Welding device and welding method

Abstract

The present invention provides a welding device and a welding method for welding annular fillet welds. The welding device includes a supporting mechanism, a displacement mechanism and a welding robot. The supporting mechanism includes a fixed block, a mandrel rod fixedly connected to the fixed block, a sleeve sleeved on the outer periphery of the mandrel rod, a plurality of connecting rods and a plurality of barrel parts; the plurality of connecting rods are arranged at intervals along the circumferential direction of the mandrel rod, and the two ends of each connecting rod are respectively connected to the sleeve and the inner wall of the barrel part; the plurality of barrel parts are arranged along the circumferential direction of the mandrel rod; the sleeve can move along the axial direction relative to the mandrel rod, so that the plurality of barrel parts can move synchronously along the radial direction of the mandrel rod and relatively open or relatively close; the displacement mechanism includes a machine base, a rotating assembly arranged on the machine base and a clamping assembly arranged on the rotating assembly, the clamping assembly can clamp the fixed block, and the rotating assembly can drive the clamping assembly to rotate; the welding robot is arranged corresponding to the displacement mechanism, and is used for welding the workpiece on the supporting mechanism clamped by the clamping assembly.

Description

Technical Field

[0001] The present invention relates to the field of welding technology, and in particular to a welding device and a welding method. Background Art

[0002] Magnetic resonance imaging (MRI) has become a common imaging examination method and is another major advancement in medical imaging after CT. The instrument used for MRI in medicine is called a nuclear magnetic resonance instrument. The current nuclear magnetic resonance instrument mainly includes a nuclear magnetic resonance generator, imaging equipment and a computer. The nuclear magnetic resonance generator includes a cylinder and a reinforcing rib arranged on the outer periphery of the cylinder.

[0003] The fillet weld between the cylinder and the reinforcement rib is an annular fillet weld. During welding, the reinforcement rib needs to be welded around the cylinder. Welding deformation is easy to occur during welding, resulting in low welding quality. Summary of the invention

[0004] The object of the present invention is to provide a welding device and a welding method with higher welding quality, so as to solve the problem of lower welding quality in the prior art.

[0005] In order to solve the above technical problems, the present invention provides a welding device for welding annular fillet welds, comprising: a supporting mechanism for supporting a workpiece to be welded; the supporting mechanism comprises a fixed block, a core shaft rod fixedly connected to the fixed block, a sleeve sleeved on the outer circumference of the core shaft rod, a plurality of connecting rods and a plurality of barrel parts; the plurality of connecting rods are arranged at intervals along the circumferential direction of the core shaft rod, and the two ends of each connecting rod are respectively connected to the sleeve and the inner wall of the barrel part; the plurality of barrel parts are arranged along the circumferential direction of the core shaft rod; the sleeve It can move along the axial direction relative to the core shaft rod, so that the multiple cylindrical parts can move synchronously along the radial direction of the core shaft rod and relatively open or close; the displacement mechanism includes a machine base, a rotating assembly arranged on the machine base and a clamping assembly arranged on the rotating assembly, the clamping assembly can clamp the fixed block, and the rotating assembly can drive the clamping assembly to rotate and drive the supporting mechanism to rotate; the welding robot is arranged corresponding to the displacement mechanism, and is used for welding the workpiece on the supporting mechanism clamped by the clamping assembly.

[0006] In one embodiment, the sleeve and the core shaft rod move relative to each other through the driving of a driving assembly; the driving assembly includes: a screw, which is located in the sleeve and extends along the axial direction; a knob, which is arranged on one end of the screw relative to the fixed block; a bearing, whose outer ring is connected and fixed to the inner wall of the sleeve, and whose inner ring is connected and fixed to the knob; the knob rotates to drive the screw to rotate relative to the sleeve, thereby causing the sleeve to move along the axial direction of the core shaft rod.

[0007] In one embodiment, the support tube also includes a support plate; the support plate is connected to the other end of the core shaft rod relative to the knob; a plurality of radial guide rails extending along the radial direction of the core shaft rod are provided on the support plate; a slider is provided on the inner wall of each cylinder body portion, and the slider slides in cooperation with the radial guide rail to open or close each cylinder body portion along the radial direction of the core shaft rod.

[0008] In one embodiment, each of the cylindrical parts is further provided with a groove; the groove is provided at an end close to the support plate, the groove is arranged corresponding to the guide rail, and the groove allows the guide rail to pass through.

[0009] In one embodiment, both sides of each of the cylindrical parts are serrated, and the side parts of two adjacent cylindrical parts are engaged with each other.

[0010] In one embodiment, each of the cylindrical parts includes an arc-shaped plate and reinforcing ribs arranged on the inner peripheral wall of the arc-shaped plate; the arc-shaped plates of the plurality of cylindrical parts are relatively closed to form a cylinder.

[0011] In one embodiment, the clamping assembly includes a pair of clamping jaws and a clamping drive; the clamping drive drives the pair of clamping jaws toward each other to clamp the fixing block and further clamp the supporting mechanism.

[0012] In one embodiment, there are multiple position shifting mechanisms; the multiple position shifting mechanisms are arranged at intervals along the transverse direction, and the multiple position shifting mechanisms are parallel to each other; among the multiple position shifting mechanisms, one or more of the position shifting mechanisms are assembly stations, and the remaining position shifting mechanisms are welding stations; the welding mechanism is arranged corresponding to the position shifting mechanisms of the welding station; the welding device also includes a transfer mechanism; the transfer mechanism can carry the support mechanism and drive the support mechanism to move between the assembly station and the welding station.

[0013] In one embodiment, the transfer mechanism includes: guide rails, including transverse guide rails and multiple groups of longitudinal guide rails arranged in a horizontal plane; the transverse guide rails extend transversely and cover the multiple displacement mechanisms, the multiple groups of longitudinal guide rails extend longitudinally and are arranged one by one with the multiple displacement mechanisms, and each group of longitudinal guide rails is arranged crosswise with the transverse guide rails; a transfer vehicle, having a bearing surface for bearing the support tube on the top and rollers on the bottom that cooperate with the movement of the guide rails, thereby driving the support mechanism to move between the assembly station and the welding station.

[0014] In one embodiment, the transfer vehicle includes a vehicle body and a driving member for driving the vehicle body to move; the driving member is a battery capable of storing electricity.

[0015] In one embodiment, it also includes: a crossbeam, which extends laterally and is located above the displacement mechanism; the crossbeam covers the multiple displacement mechanisms of the welding station; at least one longitudinal beam, which is vertically connected to the crossbeam; the longitudinal beam can move along the length direction of the crossbeam; the welding robot is arranged corresponding to the longitudinal beam, and the welding robot is connected to the end of the longitudinal beam; a driving member, which drives each of the longitudinal beams to move on the crossbeam and thereby drives the welding robot to move in the transverse direction.

[0016] In one embodiment, two adjacent welding stations share one welding robot.

[0017] In one embodiment, the displacement mechanism further includes a lifting component and a flipping component arranged on the lifting component; the rotating component is arranged on the flipping component, the flipping component can drive the rotating component to flip, and the lifting component can drive the flipping component to move along the height direction of the base.

[0018] In one embodiment, the welding robot includes a welding gun and a laser tracker located at the front end of the welding gun, and the laser tracker collects real-time position information of the fillet weld of the workpiece to be welded and transmits it to the welding gun.

[0019] The present invention also provides a welding method, comprising the following steps:

[0020] Providing a welding device for welding annular fillet welds as described above;

[0021] The workpiece is sleeved on the outer periphery of the support mechanism, and the plurality of barrel parts are adjusted to move synchronously along the radial direction of the mandrel rod to tighten the workpiece;

[0022] The clamping assembly of the displacement mechanism clamps the fixed block of the support mechanism;

[0023] The lifting assembly of the displacement mechanism adjusts the height of the workpiece;

[0024] The rotating assembly of the displacement mechanism adjusts the angle of the workpiece, and the welding robot welds the workpiece.

[0025] In one embodiment, when the workpiece arrives at the welding station, the laser tracker transmits the detected real-time position to the welding gun; and the welding gun synchronously tracks the workpiece according to the real-time position of the workpiece.

[0026] In one embodiment, the welding robot welds the workpiece using a TIG welding process.

[0027] It can be seen from the above technical solution that the advantages and positive effects of the present invention are:

[0028] The welding device of the present invention includes a supporting mechanism, a displacement mechanism and a welding robot. The supporting mechanism includes a supporting tube, a core shaft rod, a sleeve and a plurality of connecting rods. The supporting mechanism includes a fixed block, a core shaft rod fixedly connected to the fixed block, a sleeve sleeved on the outer periphery of the core shaft rod, a plurality of connecting rods and a plurality of barrel parts. The plurality of connecting rods are arranged at intervals along the circumferential direction of the core shaft rod, and the two ends of each connecting rod are respectively connected to the sleeve and the inner wall of the barrel part; the plurality of barrel parts are arranged along the circumferential direction of the core shaft rod; the sleeve can move along the axial direction relative to the core shaft rod, so that the plurality of barrel parts can move synchronously along the radial direction of the core shaft rod and relatively open or relatively close. During welding, the welding device supports the workpiece on the outer periphery of the plurality of barrel parts, and tightens the workpiece by the relative opening of the barrel parts, thereby realizing the control of the size and shape of the workpiece during the welding process, and effectively controlling the deformation of the workpiece during welding, thereby improving the welding quality.

[0029] Compared with manual welding, the welding method of the present invention maintains a higher welding quality and improves welding efficiency. Furthermore, the present invention realizes TIG automatic welding. Compared with MIG welding, the welding method of the present invention has no spatter and has a higher weld forming quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of one embodiment of a fillet weld welding device of the present invention;

[0031] Figure 2 It is a structural schematic diagram of one implementation of the support mechanism of the present invention;

[0032] Figure 3 The present invention Figure 2 The front view of the middle support mechanism;

[0033] Figure 4 The present invention Figure 2 A bottom view of the middle support mechanism;

[0034] Figure 5 It is a structural schematic diagram of one implementation of the displacement mechanism of the present invention;

[0035] Figure 6 It is a schematic diagram of the structure of the cooperation between the displacement mechanism and the supporting mechanism of the present invention;

[0036] Figure 7 The present invention Figure 6 A schematic diagram of the structure in one direction;

[0037] Figure 8 It is a structural schematic diagram of one implementation of the welding mechanism of the present invention.

[0038] The description of the accompanying drawings is as follows: 1. corner weld welding device; 11. supporting mechanism; 111. fixing block; 112. core shaft rod; 113. sleeve; 114. connecting rod; 115. cylinder body; 1151. arc plate; 1152. reinforcing rib; 1153. groove; 116. supporting plate; 1171. knob; 118. lifting ear; 119. reinforcing rib; 12. displacement mechanism; 121. machine base; 122. turning arm; 123. rotating arm; 124. disc; 125. clamping claw; 131. transfer vehicle; 132. transverse guide rail; 133. longitudinal guide rail; 14. welding mechanism; 141. vertical beam; 142. horizontal beam; 143. longitudinal beam; 144. welding robot. DETAILED DESCRIPTION

[0039] Typical embodiments that embody the features and advantages of the present invention will be described in detail in the following description. It should be understood that the present invention can have various changes in different embodiments without departing from the scope of the present invention, and the descriptions and illustrations therein are essentially used for illustration purposes rather than for limiting the present invention.

[0040] In order to further illustrate the principle and structure of the present invention, preferred embodiments of the present invention are now described in detail with reference to the accompanying drawings.

[0041] The present invention provides a welding device for welding an annular fillet weld of a workpiece. The workpiece includes a first component and a second component. The first component is cylindrical, the second component is arranged on the outer periphery of the first component, and the fillet weld is formed between the first component and the second component. The fillet weld is a straight fillet weld and is unobstructed. The first component of the workpiece can be a cylinder of a nuclear magnetic resonance generator in a nuclear magnetic resonance apparatus, and the second component is a reinforcing rib arranged on the outer periphery of the cylinder. The reinforcing rib is annular and sleeved on the outer periphery of the first component. The workpiece can also be a workpiece of other industries.

[0042] See also Figure 1 The welding device 1 comprises a supporting mechanism 11, a displacement mechanism 12, a transfer mechanism, a welding mechanism 14 and a control mechanism (not shown in the figure). The following description is made by taking the cross section of the first part of the workpiece as an example.

[0043] The support mechanism 11 is used to support the workpiece to be welded. Figure 2-Figure 4 The supporting mechanism 11 includes a fixing block 111 , a core shaft rod 112 , a sleeve 113 , a connecting rod 114 , a barrel portion 115 , a driving assembly and a supporting plate 116 .

[0044] The fixing block 111 is square.

[0045] The mandrel rod 112 is fixedly connected to the fixing block 111. Specifically, one end of the mandrel rod 112 is vertically connected to the fixing block 111, and both ends of the mandrel rod 112 extend out of the fixing block 111.

[0046] The sleeve 113 is sleeved on the outer circumference of the core shaft rod 112. Specifically, the sleeve 113 and the core shaft rod 112 are cocentric, that is, the axis of the sleeve 113 and the axis of the core shaft rod 112 are located on the same straight line.

[0047] The plurality of barrel portions 115 are arranged along the circumferential direction of the core shaft rod 112. Specifically, in this embodiment, the number of barrel portions 115 is three, and they are symmetrically distributed along the circumference of the core shaft rod 112, and the three barrel portions 115 enclose a cylinder. In other implementations, the number of barrel portions 115 can also be two, four or other numbers, which can be set as needed.

[0048] Specifically, each barrel portion 115 includes an arc-shaped plate 1151, a reinforcing rib 1152 disposed on the inner circumferential wall of the arc-shaped plate 1151, and a slider disposed on the inner circumferential wall of the arc-shaped plate 1151. The arc-shaped plates 1151 of the multiple barrel portions 115 are relatively closed to enclose and form a cylinder, that is, the multiple arc-shaped plates 1151 are located on the same circumference. The reinforcing rib 1152 serves to increase the strength of the barrel portion 115.

[0049] In this embodiment, two sliding blocks are provided on the inner peripheral wall of each arc-shaped plate 1151. In other embodiments, the two sliding blocks can also be provided according to actual conditions.

[0050] Both sides of the barrel 115 are serrated, and the sides of two adjacent barrels 115 are engaged with each other. Specifically, one side of the barrel 115 is provided with a protrusion structure, that is, a plurality of protrusions are arranged at intervals along the axial direction, and the other side is provided with a concave structure, that is, a plurality of grooves 1153 are arranged at intervals along the axial direction. The plurality of protrusions on one side of the barrel 115 are arranged correspondingly to the plurality of grooves 1153 of the adjacent barrel, so that the protrusions can be inserted into the grooves 1153.

[0051] The two ends of each connecting rod 114 are connected to the inner wall of the sleeve 113 and the barrel 115 respectively. In this embodiment, two groups of connecting rods 114 are arranged between the support tube and the sleeve 113, and the two groups of connecting rods 114 are arranged at intervals along the axis of the sleeve 113. Each group of connecting rods 114 has three connecting rods 114 arranged at intervals along the circumference of the sleeve 113, that is, the connecting rods 114 and the barrel 115 are arranged in a one-to-one correspondence. In other embodiments, the connecting rods 114 can also be arranged in three groups or other numbers, and the number of connecting rods 114 in each group can also be set as needed, for example, each barrel 115 corresponds to two connecting rods 114.

[0052] The driving assembly includes a lead screw, a knob 1171 and a bearing. The lead screw is arranged inside the sleeve 113. The knob 1171 is arranged at the end of the lead screw. The outer ring of the bearing is connected and fixed to the inner wall of the sleeve 113, and the inner ring of the bearing is connected and fixed to the knob 1171. When the knob 1171 is rotated, the lead screw rotates relative to the sleeve 113, so that the sleeve 113 moves along the axial direction of the core shaft rod 112, so that the barrel portion 115 is opened or closed in the radial direction.

[0053] In this embodiment, the lead screw is disposed inside the mandrel rod 112. In other embodiments, the mandrel rod 112 can directly be the lead screw shaft of the lead screw.

[0054] The support plate 116 is connected to the other end of the mandrel rod 112 relative to the knob 1171, that is, the end close to the fixed block 111. The support plate 116 is located between the fixed block 111 and the knob 1171, and there is a gap between the support plate 116 and the fixed block 111. The mandrel rod 112 passes through the support plate 116. The support plate 116 is provided with a plurality of radial guide rails extending in the radial direction of the mandrel rod 112. The plurality of radial guide rails are arranged corresponding to the sliders of the plurality of barrel parts 115, and the sliders are slidably matched with the radial guide rails, so that each barrel part 115 is strictly opened or closed in the radial direction, thereby ensuring that the shape and size of the workpiece can be maintained when supporting the workpiece.

[0055] Each cylindrical portion 115 is further provided with a groove 1153 at the end thereof close to the guide rail, each groove 1153 is arranged corresponding to the guide rail, and the correspondingly arranged groove 1153 and the guide rail are located in the same radial direction. When each cylindrical portion 115 is opened or closed, each groove 1153 is used to avoid the guide rail.

[0056] A plurality of lifting ears 118 are also arranged at intervals on the outer circumference of the support plate 116 . The lifting ears 118 are used to cooperate with the lifting hooks to achieve lifting of the support mechanism 11 , thereby facilitating the maintenance of the support mechanism 11 .

[0057] See also Figure 4 A plurality of reinforcing ribs 119 are connected to the surface of the support plate 116 close to the fixing block 111 to increase the strength of the support plate 116. Each reinforcing bar extends along the radial direction of the support tube. Reinforcing ribs 119 are also connected between adjacent reinforcing bars.

[0058] The workpiece is sleeved on the outer circumference of the multiple cylindrical parts 115, and the workpiece is tightened by opening or closing the multiple cylindrical parts 115 to achieve rounding of the workpiece, thereby ensuring the size and shape of the workpiece during assembly and welding, and controlling the welding deformation during welding.

[0059] There are three position shifting mechanisms 12, which are arranged at intervals in the transverse direction, and the position shifting mechanisms 12 are parallel to each other. In this embodiment, in the transverse direction, the position shifting mechanism 12 at one end is an assembly station, and the other two position shifting mechanisms 12 are welding stations, and the position shifting mechanism 12 close to the assembly station is defined as the first welding station, and the position shifting mechanism 12 far from the assembly station is defined as the second welding station. At the assembly station, the first component and the second component of the workpiece are assembled by manual spot welding. At the welding station, the assembled workpiece is welded so that the first component and the second component are fixedly connected to form a workpiece as a whole.

[0060] In other embodiments, the number of displacement mechanisms 12 can be set as needed, and the number of assembly stations and welding stations can also be set as needed.

[0061] See also Figure 5 The displacement mechanism 12 includes a base 121, a lifting assembly, a flip assembly, a rotating assembly and a clamping assembly. The lifting assembly is lifted and lowered along the height direction of the base to drive the flip assembly, the rotating assembly and the clamping assembly to lift and lower, the flip assembly flips to flip the rotating assembly and the clamping assembly, and the rotating assembly rotates to drive the clamping assembly to rotate.

[0062] The machine base 121 includes a base and a column erected on the base. The base includes two longitudinal beams arranged in parallel and spaced apart and a cross beam connecting the two longitudinal beams. The column is erected on the base, and specifically, the column is fixedly connected to the cross beam and the longitudinal beam at the same time.

[0063] Reinforcing ribs 1152 are also provided on the base and the column to enhance the connection strength between the base and the column.

[0064] In this embodiment, the base is fixed to the ground by bolts.

[0065] The lifting assembly includes a lifting slide, a lifting plate and a lifting power part. The lifting slide is arranged on one side of the column, and the lifting slide is arranged along the height direction of the column. The lifting plate is slidably matched with the lifting slide. The lifting power part includes a lifting drive motor and a lifting screw extending along the height direction of the column, and the lifting screw is connected to the lifting plate. The lifting drive motor drives the lifting screw to rotate and then drives the lifting plate to move along the lifting slide, thereby driving the support arm to move up and down along the height direction of the machine base 121 to adjust the height of the support arm. In this embodiment, the lifting drive motor is arranged at the top of the column.

[0066] The flip assembly includes a flip arm 122, a flip support, a flip gear and a flip driving member. The flip arm 122 is fixedly connected to the lifting slide and can be lifted and lowered along with the lifting and lowering of the lifting slide. Specifically, the flip arm 122 is parallel to the crossbeam of the base. The flip axis of the flip arm 122 is parallel to the transverse direction. The outer ring of the flip support is fixedly connected to the flip arm 122. The flip gear is meshed with the gear of the flip support. The flip driving member is connected to the flip gear and drives the flip support to flip and drive the flip arm 122 to flip. In this embodiment, the flip driving member is a flip motor, which is set on the flip arm 122.

[0067] The slewing assembly includes a slewing arm 123, a slewing bearing, a slewing gear, a disc 124 and a slewing drive. The slewing arm 123 is vertically connected to one end of the flip arm 122, and the slewing arm 123 is fixedly connected to the flip arm 122 and can flip as the flip arm 122 flips. Specifically, the slewing arm 123 is parallel to the longitudinal beam of the base. The inner ring of the slewing bearing is fixedly connected to the slewing arm 123, and the outer ring of the slewing bearing is fixedly connected to the disc 124. The slewing gear is meshed with the gear of the slewing bearing. The slewing drive is connected to the flipping gear and drives the slewing bearing to flip and drive the disc 124 to perform a slewing motion. The rotating axis of the disc 124 is parallel to the longitudinal direction. In this embodiment, the slewing drive is a slewing motor, which is set on the slewing arm 123.

[0068] The clamping assembly includes a pair of clamping jaws 125 and a clamping drive. In this embodiment, the number of the clamping jaws 125 is two, and they are spaced apart in a direction parallel to the longitudinal beam of the base. The clamping drive drives the pair of clamping jaws 125 to approach each other to clamp the fixed block 111 and then clamp the support mechanism 11. The two clamping jaws 125 move in a direction parallel to the longitudinal beam of the base. In this embodiment, the clamping drive is a motor.

[0069] In this embodiment, the clamping assembly further includes a limit plate, which is arranged parallel to the disc 124. A limit hole is provided in the limit plate, and two clamping jaws 125 are symmetrically arranged about the limit hole. The limit hole matches the mandrel rod 112. When the two clamping jaws 125 approach each other to clamp the fixed block 111, the mandrel rod 112 extending out of the fixed block 111 is inserted into the limit hole, thereby limiting the relative position of the fixed block 111 and the clamping assembly.

[0070] See also Figure 6 and Figure 7 The displacement mechanism 12 clamps the support mechanism 11, so the support mechanism 11 can be raised and lowered to adjust the height, can be turned over to achieve ±180° turning to adjust the horizontality of the workpiece, and can also be rotated to adjust the angle of the workpiece to be welded.

[0071] The transfer mechanism can carry the support mechanism 11 and drive the support mechanism 11 to move between the assembly station and the welding station. Specifically, the transfer mechanism includes a guide rail and a transfer vehicle 131.

[0072] The guide rails include a transverse guide rail 132 and a plurality of longitudinal guide rails 133 arranged in a horizontal plane. The transverse guide rail 132 extends in the transverse direction, the longitudinal guide rail 133 extends in the longitudinal direction, and each longitudinal guide rail 133 is arranged crosswise with the transverse guide rail 132. The plurality of longitudinal guide rails 133 are arranged in a one-to-one correspondence with the plurality of displacement mechanisms 12. In this embodiment, the number of the transverse guide rails 132 is one group, and the number of the longitudinal guide rails 133 is arranged corresponding to the number of the displacement mechanisms 12, that is, the number of the longitudinal guide rails 133 is three groups. Among them, one group of transverse guide rails 132 includes two parallel and spaced rails, and one group of longitudinal guide rails 133 includes two parallel and spaced rails, and the distance between the two rails in the transverse guide rail 132 is equal to the distance between the two rails in the longitudinal guide rail 133.

[0073] The top of the transfer vehicle 131 has a bearing surface for bearing the support mechanism 11 , and the bottom has rollers that cooperate with the guide rails to move, thereby driving the support mechanism 11 to move between the assembly station and the welding station.

[0074] The transfer vehicle 131 includes a vehicle body and a driving member for driving the vehicle body to move. Specifically, the driving member is a battery capable of storing electricity, which reduces the power cord connected to the power source when in use, so that the transfer vehicle 131 is smooth when moving, reducing the difficulty of construction.

[0075] The top of the vehicle body has two parallel and spaced limit blocks, which extend along the length direction of the vehicle body, and the tops of the two limit blocks constitute the bearing surface. The distance between the two limit blocks is smaller than the diameter of the support tube. When the vehicle body carries the support tube, the axis of the support tube extends horizontally and is parallel to the length direction of the vehicle body.

[0076] Rollers are provided at the four corners of the vehicle body, and the two rollers along the width direction of the vehicle body cooperate with the two tracks in the transverse guide rail 132 respectively, and the two rollers along the width direction of the vehicle body cooperate with the two tracks in the longitudinal guide rail 133 respectively, so that the transfer vehicle 131 can move along the transverse guide rail 132 and the longitudinal guide rail 133, realizing the 90° track changing function of the transfer vehicle 131.

[0077] Because the distance between the two tracks in the transverse guide rail 132 is equal to the distance between the two tracks in the longitudinal guide rail 133, and the distance between the two rollers of the transfer vehicle 131 along the width direction is also equal to the distance between the above-mentioned transverse guide rail 132 and the longitudinal guide rail 133, when the transfer vehicle 131 moves to the junction of the transverse guide rail 132 and the longitudinal guide rail 133, the transfer vehicle 131 can be converted from transverse to longitudinal or longitudinal to transverse, thereby realizing the 90° track changing function of the transfer vehicle 131.

[0078] The welding mechanism 14 is arranged corresponding to the displacement mechanism 12 of the welding station, and is used for welding the workpiece on the support mechanism 11 clamped by the clamping assembly. Figure 8 The welding mechanism 14 includes three vertical beams 141, a horizontal beam 142, a longitudinal beam 143, a driving member, a welding robot 144 and a laser tracker.

[0079] The three vertical beams 141 are arranged in parallel and at intervals. Specifically, the vertical beams 141 are arranged vertically. In this embodiment, the three vertical beams 141 are arranged at equal intervals.

[0080] The cross beam 142 is connected to the top of the three vertical beams 141. The cross beam 142 covers the two position changing mechanisms 12 of the welding station.

[0081] The top of the cross beam 142 has a track disposed along its length.

[0082] The longitudinal beam 143 is vertically connected to the cross beam 142. A slide plate is provided at the bottom of the longitudinal beam 143, and the slide plate is slidably matched with the track, so that the longitudinal beam 143 can move along the length direction of the cross beam 142.

[0083] The driving member is connected to the slide plate of the longitudinal beam 143 , and the driving slide plate moves on the track of the cross beam 142 , thereby driving the longitudinal beam 143 to move along the length direction of the cross beam 142 .

[0084] The welding robot 144 is disposed at the end of the longitudinal beam 143 and is located below the longitudinal beam 143. The welding robot 144 includes a welding gun and a laser tracker located at the front end of the welding gun. The welding gun is used to weld the workpiece. The laser tracker collects the real-time position information of the fillet weld of the workpiece and transmits it to the welding gun. The welding gun synchronously tracks the workpiece according to the real-time position information, thereby ensuring the welding accuracy.

[0085] The laser tracker detects the position information of the weld in the area to be welded in front of the welding gun.

[0086] Specifically, the welding robot 144 is equipped with a high-performance digital DC welding machine to realize automatic TIG wire welding, and the wire feeder adopts a fully automatic wire feeder with feedback function to realize automatic and adjustable wire feeding. The welding gun adopts a high-power water-cooled welding gun, which can realize long-term high-current welding after being equipped with a special water tank.

[0087] The welding mechanism 14 also includes a ladder and a guardrail. The ladder is arranged at one end of the beam 142 to facilitate the operator to go up to the top of the beam 142. The guardrail is arranged on the top of the beam 142 relative to the side of the welding robot 144 to protect the staff on the top of the beam 142.

[0088] In this embodiment, two welding stations share one welding robot 144 , and the welding robot 144 is driven to move by moving the longitudinal beam 143 .

[0089] The control mechanism is electrically connected to the lifting assembly, flip assembly, rotation assembly, laser and welding gun respectively, and controls the movement of the lifting assembly, flip assembly, rotation assembly and welding gun according to the real-time position information of the laser, thereby realizing automatic welding of the workpiece in all positions.

[0090] The control mechanism is equipped with arc starting and arc ending instructions (MOV C circular arc instruction, MOV J joint instruction, MOV L straight line instruction). The control mechanism controls the arc starting and arc ending of the welding gun according to the real-time position information of the laser tracker, which improves the welding accuracy and thus improves the welding quality.

[0091] The control mechanism receives the rotation speed information in the rotation assembly, and controls the movement of the welding gun according to the rotation speed information to synchronously track the workpiece, so as to better weld the fillet weld.

[0092] After the control program in the control mechanism is set, the control program can be used for automatic welding for workpieces of the same size and requirements, that is, one-time programming can simultaneously meet the welding of multiple workpieces, simplifying the programming difficulty, saving time and improving welding efficiency.

[0093] In this embodiment, the number of welding stations is two, and correspondingly, the number of support mechanisms 11 and transfer vehicles 131 are both two. Therefore, while one transfer vehicle 131 carries the support mechanism 11 and the workpiece at the welding station and the workpiece is being welded, the other transfer vehicle 131 can carry another support mechanism 11 and another workpiece to be welded at the assembly station for assembly, thereby saving waiting time and improving efficiency.

[0094] The method of using the welding device 1 is as follows:

[0095] The first part of the workpiece is sleeved on the outer periphery of the support mechanism 11, and the connecting rods 114 are adjusted so that the support mechanism 11 opens the workpiece to a taut state, and the second part of the workpiece is sleeved on the outer periphery of the first part.

[0096] The support mechanism 11 supporting the workpiece is placed together on the carrying surface of the transfer vehicle 131, and the transfer vehicle is controlled to move to the assembly station.

[0097] The clamping assembly of the displacement mechanism 12 located at the assembly station clamps the fixing block 111 of the support mechanism 11 to clamp and fix the support mechanism 11 and the workpiece.

[0098] The second component and the first component of the workpiece are assembled by manual spot welding. During spot welding, the height of the support mechanism 11 and the workpiece is adjusted by the lifting component of the displacement mechanism 12, the horizontality of the workpiece is adjusted by flipping the support mechanism 11 and the workpiece by the flipping component, and the angle of the workpiece is adjusted by the rotating component to facilitate spot welding.

[0099] The clamping assembly is released from the support mechanism 11 , and the support mechanism 11 and the workpiece are placed on the transfer vehicle 131 , and the transfer vehicle 131 is moved to the first welding station.

[0100] The clamping assembly of the displacement mechanism 12 located at the first welding station clamps the fixing block 111 of the supporting mechanism 11 to clamp and fix the supporting mechanism 11 and the workpiece.

[0101] The welding of the fillet weld of the workpiece is completed by the welding robot 144. During welding, the height of the support mechanism 11 and the workpiece is adjusted by the lifting component of the displacement mechanism 12, the horizontality of the workpiece is adjusted by flipping the support mechanism 11 and the workpiece by the flipping component, and the angle of the workpiece is adjusted by the rotating component to facilitate welding.

[0102] Specifically, before the welding robot starts welding, the laser tracker detects the real-time position of the welding fillet weld in front of the welding gun and sends the real-time position signal to the control mechanism. The control mechanism compares the position signal with the reference, calculates the offset, and implements the overall offset of the program based on the offset to correct the position error between the welding gun and the workpiece, thereby achieving tracking of the workpiece by the welding gun and better improving the welding quality.

[0103] Among them, the benchmark is obtained by:

[0104] The teaching workpiece is placed on the support mechanism in advance, and the position of the fillet weld to be welded in front of the welding gun is specified as the reference. Alternatively, the reference can be obtained by simulation.

[0105] The welding gun uses TIG welding technology to weld the fillet weld of the workpiece, realizing the first use of TIG automatic welding technology in the nuclear magnetic medical device industry. The use of TIG automatic welding technology not only maintains high welding quality, but also improves welding efficiency. Compared with MIG welding, TIG welding technology has no spatter and has higher weld forming quality.

[0106] After welding, the workpiece is cooled and then inspected or repaired. After the inspection is qualified, the transfer vehicle 131 transfers the workpiece to the next station.

[0107] While the welding robot 144 is welding, another transfer vehicle 131 transports another support mechanism 11 and another workpiece to be welded to the assembly station for assembly. After assembly, the transfer vehicle 131 transfers the support mechanism 11 and the workpiece to the second welding station. After the welding robot 144 completes the welding work at the first welding station, it welds the workpiece at the second welding station.

[0108] Similarly, after passing the inspection, the transfer vehicle 131 located at the second welding station transfers the support mechanism 11 and the workpiece to the next station.

[0109] The welding time at the welding station is longer than the assembly time at the assembly station, so the two transfer vehicles 131 and the two support mechanisms 11 cooperate with the two welding stations to reduce the waiting time for workpiece assembly, thereby improving the efficiency of the fillet weld welding device 1.

[0110] In other embodiments, the number of assembly stations and welding stations can also be other numbers, such as two assembly stations with three welding stations, three assembly stations with five welding stations, etc.

[0111] The welding device 1 drives the support mechanism 11 to move through the transfer mechanism, thereby driving the workpiece to move from the assembly station to the welding station, and then the workpiece located at the welding station is welded by the welding robot 144. The degree of automation is high, labor intensity is reduced, human resources are saved, and welding efficiency is improved.

[0112] It can be seen from the above technical solution that the advantages and positive effects of the present invention are:

[0113] The welding device of the present invention includes a supporting mechanism, a displacement mechanism and a welding robot. The supporting mechanism includes a supporting tube, a core shaft rod, a sleeve and a plurality of connecting rods. The supporting mechanism includes a fixed block, a core shaft rod fixedly connected to the fixed block, a sleeve sleeved on the outer periphery of the core shaft rod, a plurality of connecting rods and a plurality of barrel parts. The plurality of connecting rods are arranged at intervals along the circumferential direction of the core shaft rod, and the two ends of each connecting rod are respectively connected to the sleeve and the inner wall of the barrel part; the plurality of barrel parts are arranged along the circumferential direction of the core shaft rod; the sleeve can move along the axial direction relative to the core shaft rod, so that the plurality of barrel parts can move synchronously along the radial direction of the core shaft rod and relatively open or relatively close. During welding, the welding device supports the workpiece on the outer periphery of the plurality of barrel parts, and tightens the workpiece by the relative opening of the barrel parts, thereby realizing the control of the size and shape of the workpiece during the welding process, and effectively controlling the deformation of the workpiece during welding, thereby improving the welding quality.

[0114] Compared with manual welding, the welding method of the present invention maintains a higher welding quality and improves welding efficiency. Furthermore, the present invention realizes TIG automatic welding. Compared with MIG welding, the welding method of the present invention has no spatter and has a higher weld forming quality.

[0115] Although the present invention has been described with reference to several typical embodiments, it should be understood that the terms used are illustrative and exemplary, rather than restrictive. Since the present invention can be embodied in a variety of forms without departing from the spirit or essence of the invention, it should be understood that the above embodiments are not limited to any of the foregoing details, but should be interpreted broadly within the spirit and scope defined by the appended claims, so all changes and modifications falling within the scope of the claims or their equivalents should be covered by the appended claims.

Claims

1. A welding device for welding annular fillet welds, characterized in that: include: A support mechanism for supporting a workpiece to be welded; the support mechanism comprises a fixed block, a mandrel rod fixedly connected to the fixed block, a sleeve sleeved on the outer circumference of the mandrel rod, a plurality of connecting rods and a plurality of barrel parts; the plurality of connecting rods are arranged at intervals along the circumferential direction of the mandrel rod, and the two ends of each connecting rod are respectively connected to the sleeve and the inner wall of the barrel part; the plurality of barrel parts are arranged along the circumferential direction of the mandrel rod; the sleeve can move along the axial direction relative to the mandrel rod, so that the plurality of barrel parts can move synchronously along the radial direction of the mandrel rod and relatively open or close; each of the barrel parts comprises an arc-shaped plate; The displacement mechanism comprises a machine base, a rotating assembly arranged on the machine base, and a clamping assembly arranged on the rotating assembly, wherein the clamping assembly can clamp the fixed block, and the rotating assembly can drive the clamping assembly to rotate and drive the supporting mechanism to rotate; A welding robot, arranged corresponding to the displacement mechanism, for welding a workpiece on the support mechanism clamped by the clamping assembly; The sleeve and the core shaft rod are driven by a driving assembly to move relative to each other; the driving assembly comprises: A lead screw is located in the sleeve and extends in the axial direction; A knob, arranged on one end of the lead screw opposite to the fixed block; A bearing, whose outer ring is connected and fixed to the inner wall of the sleeve, and whose inner ring is connected and fixed to the knob; The knob rotates to drive the lead screw to rotate relative to the sleeve, thereby causing the sleeve to move along the axial direction of the mandrel rod; the support mechanism also includes a support plate; the support plate is connected to the other end of the mandrel rod relative to the knob; the support plate is provided with a plurality of radial guide rails extending along the radial direction of the mandrel rod; A sliding block is provided on the inner wall of each of the barrel parts, and the sliding block is slidably matched with the radial guide rail to make each of the barrel parts open or close along the radial direction of the core shaft rod.

2. The welding device according to claim 1, characterized in that: Each of the cylindrical parts is also provided with a groove; the groove is provided at an end close to the support plate, the groove is arranged corresponding to the radial guide rail, and the groove allows the radial guide rail to pass through.

3. The welding device according to claim 1, characterized in that: Both sides of each of the cylindrical parts are serrated, and the side parts of two adjacent cylindrical parts bite each other.

4. The welding device according to claim 1, characterized in that: Each of the cylindrical parts includes a reinforcing rib arranged on the inner peripheral wall of the arc-shaped plate; The arc-shaped plates of the plurality of cylinder parts are relatively closed to form a cylinder.

5. The welding device according to claim 1, characterized in that: The clamping assembly comprises clamping jaws arranged in pairs and a clamping driving member; the clamping driving member drives the pair of clamping jaws to approach each other to clamp the fixing block and further clamp the supporting mechanism.

6. The welding device according to claim 1, characterized in that: The welding device comprises a welding mechanism, and the number of the displacement mechanisms is multiple; The plurality of position changing mechanisms are arranged at intervals in the transverse direction, and the plurality of position changing mechanisms are parallel to each other; among the plurality of position changing mechanisms, one or more of the position changing mechanisms are located at an assembly station, and the remaining position changing mechanisms are located at a welding station; the welding mechanism is arranged correspondingly to the position changing mechanisms of the welding station; The welding device further comprises a transfer mechanism; the transfer mechanism is capable of carrying the support mechanism and driving the support mechanism to move between the assembly station and the welding station.

7. The welding device according to claim 6, characterized in that: The transfer mechanism includes: The guide rails include a transverse guide rail and a plurality of longitudinal guide rails arranged in a horizontal plane; the transverse guide rails extend transversely and cover the plurality of displacement mechanisms; the plurality of longitudinal guide rails extend longitudinally and are arranged one-to-one with the plurality of displacement mechanisms; and each longitudinal guide rail group is arranged crosswise with the transverse guide rail; The transfer vehicle has a bearing surface on the top for bearing the supporting mechanism and a roller on the bottom for cooperating with the guide rail to move, thereby driving the supporting mechanism to move between the assembly station and the welding station.

8. The welding device according to claim 7, characterized in that: The transfer vehicle comprises a vehicle body and a driving member for driving the vehicle body to move; the driving member is a battery capable of storing electricity.

9. The welding device according to claim 6, characterized in that: Also includes: A crossbeam extending transversely and located above the position changing mechanism; the crossbeam covers a plurality of the position changing mechanisms of the welding station; At least one longitudinal beam is vertically connected to the transverse beam; the longitudinal beam can move along the length direction of the transverse beam; the welding robot is arranged corresponding to the longitudinal beam, and the welding robot is connected to the end of the longitudinal beam; A driving member drives each of the longitudinal beams to move on the transverse beam and thereby drives the welding robot to move in a transverse direction.

10. The welding device according to claim 9, characterized in that: Two adjacent welding stations share one welding robot.

11. The welding device according to claim 1, characterized in that: The displacement mechanism further comprises a lifting component and a flip component arranged on the lifting component; the rotating component is arranged on the flip component, the flip component can drive the rotating component to flip, and the lifting component can drive the flip component to move along the height direction of the base.

12. The welding device according to claim 1, characterized in that: The welding robot comprises a welding gun and a laser tracker located at the front end of the welding gun. The laser tracker collects real-time position information of the fillet weld of the workpiece to be welded and transmits it to the welding gun.

13. A welding method, characterized in that: The following steps are involved: Providing a welding device as described in any one of claims 1 to 12; The workpiece is sleeved on the outer periphery of the support mechanism, and the plurality of barrel parts are adjusted to move synchronously along the radial direction of the mandrel rod to tighten the workpiece; The clamping assembly of the displacement mechanism clamps the fixed block of the support mechanism; The lifting component of the displacement mechanism adjusts the height of the workpiece; The rotating assembly of the displacement mechanism adjusts the angle of the workpiece, and the welding robot welds the workpiece.

14. The welding method according to claim 13, characterized in that When the workpiece arrives at the welding station, the real-time position information of the fillet weld of the workpiece is collected by a laser tracker and transmitted to the welding gun of the welding robot; the welding gun synchronously tracks the workpiece according to the real-time position information of the workpiece.

15. The welding method according to claim 13, characterized in that The welding robot adopts TIG welding process to weld the workpiece.

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