CN112405008A - Full-automatic straight pipe flange group is to welding production line - Google Patents

Abstract

The invention discloses a full-automatic straight pipe flange assembly welding production line which comprises a full-automatic three-dimensional storage, an automatic fixed-length cutting machine, a self-adaptive grinding machine, an automatic labeling machine, a carrier roller conveying line, an automatic centering machine, a continuous feeding conveying frame, a robot assembly welding work station, a coding machine, a flange warehouse, a station all-in-one machine, a master control unit, an assembly welding control unit, a vertical warehouse control unit, a logistics control unit, a continuous feeding control unit and the like. The production line is driven by an information system data source, each unit receives production task information and then effectively decomposes the task information, and meanwhile, the automatic detection technology of pipe length, pipe diameter and flanges is adopted. The cutting process is based on a numerical control fixed-length cutting machine to realize automatic detection of supplied materials, fixed length, self-adaptive clamping, cutting, tailing removal and automatic blanking of scraps. In the welding process, production task information is combined, process data information and visual identification information are called by a background to complete flange direction positioning, code carving, assembly and welding.

Description

Full-automatic straight pipe flange group is to welding production line

Technical Field

The invention belongs to the fields of pipe fitting machining and manufacturing, feeding and discharging of a machine tool and automatic assembling and machining, and particularly relates to a full-automatic straight pipe flange pipe fitting machining production line.

Background

The processing types of the pipe fittings are complex, the composition forms are various, and the single production mode is difficult to cover the existing production types. The pipe system is divided into straight pipe, bent pipe and other types according to the production type of the finished pipe fitting, the consistency of the production process of the straight pipe flange lap welding is good, and the development of a full-automatic manufacturing mode is facilitated. In recent years, with the overall improvement of the production level in the pipe fitting manufacturing industry, a single-station semi-automatic production unit cannot meet the requirements of quality tracing and large-batch continuous stable production in the production process, and the pipe fitting production automation level is often seriously influenced by the period and quality problems of the pretreatment of accessories and pipe fittings. The full-automatic straight pipe flange assembly welding production line is a means with high practicability in the current pipe fitting assembling and welding. However, most of the traditional semi-automatic straight pipe flange assembly welding production lines can only adopt offline cutting, offline fixture code carving and offline assembly of accessories and asynchronous welding of inner and outer rings. The production cycle and the product quality traceability are seriously influenced, the efficiency of an intelligent manufacturing system is greatly limited, and the whole idea of flexible manufacturing is broken away.

Disclosure of Invention

The invention mainly aims to provide a full-automatic straight pipe flange assembly welding production line.

The production line system comprises a full-automatic three-dimensional warehouse 1, a carrier roller conveying line 2, a continuous feeding conveying frame 3, a raw material feeding platform 4, an automatic fixed-length cutting machine 5, an automatic material receiving device 6, a cutting buffer chain 7, a self-adaptive grinding machine 8, an automatic labeling machine 9, an automatic centering machine 10, a robot pairing and welding work station 11, a code carving machine 116, a flange warehouse 114, a station all-in-one machine 115, a finished product rack 12, a master control unit 13 and the like.

The technical process of the full-automatic straight pipe flange assembly welding production line comprises the following steps: the production process comprises the steps of automatic diameter measurement of the pipe, warehousing of the pipe, centering and length measurement of the pipe, cutting of the pipe, polishing of the free edge of the pipe, automatic labeling of the pipe, code carving of the flange, identification and positioning of the flange, pipe end identification and positioning, pipe and flange pairing, automatic welding of a robot, automatic off-line production of the finished pipe and the like.

The full-automatic three-dimensional storage solution: the full-automatic three-dimensional warehouse comprises a warehouse roller way 101, a warehouse entry platform 102, a warehouse exit platform 103, a bidirectional overturning carrier roller 104, a pipe grabbing manipulator 105, a tray driving assembly 106, a pipe storage tray 107, a feeding carrier roller 108 and the like. In order to facilitate practical use, a warehousing roller bed 101 is arranged on the left side of the warehouse body, and a warehousing platform 102 is arranged at the front end of the warehousing roller bed. The warehousing platform 102 provides a space for users to load and manage raw materials. And arranging pipe fitting detection equipment at the end part of the warehousing roller way for checking the size of the upper warehouse pipe. The delivery platform 103 is arranged on the right side of the delivery platform 102, so that the pipe fittings with unqualified sizes can be delivered out of the warehouse conveniently. The ex-warehouse method is realized by the outward turning of the bidirectional turning carrier roller 104. And for qualified pipe fittings, the pipe fittings are turned over to the feeding conveying platform by the bidirectional turning carrier roller 104, and the feeding conveying platform conveys the pipe fittings to the feeding carrier roller 108. The pipe grabbing manipulator 105 grabs the pipe and lifts the pipe to a certain height, the pipe storage tray 107 is driven to the feeding area by the tray driving assembly 106, the pipe grabbing manipulator 105 finishes placing the pipe, and the pipe storage tray 107 returns to the pipe storage warehouse.

Continuous feed carriage solution: the continuous feeding conveying frame is used for providing material buffering for pipe fitting cutting and mainly comprises an incoming material detection sensor 1301, an incoming material overturning support 1302, an incoming material carrier roller 303, an incoming material overturning support 2304, an incoming material overturning support 3305, an incoming material detection sensor 2306, an incoming material overturning support 4307, a manual control panel 308, an overturning deflector rod 1309, an overturning sensor 310, a discharging overturning support 311, a discharging detection sensor 1312, a discharging carrier roller line 313 and the like. After the pipe fitting is delivered to a warehouse, the end part of the pipe fitting is moved to the incoming material detection sensor 2306, the rear section conveying line is started to drive the pipe fitting to move to the incoming material detection sensor 1301, when a sensor signal is picked up, the incoming material overturning supports 1, 2, 3, 4302, 304, 305 and 307 are overturned simultaneously, at the moment, the pipe fitting is overturned into the cache support frame, after the overturning sensor 310 senses the pipe fitting, and when the next overturning position does not wait to overturn the pipe fitting, the air cylinder drives the overturning deflector rod 1309 to overturn the pipe fitting to the next overturning position. When the pipe fitting is turned to the discharging turning support 311, the turning cylinder drives the turning support 311 to turn the pipe fitting to the discharging carrier roller line 313. At this point, the out-feed detection sensor 1312 detects that the pipe is in place and ready to be cut.

Full-automatic fixed length cutting solution: the full-automatic fixed-length cutting function consists of three parts, namely an automatic fixed-length cutting machine 5, an automatic material receiving device 6 and a cutting cache chain 7. The automatic fixed-length cutting machine 5 comprises a cutting main machine 501, a centering roller line 502, a hydraulic pump station 503, a short pipe blanking platform 504 and the like. The automatic material receiving device 6 is composed of a carrier roller support frame 601, a movable manipulator 602, a walking drive assembly 603 and the like. The cutting buffer chain 7 comprises a buffer chain 701, a feeding detection sensor 702, a buffer positioning sensor 703, a discharging detection sensor 704 and a buffer chain driving component 705. When the pipe reaches the centering roller line 502, the centering roller line 502 finishes lifting automatic adjustment according to the size of the pipe of the supplied material, the pipe is conveyed to the inside of the automatic fixed-length cutting machine 5, the movable manipulator 602 grabs the pipe based on the end position of the pipe, the pipe is longitudinally pulled to a position to be aligned, the movable manipulator 602 is opened after alignment is finished, waste blanking is finished, the pipe end is clamped according to the position after alignment, and the pipe is moved to an appointed position according to a preset length and cutting is finished. For a length of cut tail, the moving robot 602 transfers it to the spool blanking platform 504. The waste disposal of the common short tailings is realized by adopting an automatic blanking mode. After the cutting, the manipulator 602 is moved to clamp the pipe to be cut and then moves to the jacking cylinder above the buffer chain 701, the jacking cylinder detects the pipe and then transfers the pipe to the buffer chain 701, the sensor on the buffer chain 701 detects the pipe, the slow starting motor rotates, and when the pipe moves to the feeding detection sensor 702, the chain is lifted to move at a speed higher than the buffer area. When the pipe travels to the discharge detection sensor 704, the chain reduces the speed of movement and the pipe moves out of the buffer area. At this time, the conveying chain is turned over and returned, and stops after the buffer positioning sensor 703 is triggered.

Adaptive sander solution: the self-adaptive grinding machine comprises a front section grinding part, a lifting rotary supporting roller 804 and a rear section grinding part, wherein the front section grinding part comprises a dust remover 801, a sound insulation cover 802, a grinding lifting device 803 and an electric grinding head 809, and the rear section grinding part comprises a dust remover 806, a sound insulation cover 805, a grinding lifting device 807 and an electric grinding head 808. The pipe section to be polished is conveyed to the self-adaptive polishing machine 8 through the carrier roller line, when one end of the pipe section moves to a designated position, a sensor falling edge signal is received, the carrier roller line is triggered to stop running, the lifting rotary supporting roller 804 is lifted, the polishing lifting device 803 moves downwards to a set position according to the diameter size of the pipe fitting, the pressing roller presses the pipe fitting, the rotary supporting roller 804 rotates, and the polishing head is started to polish the single end of the pipe fitting. And the other end of the pipe section is moved to a designated position in the same way, and when a rising edge signal of the sensor is received, the actions are repeated to finish polishing.

The solution of the assembly welding unit is as follows: the assembly welding unit comprises a pipe section conveying chain 111, a welding power supply 112, an assembly welding robot system 113, a flange library 114, a station all-in-one machine 115, a code carving machine 116, an unqualified product frame 117, a product pipe conveying rail 118, a product pipe conveying RGV119, a product pipe stock rack 1110, a robot rail 1111, a welding fume dust removal device 1112 and the like. The assembly welding robot system comprises four robots, two big robots are used for assembling, scanning and continuously welding inner rings of two ends of a pipe fitting and accessories, and two small robots are used for spot welding and continuously welding outer rings of two ends of the pipe fitting and the accessories. After the pipe section cut according to the preset length reaches the pipe section conveying chain 111, the pipe section is conveyed to an assembly welding station through the transverse conveying vehicle, the assembly welding robot system 113 scans the flange through vision and grabs the flange from the flange library 114 to the code carving machine 116, then the pipe section of the assembly welding station is scanned, data such as the position of a pipe end, the center of the pipe, the diameter of the pipe and the like are extracted, and the assembly welding robot grabs an accessory to be welded from the code carving machine based on position coordinates and completes assembly and continuous welding. After welding, the cross car moves the finished tube segment to the finished tube transport RGV119, which transports the finished tube to the finished tube stocker 1110 along the finished tube transport track 118.

Compared with the prior art, the invention has the following remarkable advantages: the full-automatic assembly welding of pipe flanges of different standard specifications is realized, the full-automatic continuous operation production of self-service material storage batching, cutting, polishing, labeling, code carving, assembly, welding and offline can be adapted, the work efficiency and the finished product quality are improved, the labor cost is saved, and the problem of industrial intelligent development is solved.

Drawings

FIG. 1 is a process flow diagram of a full-automatic straight pipe flange pairing welding production line.

Fig. 2 is a schematic perspective view of the warehouse.

Fig. 3 is a schematic diagram of a continuous feed conveyor.

Fig. 4 is a composition diagram of automatic cut-to-length.

Fig. 5 is a schematic diagram of an adaptive sander.

FIG. 6 is a schematic view of a set of welding units.

FIG. 7 is a layout diagram of a full-automatic straight pipe flange assembly welding production line.

Detailed Description

The invention is further described in detail with reference to fig. 1-7, and a full-automatic straight pipe flange pairing welding production line comprises a full-automatic three-dimensional warehouse 1, a carrier roller conveying line 2, a continuous feeding conveying frame 3, a raw material feeding platform 4, an automatic fixed-length cutting machine 5, an automatic material receiving device 6, a cutting buffer chain 7, an adaptive polisher 8, an automatic labeling machine 9, an automatic centering machine 10, a robot pairing welding work station 11, a code carving machine 116, a flange library 114, a station all-in-one machine 115, a finished product rack 12, a main control unit 13 and the like.

The full-automatic three-dimensional warehouse 1 is used for storing raw materials of pipe fittings, has the function of automatically entering and exiting the warehouse of the pipe fittings, has a pipe fitting warehousing platform 102 for facilitating manual feeding, adopts a tray type structure, is provided with a pipe fitting grabbing mechanical arm 105, and supports the function of storing and taking out the pipe fittings in any specification and corresponding to warehouse positions.

The continuous feeding conveying frame 3 can meet the cutting buffer storage and continuous feeding functions of raw material pipes with different lengths, and supports a manual feeding mode.

Automatic fixed-length cutting machine 5 is furnished with automatic receiving device 6, cutting buffer chain 7, when can accomplishing fixed-length cutting based on different pipe fitting length, possesses automatic flush blanking, the automatic transportation of pipeline section and tails snatchs functions such as material returned to nozzle stub unloading platform 504.

Self-adaptation polisher 8 adopts the independent mode of polishing of bi-polar to realize, can highly adapt to the polishing of different pipe diameters through adjusting electronic grinding head 808, and the system disposes sound-proof housing 802, dust shaker 801 and is used for the dust fall to make an uproar.

The automatic labeling machine 9 adopts a printing type label and has the functions of online label printing, automatic sticking and label stroking.

The automatic centering machine 10 calculates the center position of the pipe section according to the length of the cut pipe section, and ensures that the center of the pipe section is basically matched with the center of the assembly platform. The implementation adjustment of the fixed-length position is realized through the servo motor, and the signal pickup after the positioning is realized based on the overturning air cylinder and the signal pickup sensor.

The robot group adopts four robot operation modes to the welding workstation 11, the robot realizes the integrated functions of 3D visual detection, hand grasping, welding gun and wire feeder through quick change, the robot completes the accessory position identification, the accessory carving code and the pipe fitting end position identification in sequence, and then the robot offline group assembly and spot welding are carried out based on the group position information of the visual detection. And after the assembly is finished, the four robots synchronously weld until the whole welding process is finished. And after welding, the transverse conveying vehicle conveys the finished product pipe to a finished product pipe conveying RGV119, and the finished product pipe conveying RGV119 carries the pipe fitting to be conveyed to a finished product material rack and completes automatic blanking.

With reference to fig. 7, the working principle of the present invention is as follows:

step 1: the workshop MES system automatically issues scheduling information to a production line main control unit, the production line main control unit receives information of tasks to be produced and completes task analysis, and meanwhile, analyzed data are decomposed into an ex-warehouse data packet, a cutting data packet, a polishing data packet, a labeling data packet, a centering data packet, a pairing welding data packet and the like.

Step 2: the master control unit 13 issues the analyzed task data packet to each unit, and after the three-dimensional warehousing unit receives the task information, the WMS inventory management system schedules the moving mechanism to arrange the specified pipe to finish warehouse-out.

And step 3: the ex-warehouse pipe fittings are transferred to a buffer area of the continuous feeding conveying frame 3 through the carrier roller conveying line 2, and the pipe fittings to be subsequently produced continue to be ex-warehouse. After passing through the buffer area of the continuous feeding conveying frame 3, the pipe to be cut is transferred to the front end of the automatic fixed-length cutting machine 5, and the pipe is trimmed and cut off according to the pipe section cutting task. After the cutting is finished, the automatic material receiving device 6 transfers the pipe section to a cutting buffer chain 7 for buffering and waiting for polishing.

And 4, step 4: cutting buffer chain 7 will wait to polish the pipe fitting and carry to the bearing roller line, and the parallel flow is changeed to self-adaptation polisher 8 department, and after self-adaptation polisher 8 detected the single-ended signal that targets in place of pipe fitting, lifting rotary support roll 804 lifts up, and elevating gear 803 of polishing moves down to setting for the position according to pipe fitting diameter size, and the pressure roller compresses tightly the pipe fitting, and rotary support roll 804 is rotatory, starts the single-ended of accomplishing the pipe fitting of polishing head and polishes. And similarly, when the other end of the pipe fitting triggers the in-place signal, the actions are repeated to finish the polishing of the other end.

And 5: the pipe fitting detects the pipeline section and gets into the subsides mark district along with the bearing roller transfer chain from 8 flow direction automatic labeling machines 9 of self-adaptation polisher, and the bearing roller transfer chain slows down, and the pipeline section slow flow is to the automatic labeling machines below, and automatic labeling machines accomplishes the label and prints, inhales the perpendicular pressure of mark adsorption label to the pipeline section on, and the label moves to pacifying mark department on the pipeline section, and the cylinder drives the rotatory rubber of arc and pacifies mark head and push down to the pipe fitting on, realizes the compaction of label through the roll extrusion.

Step 6: the pipe fitting flows to the automatic centering machine 10, and the automatic centering machine 10 calculates the center position according to the length of the pipe section to complete servo fixed-length centering. The centering machine turns over the centered pipe fitting to a pipe section conveying chain 111, and the pipe section conveying chain 111 conveys the pipe section to be welded to a material taking position of the transverse conveying vehicle.

And 7: the sensor detects that the pipe section to be welded reaches the material taking position, the transverse conveying vehicle transversely conveys the pipe section to be welded to the welding robot assembly system 113, the large robots at the two ends replace the visual sensors, the flange accessories to be assembled are scanned, and then the replacing hands grab the flange warehouse to grab the flange to the code carving machine and complete code carving.

And 8: and the two-end large robot replaces the vision sensor with the vision sensor again, scans the pipe section to be welded and picks up the center coordinates of the end part of the pipe section.

And step 9: and the large robots at the two ends are replaced with the hand grips and grip the flanges to be welded from the code engraving machine, and the flanges and the pipe sections with the welded pipes are assembled. And the small robots at the two ends drive the welding gun to complete the spot welding of the pipe flange.

Step 10: and replacing the welding gun by the large robots at the two ends and synchronously finishing the continuous welding of the inside and the outside of the two ends of the pipe section by the small robots at the two ends.

Step 11: after the pipe sections are welded, the finished pipe sections are moved and turned over to the finished pipe conveying RGV119 by the transverse conveying vehicle, the finished pipe conveying RGV119 moves to the front section of the finished product rack 12 along the finished pipe conveying track 118, and the finished pipe is automatically turned over and discharged.

Claims (8)

1. The utility model provides a full-automatic straight tube flange group is to welding production line, a serial communication port, contain full-automatic three-dimensional storage (1), bearing roller transfer chain (2), continuous feed carriage (3), raw and other materials loading platform (4), automatic fixed length cutting machine (5), automatic receiving device (6), cutting buffer memory chain (7), self-adaptation polisher (8), automatic labeling machine (9), automatic centering machine (10), robot group is to welding work station (11), carve sign indicating number machine (116), flange storehouse (114), station all-in-one (115), finished product work or material rest (12), parts such as total control unit (13) constitute.

2. The utility model provides a full-automatic straight tube flange group is to welding production line, its characterized in that, full-automatic three-dimensional storage (1) adopts pull tray formula design form, possesses arbitrary storehouse position access function, disposes the material loading platform, and the material loading platform inboard sets up the bearing roller transfer chain, possesses pipe end parameter on-line image detection function. The off-line detection function is provided for the pipe fittings which do not meet the size.

3. The utility model provides a full-automatic straight tube flange group is to welding lines, its characterized in that, automatic fixed length cutting machine (5) contain main card, vice card, automatic rising centering bearing roller, automatic receiving device (6), possess through the self-adaptation of rising centering bearing roller go up and down and main card extension centre gripping distance automatic centering, fixed length function, satisfy the size and the form and position precision of high-speed cutting. The automatic blanking device has the function of automatic blanking (finished product material, waste material and tailing), and can be adaptive to meet the requirement of manufacturing pipe fittings in a large range.

4. The utility model provides a full-automatic straight tube flange group is to welding production line which characterized in that, the system possesses the process tracking function, and automatic labeling machine (9) that contain can realize the automated inspection of pipe fitting and paste the mark, smooth the mark.

5. The utility model provides a full-automatic straight tube flange group is to welding production line, its characterized in that, self-adaptation polisher (8) can automated inspection pipeline section tip, but the height of self-adaptation adjustment polisher can be lifted up and compress tightly automatically simultaneously on the transfer chain, adopts the rotatory polishing of thousand impeller to realize the polishing of pipe end on the transfer chain.

6. The utility model provides a full-automatic straight tube flange group is to welding lines which characterized in that, disposes automatic centering machine (10) at the robot group to the front end of weldment work station (11, 19), can be to the pipe fitting length of waiting to produce that the host computer issued, accomplish the pipe fitting horizontal centering automatically.

7. The utility model provides a full-automatic straight tube flange group is to welding production line, its characterized in that contains four robot group to weldment work station (11), possesses the flange and carves the sign indicating number automatically, and robot vision automatic identification proofreads pipe fitting length, diameter, and robot vision automatic identification flange is and location flange direction angle, and the robot snatchs the flange automatically and accomplishes the pipe flange group and right, robot spot welding and continuous welding function. Wherein, the continuous welding adopts four robots to weld the inner ring and the outer ring simultaneously.

8. The utility model provides a full-automatic straight tube flange group is to welding production line which characterized in that, logistics system contains waits to cut the automatic buffer memory of raw materials pipe, waits to produce the automatic buffer memory of pipe fitting, finished product pipe fitting buffer memory, horizontal transport vechicle and realizes the transportation of raw materials to assembly welding station, vertical transport vechicle realization finished product pipe fitting automatic unloading.

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