A method for welding and assembling peripheral accessories of a cylinder body

Abstract

The present invention discloses a method for welding peripheral accessories of a cylinder body, which belongs to the field of assembly welding technology, and includes a mechanical arm, and a clamping device is provided at the end of the mechanical arm; it also includes a rotating worktable and an accessory placement rack, the rotating worktable can clamp the cylinder workpiece, and the clamping device can transfer the accessories on the accessory placement rack to the side wall of the cylinder workpiece to be welded under the drive of the mechanical arm; the clamping device includes a clamping bottom plate, and two clamping plates are provided on the clamping bottom plate, and the two clamping plates can clamp the accessories, and the outer front end of the clamping plate is provided with a welding gun, and the welding gun can weld the accessories to the side wall of the cylinder workpiece; a retractable ejector is provided between the two clamping plates, and a first pressure sensor is provided at the end of the ejector, and the end of the ejector can abut against the side wall of the cylinder workpiece, and the ejector can also push the accessories between the two clamping plates. The present invention can ensure the accuracy of each accessory welding position, and can eliminate the error in the transfer process.

Description

Technical Field

[0001] The invention relates to the technical field of assembly welding, and in particular to a method for welding and assembling peripheral accessories of a cylinder body. Background Art

[0002] There are many ways to assemble accessories for rotary cylinder workpieces. Since there are many accessories to be assembled, in order to improve efficiency, many accessories are usually placed on the platform first, and the auxiliary lines of the size and angle of all accessories are marked on the platform surface through numerical calculations. Then, the auxiliary lines are indirectly transferred to the main body using a laser level to determine the spatial position of the accessories. Finally, the accessories are lifted, placed in the correct position and reinforced by spot welding.

[0003] The existing method of assembling accessories requires complex preliminary preparation work and is prone to errors. The position of the accessories on the outer wall of the cylinder body is not aligned with the rotation center of the cylinder body, and the datum is prone to cumulative errors after multiple conversions. At the same time, lifting the workpiece requires cooperation, which poses a safety risk.

[0004] More importantly, since welding will cause deformation, the accessories will inevitably affect the subsequent welding work during the welding process. Although the deformation can be reduced by reasonably adjusting the welding position and welding steps, if the deformation is ignored, it will eventually affect the quality of the product.

[0005] To solve the above problems, the present invention designs and manufactures a method for welding and assembling peripheral accessories of a cylinder body to overcome the above defects. Summary of the invention

[0006] In order to solve the problems existing in the prior art, the present invention provides a method for welding and assembling accessories on the outer periphery of a cylinder body, which can ensure the accuracy of the welding position of each accessory and eliminate errors in the transfer process.

[0007] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is as follows: a method for welding and assembling peripheral accessories of a cylinder body, which is realized by a welding and assembling peripheral accessories of a cylinder body, wherein the welding and assembling peripheral accessories of the cylinder body comprises a mechanical arm, and a clamping device is provided at the end of the mechanical arm;

[0008] It also includes a rotating workbench and an accessory placement rack, wherein the rotating workbench can clamp the cylinder workpiece, and the accessory placement rack is arranged on one side of the rotating workbench;

[0009] The clamping device can transfer the accessories on the accessory placement rack to the position to be welded on the side wall of the cylinder workpiece under the drive of the mechanical arm;

[0010] The clamping device comprises a clamping base plate, on which two clamping plates are arranged, and the two clamping plates can clamp the accessories, and a welding gun is arranged at the outer front end of the clamping plate, and the welding gun can weld the accessories to the side wall of the cylinder workpiece;

[0011] A retractable ejector pin is provided between the two clamping plates, a first pressure sensor is provided at the end of the ejector pin, the end of the ejector pin can be extended to abut against the side wall of the cylinder workpiece, and the ejector pin can also push the attachment between the two clamping plates;

[0012] The specific steps are as follows:

[0013] S1. First, the accessories are marked with serial numbers in combination with the final welded product, and then the welding sequence and theoretical position of the accessories are calculated, and the error size adjustment range value of the clamping device (4) near the position to be welded of the accessories is set;

[0014] S2, clamping the cylinder workpiece (5) onto the rotary table (1);

[0015] S3, the mechanical arm (2) first drives the clamping device (4) to approach the position of the accessory to be welded, and uses the ejector pin (48) to detect whether the position to be welded is deformed;

[0016] S4, if the deformation size detected by the ejector pin (48) is within the error range, the robot arm (2) moves, and the clamping device (4) transfers the accessory on the accessory placement rack (3) to the position to be welded;

[0017] S5, the ejector pin (48) pushes against the accessory from the rear to eliminate the error of the clamping device (4) when clamping the accessory;

[0018] S6, the welding gun (46) on the outside of the clamping plate spot-welds the attachment and the cylinder workpiece (5);

[0019] S7. After the welding of the accessory is completed, the rotating worktable (1) drives the cylinder workpiece (5) to rotate according to the welding position of the accessory, and the actions of S3 to S6 are repeated.

[0020] Preferably, a clamping vertical plate is provided at the rear end of the clamping bottom plate, and a driving device for driving the ejector pin to extend and retract is provided on the clamping vertical plate.

[0021] Preferably, a welding gun slide rail and a welding gun moving drive device are provided on the outer side of the clamping plate, and the welding gun moving drive device can drive the welding gun to slide on the welding gun slide rail.

[0022] Preferably, the two clamping plates are respectively configured as a clamping movable plate and a clamping static plate, and the clamping movable plate can move on the clamping bottom plate relative to the clamping static plate.

[0023] Preferably, a second pressure sensor is provided on a side of the clamping static plate close to the clamping dynamic plate.

[0024] Preferably, a plurality of accessories to be welded are placed on the accessory placement rack in sequence according to the welding sequence.

[0025] Preferably, an alarm is also included. When the ejector pin is directly close to the position where the accessory is to be welded, if the value obtained by the first pressure sensor is not within the set pressure value range, the alarm is triggered.

[0026] Preferably, the deformation of the cylinder workpiece at the position to be welded in S3 is determined by a first pressure sensor at the end of the ejector pin, and the ejector pin end is adjusted within the error size adjustment range. As long as the pressure value sensed by the first pressure sensor is within the set pressure range, the demand can be met;

[0027] If the welding position of the cylinder workpiece is concave inward, the ejector pin is adjusted within the error size adjustment range, and the first pressure sensor at the end of the ejector pin cannot obtain the pressure value, manual intervention is required for troubleshooting;

[0028] If the position of the cylinder workpiece to be welded protrudes outward, the end of the ejector pin abuts against the cylinder workpiece, and within the error size adjustment range, the pressure values ​​sensed by the first pressure sensor all exceed the set pressure values, manual intervention is required for troubleshooting.

[0029] Preferably, the first pressure sensor at the end of the ejector pin in S5 can obtain the pressure value when the accessory is against the cylinder workpiece, and the clamping device is adjusted within the error size adjustment range until the pressure value sensed by the first pressure sensor is not less than the set pressure value.

[0030] The invention is beneficial in that:

[0031] 1. The present invention welds accessories onto the side wall of the cylinder workpiece. Since the welding process will cause deformation to the cylinder workpiece, a pin is used to abut against the side wall of the cylinder workpiece before each welding of the accessories. In combination with the specific value of the first pressure sensor, it can be determined whether the cylinder workpiece is deformed, thereby avoiding the influence of excessive deformation on subsequent welding and avoiding the waste caused by continued welding.

[0032] 2. When the accessory of the present invention is clamped by the clamping device to the welding position, the error caused by the clamping process of the clamping device is eliminated by using a push pin to push the accessory from the back, and finally the specific value obtained by the first pressure sensor is used to determine whether the accessory is abutting against the corresponding position of the side wall of the cylinder workpiece, thereby further ensuring the position accuracy of the welding accessory.

[0033] 3. The second pressure sensor can ensure the force when the attachment is clamped between the two clamping plates, ensure that the ejector pin can press against the attachment between the two clamping plates, and ensure that the first pressure sensor can obtain an accurate pressure value.

[0034] 4. The welding method of the present invention is simple. Compared with visual detection, it not only greatly reduces the cost, but also is suitable for complex working conditions and does not need to worry about the workshop environment. It has a very high value for promotion and utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a structural schematic diagram of a welding assembly device for the peripheral accessories of a cylinder body;

[0036] Figure 2 It is a schematic structural diagram of the clamping device of the present invention;

[0037] Figure 3 It is a schematic diagram of the local structure of the fixing base of the present invention;

[0038] Figure 4 It is a schematic diagram of the first telescopic arm of the present invention.

[0039] In the figure: 1. rotating workbench; 2. mechanical arm; 3. accessory placement rack; 4. clamping device; 5. cylinder workpiece; 20. fixed seat; 21. first sliding block; 22. second sliding block; 23. hinged seat; 24. first driving gear; 25. telescopic arm outer shell; 26. telescopic arm middle shell; 27. telescopic arm inner shaft; 28. driving cylinder; 29. ​​second servo motor; 40. welding gun moving driving device; 41. clamping bottom plate; 42. clamping vertical plate; 43. clamping static plate; 44. clamping moving plate; 45. welding gun slide rail; 46. welding gun; 47. driving device; 48. ejector pin; 49. second pressure sensor; 50. lead screw; 51. guide groove. DETAILED DESCRIPTION

[0040] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0041] like Figure 1 , Figure 2 As shown, a cylinder outer peripheral accessory welding assembly device includes a mechanical arm 2, and a clamping device 4 is provided at the end of the mechanical arm 2.

[0042] It also includes a rotary workbench 1 and an accessory placement rack 3 . The rotary workbench 1 can clamp a cylinder workpiece 5 , and the accessory placement rack 3 is arranged on one side of the rotary workbench 1 .

[0043] The clamping device 4 of the present invention can, driven by the robotic arm 2, transfer the accessories on the accessory placement rack 3 to the side wall of the cylinder workpiece 5 to be welded. The specific structure of the robotic arm 2 preferably uses a multi-degree-of-freedom robot, as long as the end of the robotic arm 2 can move back and forth between the accessory placement rack 3 and the side wall of the cylinder workpiece 5 to be welded.

[0044] like Figure 3 , Figure 4 As shown, the present invention includes a fixed seat 20, on which a first sliding block 21 capable of slidable translation is provided. The sliding of the first sliding block 21 can be driven manually or by a driving device. This structure is suitable for welding of accessories that are not aligned with the rotation center of the cylinder workpiece 5, and is also helpful for clamping accessories from the accessory placement rack 3.

[0045] The first sliding block 21 is preferably provided with a second sliding block 22 which can be lifted and slid. The second sliding block 22 is provided with an articulated seat 23 on the side close to the rotating workbench. A first telescopic arm is hinged on the articulated seat 23. A first driving device is provided between the first telescopic arm and the articulated seat 23. The first driving device can make the first telescopic arm swing around the articulated seat 23. A second telescopic arm is hinged on the other end of the first telescopic arm. A second driving device is provided between the second telescopic arm and the first telescopic arm. The second driving device can make the second telescopic arm swing around the end of the first telescopic arm.

[0046] Specifically, a first hinge hole is provided on the hinge seat 23, and a toothed arc surface is provided on the side of the hinge seat 23 away from the second sliding block 22. Two first hinge plates are provided at one end of the first telescopic arm close to the hinge seat 23, and first hinge plate holes are provided on the two first hinge plates. The hinge seat 23 can be located between the two first hinge plates and make the first hinge hole coincide with the first hinge plate hole, and then the hinge seat 23 can be connected to the first telescopic arm by inserting the first hinge shaft.

[0047] The first driving device of the present invention is a first servo motor, which is arranged inside the first telescopic arm near one end of the articulated seat 23. The first servo motor is connected to a first driving gear 24 that can mesh with the toothed arc surface on the articulated seat 23, so that the first driving device can make the first telescopic arm swing around the articulated seat 23. The swing structure between the second telescopic arm and the first telescopic arm of the present invention is the same as the swing structure between the first telescopic arm and the articulated seat 23, and will not be described in detail here.

[0048] The first telescopic arm of the present invention preferably includes a telescopic arm outer shell 25, in which a telescopic arm middle shell 26 is nested, and a driving cylinder 28 is provided in the telescopic arm outer shell 25 and connected to the telescopic arm middle shell 26, so that the driving cylinder 28 drives the telescopic arm middle shell 26 to extend and retract in the telescopic arm outer shell 25, and avoids relative rotation between the telescopic arm outer shell 25 and the telescopic arm middle shell 26. Preferably, at least one axial guide structure is provided between the telescopic arm outer shell 25 and the telescopic arm middle shell 26 of the present invention to ensure that the telescopic arm middle shell 26 can only achieve axial extension and retraction in the telescopic arm outer shell 25.

[0049] A telescopic arm inner shaft 27 is provided in the telescopic arm middle shell 26, and the telescopic arm inner shaft 27 can rotate relative to the telescopic arm middle shell 26. Specifically, a second servo motor 29 is fixed in the telescopic arm middle shell 26, and the motor shaft of the second servo motor 29 is connected to the telescopic arm inner shaft 27, so that the second servo motor 29 drives the telescopic arm inner shaft 27 to rotate in the telescopic arm middle shell 26, so as to meet the requirement of angle change during the attachment clamping process. The second telescopic arm of the present invention has the same specific structure as the first telescopic arm, which will not be described in detail here.

[0050] The clamping device 4 of the present invention includes a clamping base plate 41, on which two clamping plates are provided, and the two clamping plates can clamp accessories. The two clamping plates are preferably respectively configured as a clamping movable plate 44 and a clamping static plate 43. The clamping movable plate 44 can move on the clamping base plate 41 relative to the clamping static plate 43, so that it can be ensured that each time the accessory has a positioning reference on the clamping device 4, and the movement of the clamping movable plate 44 is preferably achieved by using a lead screw slider structure, and the corresponding drive motor is used to drive the lead screw 50 to rotate to achieve the movement of the clamping movable plate 44. A guide structure, such as a guide groove 51, is preferably provided between the clamping movable plate 44 and the clamping base plate 41, so as to further improve the movement accuracy of the clamping movable plate 44.

[0051] A welding gun 46 is provided at the front end portion of the outer side of the clamping plate, and the welding gun 46 can weld the accessories to the side wall of the cylinder workpiece 5. Specifically, a welding gun slide rail 45 and a welding gun moving drive device 40 are provided on the outer side of the clamping plate, and the welding gun moving drive device 40 can drive the welding gun 46 to slide on the welding gun slide rail 45.

[0052] In the present invention, a retractable ejector pin 48 is provided between the two clamping plates, a clamping vertical plate 42 is provided at the rear end of the clamping bottom plate 41, a driving device 47 for driving the ejector pin 48 to retract and retract is provided on the clamping vertical plate 42, a first pressure sensor is provided at the end of the ejector pin 48, and the end of the ejector pin 48 can be extended to abut against the side wall of the cylinder workpiece 5. Specifically, when accessories are welded to the side wall of the cylinder workpiece 5, since the welding process will cause deformation to the cylinder workpiece 5, the ejector pin 48 is used to abut against the side wall of the cylinder workpiece 5 before each welding of the accessories, and whether the cylinder workpiece 5 is deformed can be determined in combination with the specific value of the first pressure sensor, thereby avoiding the influence of excessive deformation on subsequent welding and avoiding the waste caused by continued welding.

[0053] The ejector pin 48 can also push the accessories between the two clamping plates. This is because when the accessory is clamped by the clamping device 4 to the welding position, the ejector pin 48 can be used to push the accessory from the back to eliminate the error caused by the clamping process of the clamping device. Finally, the specific value obtained by the first pressure sensor is used to determine whether the accessory is in contact with the corresponding position of the side wall of the cylinder workpiece 5, thereby further ensuring the position accuracy of the welding accessory.

[0054] A second pressure sensor 49 is preferably provided on the side of the clamping static plate 43 close to the clamping movable plate 44. The second pressure sensor 49 can ensure the force when the accessory is clamped between the two clamping plates, ensure that the ejector pin 48 can lean against the accessory between the two clamping plates, and ensure that the first pressure sensor can obtain an accurate pressure value. Specifically, accessories within different mass ranges often require different clamping forces. Therefore, the second pressure sensor 49 can be used to match the required clamping force according to the weight of the accessory.

[0055] It also includes an alarm. When the ejector pin 48 is directly close to the position where the accessory is to be welded, if the value obtained by the first pressure sensor is not within the set pressure value range, the alarm is triggered, requiring human intervention and troubleshooting.

[0056] The present invention also provides a method for welding and assembling peripheral accessories of a cylinder body, which is realized by the device for welding accessories of the rotary cylinder workpiece 5, and the specific steps are as follows:

[0057] S1. First, mark the serial number of the accessories in combination with the final welding product, then calculate the welding sequence and theoretical position of the accessories, and set the error size adjustment range value of the clamping device 4 near the welding position of the accessories. In this process, a simulated action can be performed to avoid accidents.

[0058] S2, clamping the cylinder workpiece 5 onto the rotary table 1;

[0059] S3, the robot arm 2 first drives the clamping device 4 to approach the position to be welded of the accessory, and uses the ejector pin 48 to detect whether the position to be welded is deformed. Specifically, the deformation of the position to be welded of the cylinder workpiece 5 is determined by the first pressure sensor at the end of the ejector pin 48. The end of the ejector pin 48 is adjusted within the error size adjustment range. As long as the pressure value sensed by the first pressure sensor is within the set pressure range, the demand can be met.

[0060] If the welding position of the cylinder workpiece 5 is concave inward, the ejector pin 48 is adjusted within the error size adjustment range, and the first pressure sensor at the end of the ejector pin 48 cannot obtain the pressure value, manual intervention is required for troubleshooting;

[0061] If the position to be welded of the cylinder workpiece 5 protrudes outward, the end of the ejector pin 48 abuts against the cylinder workpiece 5, and within the error dimension adjustment range, the pressure values ​​sensed by the first pressure sensor all exceed the set pressure values, manual intervention is required.

[0062] S4, if the deformation size detected by the ejector pin 48 is within the error range, the robot arm 2 moves, and the clamping device 4 transfers the accessory on the accessory placement rack 3 to the position to be welded;

[0063] S5. The ejector pin 48 presses against the accessory from the rear to eliminate the error of the clamping device 4 when clamping the accessory. Specifically, the first pressure sensor at the end of the ejector pin 48 can obtain the pressure value when the accessory is pressed against the cylinder workpiece 5. The clamping device 4 is adjusted within the error size adjustment range until the pressure value sensed by the first pressure sensor is not less than the set pressure value.

[0064] S6, the welding gun 46 on the outside of the clamping plate spot-welds the attachment to the cylinder workpiece 5;

[0065] S7. After the welding of the accessory is completed, the rotary table 1 drives the cylinder workpiece 5 to rotate according to the welding position of the accessory, and the actions S3 to S6 are repeated.

[0066] The above welding method is simple. Compared with visual detection, it not only greatly reduces the cost, but also is suitable for complex working conditions and does not need to worry about the workshop environment. It has extremely high promotion and utilization value.

[0067] It should be understood that the purpose of these embodiments is only to illustrate the present invention and is not intended to limit the protection scope of the present invention. In addition, it should also be understood that after reading the technical content of the present invention, those skilled in the art can make various changes, modifications and / or variations to the present invention, and all of these equivalent forms also fall within the protection scope defined by the claims attached to this application.

Claims

1. A method for welding and assembling peripheral accessories of a cylinder body, characterized in that: This is achieved by a cylinder body peripheral accessory welding assembly device, the cylinder body peripheral accessory welding assembly device comprising a mechanical arm (2), the end of the mechanical arm (2) being provided with a clamping device (4); It also comprises a rotary worktable (1) and an accessory placement rack (3), wherein the rotary worktable (1) is capable of clamping a cylinder workpiece (5), and the accessory placement rack (3) is arranged on one side of the rotary worktable (1); The clamping device (4) can, driven by the mechanical arm (2), transfer the accessories on the accessory placement rack (3) to the side wall of the cylinder workpiece (5) to be welded; The clamping device (4) comprises a clamping base plate (41), two clamping plates are provided on the clamping base plate (41), the two clamping plates are capable of clamping accessories, and a welding gun (46) is provided at the outer front end of the clamping plate, and the welding gun (46) is capable of welding the accessories to the side wall of the cylinder workpiece (5); A retractable ejector pin (48) is provided between the two clamping plates, a first pressure sensor is provided at the end of the ejector pin (48), the end of the ejector pin (48) can be extended to abut against the side wall of the cylinder workpiece (5), and the ejector pin (48) can also push the attachment between the two clamping plates; The specific steps are as follows: S1. First, the accessories are marked with serial numbers in combination with the final welded product, and then the welding sequence and theoretical position of the accessories are calculated, and the error size adjustment range value of the clamping device (4) near the position to be welded of the accessories is set; S2, clamping the cylinder workpiece (5) onto the rotary table (1); S3, the mechanical arm (2) first drives the clamping device (4) to approach the position of the accessory to be welded, and uses the ejector pin (48) to detect whether the position to be welded is deformed; S4, if the deformation size detected by the ejector pin (48) is within the error range, the robot arm (2) moves, and the clamping device (4) transfers the accessory on the accessory placement rack (3) to the position to be welded; S5, the ejector pin (48) pushes against the accessory from the rear to eliminate the error of the clamping device (4) when clamping the accessory; S6, the welding gun (46) on the outside of the clamping plate spot-welds the attachment and the cylinder workpiece (5); S7. After the welding of the accessory is completed, the rotating worktable (1) drives the cylinder workpiece (5) to rotate according to the welding position of the accessory, and the actions of S3 to S6 are repeated.

2. A method for welding and assembling cylinder peripheral accessories according to claim 1, characterized in that: A clamping vertical plate (42) is provided at the rear end of the clamping bottom plate (41), and a driving device (47) for driving the ejector pin (48) to extend and retract is provided on the clamping vertical plate (42).

3. A method for welding and assembling cylinder peripheral accessories according to claim 1, characterized in that: A welding gun slide rail (45) and a welding gun movement drive device (40) are provided on the outer side of the clamping plate, and the welding gun movement drive device (40) can drive the welding gun (46) to slide on the welding gun slide rail (45).

4. A method for welding and assembling cylinder peripheral accessories according to claim 1, characterized in that: The two clamping plates are respectively configured as a clamping movable plate (44) and a clamping static plate (43), and the clamping movable plate (44) can move on the clamping bottom plate (41) relative to the clamping static plate (43).

5. A method for welding and assembling cylinder peripheral accessories according to claim 4, characterized in that: A second pressure sensor (49) is provided on one side of the clamping static plate (43) close to the clamping movable plate (44).

6. A method for welding and assembling cylinder peripheral accessories according to claim 1, characterized in that: A plurality of accessories to be welded are placed on the accessory placement rack (3) in sequence according to the welding sequence.

7. The method for welding and assembling cylinder peripheral accessories according to claim 1, characterized in that: An alarm is also included, and when the ejector pin (48) is directly close to the position of the accessory to be welded, the value obtained by the first pressure sensor is not within a set pressure value range, and the alarm is triggered to sound an alarm.

8. The method for welding and assembling cylinder peripheral accessories according to claim 1, characterized in that: In S3, the deformation of the position to be welded of the cylinder workpiece (5) is determined by a first pressure sensor at the end of the ejector pin (48). The end of the ejector pin (48) is adjusted within the error size adjustment range. As long as the pressure value sensed by the first pressure sensor is within the set pressure range, the demand can be met. If the cylinder workpiece (5) with the welding position is concave inward, the ejector pin (48) is adjusted within the error size adjustment range, and the first pressure sensor at the end of the ejector pin (48) cannot obtain the pressure value, manual intervention is required for troubleshooting; If the position of the cylinder workpiece (5) to be welded protrudes outward, the end of the ejector pin (48) abuts against the cylinder workpiece (5), and the pressure values ​​sensed by the first pressure sensor all exceed the set pressure values ​​within the error dimension adjustment range, manual intervention is required for troubleshooting.

9. A method for welding and assembling cylinder peripheral accessories according to claim 8, characterized in that: In S5, the first pressure sensor at the end of the ejector pin (48) can obtain the pressure value when the accessory is pressed against the cylinder workpiece (5), and the clamping device (4) is adjusted within the error size adjustment range until the pressure value sensed by the first pressure sensor is not less than the set pressure value.

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