and the horizontal distance between the welding gun and the weld is adjusted by the horizontal moving mechanism;

At least one of the rotary drive mechanism, the lateral movement mechanism and the second vertical movement mechanism is activated to complete the weld seam welding operation.

Compared with the prior art, the present invention has the following beneficial effects:

1. The present invention includes a motion control box, which is used to install and arrange the first vertical moving mechanism and the rotary drive mechanism. The first vertical moving mechanism is used to drive the rotary drive mechanism and the positioning column to move vertically, the rotary drive mechanism is used to drive the welding gun to rotate, and after the positioning column is embedded in the branch pipe, it is used to complete the initial positioning of the device, the transverse moving mechanism is used to drive the welding gun to move horizontally, and the second vertical moving mechanism is used to drive the welding gun to move vertically. The rotary drive mechanism, the transverse moving mechanism and the second vertical moving mechanism cooperate with each other to realize the welding operation of the welding gun to the weld. The present invention can realize multi-degree-of-freedom welding, and can realize automatic welding when two pipes are connected vertically or at an acute angle. The welding process does not need to be combined with a track for welding operations, which is easy to operate.

2. The present invention provides a partition plate and a limit plate in the motion control box to limit the axial movement space of the worm, and provides a first guide sleeve and a second guide sleeve, which is beneficial to improving the stability of the axial movement of the worm.

3. The positioning column of the present invention has a truncated cone structure, which is used to adapt to branch pipes of different diameters. The large end of the truncated cone positioning column is connected to the rotating shaft, and a plurality of annular positioning grooves are provided on the positioning column. The provision of the annular positioning grooves is beneficial to improving the stability of the positioning column after being embedded in the branch pipe.

4. The method of the present invention starts the first vertical moving mechanism, and drives the positioning column to move vertically through the first vertical moving mechanism until the positioning column is embedded in the branch pipe, thereby completing the initial positioning of the device, which is beneficial to ensuring the stability of the welding operation; the vertical distance between the welding gun and the weld is adjusted by the second vertical moving mechanism, and the horizontal distance between the welding gun and the weld is adjusted by the horizontal moving mechanism; at least one of the rotating drive mechanism, the horizontal moving mechanism and the second vertical moving mechanism is started to complete the weld welding operation. The present invention can realize multi-degree-of-freedom welding, can realize automatic welding when two pipes are connected vertically or at an acute angle, can realize automatic welding when two pipes are connected vertically or at an acute angle, and the welding process does not need to be combined with the track for welding operation, which is easy to operate.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic structural diagram of the present invention.

FIG. 2 is a schematic diagram of the internal structure of the motion control box in the present invention.

FIG. 3 is a schematic cross-sectional view of the motion control box of the present invention.

FIG. 4 is a schematic diagram of the structure of the adjustment mechanism in the present invention.

FIG5 is a schematic diagram of the docking principle of the positioning column and the branch pipe in the present invention;

FIG6 is a flow chart of the method of the present invention.

Among them: 1. action control box; 2. partition; 3. upper cavity; 4. lower cavity; 5. worm; 6. lifting drive motor; 7. output gear; 8. rotation drive motor; 9. coupling; 10. rotating shaft; 11. branch pipe; 12. positioning column; 13. welding gun; 14. first guide sleeve; 15. second guide sleeve; 16. limit plate; 17. mounting disc; 18. annular positioning groove; 19. horizontal moving panel; 20. horizontal guide rail; 21. vertical moving panel; 22. vertical guide rail; 23. slider; 24. first electric push rod; 25. second electric push rod; 26. connecting plate; 27. main pipeline; 28. adjustment mechanism; 29. first vertical moving mechanism; 30. rotation drive mechanism; 31. horizontal moving mechanism; 32. second vertical moving mechanism.

DETAILED DESCRIPTION

In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

The present invention is further described in detail below in conjunction with the accompanying drawings:

Referring to Fig. 1, the present invention discloses a multi-degree-of-freedom intelligent welding device, including a motion control box 1, which is used to install and arrange a first vertical moving mechanism 29 and a rotation drive mechanism 30. The first vertical moving mechanism 29 is arranged in the motion control box 1, and the first vertical moving mechanism 29 is used to drive the rotation drive mechanism 30 and the positioning column 12 to move vertically. The first vertical moving mechanism 29 is connected to the rotation drive mechanism 30, and the rotation drive mechanism 30 is used to drive the welding gun 13 to rotate. The rotation drive mechanism 30 is provided with a positioning column 12, and the positioning column 12 is embedded in the branch pipe 11 to complete the initial positioning of the device. The rotation drive mechanism 30 is provided with a lateral moving mechanism 31, and the lateral moving mechanism 31 is used to drive the welding gun 13 to move horizontally. The lateral moving mechanism 31 is provided with a second vertical moving mechanism 32, and the second vertical moving mechanism 32 is used to drive the welding gun 13 to move vertically. The second vertical moving mechanism 32 is provided with a welding gun 13, and the welding operation of the welding gun 13 on the weld seam is realized by the cooperation of the rotating driving mechanism 30, the lateral moving mechanism 31 and the second vertical moving mechanism 32. The present invention can realize multi-degree-of-freedom welding, and can realize automatic welding when two pipes are connected vertically or at an acute angle. The welding process does not need to be combined with a track for welding operation, which is easy to operate.

Referring to Fig. 1, in another feasible embodiment of the present invention, the following is adaptively modified according to the situation. It includes a motion control box 1, in which a first vertical moving mechanism 29 is arranged, the first vertical moving mechanism 29 is connected to a rotation drive mechanism 30, a positioning column 12 is arranged on the rotation drive mechanism 30, a lateral moving mechanism 31 is arranged on the rotation drive mechanism 30, a second vertical moving mechanism 32 is arranged on the lateral moving mechanism 31, and a welding gun 13 is arranged on the second vertical moving mechanism 32.

During specific operation, the first vertical moving mechanism 29 drives the positioning column 12 to move vertically until the positioning column 12 is embedded in the branch pipe 11, thereby completing the initial positioning of the device; the vertical distance and the horizontal distance between the welding gun 13 and the weld are adjusted by the second vertical moving mechanism 32 and the horizontal moving mechanism 31; and the weld welding operation is completed by starting at least one of the rotating drive mechanism 30, the horizontal moving mechanism 31 and the second vertical moving mechanism 32.

Embodiment 1:

Referring to Figure 1, this embodiment discloses a multi-degree-of-freedom intelligent welding device, including a motion control box 1, in which a first vertical moving mechanism 29 is arranged, the first vertical moving mechanism 29 is connected to a rotation drive mechanism 30, a positioning column 12 is provided on the rotation drive mechanism 30, a lateral moving mechanism 31 is provided on the rotation drive mechanism 30, a second vertical moving mechanism 32 is provided on the lateral moving mechanism 31, and a welding gun 13 is arranged on the second vertical moving mechanism 32.

Preferably, referring to Figures 2 and 3, the first vertical moving mechanism 29 includes a lifting drive motor 6, the lifting drive motor 6 is connected to a power supply, the output end of the lifting drive motor 6 is connected to an output gear 7 through a rotating device, the output gear 7 is meshed with a worm 5, and the worm 5 is connected to a rotation drive mechanism 30, and the worm 5, the lifting drive motor 6 and the rotation drive mechanism 30 are all arranged in the motion control box 1.

Preferably, referring to Figures 2 and 3, the rotation drive mechanism 30 includes a rotation drive motor 8, the rotation drive motor 8 is connected to a power source, the rotation drive motor 8 is fixedly connected to the worm 5, the output end of the rotation drive motor 8 is connected to a rotating shaft 10 through a coupling 9, the rotating shaft 10 is passed through the motion control box 1 and extends to the outside, and a transverse moving mechanism 31 is fixedly arranged on the rotating shaft 10, and the transverse moving mechanism 31 is located outside the motion control box 1.

Preferably, referring to FIG. 2 and FIG. 3 , a partition 2 is arranged in the motion control box 1 , and the partition 2 separates the motion control box 1 into an upper cavity 3 and a lower cavity 4;

The worm 5 is passed through the partition 2 , the lifting drive motor 6 and the output gear 7 are located in the upper cavity 3 , the rotation drive motor 8 is located in the lower cavity 4 , and a limit plate 16 is provided on the worm 5 , and the limit plate 16 is located between the output gear 7 and the partition 2 .

Preferably, referring to Fig. 2 and Fig. 3, a second guide sleeve 15 is provided on the partition 2, and the second guide sleeve 15 is located between the limit plate 16 and the partition 2. A first guide sleeve 14 is provided in the motion control housing 1, and the end of the worm 5 is movably embedded in the first guide sleeve 14, and the output gear 7 is located between the first guide sleeve 14 and the limit plate 16. By providing the partition 2 and the limit plate 16 in the motion control housing 1, the axial movement space of the worm 5 is limited, and by providing the first guide sleeve 14 and the second guide sleeve 15, the stability of the axial movement of the worm 5 is improved.

Preferably, referring to FIG. 1 , a connecting plate 26 is provided on the motion control box 1 , and the worm 5 is connected to the rotation driving motor 8 via a mounting disc 17 .

Preferably, referring to Figure 4, the transverse moving mechanism 31 includes a transverse moving panel 19, which is fixedly connected to the rotating shaft 10, and the rotating shaft 10 of the transverse moving panel 19 is vertical. A transverse guide rail 20 and a first electric push rod 24 are arranged on the transverse moving panel 19, and the first electric push rod 24 is connected to a power supply. The transverse guide rail 20 and the first electric push rod 24 are arranged in parallel, and a second vertical moving mechanism 32 is slidably arranged on the transverse guide rail 20, and the second vertical moving mechanism 32 is connected to the output end of the first electric push rod 24.

Preferably, referring to Figure 4, the second vertical moving mechanism 32 includes a vertical moving panel 21, which is arranged on the transverse guide rail 20, and the vertical moving panel 21 is perpendicular to the transverse guide rail 20. A vertical guide rail 22 and a second electric push rod 25 are arranged on the vertical moving panel 21, and the second electric push rod 25 is connected to a power supply. The vertical guide rail 22 and the second electric push rod 25 are arranged in parallel, and a slider 23 is slidably arranged on the vertical guide rail 22, and a welding gun 13 is provided on the slider 23.

Embodiment 2:

Referring to Figure 1, this embodiment discloses a multi-degree-of-freedom intelligent welding device, including a motion control box 1, in which a first vertical moving mechanism 29 is arranged, the first vertical moving mechanism 29 is connected to a rotation drive mechanism 30, a positioning column 12 is provided on the rotation drive mechanism 30, a lateral moving mechanism 31 is provided on the rotation drive mechanism 30, a second vertical moving mechanism 32 is provided on the lateral moving mechanism 31, and a welding gun 13 is arranged on the second vertical moving mechanism 32.

Preferably, referring to FIG. 5 , the positioning column 12 has a truncated cone-shaped structure, which is used to adapt to branch pipes 11 of different diameters. The large end of the truncated cone-shaped positioning column 12 is connected to the rotating shaft 10, and a plurality of annular positioning grooves 18 are provided on the positioning column 12. The provision of the annular positioning grooves 18 is beneficial to improving the stability of the positioning column 12 after being embedded in the branch pipe 11.

Embodiment three:

Referring to FIG. 1 , the present embodiment discloses a multi-degree-of-freedom intelligent welding device, comprising a motion control box 1, a partition 2 arranged in the motion control box 1, the motion control box 1 is divided into an upper cavity 3 and a lower cavity 4 by the partition 2, a worm 5 that can move up and down and a lifting drive motor 6 for driving the worm 5 to move are arranged in the upper cavity 3, and an output end of the lifting drive motor 6 is provided with an output gear 7 meshing with the worm 5; the lower end of the worm 5 passes through the partition 2 and extends into the lower cavity 4, and a rotation drive motor 8 is fixedly installed at its end, and the output end of the rotation drive motor 8 is connected to a rotating shaft 10 through a coupling 9, and the lower end of the rotating shaft 10 passes through the lower end surface of the motion control box 1 and extends to the outside, and a positioning column 12 that is an integral structure with the motion control box 1 and is used in conjunction with a branch pipe 11 is arranged at the lower end of the rotating shaft 10, and an adjustment mechanism 28 fixedly connected to the rotating shaft 10 is arranged on the side of the rotating shaft 10, and a welding gun 13 is installed on the adjustment mechanism.

Referring to Figures 2 and 3, a first guide sleeve 14 is provided on the inner wall of the upper end surface of the motion control box 1, and a second guide sleeve 15 opposite to the first guide sleeve 14 is provided on the upper end surface of the partition 2. The upper end of the worm 5 is sleeved in the first guide sleeve 14, and the lower end passes through the second guide sleeve 15 and the partition 2.

A limit plate 16 is also provided at the lower part of the worm 5 .

The end portion of the lower end of the worm 5 is provided with a mounting disc 17 which is an integral structure therewith, and the rotary drive motor 8 is mounted on the mounting disc 17 .

5 , the cross section of the positioning column 12 is an isosceles trapezoidal structure, and two or more annular positioning grooves 18 are provided on the surface wall of the positioning column 12 at intervals along the axial direction thereof.

Referring to Figure 4, the adjustment mechanism includes a transverse movable panel 19 having one end fixedly connected to the rotating shaft 10, a transverse guide rail 20 arranged on the transverse movable panel 19, a vertical movable panel 21 arranged on the transverse guide rail 20 and movable along the transverse guide rail 20, a vertical guide rail 22 arranged on the vertical movable panel 21, a slider 23 arranged on the vertical guide rail 22 and movable along the vertical guide rail 22, and a driving mechanism for driving the vertical movable panel 21 and the slider 23 to move; the welding gun 13 is mounted on the slider 23.

The driving mechanism includes a first electric push rod 24 arranged at the other end of the transverse movable panel 19 and a second electric push rod 25 arranged at the upper end of the vertical movable panel 21, the end of the first electric push rod 24 is fixedly connected to the side of the vertical movable panel 21, and the end of the second electric push rod 25 is fixedly connected to the upper end of the slider 23.

Referring to FIG. 1 , a connecting plate 26 is provided on the back of the motion control box 1 .

Embodiment 4:

As shown in Figures 1 to 5, this embodiment provides a multi-degree-of-freedom intelligent welding device, which includes a motion control box 1. The motion control box 1 adopts a rectangular structure with a hollow interior as a mounting carrier for various components. A connecting plate 26 is provided on the back of the motion control box. The connecting plate is provided with mounting holes. The motion control box can be installed by using the connecting plate 26 and bolts. For example, the motion control box is installed on an external bracket. When the application scenario is that the main pipeline and the branch pipeline are vertical, the motion control box can be installed vertically relative to the main pipeline. When the application scenario is that the branch pipeline and the main pipeline are connected at an acute angle, the motion control box is aligned with the branch pipeline in conjunction with the external bracket for installation to facilitate docking and preliminary positioning between the device and the branch pipeline.

In this embodiment, a partition is provided inside the motion control box, and the motion control box is divided into an upper cavity 3 and a lower cavity 4 by the partition, and a worm 5 and a lifting drive motor 6 are provided in the upper cavity, wherein the connection structure between the worm and the box is as follows: a first guide sleeve 14 is provided on the inner wall of the upper end surface of the control box, and a second guide sleeve 15 opposite to the first guide sleeve is provided on the upper end surface of the partition, the upper end of the worm is sleeved in the first guide sleeve, and a through hole connected to the second guide sleeve is provided on the partition, and the lower end of the worm passes through the second guide sleeve and the partition, and preferably, the assembly between the worm and the first guide sleeve and the second guide sleeve adopts clearance fit; the lifting drive motor 6 is fixedly mounted on the inner wall of the upper cavity.

The output end of the lifting drive motor 6 is provided with an output gear 7 meshing with the worm 5. After the lifting motor is started, the output gear rotates, driving the worm to move up and down relative to the action control box 1. For example, the lifting motor rotates forward to drive the worm to move up, and the lifting motor rotates reversely to drive the worm to descend. In order to prevent the worm from moving beyond the range, the present embodiment further provides a limit plate 16 at the lower part of the worm. The limit plate is a disc structure and is an integral structure with the worm, and the diameter of the limit plate is larger than the diameter of the second guide cylinder. When the worm drives the limit plate to move to the upper end of the second guide cylinder, the limit plate abuts against the upper end of the second guide cylinder, and the worm cannot descend any further, thereby achieving the limitation of the worm.

The lower end of the worm passes through the partition and extends into the lower cavity. A mounting disc 17 is provided at the lower end of the worm, which is an integral structure with the worm. A rotary drive motor 8 is mounted on the mounting disc, and the connection between the two can be fixed by bolts. The output end of the rotary drive motor is connected to a rotating shaft 10 through a coupling 9. The lower end of the rotating shaft passes through the lower end surface of the motion control box and extends to the outside. When the rotary drive motor is started, the rotating shaft can be driven to rotate through the coupling. The rotary drive motor and the coupling are both located in the lower cavity of the motion control box.

In this embodiment, a positioning column 12 is provided at the lower end of the rotating shaft, which is an integral structure with the rotating shaft. Preferably, the cross section of the positioning column is an isosceles trapezoidal structure. On the surface wall of the positioning column, two or more annular positioning grooves 18 are provided along the axial direction thereof. The diameters of the annular positioning grooves at different positions are different to correspond to the positioning of branch pipes 11 of different diameters. During the initial positioning, the positioning column is controlled to be inserted into the pipe mouth of the branch pipe, and the pipe mouth of the branch pipe abuts against the annular positioning groove. Through the plug-in matching of the positioning column and the pipe mouth of the branch pipe, on the one hand, the initial positioning between the equipment and the weld is achieved, and on the other hand, the positioning column and the branch pipe are combined with the rotating shaft to form the rotation axis of the welding gun for circular motion.

An adjusting mechanism 28 fixedly connected to the rotating shaft 10 is provided on the side thereof. Specifically, the adjusting mechanism 28 includes a transverse movable panel 19 fixedly connected to the rotating shaft at one end, a transverse guide rail 20 arranged on the transverse movable panel, a vertical movable panel 21 arranged on the transverse guide rail and movable along the transverse guide rail, a vertical guide rail 22 arranged on the vertical movable panel, a slider 23 arranged on the vertical guide rail and movable along the vertical guide rail, and a driving mechanism for driving the vertical movable panel and the slider to move; the welding gun 13 is installed on the slider 23, and the connection method between the two is not particularly limited, and it can adopt existing mature connection structures such as bolt connection and clamping connection; wherein the driving mechanism includes a first electric push rod arranged at the other end of the transverse movable panel and a second electric push rod arranged at the upper end of the vertical movable panel.

In this embodiment, the cross-section of the transverse movable panel 19 is concave in shape, and one end thereof can be bolted or welded to the rotating shaft, and the other end thereof is used to provide an installation carrier for the first electric push rod 24. The telescopic end of the first electric push rod passes through the other end surface of the transverse movable panel and is fixedly connected to the side of the vertical movable panel; the transverse guide rail 20 on the transverse movable panel adopts two parallel guide rail structures, and the bottom of the vertical movable panel 21 is provided with a transverse slide groove matching the transverse guide rail along the horizontal direction, and the transverse guide rail is embedded in the transverse slide groove. Through the cooperation of the two, the vertical movable panel can move left and right relative to the transverse movable panel. The cooperation implementation structure of the transverse guide rail and the transverse slide groove is an existing mature structure, so it will not be repeated here.

The cross-section of the vertical movable panel 21 is L-shaped, and its upper end is a short side and the end is used to provide an installation carrier for the second electric push rod 25. The telescopic end of the second electric push rod passes through the upper end surface of the vertical movable panel and is fixedly connected to the upper end of the slider; the vertical guide rail on the vertical movable panel is arranged longitudinally, and a vertical slide groove matching the vertical guide rail is provided at the bottom of the slider, and the vertical guide rail is embedded in the vertical slide groove. Through the cooperation of the two, the slider can move up and down relative to the vertical movable panel. The cooperation implementation structure of the vertical slide groove and the vertical guide rail is an existing mature structure, so it will not be repeated here.

In this embodiment, the lifting drive motor 6, the rotating drive motor 8, the first electric push rod 24, the second electric push rod 25, the welding gun 13 and other electrical components are all connected to an external power supply.

The working principle of the present invention is as follows: first, the multi-degree-of-freedom intelligent welding device is installed according to the connection mode of the branch pipe 11 and the main pipe 27. The branch pipe 11 and the main pipe 27 are connected vertically or at an acute angle, so that the positioning column and the pipe mouth of the branch pipe are relative to each other; secondly, the lifting drive motor 6 is started, and the lifting drive motor drives the output gear to rotate, and the output gear is meshed with the worm, so the worm is driven downward, and the rotating shaft and the positioning column are driven downward by the worm, so that the positioning column is inserted into the pipe mouth of the branch pipe. After completion, the lifting drive motor is turned off; secondly, the second electric push rod of the control adjustment mechanism 28 is controlled to move, and the slider is driven to move up and down, so as to adjust the vertical distance between the welding gun and the weld, and the first electric push rod of the control adjustment mechanism is controlled to move, and the vertical moving panel is driven to move left and right relative to the horizontal moving panel, so as to adjust the horizontal distance between the welding gun and the weld; finally, after the adjustment is completed, the rotary drive motor and the welding gun are started to drive the rotating shaft to rotate, and the welding gun is driven by the adjustment mechanism to make a circular motion with the positioning column and the branch pipe as the center, and the welding gun is welded along the weld.

Based on the above structure, the present invention discloses a working method of a multi-degree-of-freedom intelligent welding device, referring to FIG6 , comprising the following steps:

S1. Start the first vertical moving mechanism 29, and drive the positioning column 12 to move vertically through the first vertical moving mechanism 29 until the positioning column 12 is embedded in the branch pipe 11, completing the initial positioning of the device, which is conducive to ensuring the stability of the welding operation;

S2. The vertical distance between the welding gun 13 and the weld is adjusted by the second vertical movement mechanism 32, and the lateral distance between the welding gun 13 and the weld is adjusted by the lateral movement mechanism 31;

S3. Start at least one of the rotary drive mechanism 30, the lateral moving mechanism 31 and the second vertical moving mechanism 32 to complete the weld welding operation. The present invention can realize multi-degree-of-freedom welding and can realize automatic welding when two pipes are connected vertically or at an acute angle. It can realize automatic welding when two pipes are connected vertically or at an acute angle. The welding process does not need to be combined with the track for welding operation, which is easy to operate.

Embodiment five:

Referring to FIG6 , this embodiment discloses a method for implementing a multi-degree-of-freedom intelligent welding device, comprising the following steps:

Step S1: Start the lifting drive motor 6, insert the positioning column 12 into the pipe opening of the branch pipe through the worm 5, and after completion, turn off the lifting drive motor;

Step S2: controlling the second electric push rod 25 of the adjustment mechanism to move, so as to adjust the vertical distance between the welding gun 13 and the weld;

Step S3: controlling the first electric push rod 24 of the adjustment mechanism to move, so as to adjust the lateral distance between the welding gun and the weld;

Step S4: Start the rotary drive motor 8 and the welding gun to drive the rotating shaft 10 to rotate, and drive the welding gun to make a circular motion around the rotating shaft through the adjustment mechanism 28, and the welding gun performs welding along the weld seam.

Based on the above structure and method, compared with the prior art, the present invention has the following beneficial effects:

1. The present invention is provided with a motion control box, and a lifting drive motor, a worm, a rotation drive motor, a rotating shaft and other structures are provided based on the motion control box. The welding gun is then installed through an adjusting mechanism. During implementation, the initial positioning between the equipment and the part to be welded is achieved through a positioning column, and then the distance between the welding gun and the weld is adjusted through the adjusting structure. Finally, the rotation drive motor is started, and the welding gun is driven by the adjusting mechanism to perform a circular motion with the rotating shaft as the center and perform welding operations. The welding gun can achieve multi-degree-of-freedom motion up, down, left, right and circumference. Compared with the prior art, the present invention is suitable for automated welding operations in which two pipes are connected vertically or at an angle, and there is no need to arrange a moving track for the welding gun. The welding operation is simple and convenient to operate.

2. The present invention adopts a positioning column and a pipe mouth of a branch pipe for plugging, thereby realizing the initial positioning between the equipment and the weld. The cross-section of the positioning column is an isosceles trapezoidal structure, and more than two annular positioning grooves are provided on the positioning column. Different annular positioning grooves can be adapted to the initial positioning of branch pipes of different calibers, thereby improving the application scope of the device.

The above contents are only for explaining the technical idea of the present invention and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the claims of the present invention.

Claims (10)

1. A multi-degree-of-freedom intelligent welding device, characterized in that it comprises a motion control box (1), a first vertical moving mechanism (29) is arranged in the motion control box (1), the first vertical moving mechanism (29) is connected to a rotation drive mechanism (30), a positioning column (12) is arranged on the rotation drive mechanism (30), a lateral moving mechanism (31) is arranged on the rotation drive mechanism (30), a second vertical moving mechanism (32) is arranged on the lateral moving mechanism (31), and a welding gun (13) is arranged on the second vertical moving mechanism (32). 2. A multi-degree-of-freedom intelligent welding device according to claim 1, characterized in that the first vertical moving mechanism (29) includes a lifting drive motor (6), the lifting drive motor (6) is connected to a power supply, the output end of the lifting drive motor (6) is connected to an output gear (7) through a rotating device, the output gear (7) is meshed with a worm (5), the worm (5) is connected to a rotation drive mechanism (30), and the worm (5), the lifting drive motor (6) and the rotation drive mechanism (30) are all arranged in a motion control box (1). 3. A multi-degree-of-freedom intelligent welding device according to claim 2, characterized in that the rotation drive mechanism (30) includes a rotation drive motor (8), the rotation drive motor (8) is connected to a power supply, the rotation drive motor (8) is fixedly connected to a worm (5), the output end of the rotation drive motor (8) is connected to a rotating shaft (10) through a coupling (9), the rotating shaft (10) is passed through the motion control box (1) and extends to the outside, and a lateral moving mechanism (31) is fixedly arranged on the rotating shaft (10), and the lateral moving mechanism (31) is located outside the motion control box (1). 4. A multi-degree-of-freedom intelligent welding device according to claim 3, characterized in that a partition (2) is arranged in the motion control box (1), and the partition (2) divides the motion control box (1) into an upper cavity (3) and a lower cavity (4); The worm (5) is inserted into the partition (2), the lifting drive motor (6) and the output gear (7) are located in the upper cavity (3), the rotation drive motor (8) is located in the lower cavity (4), and a limit plate (16) is provided on the worm (5), and the limit plate (16) is located between the output gear (7) and the partition (2). 5. A multi-degree-of-freedom intelligent welding device according to claim 4, characterized in that a second guide sleeve (15) is provided on the partition (2), the second guide sleeve (15) is located between the limit plate (16) and the partition (2), a first guide sleeve (14) is provided in the action control box (1), the end of the worm (5) is movably embedded in the first guide sleeve (14), and the output gear (7) is located between the first guide sleeve (14) and the limit plate (16). 6. A multi-degree-of-freedom intelligent welding device according to claim 5, characterized in that a connecting plate (26) is provided on the motion control box (1), and the worm (5) is connected to the rotation drive motor (8) through a mounting disc (17). 7. A multi-degree-of-freedom intelligent welding device according to claim 3, characterized in that the lateral movement mechanism (31) includes a lateral movement panel (19), the lateral movement panel (19) is fixedly connected to the rotating shaft (10), the lateral movement panel (19) and the rotating shaft (10) are vertical, a lateral guide rail (20) and a first electric push rod (24) are arranged on the lateral movement panel (19), the first electric push rod (24) is connected to a power supply, the lateral guide rail (20) and the first electric push rod (24) are arranged in parallel, a second vertical movement mechanism (32) is slidably arranged on the lateral guide rail (20), and the second vertical movement mechanism (32) is connected to the output end of the first electric push rod (24). 8. A multi-degree-of-freedom intelligent welding device according to claim 7, characterized in that the second vertical moving mechanism (32) comprises a vertical moving panel (21), the vertical moving panel (21) is arranged on the transverse guide rail (20), the vertical moving panel (21) is perpendicular to the transverse guide rail (20), a vertical guide rail (22) and a second electric push rod (25) are arranged on the vertical moving panel (21), the second electric push rod (25) is connected to a power supply, the vertical guide rail (22) and the second electric push rod (25) are arranged in parallel, a slider (23) is slidably arranged on the vertical guide rail (22), and a welding gun (13) is arranged on the slider (23). 9. A multi-degree-of-freedom intelligent welding device according to claim 1, characterized in that the positioning column (12) is a truncated cone structure, the large end of the truncated cone positioning column (12) is connected to the rotating shaft (10), and a plurality of annular positioning grooves (18) are provided on the positioning column (12). 10. A working method using the multi-degree-of-freedom intelligent welding device according to any one of claims 1 to 9, characterized in that it comprises the following steps: The first vertical moving mechanism (29) is started, and the positioning column (12) is driven to move vertically by the first vertical moving mechanism (29) until the positioning column (12) is embedded in the branch pipe (11), thereby completing the initial positioning of the device; The vertical distance between the welding gun (13) and the welding seam is adjusted by a second vertical moving mechanism (32), and the horizontal distance between the welding gun (13) and the welding seam is adjusted by a horizontal moving mechanism (31); At least one of the rotary drive mechanism (30), the lateral movement mechanism (31) and the second vertical movement mechanism (32) is activated to complete the weld seam welding operation.