Double-gun automatic welding device capable of aligning and displacing

Abstract

The double-gun automatic welding device comprises a first welding multi-angle adjusting mechanism, a second welding adjusting mechanism, a displacement driving mechanism, an aligning clamp mechanism, a touch control unit and an electrical unit which are distributed and connected based on a rack. The rack is provided with a workbench panel and a movable panel which is partially sectioned and can be controlled to turn over; wherein the two spatially distributed welding guns are driven to perform welding under multi-directional displacement, displacement rotation, telescopic feeding and axial rotation, the two welding guns can be matched with each other to perform synchronous welding or independently controlled asynchronous welding, and the displacement driving mechanism and the aligning clamp mechanism are matched with each other to perform control such as clamping, displacement angle adjustment and rotation on a workpiece. All the parts are controlled in parallel through the touch control unit and the electrical unit, so that multi-angle adjustment of a weldment and a welding gun is achieved, the welding operation is changed from manual operation to mechanical operation, and the machining efficiency and the welding stability are improved advantageously.

Description

Technical Field

[0001] The invention relates to welding equipment used in the production of industrial gas cylinders, in particular to an automatic welding device with double-guns capable of adjusting the center and changing the position, belonging to the technical field of mechatronics application. Background Art

[0002] As the application of new energy continues to expand, the application of products related to the power system has achieved remarkable achievements and is still developing at a high speed. The application of gas energy is also in full swing and has made considerable progress. Among them, gas cylinder products are an important guarantee for safety and energy density in gas energy applications. Therefore, the industry has also put forward detailed and strict normative standards for the performance parameters and production processes of gas cylinder products themselves. At the same time, as a manufacturer, in addition to ensuring product quality, it is also necessary to strive to improve production efficiency and product yield, etc., in order to achieve the goal of all-round healthy development.

[0003] There are many types of products currently being manufactured and processed, and the complexity of their welding operations is also different. Figure 1 As shown in the figure, the welding position distribution of seven places below the head and additional parts of one of the current gas cylinder products is ①~⑧. Traditional welding devices use a conveying mechanism to deliver the workpiece to be welded to the processing station, and weld it by manual or simple driven welding mechanism. This welding method can only be used for a single regular welded part, and the workpiece and one of the welding mechanisms cannot be adjusted in detail such as angle changes, which brings obvious rigidity to the welding operation. Obviously, a single welding mechanism and traditional welding method should take a long time to complete when dealing with such welding, which affects the efficiency of welding, and even worse, the welding operation cannot be completed. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic welding device with two adjustable guns to solve the problem of high-efficiency and high-quality welding under the complex distribution of welding points on the head of a gas cylinder.

[0005] The technical solution of the present invention to achieve the above-mentioned purpose is a dual-gun adjustable and positionable automatic welding device, comprising a first welding multi-angle adjustment mechanism, a second welding adjustment mechanism, a position displacement drive mechanism, an aligning fixture mechanism, a touch unit and an electrical unit based on a distributed assembly of a frame, wherein the frame is provided with a worktable panel and a movable panel which is partially cut and controllably flippable; wherein the first welding multi-angle adjustment mechanism is arranged on one side of the movable panel, and is used to drive the first welding gun to perform displacement positioning and position displacement rotation, telescopic feeding and axial rotation in six directions of up, down, left, right, front and back, and to enter a part of the welding point of the workpiece; The second welding adjustment mechanism is arranged on the other side of the movable panel, and is used to drive the second welding gun to move and position in four directions, up, down, left, and right, and to rotate axially, so as to enter another welding point of the workpiece; The displacement drive mechanism is arranged at the bottom of the movable panel, and is used to drive the movable panel to move up and down within the range of 0-110 degrees and output the rotational power and pneumatic clamping force to drive the workpiece toward the self-aligning clamping mechanism; The centering fixture mechanism is mounted on the surface of the movable panel and connected to the top of the displacement drive mechanism, and is used to load and clamp the workpiece, perform translation centering, and be driven to rotate; The electrical unit includes an interconnected industrial control processor, an air source processor and a servo driver buried in the rack space at the bottom side of the workbench panel, and is connected to the control end branch of the electromechanical or pneumatic components in each mechanism through a number of buses, and is used to output control instructions for the operation of the whole machine; The touch control unit is arranged on the workbench panel and connected to the industrial control processor by line, and is used for displaying and debugging the operation status of the whole machine.

[0006] Furthermore, the first welding multi-angle adjustment mechanism is mounted on a stand and is suspended as a whole above the workbench panel, and the top of the side of the stand facing the movable panel is provided with a first lateral translation assembly, a first vertical lifting assembly, a front and rear advance and retreat assembly, a displacement rotation assembly, a welding gun telescopic assembly and a welding gun rotation and clamping assembly, which are respectively a mounting carrier, wherein the first lateral translation assembly and the first vertical lifting assembly are independently controlled and operated based on a guide drive set with the same configuration, and the guide drive set includes a pair of linear guide rails with built-in sliders, a motor, a reducer, a coupling, a ball screw, a ball nut and a connecting pad, and a signal feedback industrial control processor and three sensors for limiting and zeroing are distributed on the sides along the length direction of the ball screw, and a baffle for triggering a sensing signal is provided on the lateral extension of the ball nut, and the front and rear advance and retreat assembly is a linear module integrating a motor and a ranging sensor, and is externally mounted on the vertical movable panel of the first vertical lifting assembly based on triangular reinforcement ribs.

[0007] Furthermore, the displacement rotation assembly is composed of a T-shaped piece, a rotating joint, a retaining ring and a fixing nut. The T-shaped piece is hung and fixed to the bottom end of the linear module and moves therewith. The rotating joint is mounted on the rod body of the T-shaped piece and slides in a damped manner and is axially locked by the retaining ring and the fixing nut. The welding gun telescopic assembly is provided with a movable connecting rod, and the welding gun rotation and clamping assembly is provided with a welding gun clamping seat. One end of the movable connecting rod is connected to the lateral extension of the rotating joint by a first screw and a tightening knob, and the other end of the movable connecting rod is connected to the welding gun clamping seat by a second screw and a tightening knob. The movable connecting rod is adjustable in angle with the first screw as the axis, and the welding gun clamping seat adjusts the tightness of the clamping of the welding gun body by a third screw and a tightening knob.

[0008] Furthermore, the welding gun clamping seat is formed with a circumferential slide, and the first welding multi-angle adjustment mechanism is provided with a first wire feeding bracket which is sleeved on the welding gun clamping seat and can slide freely on the circumferential slide and can be locked in a controllable manner.

[0009] Furthermore, the second welding adjustment mechanism is mounted on the workbench panel and is provided with a second lateral translation assembly, a second vertical lifting assembly and a welding gun feeding rotation assembly, which are the mounting carriers in sequence. The guide drive set associated with the second lateral translation assembly is composed of a pair of linear guide rails with built-in sliders, a motor, a synchronous belt, a driving wheel, a driven wheel, a ball screw fixing seat, a ball screw, a ball nut and a slider connecting plate. A vertical carrier plate is fixedly connected to the slider connecting plate. The guide drive set associated with the second vertical lifting assembly is composed of a pair of linear guide rails with built-in sliders. A motor, a coupling, and a ball screw sleeved with a ball nut are composed and mounted on a vertical carrier plate, and a signal feedback industrial control processor and three sensors for limiting and zeroing are distributed on the sides along the length direction of the ball screw, and a baffle for triggering the sensing signal is provided on the lateral extension of the ball nut; the welding gun feed rotating assembly is provided with a welding gun fixing seat, and the welding gun fixing seat is mounted on the slider and the ball nut of the second vertical lifting assembly based on the welding gun arm. The welding gun fixing seat also adjusts the direction of the welding gun and the tightness of the clamping of the welding gun body through two sets of tightening knobs and hexagonal bolts.

[0010] Furthermore, the second welding adjustment mechanism is provided with a second wire feeding bracket based on the welding gun fixing seat.

[0011] Furthermore, the frame is provided with a first mounting sub-frame and a second mounting sub-frame with a height difference at the bottom of the movable panel, and the displacement driving mechanism is composed of the two mounting sub-frames, including a movable panel displacement assembly, a rotation transmission assembly and a clamping transmission assembly, wherein the movable panel displacement assembly is equipped with a first double-acting cylinder and a driven guide linkage transfer slider based on the second mounting sub-frame on the bottom side, and a second double-acting cylinder is equipped with the transfer slider, and the output end of the second double-acting cylinder is transmitted to the special-shaped vertical plate through the double-ear seat, and the side of the special-shaped vertical plate away from the double-ear seat is fixed to the bottom surface of the movable panel, and the transmission causes the movable panel to flip for angle adjustment and positioning; The special-shaped vertical plate is integrally connected with a cylinder fixing plate, a side guard plate and a motor fixing plate, the double-ear seat is fixedly connected to the bent lower edge of the motor fixing plate, and two triangular reinforcement plates are arranged on the back of the ear plate of the double-ear seat, the rotary transmission assembly is equipped with a torque generator including a reduction module, a transmission belt assembly and a rotary transmission shaft based on the motor fixing plate, and the rotary transmission shaft is axially positioned and penetrated through the motor fixing plate and the movable panel through a number of matching bearings and flanges, and a transmission shaft flange floating on the surface of the movable panel is integrally formed on the top of the rotary transmission shaft; The clamping transmission assembly is provided with a clamping cylinder based on a cylinder fixing plate, and a clamping transmission shaft axially connected to the rotating transmission shaft is installed on the top of the clamping cylinder through a floating joint and a first fixing nut, and sealing rings are provided between the two transmission shafts near the top and bottom ends, and the clamping transmission shaft is provided with a hollow pipeline, and the hollow pipeline connects the air inlet nozzle beside the floating joint and the air source outlet on the top side of the transmission shaft flange.

[0012] Furthermore, the displacement driving mechanism is provided with a tensioning spring whose two ends are connected to the first mounting sub-frame and the bottom side of the movable panel, so that the movable panel maintains a downward force, and the movable panel is also provided with a ratchet assembly based on the first mounting sub-frame, including a ratchet with one edge fixed to the bottom surface of the movable panel, a ratchet pivotally positioned beside the ratchet, a normally closed spring connected to the passive end of the ratchet, a buffer spring connected to the hook end of the ratchet, a micro-cylinder and a connecting part between the two, the inclination direction of the tooth mouth of the ratchet satisfies the requirement that the hook end smoothly passes over the tooth mouth during the upward flipping of the movable panel, when the movable panel is displaced to the required angle, the ratchet is driven by the normally closed spring so that the hook end is clamped in the corresponding tooth mouth for positioning, and the ratchet is driven by the micro-cylinder so that the hook end is disengaged from the tooth mouth, and the movable panel descends and resets.

[0013] Furthermore, the centering fixture mechanism is provided with a centering assembly on the bottom plate, and the centering assembly includes a pair of guide crossbars and a pair of steel rulers parallel to the bottom plate surface, a guide sleeve and a shaft sleeve connecting vertical plate attached to each guide crossbar, a fixed knob and a pointer attached to each guide sleeve, an adjustment bracket spanning the guide sleeves on both sides, a screw adjustment nut fixed to the middle section of the adjustment bracket, an adjustment screw connected to the screw adjustment nut and horizontally axially solidified on the bottom plate, and a translation panel integrally connected to the top of the two shaft sleeves connecting the vertical plates; The centering clamp mechanism is also provided with a clamp assembly, which includes a second fixing nut movably connected to the bottom plate and connected to the clamping transmission shaft in the displacement driving mechanism, a slide groove integrally fixed to the second fixing nut between a pair of guide cross bars and guiding the lifting, a transmission slide block moving in the slide groove in accordance with the centering direction, a concentric piece integrally fixed to the circular block-shaped top of the transmission slide block, three connecting rods pivotally connected at three equal positions in the circumferential direction of the concentric piece, three slider fixing seats fixed to the surface of the translation panel and the workpiece carrier therebetween, a claw slider embedded in and guided to slide in each slider fixing seat, each connecting rod passes through the translation panel and the slider fixing seat and is pivotally connected to the claw slider at the corresponding position, and each claw slider is tensioned by being driven to lift and lower the clamping transmission shaft; The workpiece carrier is provided with an air outlet with a sealing tool, and the air outlet is connected to the air source outlet of the displacement drive mechanism through a hose penetrating the bottom plate; A quick-release positioning assembly is also provided on the first claw slider that conforms to the alignment path. One end of the support rod of the quick-release positioning assembly is clamped in the first claw slider through a positioning pin shaft, and the other end of the support rod is integrally connected with a movable groove. A slidable and adjustable tongue is inserted in the movable groove and fixed by a locking knob. A matching head is installed on the end of the tongue. The quick-release positioning assembly is assembled and participates in the alignment during the debugging operation before welding, and is dismantled and separated during the welding operation.

[0014] Furthermore, the frame body is configured as a rectangular box on the bottom side of the workbench panel, the electrical unit is built therein, and the frame is provided with a plurality of shelves on the side behind the workbench panel for distributed placement of the welding machine, the first welding wire feeding mechanism and the second welding wire feeding mechanism; a thickened hinge is installed between the workbench panel and the movable panel.

[0015] The technical effects of the automatic welding device of the present invention include: 1) through two independently controlled and multi-directional adjustable welding guns, one-time welding of two welding positions can be achieved, and welding can also be performed on non-concentric welding positions by stopping a part of the mechanism.

[0016] 2) This device has the characteristics of multi-angle adjustment and self-aligning rotation drive for welding workpieces, multi-directional movement, multi-angle movement or rotation of multiple welding guns, and can realize the welding of flat angle welds, avoiding the problem of incomplete welds at one end of conventional equipment.

[0017] 3) By manually adjusting and setting each displacement and angle adjustment component and debugging and outputting the control instructions for the whole machine operation through the touch unit, the transition from manual to mechanical is realized, which improves the processing efficiency and welding stability, that is, the product yield. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the distribution of welding points of the welding object of the present invention.

[0019] Figure 2 It is a schematic diagram of the general assembly structure of a preferred embodiment of the automatic welding device with two adjustable guns according to the present invention.

[0020] Figure 3 yes Figure 2 The schematic diagram of the structure of the rack in the unloaded state in the embodiment shown.

[0021] Figure 4 yes Figure 2 A schematic diagram of the three-dimensional structure of the first welding multi-angle adjustment mechanism in the illustrated embodiment.

[0022] Figure 5 yes Figure 4 Close-up structural diagram from another perspective.

[0023] Figure 6 yes Figure 2 A schematic diagram of the three-dimensional structure of the second welding adjustment mechanism in the illustrated embodiment.

[0024] Figure 7 yes Figure 6 Close-up structural diagram from another perspective.

[0025] Figure 8 yes Figure 2 A schematic structural diagram of the displacement drive mechanism in the illustrated embodiment.

[0026] Fig. 9 yes Figure 8 Schematic diagram of the cross-sectional structure of part C in the middle.

[0027] Fig.10 yes Figure 8 Schematic diagram of the enlarged structure of part D.

[0028] Fig.11 yes Figure 2 The illustrated schematic diagram is a structural diagram of the centering fixture mechanism and the weldment in the preferred embodiment at multiple viewing angles after clamping.

[0029] Fig.12 yes Fig.11 Schematic diagram of the cross-sectional top view of the AA structure.

[0030] Fig.13 yes Fig.11 Schematic diagram of the cross-sectional structure of BB.

[0031] Fig.14 It is a schematic diagram of the welding state of the present invention in working condition 1.

[0032] Fig.15 It is a schematic diagram of the welding state of the present invention in working condition 2.

[0033] Fig.16 It is a schematic diagram of the welding state of the present invention in working condition 3. DETAILED DESCRIPTION

[0034] The specific implementation modes of the present invention will be further described below in conjunction with the accompanying drawings of the embodiments, so that the technical solution of the present invention is easier to understand and grasp, thereby making a clearer definition of the protection scope of the present invention.

[0035] In view of the fact that existing equipment has many welding positions on the gas cylinder head and their complex distribution makes it difficult to meet operational requirements, the designers of the present invention innovatively proposed an automatic welding device with two adjustable guns, which can meet the needs of various working conditions requiring circumferential rolling welding and complex three-dimensional combination of welding positions.

[0036] like Figure 2From the technical overview, the automatic welding device includes a first welding multi-angle adjustment mechanism 2, a second welding adjustment mechanism 3, a displacement drive mechanism 4, a centering fixture mechanism 5, a touch unit 6 and an electrical unit (built-in in the frame, not shown), which are distributed and assembled based on a frame 1. The frame 1 is provided with a workbench panel 11 and a partially cut and controllably flippable movable panel 12; the workbench panel has a large area, and is mainly used to carry various welding adjustment mechanisms, touch units and other heavy and space-consuming human-machine interaction and welding tools, and can also be used by operators to place operating tools, etc. The movable panel is relatively small, which can be used to load displacement, centering fixtures and other mechanisms, and is used to displace, adjust the angle and drive the workpiece to rotate, so as to cooperate with welding guns at different positions to complete welding operations.

[0037] The first welding multi-angle adjustment mechanism 2 is arranged on one side of the movable panel, and is used to drive the first welding gun 21 to displace and position in the six directions of up, down, left, right, front and back, and to rotate, telescopic feed and axial rotation, so as to access a part of the welding point of the workpiece. The second welding adjustment mechanism 3 is arranged on the other side of the movable panel, and is used to drive the second welding gun 31 to displace and position in the four directions of up, down, left and right, and to adjust the angle and rotate axially, so as to access another part of the welding point of the workpiece. The displacement drive mechanism 4 is arranged at the bottom of the movable panel 12, and is used to drive the movable panel to rise and fall within the range of 0~110° and output the rotational power and pneumatic clamping force of the workpiece to the centering clamping mechanism. The centering clamping mechanism 5 is attached to the surface of the movable panel and is connected to the top of the displacement drive mechanism, and is used to load and clamp the workpiece, perform translational centering and be driven to rotate. The electrical unit includes an industrial control processor, an air source processor and a servo driver that are interconnected and buried in the rack space at the bottom of the workbench panel, and is connected to the control end branches of the electromechanical or pneumatic components in each mechanism through a number of buses, and is used to output control instructions for the operation of the whole machine. The touch unit 6 is arranged on the workbench panel and is connected to the industrial control processor by line, and is used to present and debug the operation status of the whole machine.

[0038] On the basis of clarifying the functional design of the above-mentioned components of the welding device, the staff in the welding operation of gas cylinder production only need to place the workpiece to be welded into the centering fixture mechanism, and complete the pre-processing preparation work through operations including manual centering, manual adjustment of the displacement parts in each welding adjustment mechanism, and debugging the periodic displacement trajectory of each welding gun and the start and stop timing of the welding operation through the touch unit. Then, they can continuously carry out the welding operation from manual to mobile.

[0039] In order to more intuitively clarify the structural composition and functional implementation of each component of the automatic welding device, further detailed feature grouping diagrams are shown as follows.

[0040] like Figure 3As shown, the main body of the rack 1 is set as a rectangular box 13 at the bottom side of the workbench panel 11, and a number of fixed shell plates 131 and sliding door shell plates 132 that can be opened and closed are installed around a circle, and the components of the above-mentioned electrical unit (i.e., industrial control processor, gas source processor and servo drive, i.e., related auxiliary parts, etc.) are all built in it. Usually, the rectangular box is in a closed state, and is displayed to the outside and the components are replaced through the sliding door shell plate 132 when the equipment needs maintenance. A thickened hinge 15 is installed between the workbench panel 11 and the movable panel 12; thereby defining the turning axis of the movable panel; and the rack is provided with a number of shelves on the side of the workbench panel 11 behind, including a first shelf 141 for placing a welding machine and the space above it, an upper tray 143 for placing a first welding wire feeding mechanism (for supplying welding wire to the first welding multi-angle adjustment mechanism) and a middle tray 142 for placing a second welding wire feeding mechanism (for supplying welding wire to the second welding adjustment mechanism).

[0041] like Figure 4 and Figure 5 As shown, the first welding multi-angle adjustment mechanism 2 is mounted on the stand 16 and is suspended above the workbench panel 11 as a whole. The stand is provided with a first lateral translation assembly 22, a first vertical lifting assembly 23, a front and rear advance and retreat assembly, a displacement rotation assembly 25, a welding gun telescopic assembly 26 and a welding gun rotation and clamping assembly 27, which are the mounting carriers in sequence. The first lateral translation assembly and the first vertical lifting assembly are independently controlled and operated based on the guide drive assembly of the same configuration. Taking the first lateral translation assembly as an example, the guide drive assembly includes a pair of linear guide rails 221 with sliders, a motor 222, a reducer 223, a coupling 224, a ball screw 225a, a ball nut 225b and a connecting pad 226. Under this structural combination, the motor outputs a rotational driving force to the ball screw through the reducer and the coupling, and the ball screw is axially positioned, so the ball nut thereon is driven to move laterally, and the ball nut is connected to the slider and the connecting pad on the linear guide 221 as a whole. Thus, the three parts of the whole can be driven to move laterally. And the signal feedback industrial control processor is distributed on the side along the length direction of the ball screw, and the first sensor 227a, the second sensor 227b and the third sensor 227c for zero point are used for limiting. The ball nut 225b is laterally extended to be provided with a baffle 228 for triggering the sensing signal. When the position of the slider along the translation of the ball screw reaches the corresponding sensor, the corresponding position feedback signal is triggered. Furthermore, the forward and backward advance and retreat component is a linear module 24 that integrates a motor and a distance sensor, and is externally mounted on the vertical moving panel of the first vertical lifting component based on the triangular reinforcing rib 29. Here, the connecting pad and the vertically movable panel are both transition components for transitioning from a previous component to a subsequent component.

[0042] On the basis of three-axis drive and adjustable displacement, the displacement rotation assembly 25 is composed of a T-shaped piece 251, a rotating joint 252, a retaining ring 253 and a fixing nut 254. The T-shaped piece 251 is hung and fixed to the bottom end of the linear module 24, and the rotating joint 252 is mounted on the rod body of the T-shaped piece to slide in a damping manner and is axially locked by a retaining ring and a fixing nut. The welding gun telescopic assembly 26 is provided with a movable connecting rod 261, and the welding gun rotation and clamping assembly is provided with a welding gun clamping seat 27. One end of the movable connecting rod is connected to the lateral extension body 2521 of the rotating joint through a first screw 262 and a tightening knob, and the other end of the movable connecting rod is connected to the welding gun clamping seat 27 through a second screw 263 and a tightening knob. The movable connecting rod 261 is adjustable in angle with the first screw as the axis, and the welding gun clamping seat 27 adjusts the degree of clamping tightness of the welding gun body through a third screw 271 and a tightening knob. Moreover, the welding gun clamping seat 27 is formed with a circumferential slide 271, and the first welding multi-angle adjustment mechanism is provided with a first wire feeding bracket 28 which is mounted on the welding gun clamping seat and freely slides on the circumferential slide. The welding wire output by the first welding wire feeding mechanism will pass through the first wire feeding bracket, follow the synchronous displacement of the end of the first welding gun 21, and feed the welding wire as needed. It can be seen that the first welding gun realizes manual displacement rotation, telescopic feeding and axial rotation through some components of the multi-angle adjustment mechanism to complete the detailed positioning of the first welding gun relative to a part of the welding position, and the three-axis translation component realizes the displacement and positioning of the mobile and trajectory consistency when the welding operation is implemented.

[0043] like Figure 6 and Figure 7As shown, the second welding adjustment mechanism 3 is mounted on the workbench panel 11, and is provided with a second lateral translation assembly 32, a second vertical lifting assembly 33 and a welding gun feeding rotation assembly, which are the mounting carriers. The guide drive set associated with the second lateral translation assembly 32 is composed of a pair of linear guide rails 321 with sliders, a motor 322, a synchronous belt 323, a driving wheel 324, a driven wheel 325, a ball screw fixing seat 326, a ball screw 327, a ball nut 328 and a slider connecting plate 329. The slider connecting plate 329 is integrally mounted with the ball nut, and a vertical carrier plate 35 is fixedly connected thereto and integrally moves. The guide drive set associated with the second vertical lifting component 33 is composed of a pair of linear guide rails 331 with built-in sliders, a motor 332, a coupling 333, and a ball screw 334 sleeved with a ball nut, and is mounted on the vertical carrier 35. A signal feedback industrial control processor and three sensors for limiting and zeroing are distributed on the sides along the length direction of the ball screw 334. Among them, the uppermost sensor 335a and the lowermost sensor 335b are mainly used for limiting, and the sensor 335c in between is used for zeroing. At the same time, a baffle 336 for triggering the sensing signal is provided on the lateral extension of the ball nut. On the other hand, the welding gun feed rotating assembly is provided with a welding gun fixing seat 34, and the welding gun fixing seat 34 is mounted on the slider 3311 and the ball nut of the second vertical lifting assembly based on the welding gun arm 36. The welding gun fixing seat also adjusts the direction of the welding gun and the degree of clamping tightness of the welding gun body through two sets of tightening knobs and hexagonal bolts. Figure 6 As shown, the front section of the welding gun arm is provided with a vertical slot, and the welding gun fixing seat can adjust the tightness through a set of tightening knobs and hexagonal bolts located on the bottom side, so that the clamped second welding gun can be adjusted at an angle perpendicular to the direction of the workbench panel, and the clamped second welding gun can be adjusted in the direction of the gun head by axial rotation through a set of tightening knobs and hexagonal bolts located on the top side. Similarly, the second welding adjustment mechanism is provided with a second wire feeding bracket 37 based on the welding gun fixing seat 34. The welding wire output by the second welding wire feeding mechanism will pass through the second wire feeding bracket, follow the synchronous displacement of the end of the second welding gun 31, and feed the welding wire as needed. It can be seen from this that the second welding gun can also realize manual displacement rotation, telescopic feeding and axial rotation, and can also realize displacement and positioning in two axes with consistent trajectory when implementing welding operations.

[0044] In addition to the displacement and motorized displacement of the dual welding guns to implement welding operations, the present invention also provides the implementation technology of clamping, displacement, centering, and driving rotation of the workpiece to be welded. Specifically, Figures 8 to 10As shown, the frame 1 is provided with a first mounting sub-frame 17 and a second mounting sub-frame 18 with a height difference at the bottom of the movable panel. The displacement drive mechanism 4 is composed of two mounting sub-frames, and can include three parts according to the functions, namely, a movable panel displacement assembly, a rotation transmission assembly and a clamping transmission assembly, wherein the movable panel displacement assembly is connected with a first double-acting cylinder 411 and a transfer slider 412 driven by a guide linkage based on the second mounting sub-frame 18 at the bottom side, and the transfer slider is sleeved on a linear guide shaft 413 and driven to slide; and a second double-acting cylinder 414 is installed based on the transfer slider, and the output end of the second double-acting cylinder is transmitted to a special-shaped vertical plate 416 through a double-ear seat 415, and the special-shaped vertical plate 416 is fixed to the bottom surface of the movable panel 12 at a side away from the double-ear seat, and the movable panel is turned over for angle adjustment and positioning. The figure shows the movable panel in its initial flat state. When it is necessary to flip it up relative to the thickened hinge, the first double-acting cylinder contracts and pulls the transfer slider to move to the left side of the figure. At the same time, the signal triggers the second double-acting cylinder to extend outward and transmit upward through the double-ear seat and the special-shaped vertical plate. Since the height distance between the two mounting sub-frames remains unchanged, when the bottom of the second double-acting cylinder moves toward the left and its top is still extending, the movable panel will be pushed upward through the transmission action. Conversely, when the movable panel needs to be flipped down and reset, it is only necessary to drive the two double-acting cylinders in the opposite direction. It should be noted that the aforementioned second mounting sub-frame is also provided with a hydraulic buffer and a limit screw between the linear guide shafts of the first double-acting cylinder to smoothly limit the stroke of the transfer slider.

[0045] Depend on Figure 8 The special-shaped vertical plate 416 is integrally connected with the cylinder fixing plate 417, the side guard plate 418 and the motor fixing plate 419, and the main body is formed into a semi-open three-dimensional container. The above-mentioned double-ear seat 415 is fixed to the bent lower edge of the motor fixing plate 419, and two triangular reinforcement plates are provided on the back of the ear plate of the double-ear seat to improve the structural strength. Fig. 9 As shown, the rotary transmission assembly is equipped with a torque generator 421 including a reduction module, a transmission belt assembly 422 and a rotary transmission shaft 423 based on a motor fixing plate 419, and the rotary transmission shaft is axially positioned and connected to the motor fixing plate 419 and the movable panel 12 through a number of matching bearings and flanges, and a transmission shaft flange 424 floating on the surface of the movable panel is integrally formed on the top of the rotary transmission shaft. In addition, there is a small gas storage chamber on the upper surface of the transmission shaft flange, and a sealing ring is extended outside the chamber to block the gas, so that the gas outlet holes of the bottom plate 511 in the centering fixture mechanism are connected and the sealing ring is pressed, and the gas is transported to the base through the air guide pipe, and then transported to the back of the workpiece.

[0046] At the same time, the clamping transmission assembly is provided with a clamping cylinder 431 based on the cylinder fixing plate 417, and the top of the clamping cylinder is equipped with a clamping transmission shaft 433 axially connected to the rotating transmission shaft 423 through a floating joint and a first fixing nut 432. Moreover, sealing rings 44a and 44b are provided near both ends of the top and bottom between the two transmission shafts, and the clamping transmission shaft 443 is provided with a hollow pipeline 4331, and the hollow pipeline communicates with the air inlet nozzle 434 beside the floating joint and the air source outlet 435 on the top side of the transmission shaft flange.

[0047] It can be seen that in addition to the movable panel having the controllable driven flipping capability, the highly integrated two-part components in the above-mentioned three-dimensional container can provide clamping control force and axial rotation driving force to the clamp system on the upper side of the movable panel without interfering with each other. At the same time, the clamping drive shaft can be used to create an upward gas path, which is convenient for providing protective gas during welding operations.

[0048] As a further supplement and improvement, the displacement drive mechanism 4 is also provided with a tension spring 46 whose two ends are connected to the first mounting sub-frame 17 and the bottom side of the movable panel 12, so that the movable panel maintains a downward force to ensure the stability of the movable panel. The movable panel is also provided with a ratchet assembly based on the first mounting sub-frame 17, including a ratchet 471 fixed to the bottom surface of the movable panel, a ratchet 472 pivotally positioned beside the ratchet, a normally closed spring 473 connected to the passive end 4721 of the ratchet, a buffer spring 475 connected to the hook end 4722 of the ratchet, a micro cylinder 474 and a connecting piece between the two, and two micro sensors are installed on the micro cylinder, which can be manually controlled or program controlled. The inclination direction of the teeth of the ratchet 471 satisfies the requirement that the hook end 4722 can smoothly pass over the teeth when the movable panel is flipped upward. When the movable panel is displaced to the required angle, the ratchet is driven by the normally closed spring so that the hook end is clamped in the corresponding teeth for positioning. On the other hand, the ratchet is also driven by the micro cylinder to disengage the hook end from the teeth, so that the movable panel can be driven to smoothly descend and reset (driven and controlled by the aforementioned two double-acting cylinders).

[0049] Please see again Figures 11 to 13As shown, the aforementioned centering fixture mechanism 5 is provided with a centering assembly 51 on the bottom plate. The centering assembly includes a pair of guide crossbars 512 and a pair of steel rulers 519 attached in parallel to the surface of the bottom plate 511, a guide sleeve 513 attached to each guide crossbar and its sleeve connecting vertical plate 514, a fixed knob 5131 and a pointer 5132 attached to each guide sleeve, an adjustment bracket 516 straddling the guide sleeves on both sides, a screw adjustment nut 5181 fixed to the middle section of the adjustment bracket, an adjustment screw 5182 connected to the screw adjustment nut and horizontally axially solidified on the bottom plate, and a translation panel 521 integrally connected to the top of the two sleeves connecting the vertical plates. As shown in the figure, two guide sleeves separated by a distance are attached to each guide crossbar, and the tops of the two guide sleeves are connected to the vertical plates through the sleeves to form an integral body. The guide crossbar is also sleeved with a tension spring 515 on the side close to the adjustment bracket to improve the stability of the alignment. When the adjustment bracket is driven to move to the left, the tension spring is compressed to completely offset the inertia of the adjustment displacement. To facilitate the alignment operation, the outer end of the adjustment screw is also equipped with a manual knob 519. By turning the manual knob, the adjustment screw can be driven to rotate, and then the screw adjustment nut can be displaced, driving the adjustment bracket, the shaft sleeve connecting vertical plate and the translation panel to translate and align. The steel ruler is connected to the side of the guide crossbar and cooperates with the pointer 5132 to refer to the reading during the alignment process. The fixed knob 5131 is used to lock the guide sleeve after the alignment is completed to prevent concentric damage during the rotation of the entire mechanism.

[0050] The above-mentioned centering fixture mechanism 5 is also provided with a fixture assembly. The fixture assembly includes a second fixing nut 522 movably connected to the bottom plate 511 and connected to the clamping transmission shaft 433 in the displacement drive mechanism, a slideway 523 integrally fixed to the second fixing nut between a pair of guide crossbars and guiding the lifting, a transmission slider 525 moving in the slideway in accordance with the centering direction, a circular block-shaped concentric piece 524 integrally fixed to the top of the transmission slider, three connecting rods 526 pivoted at three equal positions in the circumferential direction of the concentric piece, three slider fixing seats 527 fixed to the surface of the translation panel and the workpiece carrier therebetween, and a claw slider 528 embedded and guided to slide in each slider fixing seat, each connecting rod 526 passes through the translation panel 521 and the slider fixing seat 527 and is pivotally connected to the claw slider 528 at the corresponding position, and each claw slider is tensioned by the lifting and lowering of the clamping transmission shaft 433. The workpiece carrier is provided with an air outlet 529 with a sealing tool, which is connected to the air source outlet of the displacement drive mechanism through a hose (not shown) connected to the bottom plate. Two or more sets of vertical guide rods and guide holes are provided between the slide and the bottom plate, so that the lifting and lowering of the slide (clamping process) will not affect the accuracy of the alignment result. In addition, since the distance between the bottom plate and the translation panel remains fixed, the driven lifting and lowering of the slide and the concentric parts will not affect the position of the slider fixing seat in the height direction. Therefore, the top of the connecting rod will only move horizontally on the basis of being blocked in the height direction, driving the claw slider to clamp or release the workpiece.

[0051] In particular, a quick-release positioning assembly 7 is also installed on the first claw slider 528a that conforms to the alignment path. One end of the support rod 71 of the quick-release positioning assembly is clamped in the first claw slider 528a through a positioning pin, and the other end of the support rod 71 is integrally connected with a movable groove 72, in which a sliding and adjustable tongue 73 is inserted and fixed by a locking knob 75, and a matching head 74 is installed at the end of the tongue 73. The quick-release positioning assembly is assembled and participates in the alignment during the debugging operation before welding, and is dismantled and separated during the welding operation. Instructions for use: 1. Select a matching head that is consistent with the hole diameter model of the workpiece to be welded, and install it on the tongue. 2. Place the positioning pin at the lower end of the support rod in the groove pre-machined by the first claw slider. 3. Place the workpiece to be welded on the workpiece carrier in the center of the fixture, rotate the part to be welded to the position closest to the tongue (do not lock the locking knob above the tongue at this time), flip the quick-release positioning assembly downward so that the matching head in it is compatible with the hole of the workpiece to be welded. 4. Slowly clamp the fixture assembly, and the tongue moves until the three-claw clamps the workpiece to be welded (tighten the locking knob at this time for subsequent batch sample welding operations). 5. Flip and remove the quick-release positioning assembly. 6. Install the parts to be welded in the hole and then perform the welding operation. The above quick-release positioning assembly only needs one positioning operation, and the subsequent welding operation does not need to readjust the position of the tongue, and can repeatedly participate in the auxiliary positioning and rapid removal of the replaced workpieces to be welded.

[0052] The automatic welding device of the present invention can select one welding gun to operate, or two welding guns can cooperate to weld synchronously or asynchronously. In addition, each welding gun has the ability to adjust the positioning of the orthogonal three-dimensional axis, as well as the ability of controlled displacement and angle adjustment, telescopic feeding, etc. At the same time, the mechanism related to the workpiece clamping also has the ability of rotation centering, displacement and angle adjustment, and driven rotation, so as to meet the requirements of complex welding position distribution and high welding quality for the workpiece. Fig.14 As shown in FIG. 1 , it is a schematic diagram of the welding state of the present invention in working condition 1. The movable panel is controlled to flip and the clamped workpiece is tilted, and only the first welding gun is controlled to participate, and the welding operation of the circumferential trajectory is performed accordingly as the workpiece is driven to rotate. Fig.15 As shown, it is a schematic diagram of the welding state of the present invention in working condition 2. The movable panel is in a horizontal state, the workpiece is clamped vertically, and only the first welding gun is controlled to participate in the fixed-point welding operation. Fig.16 The figure is a schematic diagram of the welding state of the present invention in working condition 3. The movable panel is turned up 90 degrees to stand upright, and the workpiece is clamped horizontally; at the same time, the first welding gun and the second welding gun are controlled to participate synchronously to perform welding operations on different welding points of the workpiece.

[0053] From the above introduction to the scheme and detailed description of the embodiments of the automatic welding device of the present invention, it can be seen that the present scheme has outstanding substantial features and remarkable progress, which are specifically manifested as follows: 1) Through two independently controlled and multi-directional adjustable welding guns, one-time welding of two welding positions can be achieved, and welding can also be performed on non-concentric welding positions by stopping a partial mechanism.

[0054] 2) This device has the characteristics of multi-angle adjustment and self-aligning rotation drive for welding workpieces, multi-directional movement, multi-angle movement or rotation of multiple welding guns, and can realize the welding of flat angle welds, avoiding the problem of incomplete welds at one end of conventional equipment.

[0055] 3) By manually adjusting and setting each displacement and angle adjustment component and debugging and outputting the control instructions for the whole machine operation through the touch unit, the transition from manual to mechanical is realized, which improves the processing efficiency and welding stability, that is, the product yield.

[0056] In addition to the above embodiments, the present invention may also have other implementation modes. Any technical solutions formed by equivalent replacement or equivalent transformation shall fall within the scope of protection required by the present invention.

Claims

1. A dual-gun automatic welding device with adjustable centering and position, characterized in that: It includes a first welding multi-angle adjustment mechanism, a second welding adjustment mechanism, a displacement drive mechanism, a centering fixture mechanism, a touch unit and an electrical unit based on the distributed assembly of the frame, and the frame is provided with a workbench panel and a movable panel which is partially cut and controllably flippable; The first welding multi-angle adjustment mechanism is arranged on one side of the movable panel, and is used to drive the first welding gun to move and position in six directions, namely, up, down, left, right, front, and back, and to rotate, telescopically feed, and axially rotate, so as to enter a part of the welding point of the workpiece; The second welding adjustment mechanism is arranged on the other side of the movable panel, and is used to drive the second welding gun to move and position in four directions, up, down, left, and right, and to rotate axially, so as to enter another welding point of the workpiece; The displacement drive mechanism is arranged at the bottom of the movable panel, and is used to drive the movable panel to rise and fall within the range of 0-110 degrees and output the rotational power and pneumatic clamping force to drive the workpiece toward the self-aligning clamping mechanism; The centering fixture mechanism is mounted on the surface of the movable panel and connected to the top of the displacement drive mechanism, and is used to load and clamp the workpiece, perform translation centering, and be driven to rotate; The electrical unit includes an interconnected industrial control processor, an air source processor and a servo driver buried in the rack space at the bottom side of the workbench panel, and is connected to the control end branch of the electromechanical or pneumatic components in each mechanism through a number of buses, and is used to output control instructions for the operation of the whole machine; The touch control unit is arranged on the workbench panel and connected to the industrial control processor by line, and is used for displaying and debugging the operation status of the whole machine.

2. The automatic welding device with two adjustable guns according to claim 1 is characterized in that: The first welding multi-angle adjustment mechanism is mounted on a stand and is suspended as a whole above the workbench panel. The top of the side of the stand facing the movable panel is provided with a first lateral translation assembly, a first vertical lifting assembly, a front and rear advance and retreat assembly, a displacement rotation assembly, a welding gun telescopic assembly and a welding gun rotation and clamping assembly, which are mounting carriers in sequence. The first lateral translation assembly and the first vertical lifting assembly are independently controlled and operated based on a guide drive set with the same configuration. The guide drive set includes a pair of linear guides with built-in sliders, a motor, a reducer, a coupling, a ball screw, a ball nut and a connecting pad, and a signal feedback industrial control processor and three sensors for limiting and zeroing are distributed on the sides along the length direction of the ball screw. The ball nut is laterally extended with a baffle for triggering a sensing signal. The front and rear advance and retreat assembly is a linear module that integrates a motor and a ranging sensor, and is externally mounted on the vertical movable panel of the first vertical lifting assembly based on triangular reinforcement ribs.

3. The double-gun automatic welding device with adjustable centering and position according to claim 2 is characterized in that: The displacement rotation assembly is composed of a T-shaped piece, a rotating joint, a retaining ring and a fixing nut. The T-shaped piece is hung and fixed to the bottom end of the linear module and moves with it. The rotating joint is mounted on the rod body of the T-shaped piece and slides in a damped manner and is axially locked by the retaining ring and the fixing nut. The welding gun telescopic assembly is provided with a movable connecting rod, and the welding gun rotation and clamping assembly is provided with a welding gun clamping seat. One end of the movable connecting rod is connected to the lateral extension of the rotating joint by a first screw and a tightening knob, and the other end of the movable connecting rod is connected to the welding gun clamping seat by a second screw and a tightening knob. The movable connecting rod is adjustable in angle with the first screw as the axis, and the welding gun clamping seat adjusts the tightness of the clamping of the welding gun body by a third screw and a tightening knob.

4. The automatic welding device with two adjustable guns according to claim 3 is characterized in that: The welding gun clamping seat is formed with a circumferential slide, and the first welding multi-angle adjustment mechanism is provided with a first wire feeding bracket which is sleeved on the welding gun clamping seat and can slide freely on the circumferential slide and can be locked in a controllable manner.

5. The automatic welding device with two adjustable guns according to claim 1 is characterized in that: The second welding adjustment mechanism is loaded on the workbench panel and is provided with a second lateral translation assembly, a second vertical lifting assembly and a welding gun feeding rotation assembly, which are respectively a mounting carrier, wherein the guide drive set associated with the second lateral translation assembly is composed of a pair of linear guide rails with self-contained sliders, a motor, a synchronous belt, a driving wheel, a driven wheel, a ball screw fixing seat, a ball screw, a ball nut and a slider connecting plate, wherein a vertical carrier plate is fixedly connected to the slider connecting plate, and the guide drive set associated with the second vertical lifting assembly is composed of a pair of linear guide rails with self-contained sliders, a motor , coupling, and a ball screw sleeved with a ball nut and mounted on the vertical carrier plate, and a signal feedback industrial control processor and three sensors for limiting and zeroing are distributed on the sides along the length direction of the ball screw, and a baffle for triggering the sensing signal is provided on the lateral extension of the ball nut; the welding gun feed rotating assembly is provided with a welding gun fixing seat, and the welding gun fixing seat is raised and lowered based on the welding gun arm being mounted on the slider and the ball nut of the second vertical lifting assembly, and the welding gun fixing seat also adjusts the direction of the welding gun and the tightness of the clamping of the welding gun body through two sets of tightening knobs and hexagonal bolts.

6. The automatic welding device with two adjustable welding guns according to claim 5 is characterized in that: The second welding adjustment mechanism is provided with a second wire feeding bracket based on the welding gun fixing seat.

7. The automatic welding device with two adjustable guns according to claim 1 is characterized in that: The frame is provided with a first mounting sub-frame and a second mounting sub-frame with a height difference at the bottom of the movable panel, and the displacement driving mechanism is composed of the two mounting sub-frames, including a movable panel displacement assembly, a rotation transmission assembly and a clamping transmission assembly, wherein the movable panel displacement assembly is provided with a first double-acting cylinder and a driven guide linkage transfer slider based on the second mounting sub-frame on the bottom side, and a second double-acting cylinder is provided based on the transfer slider, and the output end of the second double-acting cylinder is transmitted to the special-shaped vertical plate through the double-ear seat, and the side of the special-shaped vertical plate away from the double-ear seat is fixed to the bottom surface of the movable panel, and the transmission causes the movable panel to flip for angle adjustment and positioning; The special-shaped vertical plate is integrally connected with a cylinder fixing plate, a side guard plate and a motor fixing plate, the double-ear seat is fixedly connected to the bent lower edge of the motor fixing plate, and two triangular reinforcement plates are arranged on the back of the ear plate of the double-ear seat, the rotary transmission assembly is equipped with a torque generator including a reduction module, a transmission belt assembly and a rotary transmission shaft based on the motor fixing plate, and the rotary transmission shaft is axially positioned and penetrated through the motor fixing plate and the movable panel through a number of matching bearings and flanges, and a transmission shaft flange floating on the surface of the movable panel is integrally formed on the top of the rotary transmission shaft; The clamping transmission assembly is provided with a clamping cylinder based on a cylinder fixing plate, and a clamping transmission shaft axially connected to the rotating transmission shaft is installed on the top of the clamping cylinder through a floating joint and a first fixing nut, and sealing rings are provided between the two transmission shafts near the top and bottom ends, and the clamping transmission shaft is provided with a hollow pipeline, and the hollow pipeline connects the air inlet nozzle beside the floating joint and the air source outlet on the top side of the transmission shaft flange.

8. The automatic welding device with two adjustable welding guns according to claim 7 is characterized in that: The displacement driving mechanism is provided with a tension spring whose two ends are connected to the first mounting sub-frame and the bottom side of the movable panel, so that the movable panel maintains a downward force, and the movable panel is also provided with a ratchet assembly based on the first mounting sub-frame, including a ratchet with a straight edge fixed to the bottom surface of the movable panel, a ratchet pivotally positioned beside the ratchet, a normally closed spring connected to the passive end of the ratchet, a buffer spring connected to the hook end of the ratchet, a micro-cylinder and a connecting part of the two, the inclination direction of the tooth mouth of the ratchet satisfies the requirement that the hook end smoothly passes over the tooth mouth during the upward flipping of the movable panel, when the movable panel is displaced to the required angle, the ratchet is driven by the normally closed spring so that the hook end is clamped in the corresponding tooth mouth for positioning, and the ratchet is driven by the micro-cylinder so that the hook end is disengaged from the tooth mouth, and the movable panel descends and resets.

9. The automatic welding device with two adjustable welding guns according to claim 1 is characterized in that: The centering fixture mechanism is provided with a centering assembly on the bottom plate, and the centering assembly includes a pair of guide crossbars and a pair of steel rulers parallel to the bottom plate surface, a guide sleeve and a shaft sleeve connecting vertical plate attached to each guide crossbar, a fixed knob and a pointer attached to each guide sleeve, an adjustment bracket spanning the guide sleeves on both sides, a screw adjustment nut fixed to the middle section of the adjustment bracket, an adjustment screw connected to the screw adjustment nut and horizontally axially solidified on the bottom plate, and a translation panel integrally connected to the top of the two shaft sleeves connecting the vertical plates; The centering clamp mechanism is also provided with a clamp assembly, which includes a second fixing nut movably connected to the bottom plate and connected to the clamping transmission shaft in the displacement driving mechanism, a slide groove integrally fixed to the second fixing nut between a pair of guide cross bars and guiding the lifting, a transmission slide block moving in the slide groove in accordance with the centering direction, a concentric piece integrally fixed to the circular block-shaped top of the transmission slide block, three connecting rods pivotally connected at three equal positions in the circumferential direction of the concentric piece, three slider fixing seats fixed to the surface of the translation panel and the workpiece carrier therebetween, a claw slider embedded in and guided to slide in each slider fixing seat, each connecting rod passes through the translation panel and the slider fixing seat and is pivotally connected to the claw slider at the corresponding position, and each claw slider is tensioned by being driven to lift and lower the clamping transmission shaft; The workpiece carrier is provided with an air outlet with a sealing tool, and the air outlet is connected to the air source outlet of the displacement drive mechanism through a hose penetrating the bottom plate; A quick-release positioning assembly is also provided on the first claw slider that conforms to the alignment path. One end of the support rod of the quick-release positioning assembly is clamped in the first claw slider through a positioning pin shaft, and the other end of the support rod is integrally connected with a movable groove. A slidable and adjustable tongue is inserted in the movable groove and fixed by a locking knob. A matching head is installed on the end of the tongue. The quick-release positioning assembly is assembled and participates in the alignment during the debugging operation before welding, and is dismantled and separated during the welding operation.

10. The automatic welding device with two adjustable welding guns according to claim 1 is characterized in that: The frame body is configured as a rectangular box at the bottom side of the workbench panel, the electrical unit is built therein, and the frame is provided with a plurality of racks on the side behind the workbench panel for distributing the welding machine, the first welding wire feeding mechanism and the second welding wire feeding mechanism; a thickened hinge is installed between the workbench panel and the movable panel.

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