Four-axis automatic welding system for shell-and-plate heat exchange plates

Abstract

The invention belongs to the technical field of welding equipment, and particularly relates to a four-axis automatic welding system for shell-and-plate heat exchange plates, which comprises a gantry truss system, an adsorption positioning system rotatably mounted on the gantry truss system and a crank arm system slidably mounted on the gantry truss system, the adsorption positioning system comprises a supporting assembly. The first positioning assemblies are installed at the two ends of the supporting assembly and used for positioning the ends of the heat exchange plates; the adsorption plate set is installed in the center of the supporting assembly and used for fixing the heat exchange plate for welding, the adsorption plate set comprises a base plate which is embedded into the hollow part of the heat exchange plate and adsorbs the heat exchange plate, and electromagnets used for magnetically adsorbing the heat exchange plate are symmetrically embedded into the two sides of the base plate; the second positioning assemblies are installed on the two sides of the supporting assembly and used for positioning the side edges of the heat exchange plate. According to the welding device, the heat exchange plates can be welded in a high-quality welding mode such as laser, meanwhile, the heat exchange plates can be in high-precision butt joint, and therefore the welding precision and quality are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of welding equipment, and in particular relates to a four-axis automatic welding system for a plate-shell heat exchanger. Background Art

[0002] Plate and shell heat exchanger usually refers to the heat transfer element in the plate and shell heat exchanger. It is usually welded by two identical opposite metal strips, as shown in the attached manual. Figure 7 shown.

[0003] The most common welding method for plate and shell heat exchanger plates is to use a medium frequency rolling welder to weld them. The advantage of this welding method is that the heat exchanger plate is easy to transport. Its main working principle is that the metal heat exchanger plate continues to roll under the drive of the roller frame, and the welding current passes through the plate to generate heat. As the heat accumulates, the contact surface of the metal plate begins to melt and form a molten pool. The metal atoms in the molten pool approach each other under physical and chemical effects and produce metal bonds, thereby achieving welding.

[0004] However, this welding method requires continuous use of water to cool the welding rollers during the welding process, and the welding rollers need to continuously squeeze the heat exchange plate. This will cause the heat exchange plate to be easily deformed under such thermal expansion and contraction and extrusion conditions, reducing the structural strength and the service life in the later stage. In addition, the upper and lower welding rollers rotate in opposite directions to transmit the heat exchange plate, which can easily cause it to be misaligned, affecting the welding accuracy.

[0005] Of course, there are some laser welding methods in actual production. Although they can reduce the deformation problem of the heat exchange plate during the welding process, the heat exchange plate cannot be clamped and positioned with high precision during the welding process, which makes it easy for the heat exchange plate to be misaligned during the welding and docking process, and the welding quality is poor.

[0006] In order to solve the above problems, the present invention provides a four-axis automatic welding system for plate and shell type heat exchanger plates. Summary of the invention

[0007] The purpose of the present invention is to provide a four-axis automatic welding system for plate and shell type heat exchanger plates, which can weld the heat exchanger plates using high-quality welding methods such as laser, and can also dock the heat exchanger plates with high precision, and weld with high freedom after docking, so as to improve the welding accuracy and quality.

[0008] The technical solution adopted by the present invention is as follows: A four-axis automatic welding system for plate and shell heat exchanger plates, comprising: A gantry truss system, an adsorption positioning system rotatably mounted on the gantry truss system, and a crank arm system slidably mounted on the gantry truss system; Wherein, the adsorption and positioning system comprises a support assembly; and, a first positioning assembly installed at both ends of the support assembly to position the ends of the heat exchange plate; An adsorption plate group installed at the center of the support assembly for fixing the heat exchange plate for welding includes a base plate embedded in the hollow of the heat exchange plate for adsorbing it, electromagnets for magnetically adsorbing the heat exchange plate are symmetrically embedded on both sides of the base plate, and vacuum suction cups are embedded and installed on both sides of the electromagnet for re-fixing the heat exchange plate after positioning it; A second positioning assembly installed on both sides of the support assembly to position the sides of the heat exchange plate; A contraction slot is provided at the center of the first positioning component, the adsorption plate group is slidably installed in the contraction slot, and a reciprocating driving mechanism is provided between the adsorption plate group and the first positioning component, so that the adsorption plate group can be telescopically moved in the contraction slot, thereby adsorbing and releasing the heat exchange plate.

[0009] As a preferred solution, the gantry truss system includes a longitudinal ground rail, a vertical support arm that moves longitudinally on the longitudinal ground rail, and a crossbeam fixedly installed between the vertical support arms, and a lifting slide that lifts vertically is installed on the opposite side of the vertical support arm; The crank arm system includes a mechanical arm that moves transversely to the crossbeam and a welding head installed at the free end of the mechanical arm.

[0010] As a preferred solution, the support assembly includes a support frame, end seats integrally formed at both ends of the support frame, and dust covers covering the top and bottom surfaces of the support assembly, a rotating drive platform is embedded in the end seat, and the end seat and the rotating drive platform are integrally fixedly installed on the lifting slide.

[0011] As a preferred solution, the first positioning assembly includes a cantilever arm fixedly mounted on the power output end of the rotary drive platform and a push rod cross-rotatingly mounted on the end of the cantilever arm, the push rod combination is V-shaped to push and position the heat exchange plate from both sides of the end toward the center, a first positioning rubber roller is rotatably mounted on the free end of the adsorption plate group to contact the heat exchange plate, and an opposing drive mechanism for driving the cross-rotation is also arranged between the push rods.

[0012] As a preferred solution, the opposing drive mechanism includes a transmission gear fixedly mounted on the rotating end of the push rod and a second servo motor fixedly mounted on the cantilever arm, the transmission gears on the same side are meshed with each other, and the second servo motor is connected to two of the transmission gears on different sides through a coupling.

[0013] As a preferred solution, the reciprocating drive mechanism includes a tooth groove integrally formed in the center of the substrate surface, a first driving gear rotatably mounted on the inner side of the end of the first positioning component, and a first servo motor fixedly mounted on the cantilever arm, the first driving gear is meshed with the tooth groove, and the first servo motor is connected to the first driving gear through a reducer.

[0014] As a preferred solution, elastically retractable side movable positioning plates are symmetrically installed on both sides of the base plate, and the side movable positioning plates are cut into a cone shape at one end away from the base plate to fit the inner wall of the side of the heat exchange plate to support it.

[0015] As a preferred embodiment, the vacuum suction cup includes a movable support tube symmetrically embedded in the substrate and a rubber suction cup installed on the movable support tube, a limit spring is embedded and installed between the oppositely arranged movable support tubes, an exhaust hole is provided on the movable support tube, a sealing rubber ring is embedded and installed between opposite sides of the movable support tube, an exhaust cavity connected to the exhaust hole is provided inside the substrate, and an exhaust nozzle connected to the exhaust cavity is installed at the end of the substrate to vacuum the vacuum suction cup.

[0016] As a preferred solution, the second positioning assembly includes a track frame slidably installed on both sides of the support frame and second positioning rubber rollers slidably installed on both ends of the track frame to position the two ends of the side of the heat exchange plate toward the center, the track frame is symmetrically provided with track grooves, the supporting shafts at both ends of the second positioning rubber rollers are slidably embedded in the track grooves, and the track frame is provided with an interlaced driving mechanism for driving the second positioning rubber rollers to move towards each other.

[0017] As a preferred solution, the staggered driving mechanism includes a third servo motor fixedly mounted on the side of the supporting frame, a rack plate staggered and fixedly mounted on the supporting shaft of the second positioning rubber roller, and a second driving gear connected to the power output end of the third servo motor through a telescopic transmission shaft, and the second driving gear is meshed with two sets of staggered rack plates; A pushing cylinder is also fixedly installed on the side of the support frame, and the power output end of the pushing cylinder passes through the support frame and is fixedly installed on the side of the track frame to push it to move within the support frame.

[0018] The technical effects achieved by the present invention are: The present invention cooperates with the transmission system by setting an adsorption positioning system, which can utilize two opposite conveyor belts to simultaneously transmit the upper plate body and the lower plate body, and then utilizes the adsorption positioning system to adsorb and position the upper plate body and the lower plate body, so that the transmission efficiency of the upper plate body and the lower plate body during welding is higher, and utilizes the adsorption positioning system that can rotate relative to the vertical support arm and can be adjusted vertically, the welding angle of the upper plate body and the lower plate body can be synchronously adjusted, and in conjunction with the curved arm system, compared with the traditional four-axis welding system, the welding freedom is higher and higher welding requirements can be met. After the welding is completed, it can be transmitted by another conveyor belt, and then the processing is repeated continuously to improve the welding efficiency.

[0019] The present invention arranges an adsorption plate group, and utilizes the magnetic attraction force of the electromagnet to successively adsorb the upper plate body and the lower plate body transmitted in opposite directions, so that they are butted against each other, and at the same time utilizes the first positioning component and the second positioning component to perform abutment and alignment positioning on the ends and the two sides, so that the two are accurately butted against each other, and then the upper plate body and the lower plate body are adsorbed by the vacuum negative pressure of the vacuum suction cup for secondary fixation, so that they will not be displaced during the welding process, so as to ensure the stability of the welding process and improve the welding accuracy. Compared with the welding method in the prior art, it can avoid damage to the heat exchange plate during the welding process and increase the service life. At the same time, it has accurate positioning and higher welding quality, which meets the high-precision processing requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic diagram of a top view of the structure of an embodiment of the present invention; Figure 2 It is a schematic structural diagram of a gantry truss system, a crank arm system and an adsorption positioning system in an embodiment of the present invention; Figure 3 It is a structural schematic diagram of one side of the gantry truss system and the crank arm system in an embodiment of the present invention; Figure 4 is a schematic structural diagram of the other side of the gantry truss system and the crank arm system in an embodiment of the present invention; Figure 5 is a structural schematic diagram of an adsorption positioning system in an embodiment of the present invention; Figure 6 is an exploded diagram of an adsorption positioning system in an embodiment of the present invention; Figure 7 is a schematic diagram of the structure of a heat exchange plate in an embodiment of the present invention; Figure 8 is a schematic diagram of a partial structure of an adsorption positioning system in an embodiment of the present invention; Fig. 9 is a schematic structural diagram of a first positioning assembly in an embodiment of the present invention; Fig.10 is a schematic structural diagram of an adsorption plate group in an embodiment of the present invention; Fig.11 is a cross-sectional view of an adsorption plate assembly according to an embodiment of the present invention; Fig.12 The present invention Fig.11 A magnified view of the part in the middle; Fig.13 is a schematic structural diagram of a vacuum suction cup in an embodiment of the present invention; Fig.14 Schematic diagram of the structure of the second positioning component in an embodiment of the present invention.

[0021] In the accompanying drawings, the components represented by the reference numerals are listed as follows: 1. Gantry truss system; 11. Longitudinal ground rail; 12. Vertical support arm; 121. Lifting slide; 13. Crossbeam; 2. Adsorption positioning system; 21. Support assembly; 211. Support frame; 212. End seat; 213. Dust cover; 22, first positioning assembly; 221, cantilever arm; 222, retracting slide; 223, push rod; 224, first positioning rubber roller; 225, first driving gear; 226, first servo motor; 227, transmission gear; 228, second servo motor; 23. Adsorption plate group; 231. Base plate; 232. Electromagnet; 233. Side movable positioning plate; 234. Vacuum suction cup; 2341. Rubber suction cup; 2342. Movable support tube; 2343. Limit spring; 2344. Air extraction hole; 2345. Sealing rubber ring; 235. Air extraction cavity; 236. Air extraction nozzle; 237. Tooth socket; 24, second positioning assembly; 241, track frame; 242, track groove; 243, second positioning rubber roller; 244, third servo motor; 245, second driving gear; 246, rack plate; 247, positioning column; 248, positioning nut; 249, push cylinder; 25. Rotating drive table; 3. Crank arm system; 31. Robotic arm; 32. Welding head; 4. heat exchange plate; 41. upper plate body; 42. lower plate body; 5. Transmission system. DETAILED DESCRIPTION

[0022] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is specifically described below in conjunction with embodiments. It should be understood that the following text is only used to describe one or several specific embodiments of the present invention, and does not strictly limit the scope of protection of the specific claims of the present invention.

[0023] like Figure 1-Figure 14As shown, a four-axis automatic welding system for plate and shell type heat exchanger plates includes a gantry truss system 1, an adsorption and positioning system 2 rotatably installed on the gantry truss system 1, a crank arm system 3 slidably installed on the gantry truss system 1, and a transmission system 5 for transmitting heat exchange plates 4. The transmission system 5 is used to transmit the upper plate body 41 and the lower plate body 42 in opposite directions, and the adsorption and positioning system 2 is driven by the gantry truss system 1 to adsorb and position the two, and then they are welded in cooperation with the crank arm system 3, and then outputted through the transmission system 5 after welding, and this reciprocating process is continuously performed on the heat exchange plate 4.

[0024] See attached Figure 3-Figure 4 The gantry truss system 1 includes a longitudinal rail 11, a vertical arm 12 that moves longitudinally on the longitudinal rail 11 using a linear module composed of a gear, a rack and a servo motor, and a crossbeam 13 fixedly installed between the vertical arms 12. At the same time, a vertical lifting slide 121 is installed on the opposite side of the vertical arm 12 through a linear module composed of a ball, a lead screw and a servo motor, so that the lifting slide 121 can be vertically lifted along the inner side of the vertical arm 12. By installing the adsorption positioning system 2 between the two sets of lifting slides 121, it can drive the adsorption positioning system 2 to be lifted vertically, so as to cooperate with the crank arm system 3 to complete the welding work and improve the degree of freedom of welding.

[0025] Again refer to the attached Figure 3-Figure 4 The crank arm system 3 includes a mechanical arm 31 that moves laterally on the beam 13 and a welding head 32 installed at the free end of the mechanical arm 31, and the support of the mechanical arm 31 is installed on the sliding seat of the linear module composed of balls, screws and servo motors on the beam 13, so that the mechanical arm 31 and the welding head 32 can be driven by the linear module to move laterally along the beam 13 to cooperate with the adsorption positioning system 2 to weld the heat exchange plate 4. In this embodiment, the mechanical arm 31 adopts a four-axis mechanical arm, and the welding head 32 adopts a laser welding head; of course, in other embodiments, the mechanical arm 31 and the welding head 32 can be selected according to specific needs.

[0026] See attached Figure 1 In this embodiment, the transmission system 5 includes three groups of conveyor belts, two of which are arranged opposite to each other between the two ends of the longitudinal ground rail 11 to convey the upper plate body 41 and the lower plate body 42 placed opposite to each other, and another conveyor belt is arranged between the opposite ends of the other two conveyor belts and is placed perpendicular to them, so as to facilitate the outward transmission of the formed heat exchange plate 4 after the upper plate body 41 and the lower plate body 42 are butt-welded, and then the heat exchange plate 4 is processed repeatedly.

[0027] Of course, in other embodiments, the transmission system 5 may include only two sets of conveyor belts, which are respectively arranged between the two ends of the longitudinal ground rail 11, one for inputting the upper plate body 41 and the lower plate body 42, and the other for outputting the welded heat exchange plate 4.

[0028] See attached Figure 5-Figure 14 The adsorption positioning system 2 includes a support assembly 21, a first positioning assembly 22 installed at both ends of the support assembly 21 to position the ends of the heat exchange plate 4, an adsorption plate group 23 installed at the center of the support assembly 21 to fix the heat exchange plate 4 for welding, and a second positioning assembly 24 installed at both sides of the support assembly 21 to position the sides of the heat exchange plate 4. During welding, the upper plate body 41 and the lower plate body 42 transmitted in opposite directions are successively adsorbed by the adsorption plate group 23 to make them butt with each other, and at the same time, the first positioning assembly 22 and the second positioning assembly 24 are used to align and position the ends and both sides of the upper plate body 41 and the lower plate body 42 to make the butt with each other accurately, and then the upper plate body 41 and the lower plate body 42 are adsorbed by the vacuum suction cup 234 under vacuum negative pressure for secondary fixation, so that they will not be displaced during the welding process, so as to ensure the stability of the welding process and improve the welding accuracy.

[0029] Please refer to the attached Figure 2-Figure 6 The support assembly 21 includes a support frame 211, end seats 212 integrally formed at both ends of the support frame 211, and a dust cover 213 covering the top and bottom surfaces of the support assembly 21. A rotating drive platform 25 is embedded in the end seat 212, and the end seat 212 and the rotating drive platform 25 are integrally fixedly installed on the lifting slide 121. The lifting slide 121 can synchronously drive the support assembly 21 and the rotating drive platform 25 to be vertically lifted and lowered, so as to change the vertical height of the heat exchange plate 4 adsorbed therein.

[0030] Please refer to the attached Figure 5-Figure 6 as well as Figure 8-Figure 9 The first positioning assembly 22 includes a cantilever arm 221 fixedly mounted on the power output end of the rotating driving platform 25 and a push rod 223 cross-rotatably mounted on the end of the cantilever arm 221. The push rod 223 is combined in a V-shape to push and position the heat exchange plate 4 from both sides of the end toward the center. A first positioning rubber roller 224 that contacts the heat exchange plate 4 is rotatably mounted on the free end of the adsorption plate group 23, so that when it contacts the end of the heat exchange plate 4, it will not cause damage to the heat exchange plate 4 and can rotate during the pushing process.

[0031] Furthermore, in order to drive the push rods 223 to rotate crosswise, a transmission gear 227 is fixedly installed at the rotating end of the push rods 223, and a second servo motor 228 is fixedly installed on the cantilever arm 221. The transmission gears 227 on the same side are meshed, and the second servo motor 228 is connected to two transmission gears 227 on different sides through a coupling, so that the second servo motor 228 can synchronously drive the two sets of transmission gears 227 to rotate, and the transmission gears 227 on the same side are meshed, thereby driving the two sets of push rods 223 to clamp and retract inward, and then the places where the upper plate body 41 and the lower plate body 42 are misaligned at both ends are relatively pushed and docked neatly at both ends, completing the neat docking between the upper plate body 41 and the lower plate body 42.

[0032] Please refer to the attached Figure 8-Figure 10 The adsorption plate group 23 includes a substrate 231 embedded in the hollow of the heat exchange plate 4 for adsorbing it. Electromagnets 232 for magnetically adsorbing the heat exchange plate 4 are symmetrically embedded on both sides of the substrate 231. The upper plate body 41 and the lower plate body 42 transmitted by the conveyor belt can be adsorbed successively by magnetic attraction, so that they can be combined with each other for welding.

[0033] Secondly, in order to support and retract the adsorption plate group 23, a retraction groove 222 is opened in the center of the first positioning component 22, and the adsorption plate group 23 is slidably installed in the retraction groove 222, through the tooth groove 237 at the center of the surface of the substrate 231. At the same time, a first driving gear 225 is rotatably installed on the inner side of the end of the first positioning component 22, and a first servo motor 226 is fixedly installed on the cantilever arm 221. In this embodiment, two groups of first driving gears 225 are symmetrically arranged, and the two groups of first driving gears 225 are meshed with the tooth grooves 237 at the centers of the top and bottom surfaces of the substrate 231, and are connected to one of the first driving gears 225 through a first servo motor 226 through a reducer. The first servo motor 226 can be used to drive the first driving gear 225 to rotate, thereby controlling the substrate 231 to reciprocate along the contraction chute 222, so that after the welding of the heat exchange plate 4 is completed, the adsorption plate group 23 is pulled out of the inner cavity of the heat exchange plate 4, and then placed on one of the conveyor belts to be transported out, and then extended along the contraction chute 222 to adsorb the next group of upper plate bodies 41 and lower plate bodies 42, and the welding process is completed in sequence.

[0034] Please refer to the attached Figure 6 , Figure 8 as well as Fig.14, wherein the second positioning assembly 24 includes a track frame 241 slidably installed on both sides of the support frame 211 and a second positioning rubber roller 243 slidably installed on both ends of the track frame 241 to position the two ends of the side of the heat exchange plate 4 toward the center. A pushing cylinder 249 is also fixedly installed on the side of the support frame 211, and the power output end of the pushing cylinder 249 passes through the support frame 211 and is fixedly installed on the side of the track frame 241, so that it can push the track frame 241 and the second positioning rubber roller 243 to move in the support frame 211 and move toward the side of the heat exchange plate 4, so that the second positioning rubber roller 243 can be against the side of the heat exchange plate 4 to align and position its side.

[0035] In this embodiment, two groups of pushing cylinders 249 are symmetrically arranged at both ends of the track frame 241, so that the forces at both ends of the track frame 241 are balanced and the track frame 241 is pushed toward the side of the heat exchange plate 4 stably.

[0036] Furthermore, by symmetrically opening track grooves 242 on the track frame 241, the supporting shafts at both ends of the second positioning rubber roller 243 are slidably embedded in the track grooves 242, and a third servo motor 244 is fixedly installed on the side of the support frame 211, rack plates 246 are staggered and fixedly installed on the supporting shafts of the second positioning rubber roller 243, and then the second driving gear 245 connected to the power output end of the third servo motor 244 is driven by the telescopic transmission shaft, and the second driving gear 245 is meshed with the two sets of staggered rack plates 246. When the third servo motor 244 drives the second driving gear 245 to rotate, it can synchronously drive the rack plate 246 to staggered displacement, relatively close or away, thereby driving the second positioning rubber roller 243 to move toward the side of the heat exchange plate 4, and correcting the misaligned part of the side of the heat exchange plate 4 to ensure that the side can be completely aligned.

[0037] Furthermore, in order to ensure that the second positioning rubber roller 243 slides stably in the track groove 242, the two ends of the second positioning rubber roller 243 are rotatably connected to the positioning columns 247 and threadedly connected to the positioning nuts 248 on both sides of the track groove 242. The two objects are clamped and positioned so that the two ends of the second positioning rubber roller 243 will not tilt when sliding along the track groove 242, thereby ensuring the accuracy of positioning.

[0038] Please refer to the attached Figure 10-11The side edges of the two plates 233 are pressed against the bottom edge of the plate 231 to prevent the plate 231 from being deformed and the plate 232 from being deformed.

[0039] Among them, the elastic telescopic connection between the side movable positioning plate 233 and the base plate 231 can be achieved by embedding a spring between the two or using hydraulic telescopic means. In this embodiment, the elastic telescopic connection is achieved by evenly embedding springs between the two, and the outer surface of the side movable positioning plate 233 is wrapped with a rubber dust cover; of course, in other embodiments, selection can be made according to needs.

[0040] Please refer to the attached Figure 10-13 In order to ensure the stability of adsorption after positioning, vacuum suction cups 234 are embedded on both sides of the electromagnet 232 for re-fixing the heat exchange plate 4 after positioning. The vacuum suction cups 234 include movable support cylinders 2342 symmetrically embedded in the base plate 231 and rubber suction cups 2341 installed on the movable support cylinders 2342. By embedding and installing limit springs 2343 between the movable support cylinders 2342 arranged oppositely, when the upper plate body 41 and the lower plate body 42 are adsorbed oppositely by the electromagnet 232, the two are fitted to each other under the action of magnetic attraction, so that the inner walls are fitted to the surfaces of the rubber suction cups 2341 arranged above and below, and the limit springs 2343 are compressed under the action of magnetic attraction. The rebound force of the limit springs 2343 is used to make the rubber suction cups 2341 fit tightly to the inner walls of the upper plate body 41 and the lower plate body 42, so as to adsorb them stably.

[0041] Secondly, an exhaust hole 2344 is provided on the movable support tube 2342, and a sealing rubber ring 2345 is embedded and installed between the opposite sides of the movable support tube 2342. A exhaust cavity 235 connected with the exhaust hole 2344 is provided inside the substrate 231, and an exhaust nozzle 236 connected with the exhaust cavity 235 is installed at the end of the substrate 231 to vacuum the vacuum suction cup 234. After the vacuum pump is connected with the exhaust nozzle 236, the air between the rubber suction cup 2341 and the upper plate body 41 and the lower plate body 42 can be exhausted through the exhaust nozzle 236, the exhaust cavity 235 and the exhaust hole 2344, and then the two are fixed for a second time by using negative pressure, so as to ensure that the upper plate body 41 and the lower plate body 42 will not be relatively displaced during welding, so as to ensure the welding accuracy.

[0042] The working principle of the present invention is as follows: during welding, the upper plate body 41 and the lower plate body 42 placed opposite to each other are transmitted in sequence by setting conveyor belts opposite to each other between the two ends of the longitudinal ground rail 11, and then the adsorption positioning system 2 is driven by the linear module between the longitudinal ground rail 11 and the vertical support arm 12 to move alternately to the two conveyor belts, and flipped during the alternating movement, so as to utilize the adsorption plate group 23 to adsorb and fit the upper plate body 41 and the lower plate body 42 opposite to each other.

[0043] Secondly, the first positioning assembly 22 and the second positioning assembly 24 are used to align and position the ends and both sides of the heat exchanger 4 with each other, so that the two can be accurately connected. Then, the upper plate 41 and the lower plate 42 are adsorbed by the vacuum suction cup 234 under vacuum negative pressure for secondary fixation, so that they will not be displaced during the welding process, so as to ensure the stability of the welding process. Then, the rotary drive table 25 is used to drive the adsorption plate group 23 and the heat exchange plate 4 to rotate relative to the support assembly 21. At the same time, the lifting slide 121 can move vertically to change its vertical height, thereby cooperating with the crank arm system 3 to complete the welding work with high degree of freedom. Finally, after the welding of the heat exchange plate 4 is completed, the first servo motor 226 can be used to drive the first driving gear 225 to rotate, thereby controlling the base plate 231 to shrink along the shrinking chute 222, and the adsorption plate group 23 is pulled out of the inner cavity of the heat exchange plate 4, and then placed on one of the conveyor belts to be transported out, and then extended along the shrinking chute 222 to adsorb the next group of upper plate bodies 41 and lower plate bodies 42, and the welding process is completed in sequence.

[0044] The above is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the art unless otherwise specified and limited.

Claims

1. A four-axis automatic welding system for plate and shell heat exchanger, characterized in that: include: A gantry truss system (1), an adsorption positioning system (2) rotatably mounted on the gantry truss system (1), and a crank arm system (3) slidably mounted on the gantry truss system (1); Wherein, the adsorption positioning system (2) comprises a support component (21); and, a first positioning assembly (22) installed at both ends of the support assembly (21) for positioning the ends of the heat exchange plate (4); An adsorption plate group (23) installed at the center of the support assembly (21) for fixing the heat exchange plate (4) for welding, comprising a base plate (231) embedded in the hollow of the heat exchange plate (4) for adsorbing it, electromagnets (232) for magnetically adsorbing the heat exchange plate (4) are symmetrically embedded on both sides of the base plate (231), and vacuum suction cups (234) for re-fixing the heat exchange plate (4) after positioning are embedded and installed on both sides of the electromagnet (232); A second positioning assembly (24) installed on both sides of the support assembly (21) for positioning the side edges of the heat exchange plate (4); A contraction slot (222) is provided at the center of the first positioning component (22), the adsorption plate group (23) is slidably mounted in the contraction slot (222), and a reciprocating drive mechanism is provided between the adsorption plate group (23) and the first positioning component (22), so that the adsorption plate group (23) can be telescopically moved in the contraction slot (222), thereby adsorbing and releasing the heat exchange plate (4).

2. A four-axis automatic welding system for plate and shell heat exchanger according to claim 1, characterized in that: The gantry truss system (1) comprises a longitudinal ground rail (11), a vertical support arm (12) that moves longitudinally on the longitudinal ground rail (11), and a crossbeam (13) that is fixedly installed between the vertical support arms (12); a lifting slide (121) that lifts vertically is installed on the opposite side of the vertical support arm (12); The crank arm system (3) comprises a mechanical arm (31) that moves laterally on the crossbeam (13) and a welding head (32) mounted on the free end of the mechanical arm (31).

3. A four-axis automatic welding system for plate and shell heat exchanger according to claim 2, characterized in that: The support assembly (21) comprises a support frame (211), end seats (212) integrally formed at both ends of the support frame (211), and a dust cover (213) covering the top and bottom surfaces of the support assembly (21); a rotary drive platform (25) is embedded and installed in the end seat (212), and the end seat (212) and the rotary drive platform (25) are integrally fixedly installed on the lifting slide (121).

4. The four-axis automatic welding system for plate and shell heat exchanger according to claim 3 is characterized by: The first positioning assembly (22) comprises a cantilever support arm (221) fixedly mounted on the power output end of the rotary drive platform (25) and a push rod (223) cross-rotatably mounted on the end of the cantilever support arm (221); the push rods (223) are combined in a V-shape to push the heat exchange plate (4) from both sides of the end toward the center for positioning; a first positioning rubber roller (224) is rotatably mounted on the free end of the adsorption plate group (23) for contacting the heat exchange plate (4); and an opposing drive mechanism for driving the cross-rotation of the push rods (223) is also provided between the push rods (223).

5. The four-axis automatic welding system for plate and shell heat exchanger according to claim 4 is characterized in that: The opposing drive mechanism comprises a transmission gear (227) fixedly mounted on the rotating end of the push rod (223) and a second servo motor (228) fixedly mounted on the cantilever support arm (221), the transmission gears (227) on the same side being meshed with each other, and the second servo motor (228) being transmission-connected to two of the transmission gears (227) on different sides via a coupling.

6. A four-axis automatic welding system for plate and shell heat exchanger according to claim 4, characterized in that: The reciprocating drive mechanism comprises a tooth groove (237) integrally formed at the center of the surface of the base plate (231), a first driving gear (225) rotatably mounted on the inner side of the end of the first positioning component (22), and a first servo motor (226) fixedly mounted on the cantilever arm (221), the first driving gear (225) meshing with the tooth groove (237), and the first servo motor (226) is transmission-connected to the first driving gear (225) via a reducer.

7. The four-axis automatic welding system for plate and shell heat exchanger according to claim 1 is characterized in that: Elastically retractable side movable positioning plates (233) are symmetrically mounted on both sides of the base plate (231); one end of the side movable positioning plate (233) away from the base plate (231) is cut into a cone shape so as to fit the inner wall of the side of the heat exchange plate (4) to support it.

8. The four-axis automatic welding system for plate and shell heat exchanger according to claim 1 is characterized by: The vacuum suction cup (234) comprises a movable support tube (2342) symmetrically embedded in the substrate (231) and a rubber suction cup (2341) mounted on the movable support tube (2342); a limit spring (2343) is embedded and installed between the movable support tubes (2342) arranged opposite to each other; an air extraction hole (2344) is provided on the movable support tube (2342); a sealing rubber ring (2345) is embedded and installed between opposite sides of the movable support tube (2342); an air extraction cavity (235) connected to the air extraction hole (2344) is provided inside the substrate (231); and an air extraction nozzle (236) connected to the air extraction cavity (235) is installed at the end of the substrate (231) to perform vacuum extraction on the vacuum suction cup (234).

9. The four-axis automatic welding system for plate and shell heat exchanger according to claim 3 is characterized by: The second positioning assembly (24) comprises a track frame (241) slidably mounted on both sides of the support frame (211) and second positioning rubber rollers (243) slidably mounted on both ends of the track frame (241) for positioning both ends of the side of the heat exchange plate (4) toward the center, the track frame (241) is symmetrically provided with track grooves (242), the support shafts at both ends of the second positioning rubber roller (243) are slidably embedded in the track grooves (242), and the track frame (241) is provided with a staggered driving mechanism for driving the second positioning rubber roller (243) to move in opposite directions.

10. A four-axis automatic welding system for plate and shell heat exchanger according to claim 9, characterized in that: The staggered driving mechanism comprises a third servo motor (244) fixedly mounted on the side of the support frame (211), a rack plate (246) staggered and fixedly mounted on the support shaft of the second positioning rubber roller (243), and a second driving gear (245) connected to the power output end of the third servo motor (244) via a telescopic transmission shaft, and the second driving gear (245) is meshed with two sets of staggered rack plates (246); A pushing cylinder (249) is also fixedly mounted on the side of the support frame (211); a power output end of the pushing cylinder (249) passes through the support frame (211) and is fixedly mounted on the side of the track frame (241) to push it to move within the support frame (211).

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