A dual-gun automatic welding device with adjustable centering and position

Abstract

The present invention discloses a dual-gun automatic welding device with adjustable centering and position, comprising a first welding multi-angle adjustment mechanism and a second welding adjustment mechanism, a displacement drive mechanism, an alignment clamp mechanism, a touch unit, and an electrical unit, which are distributed and assembled on a frame. Furthermore, the frame is provided with a worktable panel and a movable panel that is partially cut and controllably flippable. The two welding guns distributed in space are driven to weld under multi-directional displacement, displacement rotation, telescopic feeding, and axial rotation. The two parts can cooperate with each other for synchronous welding or independently controlled asynchronous welding. The displacement drive mechanism and the alignment clamp mechanism cooperate with each other to control the clamping, displacement, angle adjustment, and rotation of the workpiece. The aforementioned parts are controlled in parallel by the touch unit and the electrical unit, thereby achieving multi-angle adjustment of the weldment and the welding gun. The welding operation is transformed from manual to motorized, which is beneficial to improving processing efficiency and welding stability.

Description

Technical Field

[0001] The present invention relates to welding equipment used in the production of industrial gas cylinders, in particular to an automatic welding device with two adjustable guns, belonging to the technical field of mechatronics applications. Background Art

[0002] With the continued expansion of new energy applications, power system-related products have achieved remarkable success and continue to grow rapidly. Gas energy applications are also rapidly developing and making significant progress. Gas cylinders are crucial for ensuring safety and energy density in these applications. Consequently, the industry has established detailed and stringent standards for the performance parameters and production processes of gas cylinders. Furthermore, manufacturers must not only ensure product quality but also strive to improve production efficiency and yield rates to achieve comprehensive and 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 Figure 1 shows the distribution of welding locations (①-⑧) for seven locations below the head and additional locations on a current gas cylinder product. Traditional welding equipment uses a conveyor mechanism to deliver the workpiece to be welded to a processing station, where welding is performed manually or by a simple driven welding mechanism. This welding method can only be used for single, regular welds, and detailed adjustments such as angle changes cannot be made to either the workpiece or the welding mechanism, resulting in significant rigidity in the welding operation. Clearly, a single welding mechanism and traditional welding methods would require a long time to complete this type of welding, impacting welding efficiency and, in some cases, preventing the welding operation from being 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 weld points on the head of a gas cylinder.

[0005] The technical solution of the present invention to achieve the above-mentioned object is a dual-gun automatic welding device with adjustable centering and position, comprising a first welding multi-angle adjustment mechanism, a second welding adjustment mechanism, a position change drive mechanism, an aligning fixture mechanism, a touch unit, and an electrical unit distributed and assembled on a frame, wherein the frame is provided with a worktable panel and a movable panel that is partially cut and controllably flippable; wherein the first welding multi-angle adjustment mechanism is provided on one side of the movable panel, and is used to drive the first welding gun to perform displacement positioning, position rotation, telescopic feeding, and axial rotation in six directions, such as up, down, left, right, front, and back, so as to allow access to a portion of the welding point on the workpiece;

[0006] The second welding adjustment mechanism is provided 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 on the workpiece;

[0007] The displacement drive mechanism is provided 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 the workpiece facing the centering clamping mechanism;

[0008] 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;

[0009] The electrical unit includes an interconnected industrial control processor, an air source processor, and a servo driver embedded in the rack space on the bottom side of the workbench panel, and is connected to the control end branches of the electromechanical or pneumatic components in each mechanism through several buses to output control instructions for the operation of the entire machine;

[0010] The touch unit is arranged on the workbench panel and is connected to the industrial control processor through a line, and is used for displaying and debugging the operation status of the entire machine.

[0011] 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 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 position change rotation assembly, a welding gun telescopic assembly and a welding gun rotation and clamping assembly, which are the mounting carriers in sequence, 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 side 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, and the front and rear advance and retreat assembly is a linear module integrating a motor and a distance measuring sensor, and is externally mounted on the vertical movable panel of the first vertical lifting assembly based on triangular reinforcement ribs.

[0012] Furthermore, the position-shifting rotation assembly consists 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.

[0013] 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.

[0014] 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 feed rotation assembly, which are sequentially mounted on the carrier. The guide drive assembly associated with the second lateral translation assembly is composed of a pair of linear guide rails with 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 fixed to the slider connecting plate. The guide drive assembly associated with the second vertical lifting assembly is composed of a pair of linear guide rails with sliders. A motor, a coupling, and a ball screw with a ball nut sleeved thereon are composed and mounted on a vertical carrier plate. 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. 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. 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.

[0015] Furthermore, the second welding adjustment mechanism is provided with a second wire feeding bracket based on the welding gun fixing seat.

[0016] 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 drive 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 mounted on the second mounting sub-frame on the bottom side thereof with a first double-acting cylinder and a driven guide linkage transfer slider, and a second double-acting cylinder is mounted 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;

[0017] The special-shaped vertical plate is integrally connected with the cylinder fixing plate, the side guard plate and the motor fixing plate. The double-ear seat is fixed to the bent lower edge of the motor fixing plate, and two triangular reinforcement plates are provided on the back side of the ear plate of the double-ear seat. The rotary transmission assembly is mounted on the motor fixing plate with a torque generator including a reduction module, a transmission pulley assembly and a rotary transmission shaft. The rotary transmission shaft is axially positioned and connected to the motor fixing plate and the movable panel through a number of matching bearings and flanges. The top of the rotary transmission shaft is integrally formed with a transmission shaft flange that floats on the surface of the movable panel.

[0018] The clamping transmission assembly is provided with a clamping cylinder based on the cylinder fixing plate. The top of the clamping cylinder is equipped with a clamping transmission shaft axially connected to the rotating transmission shaft 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. The clamping transmission shaft is provided with a hollow pipe, and the hollow pipe connects the air inlet nozzle next to the floating joint and the air source outlet on the top side of the transmission shaft flange.

[0019] Furthermore, the displacement drive 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 fixed to the bottom surface of the movable panel on one side, 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, 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.

[0020] Furthermore, the centering fixture mechanism is provided with a centering assembly on the base plate, the centering assembly comprising a pair of guide crossbars and a pair of steel rulers mounted parallel to the surface of the base plate, a guide sleeve mounted on each guide crossbar and its shaft sleeve connecting vertical plate, a fixed knob and a pointer mounted on 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 base plate, and a translation panel integrally connected to the top of the two shaft sleeves connecting the vertical plates;

[0021] The cam is connected to the second guide rail by the spring which is fixed to the upper end of the cam and is connected to the second guide rail by the spring which is fixed to the upper end of the cam.

[0022] 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 passing through the bottom plate;

[0023] A quick-release positioning assembly is also provided on the first claw slider that conforms to the centering 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 sliding and adjustable tongue is inserted into 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 centering during the debugging operation before welding, and is dismantled and separated during the welding operation.

[0024] Furthermore, the main body of the frame is configured as a rectangular box on the bottom side of the workbench panel, the electrical unit is built into it, 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.

[0025] The technical effects of the automatic welding device of the present invention include: 1) through two independently controlled and multi-directionally adjustable welding guns, it is possible to achieve one-time welding of two welding positions, and it is also possible to weld non-concentric welding positions by stopping part of the mechanism.

[0026] 2) This device has the characteristics of multi-angle adjustment and centering rotation drive for welding workpieces, multi-directional movement, multi-angle movement or rotation of multiple welding guns, and can realize flat angle welds, avoiding the problem of incomplete welds at one end of conventional equipment.

[0027] 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

[0028] Figure 1 It is a schematic diagram of the distribution of welding points of the welding object of the present invention.

[0029] Figure 2 It is a schematic diagram of the overall assembly structure of a preferred embodiment of the automatic welding device with two adjustable guns.

[0030] Figure 3 yes Figure 2 The schematic diagram of the structure of the rack in the unloaded state in the embodiment shown is shown.

[0031] Figure 4 yes Figure 2 Schematic diagram of the three-dimensional structure of the first welding multi-angle adjustment mechanism in the embodiment shown.

[0032] Figure 5 yes Figure 4 Close-up structural diagram from another perspective.

[0033] Figure 6 yes Figure 2 Schematic diagram of the three-dimensional structure of the second welding adjustment mechanism in the embodiment shown.

[0034] Figure 7 yes Figure 6 Close-up structural diagram from another perspective.

[0035] Figure 8 yes Figure 2 A schematic structural diagram of the displacement drive mechanism in the illustrated embodiment.

[0036] Figure 9 yes Figure 8 Schematic diagram of the cross-sectional structure of part C.

[0037] Figure 10 yes Figure 8 Schematic diagram of the enlarged structure of part D.

[0038] Figure 11 yes Figure 2 The illustrated diagram is a schematic structural diagram of the centering fixture mechanism and the weldment in multiple viewing angles after clamping in the preferred embodiment.

[0039] Figure 12 yes Figure 11 Schematic diagram of the cross-sectional top view of the AA structure.

[0040] Figure 13 yes Figure 11 Schematic diagram of the cross-sectional structure of the BB.

[0041] Figure 14 It is a schematic diagram of the welding state of the present invention in working condition 1.

[0042] Figure 15 It is a schematic diagram of the welding state of the present invention in working condition 2.

[0043] Figure 16 It is a schematic diagram of the welding state of the present invention in working condition 3. DETAILED DESCRIPTION

[0044] The specific implementation methods of the present invention will be further described below in conjunction with the accompanying drawings to make the technical solutions of the present invention easier to understand and grasp, thereby making a clearer definition of the protection scope of the present invention.

[0045] In view of the fact that existing equipment has many welding positions on the cylinder head and their complex distribution makes it difficult to meet operational requirements, the designers of this invention have 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.

[0046] like Figure 2 From a 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 into the frame, not shown), which are distributed and installed 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 the various welding adjustment mechanisms, touch units, and other heavy and space-consuming human-machine interaction and welding tools. It can also be used for operators to place operating tools. The movable panel is relatively small, which can accommodate displacement, centering fixtures, and other mechanisms. It is used to displace, adjust the angle, and drive the workpiece to rotate, so as to cooperate with welding guns in different positions to complete the welding operation.

[0047] The first welding multi-angle adjustment mechanism 2 is provided on one side of the movable panel and is used to drive the first welding gun 21 to move and position in the six directions of up, down, left, right, front and back, and to rotate and feed telescopically and rotate axially, so as to access a part of the welding point of the workpiece. The second welding adjustment mechanism 3 is provided on the other side of the movable panel and is used to drive the second welding gun 31 to move 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 provided at the bottom of the movable panel 12 and is used to drive the movable panel to move up and down within the range of 0 to 110 degrees and to output the rotational power and pneumatic clamping force to the workpiece facing 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 comprises an interconnected industrial control processor, air source processor, and servo drive, embedded in a rack space beneath the work surface. This unit is connected via several bus lines to the control terminals of the electromechanical and pneumatic components within each mechanism, outputting control commands for the entire machine. A touch control unit 6, located on the work surface and connected to the industrial control processor, is used to display the machine's operating status and facilitate debugging.

[0048] On the basis of clarifying the functional design of the above-mentioned components of the welding device, the staff in the gas cylinder production welding operation 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.

[0049] 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 below.

[0050] like Figure 3As shown, the main body of the frame 1 is a rectangular box 13 located on the bottom side of a worktable panel 11. A number of fixed panels 131 and controllable sliding panels 132 are distributed around the frame. The components of the electrical unit (i.e., the industrial control processor, air source processor, servo drive, and related auxiliary parts) are housed within this box. The rectangular box is typically closed, and the sliding panels 132 allow for external exposure and component replacement when the equipment requires maintenance. Thickened hinges 15 are installed between the worktable panel 11 and the movable panel 12, defining the axial direction of the movable panel's rotation. Furthermore, the frame is equipped with several shelves near the rear of the worktable panel 11, including a first shelf 141 for accommodating a welding machine and the space above it, an upper tray 143 for accommodating a first welding wire feeder (which supplies welding wire to the first multi-angle adjustment mechanism), and a middle tray 142 for accommodating a second welding wire feeder (which supplies welding wire to the second welding adjustment mechanism).

[0051] like Figure 4 and Figure 5 As shown, the first welding multi-angle adjustment mechanism 2 is mounted on a 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 forward and backward advance assembly, a position shifting and rotating assembly 25, a welding gun telescopic assembly 26, and a welding gun rotation and clamping assembly 27, which are mounted on the top of the side of the stand facing the movable panel. The first lateral translation assembly and the first vertical lifting assembly are independently controlled and operated based on a guide drive assembly with 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 built-in sliders, a motor 222, a reducer 223, a coupling 224, a ball screw 225a, a ball nut 225b, and a connecting pad 226. In this structural combination, the motor outputs rotational driving force to the ball screw through a reducer and coupling. The ball screw is axially positioned, so the ball nut on it is driven to move laterally. The ball nut is connected to the slider and connecting pad on the linear guide 221 to form an integrated whole. This integrated three-part structure can thus be driven to translate laterally. A signal feedback industrial control processor is distributed along the length of the ball screw, and a first sensor 227a, a second sensor 227b, and a third sensor 227c for zero point calibration are used. The ball nut 225b is laterally extended with a baffle 228 that triggers the sensing signal. When the slider reaches the corresponding sensor position along the ball screw, the corresponding position feedback signal is triggered. Furthermore, the forward and backward movement assembly is a linear module 24 that integrates a motor and a distance sensor. It is externally mounted on the vertical movement panel of the first vertical lifting assembly based on triangular reinforcement ribs 29. Here, the connecting pad and the vertically movable panel are both transition components for transitioning from a previous component to a subsequent component.

[0052] Based on three-axis drive and adjustable displacement, the displacement and rotation assembly 25 consists of a T-shaped member 251, a swivel joint 252, a retaining ring 253, and a fixing nut 254. The T-shaped member 251 is attached to the bottom end of the linear module 24 and moves with it. The swivel joint 252 is mounted on the rod of the T-shaped member, sliding in a damped manner and axially locked by the retaining ring and fixing nut. The welding gun telescopic assembly 26 is equipped with a movable link 261. The welding gun rotation and clamping assembly includes a welding gun clamping seat 27. One end of the movable link is connected to the lateral extension 2521 of the swivel joint via a first screw 262 and a tightening knob. The other end of the movable link is connected to the welding gun clamping seat 27 via a second screw 263 and a tightening knob. The movable link 261 is angularly adjustable around the first screw. The welding gun clamping seat 27 adjusts the tightness of the welding gun body via a third screw 271 and a tightening knob. Furthermore, the welding gun holder 27 is formed with a circumferential slide 271. The first welding multi-angle adjustment mechanism includes a first wire feeder 28, which is mounted on the welding gun holder and slides freely on the circumferential slide. The welding wire fed by the first welding wire feeder passes through the first wire feeder, synchronously moving with the end of the first welding gun 21 and delivering the welding wire as needed. Thus, the first welding gun, through some components of the multi-angle adjustment mechanism, achieves manual rotation, telescopic feeding, and axial rotation to achieve detailed positioning of the first welding gun relative to a certain welding position. During welding operations, the three-axis translation assembly achieves flexible and consistent displacement and positioning.

[0053] like Figure 6 and Figure 7As shown, the second welding adjustment mechanism 3 is mounted on the worktable panel 11 and comprises, in order, a second lateral translation assembly 32 for the mounting carrier, a second vertical lifting assembly 33, and a welding gun feed rotation assembly. The guide drive assembly associated with the second lateral translation assembly 32 comprises a pair of linear guide rails 321 with built-in sliders, a motor 322, a timing belt 323, a driving pulley 324, a driven pulley 325, a ball screw mounting base 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 is fixedly attached to the vertical carrier plate 35 for integral follower motion. The guide drive set associated with the second vertical lifting assembly 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 with a ball nut sleeved thereon, and is attached to the vertical carrier 35. A signal feedback industrial control processor and three sensors for limiting and zeroing are distributed along the side of 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 middle sensor 335c 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 rotation assembly is provided with a welding gun fixing seat 34, and the welding gun fixing seat 34 is raised and lowered based on the welding gun arm 36 being attached to the slider 3311 and the ball nut of the second vertical lifting assembly. The welding gun fixing seat also adjusts the direction of the welding gun and the degree of tightness of the clamping of the welding gun body through two sets of tightening knobs and hexagonal bolts. As Figure 6 As shown, the front section of the welding gun arm is provided with a vertical slot, and the welding gun mount is adjusted in tension by a set of tightening knobs and hexagonal bolts located on the bottom side, allowing the clamped second welding gun to be adjusted in angle perpendicular to the worktable panel. Furthermore, the tightening is adjusted by a set of tightening knobs and hexagonal bolts located on the top side, allowing the clamped second welding gun to be adjusted in axial rotation in the direction of the gun head. Similarly, the second welding adjustment mechanism is provided with a second wire feed bracket 37 based on the welding gun mount 34. The welding wire output by the second welding wire feed mechanism will pass through the second wire feed bracket, synchronously displacing with the end of the second welding gun 31 and delivering the welding wire as needed. This shows that the second welding gun can also achieve manual displacement rotation, telescopic feeding, and axial rotation, and can also achieve dynamic displacement and positioning in two axial directions with consistent trajectory during welding operations.

[0054] In addition to the displacement and maneuvering of the dual welding guns to perform 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 at the bottom of the movable panel, each having a height difference. The displacement drive mechanism 4 is constructed by assembling the two mounting sub-frames and, based on their functions, may comprise three parts: a movable panel displacement assembly, a rotation transmission assembly, and a clamping transmission assembly. The movable panel displacement assembly is attached to the second mounting sub-frame 18 at the bottom, and is equipped with a first double-acting cylinder 411 and a driven, guided, and linked transfer slider 412. The transfer slider is sleeved on a linear guide shaft 413 and driven to slide. A second double-acting cylinder 414 is attached to the transfer slider, and its output is transmitted to a shaped vertical plate 416 via a double-ear seat 415. The side of the shaped vertical plate 416, away from the double-ear seat, is fixed to the bottom surface of the movable panel 12, and transmits power to cause the movable panel to flip for angle adjustment and positioning. The figure shows the movable panel in its initial flat position. When it is necessary to flip it upward relative to the thickened hinge, the first double-acting cylinder contracts and pulls the transfer slider to the left of the figure. At the same time, the signal triggers the second double-acting cylinder to extend outward and transmit the power 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 closer to the left and its top is still extending, it will push the movable panel 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.

[0055] 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 enhance the structural strength. Figure 9 As shown, the rotary transmission assembly is mounted on a motor mounting plate 419 and comprises a torque generator 421 including a reduction module, a drive pulley assembly 422, and a rotary transmission shaft 423. The rotary transmission shaft is axially connected to the motor mounting plate 419 and the movable panel 12 via a number of matching bearings and flanges. A transmission shaft flange 424, which floats above the surface of the movable panel, is integrally formed on the top of the rotary transmission shaft. Furthermore, a small air storage chamber is located on the upper surface of the transmission shaft flange. A sealing ring extends from the chamber to contain the air. This connects to the air outlet of the bottom plate 511 in the centering fixture mechanism, compressing the sealing ring and delivering the air through an air duct to the base and, in turn, to the back of the workpiece.

[0056] The clamping drive assembly also features a clamping cylinder 431 mounted on a cylinder mounting plate 417. A clamping drive shaft 433, axially threaded through the rotating drive shaft 423, is attached to the top of the clamping cylinder via a floating joint and a first set nut 432. Seals 44a and 44b are located between the two drive shafts, near their top and bottom ends. A hollow conduit 4331 connects the clamping drive shaft 443 to an air inlet 434 on the side of the floating joint and an air outlet 435 on the top side of the drive shaft flange.

[0057] 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 clamping system on the upper side of the movable panel, and the two do not interfere with each other. At the same time, the clamping drive shaft can be used to create an upward air path, which is convenient for providing protective gas during welding operations.

[0058] As a further supplement and improvement, the displacement drive mechanism 4 is also equipped with a tension spring 46 with its ends connected to the first mounting sub-frame 17 and the bottom side of the movable panel 12, which maintains the downward force on the movable panel and ensures its stability. The movable panel is also equipped with a ratchet assembly based on the first mounting sub-frame 17, including a ratchet 471 with one edge fixed to the bottom surface of the movable panel, a ratchet 472 pivotally positioned next to 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 member between the two. The micro cylinder is equipped with two micro sensors and can be controlled manually or programmatically. 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 and positioned. 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).

[0059] See also Figures 11 to 13As shown, the aforementioned centering fixture mechanism 5 is provided with a centering assembly 51 on the base plate. The centering assembly includes a pair of guide crossbars 512 and a pair of steel rulers 519 attached parallel to the surface of the base plate 511, a guide sleeve 513 attached to each guide crossbar and its shaft sleeve connecting vertical plate 514, a fixed knob 5131 and a pointer 5132 attached to each guide sleeve, an adjustment bracket 516 spanning 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 fixed to the base plate, and a translation panel 521 integrally connected to the top of the two shaft sleeves connecting the vertical plates. As can be seen from the figure, each guide crossbar is equipped with two guide sleeves separated by a distance, and the tops of the two guide sleeves are connected to the vertical plates through shaft sleeves to form a whole. A tensioning spring 515 is sleeved on the side of the guide crossbar near the adjustment bracket to enhance alignment stability. This spring is compressed during the leftward displacement of the adjustment bracket to fully offset the inertia of the adjustment displacement. To facilitate alignment, a manual knob 519 is attached to the outer end of the adjustment screw. Turning this manual knob rotates the adjustment screw, which in turn causes the screw adjustment nut to move, driving the adjustment bracket, the sleeve connecting plate, and the translational panel for alignment. The steel ruler is attached to the side of the guide crossbar and, in conjunction with the pointer 5132, provides a reference reading during alignment. The fixed knob 5131 is used to lock the guide sleeve after alignment is complete, preventing concentricity damage during rotation of the entire mechanism.

[0060] The aforementioned centering fixture mechanism 5 also includes a fixture assembly. This fixture assembly includes a second fixing nut 522 movably connected to the base plate 511 and connected to the clamping drive 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 and lowering; a transmission slider 525 that moves in the slideway in the centering direction; a circular block-shaped concentric member 524 integrally fixed to the top of the transmission slider; three connecting rods 526 pivotally connected at positions dividing the concentric member into three equal parts; three slider mounting seats 527 fixed to the surface of the translation panel and a workpiece carrier therebetween; and claw sliders 528 embedded in and guiding the sliding engagement of each slider mounting seat. Each connecting rod 526 passes through the translation panel 521 and the slider mounting seat 527 and is pivotally connected to the corresponding claw slider 528. Each claw slider is tensioned by the lifting and lowering of the clamping drive shaft 433. The workpiece carrier is also equipped with an air outlet 529 with a sealing fixture. This outlet is connected to the air source outlet of the displacement drive mechanism via a flexible hose (not shown) connected to the base plate. Two or more sets of vertical guide rods and guide holes are provided between the chute and the base plate. This ensures that the chute's lifting and lowering (clamping process) does not affect the accuracy of the alignment results. Furthermore, because the distance between the base plate and the translation panel remains fixed, the driven lifting and lowering of the chute and concentric member will not affect the vertical position of the slider fixing seat. Therefore, despite being blocked in the vertical direction, the top end of the connecting rod can only move horizontally, driving the claw slider to clamp or release the workpiece.

[0061] In particular, a quick-release positioning assembly 7 is also installed on the first claw slider 528a that conforms to the centering 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 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 centering 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 inside is aligned and compatible with the hole of the workpiece to be welded. 4. Slowly clamp the fixture assembly, and the tongue moves accordingly until the three claws clamp the workpiece to be welded (tighten the locking knob at this time for subsequent welding operations of batch samples). 5. Flip and remove the quick-release positioning assembly. 6. Install the part to be welded in the hole and then proceed with the welding operation. The above quick-release positioning assembly only requires one positioning operation. There is no need to readjust the position of the tongue for subsequent welding operations, and it can be repeatedly used to assist in the positioning and rapid removal of the replaced workpieces to be welded.

[0062] The automatic welding device of the present invention can select one welding gun to operate, or can use two welding guns to cooperate 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 to control the displacement and angle adjustment, telescopic feeding, etc. At the same time, the mechanism related to the workpiece clamping also has the ability to rotate and adjust the center, 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. Figure 14 The figure shows 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 carried out accordingly as the workpiece is driven to rotate. Figure 15 As shown, it is a schematic diagram of the welding state of the present invention in working condition 2. The movable panel is horizontal, the workpiece is clamped vertically, and only the first welding gun is controlled to participate in the fixed-point welding operation. Figure 16 The figure shows the welding state of the present invention in working condition 3. The movable panel is tilted 90 degrees to an upright position, and the workpiece is clamped horizontally. At the same time, the first welding gun and the second welding gun are controlled and synchronized to perform welding operations on different welding points of the workpiece.

[0063] 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 this scheme has outstanding substantial features and significant progress, which are specifically manifested as follows: 1) By using two independently controlled and multi-directionally adjustable welding guns, it is possible to achieve one-time welding of two welding positions, and it is also possible to weld non-concentric welding positions by stopping the partial mechanism.

[0064] 2) This device has the characteristics of multi-angle adjustment and centering rotation drive for welding workpieces, multi-directional movement, multi-angle movement or rotation of multiple welding guns, and can realize flat angle welds, avoiding the problem of incomplete welds at one end of conventional equipment.

[0065] 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.

[0066] In addition to the above embodiments, the present invention may also have other implementation methods. Any technical solutions formed by equivalent replacement or equivalent transformation 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 by: 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, which are distributed and assembled based on a frame. The frame is provided with a workbench panel and a movable panel that is partially cut and can be turned over in a controlled manner. The first welding multi-angle adjustment mechanism is arranged on one side of the movable panel, which is used to drive the first welding gun to move and position in 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 first welding multi-angle adjustment mechanism is mounted on a stand and is suspended above the workbench panel as a whole, and the top of the stand facing the movable panel is provided with a first horizontal translation component, a first vertical lifting component, a front and back advance and retreat component, a displacement rotation component, a welding gun telescopic component and a welding gun rotation and clamping component, which are the mounting carriers in sequence, wherein the first horizontal translation component and the first vertical lifting component 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 plate, and a signal feedback industrial control processor is distributed on the side along the length direction of the ball screw and three sensors for limiting and zeroing are used. The cam is connected to the vertical guide rail of the first lifting assembly by rotating the link rod and the adjusting member is connected with the adjusting member to form a circle, and the adjusting member is connected with the vertical guide rail of the first lifting assembly by rotating the link rod and the adjusting member to move relative to each other. The second welding adjustment mechanism is provided 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 on the workpiece; The displacement drive mechanism is provided 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 the workpiece facing the centering 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 embedded in the rack space on the bottom side of the workbench panel, and is connected to the control end branches of the electromechanical or pneumatic components in each mechanism through several buses to output control instructions for the operation of the entire machine; The touch unit is arranged on the workbench panel and is connected to the industrial control processor through a line, and is used for displaying and debugging the operation status of the entire machine.

2. The automatic welding device with two adjustable guns according to claim 1 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.

3. The automatic welding device with two adjustable guns according to claim 1 is characterized in that: 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 feed rotation assembly, which are sequentially mounted on the carrier. The guide drive set associated with the second lateral translation assembly consists 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. A vertical carrier plate is fixed on the slider connecting plate. The guide drive set associated with the second vertical lifting assembly consists of a pair of linear guide rails with self-contained sliders, a motor , coupling, a ball screw with a ball nut sleeved on it 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 side 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 based on the welding gun arm being mounted on the slider and the ball nut of the second vertical lifting assembly and is raised and lowered accordingly. 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.

4. The automatic welding device with two adjustable guns according to claim 3 is characterized in that: The second welding adjustment mechanism is provided with a second wire feeding bracket based on the welding gun fixing seat.

5. 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 drive 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 the cylinder fixing plate, the side guard plate and the motor fixing plate. The double-ear seat is fixed to the bent lower edge of the motor fixing plate, and two triangular reinforcement plates are provided on the back side of the ear plate of the double-ear seat. The rotary transmission assembly is mounted on the motor fixing plate with a torque generator including a reduction module, a transmission pulley assembly and a rotary transmission shaft. The rotary transmission shaft is axially positioned and connected to the motor fixing plate and the movable panel through a number of matching bearings and flanges. The top of the rotary transmission shaft is integrally formed with a transmission shaft flange that floats on the surface of the movable panel. The clamping transmission assembly is provided with a clamping cylinder based on the cylinder fixing plate. The top of the clamping cylinder is equipped with a clamping transmission shaft axially connected to the rotating transmission shaft 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. The clamping transmission shaft is provided with a hollow pipe, and the hollow pipe connects the air inlet nozzle next to the floating joint and the air source outlet on the top side of the transmission shaft flange.

6. The automatic welding device with two adjustable guns according to claim 5 is characterized in that: The displacement drive 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 fixed on one side 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, 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.

7. The automatic welding device with two adjustable guns according to claim 1 is characterized in that: The centering fixture mechanism is provided with a centering assembly on the base plate, and the centering assembly includes a pair of guide crossbars and a pair of steel rulers mounted parallel to the surface of the base plate, a guide sleeve mounted on each guide crossbar and its shaft sleeve connecting vertical plate, a fixed knob and a pointer mounted on 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 fixed on the base plate, and a translation panel integrally connected to the top of the two shaft sleeves connecting the vertical plates; The cam is connected to the second guide rail by the spring which is fixed to the upper end of the cam and is connected to the second guide rail by the spring which is fixed to the upper end of the cam. 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 passing through the bottom plate; A quick-release positioning assembly is also provided on the first claw slider that conforms to the centering 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 sliding and adjustable tongue is inserted into 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 centering during the debugging operation before welding, and is dismantled and separated during the welding operation.

8. The automatic welding device with two adjustable guns according to claim 1 is characterized in that: The main body of the frame is configured as a rectangular box on the bottom side of the workbench panel, the electrical unit is built into it, and the frame is provided with a plurality of shelves 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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