Truss manipulator welding equipment and method

Abstract

The invention relates to the field of welding equipment, and discloses truss manipulator welding equipment and method.The truss manipulator welding equipment comprises a truss, a welding manipulator, a semi-ring pipe, a semi-ring body, a linear executing mechanism, a driving part, an abutting mechanism, a pressure supply mechanism and a knocking mechanism; the welding manipulator is assembled on the truss; the two semi-ring pipes form a ring body, one ends of the two semi-ring pipes are rotationally communicated to enable the two semi-ring pipes to rotate relatively, the other ends of the two semi-ring pipes are detachably connected to adjust the opening and closing degree, the ring body sleeves the semi-ring pipes in a sliding manner and is connected with the linear execution mechanism, and the linear execution mechanism drives the ring body to slide on the semi-ring pipes. The workpiece is stabilized through electromagnetic force and magnetorheological fluid, the problem of welding displacement of the special-shaped workpiece is solved, and the welding precision is improved; the knocking mechanism enables weld metal to be compact, defects are reduced, stress is removed, and strength and toughness are improved; opening and closing of the semi-ring pipes are flexibly adjusted, different workpiece sizes are adapted, operation is convenient, production efficiency is improved, and diversified welding requirements are met.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and more specifically, to a truss manipulator welding device and method. Background Art

[0002] Truss manipulator welding equipment is a welding equipment that integrates automation, precision and efficiency. It is widely used in welding tasks in industrial production, especially in large-scale production, complex parts and high-precision requirements. The truss manipulator combines the truss structure with the movement of the robotic arm to achieve precise positioning and efficient operation in three-dimensional space.

[0003] The existing truss manipulator welding equipment faces the problem of poor clamping stability when performing welding operations on special-shaped workpieces. The surface of special-shaped workpieces is often not flat, and conventional clamping devices are difficult to provide effective support and limiting. During the welding operation, the lack of support and limiting is further magnified. During the welding process, the workpiece is displaced or shaken, which not only reduces the welding accuracy, but may also cause welding defects, seriously affecting product quality and production efficiency. Summary of the invention

[0004] The present invention provides a truss manipulator welding device and method, which solve the technical problem in the related art that it is inconvenient to stably support special-shaped workpieces.

[0005] The present invention provides a truss manipulator welding device, comprising a truss, a welding manipulator, a semi-ring tube, a semi-ring body, a linear actuator, a driving member, a pressing mechanism, a pressure supply mechanism and a knocking mechanism; The welding manipulator is assembled on the truss; The two semi-annular tubes form an annular body, one end of which is connected by rotation so that the two semi-annular tubes rotate relative to each other, and the other end is detachably connected so as to adjust the opening and closing size. The annular body is slidably sleeved on the semi-annular tubes and is connected to a linear actuator, which drives the annular body to slide on the semi-annular tubes; The pressing mechanism and the knocking mechanism are arranged on the semi-ring tube, and the pressing mechanism is operated by the pressure supply mechanism to realize the pressing or releasing action of the workpiece, and the pressing mechanism includes an electromagnetic ring to complete the pressing action and the magnetic action on the welding point by means of electromagnetic force; When the driving member drives the semi-ring tube to rotate, the striking mechanism impacts the welded workpiece under the combined action of gravity and the magnetic adsorption of the electromagnetic ring.

[0006] As a further optimization scheme of the present invention, the linear actuator includes a support seat, a rodless cylinder and a guide rail. The rodless cylinder and the guide rail are both assembled on the support seat, and the output end of the rodless cylinder is connected to the slide of the guide rail.

[0007] As a further optimization scheme of the present invention, the driving component includes a driving motor, a driving disk and a mounting frame, the driving motor is installed on the mounting frame, one of the mounting frames is fixedly connected to the support seat, the other mounting frame is fixedly connected to the slide of the guide rail, the mounting frame is fixedly connected to the semi-annular body, the driving disk is fixedly sleeved on the driving shaft of the driving motor, and cooperates with the semi-annular tube transmission.

[0008] As a further optimization scheme of the present invention, the pressing mechanism includes a sleeve, a movable rod, a torsion spring, a rotating shaft, a connecting block and a capsule box. The connecting block is installed on the semi-annular tube. The sleeve is rotatably connected to the connecting block through the rotating shaft and is connected to the semi-annular tube through a connecting tube. The torsion spring is movably sleeved on the outer periphery of the rotating shaft. One end of the torsion spring is fixedly connected to the connecting block, and the other end is fixedly connected to the sleeve. One end of the movable rod slides into the interior of the sleeve, and the other end is fixedly connected to the capsule box. The interior of the capsule box contains magnetorheological fluid. The electromagnetic ring is assembled on the movable rod to act on the magnetorheological fluid. A positioning piece is provided on the semi-annular tube, and the positioning piece is released from the positioning of the sleeve by the rotation of the semi-annular tube.

[0009] As a further optimization scheme of the present invention, the positioning member includes a T-shaped positioning rod, a spring and a pull rope. The insertion end of the T-shaped positioning rod is inclined and slides through the connecting block and extends into the outer wall of the sleeve. The connecting block is connected to the T-shaped end of the T-shaped positioning rod through a spring. One end of the pull rope is fixedly connected to the adjacent semi-ring tube. The pull rope is connected to the T-shaped positioning rod through a branch rope. A guide member for guiding the pull rope is installed on the semi-ring tube.

[0010] As a further optimization scheme of the present invention, the pressure supply mechanism includes a box body, a driver and a push plate. The box body is installed on a semi-annular tube and is connected to the interior of the semi-annular tube. The interior of the box body and the semi-annular tube is filled with liquid. The push plate is slidably sleeved inside the box body. The driver is installed on the box body, and the driving end of the driver is fixedly connected to the push plate.

[0011] As a further optimization solution of the present invention, the knocking mechanism includes a guide block and a knocking rod, the guide block is installed on the semi-annular body, and the knocking rod is slidably sleeved on the guide block.

[0012] As a further optimization solution of the present invention, one end of the two semi-ring tubes is rotatably connected by a hinge, and the other end is connected by a snap lock.

[0013] As a further optimization solution of the present invention, a support rod is installed on one of the semi-annular bodies, and a roller is mounted on the support rod.

[0014] A truss manipulator welding method, using the above-mentioned truss manipulator welding equipment, comprises the following steps: Step 1: Install the workpiece: The workpiece is placed in the middle of the semi-circular tube, the rodless cylinder adjusts the clamping position, the pressing mechanism is turned over, the pressure mechanism squeezes the liquid, and the pressing mechanism presses the workpiece; Step 2: Welding and tapping: The welding manipulator welds the upper half of the workpiece, and then the driving member drives the half-ring tube to rotate 180 degrees. During the rotation, the knocking mechanism knocks the workpiece due to gravity and the magnetism of the electromagnetic ring, and then welds the flipped area; Step 3: Release the limit: After welding is completed, the driving part drives the half ring tube to rotate 180 degrees, the pressure supply mechanism releases the limit, opens the buckle lock, and rotates a half ring tube with a hinge to form an opening and remove the workpiece.

[0015] The beneficial effects of the present invention are: 1. The truss manipulator welding equipment described in the present invention, through the cooperation of the pressing mechanism and the pressure supply mechanism, uses electromagnetic force and magnetorheological fluid to firmly press the workpiece, effectively solves the displacement and shaking problems of special-shaped workpieces during welding, greatly improves welding accuracy, reduces welding defects, and improves product quality.

[0016] 2. In the truss manipulator welding equipment described in the present invention, the knocking mechanism impacts the workpiece during the welding process, making the metal at the welding point denser, reducing internal defects such as pores and looseness, while removing welding stress and improving the strength and toughness of the welded joint.

[0017] 3. The truss manipulator welding equipment and method described in the present invention is convenient for releasing positioning through the setting of a semi-ring tube with one end rotatably connected and the other end detachably connected, and the opening and closing size of the ring body can be flexibly adjusted to adapt to workpieces of different sizes and shapes. The whole operation process is simple and convenient, which improves production efficiency, can quickly position different workpieces, and meet diverse welding needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of a truss manipulator welding device proposed in the present invention.

[0019] Figure 2 This is a schematic structural diagram of a semi-ring tube in a truss manipulator welding device proposed in the present invention.

[0020] Figure 3 This is a schematic structural diagram of a sleeve in a truss manipulator welding device proposed by the present invention.

[0021] Figure 4 This is a schematic diagram of the internal structure of a box body in a truss manipulator welding device proposed by the present invention.

[0022] Figure 5 This is a schematic diagram of the side cross-sectional structure of a semi-ring tube in a truss manipulator welding device proposed by the present invention.

[0023] Figure 6 This is a schematic structural diagram of a semi-ring body in a truss manipulator welding device proposed in the present invention.

[0024] Figure 7 This is a structural schematic diagram of a connecting block in a truss manipulator welding device proposed by the present invention.

[0025] Figure 8 The present invention provides a schematic diagram of a side sectional structure of a sleeve in a truss manipulator welding device.

[0026] In the figure: 1. Truss; 2. Welding manipulator; 3. Semi-ring tube; 4. Semi-ring body; 5. Linear actuator; 51. Support seat; 52. Rodless cylinder; 53. Guide rail; 6. driving member; 61. driving motor; 62. driving disk; 63. mounting frame; 7. pressing mechanism; 71. electromagnetic ring; 72. sleeve; 73. moving rod; 74. torsion spring; 75. rotating shaft; 76. connecting block; 77. capsule box; 78. connecting pipe; 79. T-shaped positioning rod; 710. spring; 711. pull rope; 712. tapping rope; 713. guide piece; 8. pressure supply mechanism; 81. box body; 82. driver; 83. push plate; 9. knocking mechanism; 91. guide block; 92. knocking rod; 10. Hinge; 11. Hasp lock; 12. Support rod; 13. Roller; 14. Arc tube; 15. Arc-shaped through pipe. DETAILED DESCRIPTION

[0027] The subject matter described herein will now be discussed with reference to example implementations. It should be understood that the discussion of these implementations is only to enable those skilled in the art to better understand and implement the subject matter described herein, and the functions and arrangements of the elements discussed may be changed without departing from the scope of protection of the contents of this specification. Various examples may omit, replace, or add various processes or components as needed. In addition, the features described in some examples may also be combined in other examples.

[0028] like Figure 1 to Figure 2 As shown, a truss manipulator welding device according to an embodiment of the present invention comprises a truss 1, a welding manipulator 2, a semi-ring tube 3, a semi-ring body 4, a linear actuator 5, a driving member 6, a pressing mechanism 7, a pressure supply mechanism 8 and a knocking mechanism 9; The welding robot 2 is assembled on the truss 1; Two semi-annular tubes 3 form an annular body, one end of which is connected by rotation so that the two semi-annular tubes 3 can rotate relative to each other, and the other end is detachably connected to adjust the opening and closing size. The semi-annular body 4 is slidably sleeved on the semi-annular tube 3 and is connected to the linear actuator 5. The linear actuator 5 drives the semi-annular body 4 to slide on the semi-annular tube 3; The pressing mechanism 7 and the knocking mechanism 9 are arranged on the semi-ring tube 3. The pressing mechanism 7 is operated by the pressure supply mechanism 8 to realize the pressing or releasing action of the workpiece. The pressing mechanism 7 includes an electromagnetic ring 71 to complete the pressing action and the magnetic action on the welding position by means of electromagnetic force. When the driving member 6 drives the semi-annular tube 3 to rotate, the striking mechanism 9 impacts the welded workpiece under the combined effect of gravity and the magnetic attraction of the electromagnetic ring 71 .

[0029] The truss 1 provides a support and stable frame structure. The welding manipulator 2 is installed on the truss 1 and can achieve precise welding position positioning with the support of the truss 1 to complete the welding operation. One end of the two semi-ring tubes 3 is connected by rotation and can rotate relatively, and the other end is detachably connected. This arrangement can flexibly adjust the opening and closing size of the ring body according to the size and shape of the workpiece, so that the workpiece can be placed in a suitable position. The semi-ring body 4 is slidably sleeved on the semi-ring tube 3 and is connected to the linear actuator 5. After the linear actuator 5 is started, it can achieve approach and operation of different positions of the workpiece. The pressing mechanism 7 and the knocking mechanism 9 are arranged on the semi-ring tube 3. The pressing mechanism 7 is operated by the pressure supply mechanism 8. When the pressure supply mechanism 8 is working, the pressing mechanism 7 provides power so that the pressing mechanism 7 can press and fix the workpiece to prevent the workpiece from being displaced during the welding process. The electromagnetic ring 71 in the pressing mechanism 7 can not only complete the pressing action with the help of electromagnetic force, but also use magnetism to act on the welding point during welding, affecting the magnetic field in the welding area and improving the welding effect. The driving member 6 drives the semi-ring tube 3 to rotate. During the rotation process, the knocking mechanism 9 impacts the welded workpiece under the combined action of gravity and the magnetic adsorption of the electromagnetic ring 71. Gravity makes the knocking mechanism 9 tend to move downward, while the magnetic adsorption of the electromagnetic ring 71 enhances the impact force of the knocking mechanism 9. This impact can make the metal at the welding point denser, reduce welding defects, remove stress and improve welding quality.

[0030] Reference Figure 2Content, the linear actuator 5 includes a support seat 51, a rodless cylinder 52 and a guide rail 53, the rodless cylinder 52 and the guide rail 53 are both assembled on the support seat 51, and the output end of the rodless cylinder 52 is connected to the slide of the guide rail 53.

[0031] In the linear actuator 5, the support seat 51 carries and fixes the rodless cylinder 52 and the guide rail 53. The rodless cylinder 52 serves as a power source to push the guide rail 53 slide connected to its output end to slide. The guide rail 53 provides guidance for the slide so that the slide can move smoothly in a predetermined direction. Because the semi-annular body 4 is connected to the slide of the guide rail 53, it is convenient to limit the position of a semi-annular body 4 while adjusting its horizontal position.

[0032] Reference Figure 2 Content, the driving component 6 includes a driving motor 61, a driving disk 62 and a mounting frame 63, the driving motor 61 is installed on the mounting frame 63, one mounting frame 63 is fixedly connected to the support seat 51, the other mounting frame 63 is fixedly connected to the slide of the guide rail 53, the mounting frame 63 is fixedly connected to the semi-annular body 4, the driving disk 62 is fixedly sleeved on the driving shaft of the driving motor 61, and is matched with the semi-annular tube 3 for transmission.

[0033] It should be noted that the drive motor 61 is installed on the mounting bracket 63. After the drive motor 61 is started, its drive shaft rotates, driving the drive disk 62 fixedly mounted on the shaft to rotate. One mounting bracket 63 is fixedly connected to the support seat 51, and the other mounting bracket 63 is fixedly connected to the slide of the guide rail 53, and the mounting bracket 63 is fixedly connected to the semi-annular body 4. In this way, when the drive disk 62 rotates, it can drive the semi-annular tube 3 to rotate through the transmission cooperation with the semi-annular tube 3. Since the semi-annular tube 3 is installed with a pressing mechanism 7, a knocking mechanism 9 and a workpiece, the rotation of the semi-annular tube 3 can realize welding operations on the workpiece at different angles, and also enable the knocking mechanism 9 to knock the workpiece during rotation.

[0034] Reference Figure 2 , Figure 3 , Figure 7 and Figure 8 Content, the pressing mechanism 7 includes a sleeve 72, a moving rod 73, a torsion spring 74, a rotating shaft 75, a connecting block 76 and a capsule box 77. The connecting block 76 is installed on the semi-annular tube 3. The sleeve 72 is rotatably connected to the connecting block 76 through the rotating shaft 75, and is connected to the semi-annular tube 3 through a connecting pipe 78. The torsion spring 74 is movably sleeved on the outer periphery of the rotating shaft 75. One end of the torsion spring 74 is fixedly connected to the connecting block 76, and the other end is fixedly connected to the sleeve 72. One end of the moving rod 73 slides into the interior of the sleeve 72, and the other end is fixedly connected to the capsule box 77. The interior of the capsule box 77 contains magnetorheological fluid. The electromagnetic ring 71 is assembled on the moving rod 73 to act on the magnetorheological fluid. A positioning piece is provided on the semi-annular tube 3, and the positioning piece is released from the positioning of the sleeve 72 by the semi-annular tube 3.

[0035] It should be noted that in the pressing mechanism 7, the connecting block 76 is installed on the semi-annular tube 3 to play a role of fixing and supporting. The sleeve 72 is rotatably connected to the connecting block 76 through the rotating shaft 75, and is connected to the semi-annular tube 3 through the connecting pipe 78. The torsion spring 74 is movably sleeved on the outer periphery of the rotating shaft 75, one end of which is fixedly connected to the connecting block 76, and the other end is fixedly connected to the sleeve 72. The function of the torsion spring 74 is to keep the sleeve 72 in an initial position when there is no external force. The initial position is parallel to the central axis of the semi-annular tube 3. One end of the moving rod 73 slides into the interior of the sleeve 72, and the other end is fixedly connected to the capsule box 77. The capsule box 77 contains magnetorheological fluid. When the supply When the pressing mechanism 8 is working, the pressure in the semi-annular tube 3 changes, which is transmitted to the sleeve 72 through the connecting tube 78, pushing the moving rod 73 to slide in the sleeve 72, and then driving the bag box 77 and the electromagnetic ring 71 to approach the workpiece to achieve the pressing action. The bag box 77 is a rubber bag box to adapt to the shape of the workpiece at the pressing position. The electromagnetic ring 71 generates magnetism after being energized, which acts on the magnetorheological fluid to change the viscosity of the magnetorheological fluid, causing the bag box 77 to be stable in position after adapting to the workpiece, further enhancing the pressing effect. The positioning member positions the sleeve 72 to prevent it from rotating at will. When the semi-annular tube 3 is rotated away, the positioning member releases the positioning of the sleeve 72, making it convenient to adjust the pressing mechanism 7.

[0036] Reference Figure 3 , Figure 7 and Figure 8 Content, the positioning member includes a T-shaped positioning rod 79, a spring 710 and a pull rope 711. The insertion end of the T-shaped positioning rod 79 is inclined and slides through the connecting block 76 and extends into the outer wall of the sleeve 72. The connecting block 76 is connected to the T-shaped end of the T-shaped positioning rod 79 through the spring 710. One end of the pull rope 711 is fixedly connected to the adjacent semi-annular tube 3. The pull rope 711 is connected to the T-shaped positioning rod 79 through a branch rope 712. A guide member 713 for guiding the pull rope 711 is installed on the semi-annular tube 3.

[0037] Specifically, the guide member 713 is a wire wheel or a sphere. When the sphere is selected, the pull rope 711 slides through the sphere.

[0038] It should be noted that the insertion end of the T-shaped positioning rod 79 in the positioning member is tilted and slides through the connecting block 76 and extends into the outer wall of the sleeve 72. The connecting block 76 is connected to the T-shaped end of the T-shaped positioning rod 79 through a spring 710. The spring 710 always exerts a force on the T-shaped positioning rod 79 in the direction of the sleeve 72, so that the T-shaped positioning rod 79 can be tightly inserted into the outer wall of the sleeve 72 to achieve the positioning of the sleeve 72. One end of the pull rope 711 is fixedly connected to the adjacent semi-annular tube 3 and is connected to the T-shaped positioning rod 79 through a branch rope 712. When the ring body formed by the semi-annular tube 3 forms an opening, that is, when the semi-annular tube 3 is rotated away, the pull rope 711 is pulled, and the T-shaped positioning rod 79 is driven by the branch rope 712 to overcome the pulling force of the spring 710 and move outward, thereby releasing the positioning of the sleeve 72. The guide member 713 installed on the semi-annular tube 3 is used to guide the pull rope 711.

[0039] Reference Figure 2 and Figure 4 Content, the pressure supply mechanism 8 includes a box body 81, a driver 82 and a push plate 83. The box body 81 is installed on a semi-annular tube 3 and is connected to the interior of the semi-annular tube 3. The box body 81 and the semi-annular tube 3 are filled with liquid. The push plate 83 is slidably sleeved inside the box body 81. The driver 82 is installed on the box body 81, and the driving end of the driver 82 is fixedly connected to the push plate 83. The driver 82 is a hydraulic cylinder or an electric push rod.

[0040] The box body 81 in the pressure supply mechanism 8 is installed on a semi-annular tube 3 and is connected to the semi-annular tube 3. The box body 81 and the semi-annular tube 3 are filled with liquid. The liquid can be liquid water or hydraulic oil. The push plate 83 is slidably sleeved on the inside of the box body 81. The driver 82 is installed on the box body 81, and its driving end is fixedly connected to the push plate 83. When the driver 82 is working, it drives the push plate 83 to slide in the box body 81. The sliding of the push plate 83 will squeeze the liquid in the box body 81. Due to the incompressibility of the liquid, the pressure will be transmitted to the pressing mechanism 7 through the connected semi-annular tube 3, pushing the moving rod 73 in the pressing mechanism 7 to move, and the capsule box 77 realizes the pressing of the workpiece. When the pressing needs to be released, the driver 82 drives the push plate 83 to move in the reverse direction, closes the electromagnetic ring 71, and releases the pressing.

[0041] Reference Figure 2 Content, the knocking mechanism 9 includes a guide block 91 and a knocking rod 92, the guide block 91 is installed on the semi-annular body 4, the knocking rod 92 is slidably sleeved on the guide block 91, and the two ends of the knocking rod 92 form a shielding part, and the gravity of the knocking rod 92 is greater than the attraction of the electromagnetic ring 71 to it.

[0042] It should be noted that the guide block 91 in the knocking mechanism 9 is installed on the semi-annular body 4 to provide a sliding guide for the knocking rod 92. The knocking rod 92 is slidably mounted on the guide block 91. When the driving member 6 drives the semi-annular tube 3 to rotate, during the rotation process, the knocking rod 92 tends to move downward under the action of gravity. At the same time, the magnetism generated by the electromagnetic ring 71 will produce an adsorption force on the knocking rod 92, thereby enhancing its downward impact force. Due to the guiding effect of the guide block 91, the knocking rod 92 can only slide along a predetermined direction, thereby regularly impacting the welded workpiece and improving the metal structure at the weld.

[0043] Impact after welding will produce vibrations with the following effects: Improve welding quality: Grain refinement: The impact generated by welding can generate vibration, which can produce additional new nuclei in the weld and heat-affected zone, and break the growing dendrites and Widmanstätten structure, making the grain size uniform and the grains refined. The refined grains can improve the mechanical properties of the material.

[0044] Reduce defects: Vibration makes it easier for gas and inclusions in the molten pool to overflow the weld surface, reducing defects inside the weld and the source of microcracks. At the same time, vibration helps bubbles and other impurities float during the crystallization process, and hydrogen is easily removed, making the transition between the welding material and the base material uniform and smooth, reducing stress concentration.

[0045] Optimize residual stress distribution: Vibration can change the thermal stress field, so that the weld can adjust the strain in the hot state, release the constraint strain, and reduce the stress field gradient, thereby reducing or homogenizing the final welding residual stress. The distribution width of the residual longitudinal stress can be reduced, and the average tensile stress of the residual transverse stress can be significantly reduced.

[0046] Reduce subsequent processing: Since vibration welding can effectively reduce welding residual stress and welding deformation, the preheating process of welding can be cancelled or the preheating temperature can be lowered, and post-weld heat aging or vibration aging treatment can also be excluded.

[0047] Enhanced fracture toughness: Due to the refinement of grains and the reduction of residual stress, the crack resistance of the weld material is greatly improved.

[0048] Reference Figure 2 , Figure 5 and Figure 6 Content, one end of the two semi-annular tubes 3 is rotatably connected by a hinge 10, and the other end is connected by a buckle lock 11, one semi-annular tube 3 is connected to an arc tube 14, and the other semi-annular tube 3 is connected to an arc through tube 15, and one end of the arc through tube 15 slides into the interior of the arc tube 14.

[0049] One end of the two semi-annular tubes 3 is rotatably connected by a hinge 10, so that the two semi-annular tubes 3 can rotate relative to each other, which is convenient for opening and closing the ring body to place and remove the workpiece. The other end is connected by a hasp lock 11, and the hasp lock 11 can firmly lock the two semi-annular tubes 3 together to ensure the structural stability of the ring body during the welding process. When the ring body needs to be opened, it is only necessary to open the hasp lock 11, and one semi-annular tube 3 can be rotated around the hinge 10 as the axis to form an opening, which is conducive to removing the workpiece.

[0050] Reference Figure 2 A supporting rod 12 is installed on a semi-annular body 4, and a roller 13 is assembled on the supporting rod 12.

[0051] A support rod 12 installed on the semi-annular body 4 plays a role of auxiliary support.

[0052] A truss manipulator welding method, using the above-mentioned truss manipulator welding equipment, comprises the following steps: Step 1: Install the workpiece: The workpiece is placed in the middle of the semi-circular tube 3, the rodless cylinder 52 adjusts the clamping position, the pressing mechanism 7 is turned over, the pressure mechanism 8 squeezes the liquid, and the pressing mechanism 7 presses the workpiece; Step 2: Welding and tapping: The welding manipulator 2 welds the upper half of the workpiece, and then the driving member 6 drives the half ring tube 3 to rotate 180 degrees. During the rotation, the knocking mechanism 9 knocks the workpiece due to gravity and the magnetism of the electromagnetic ring 71, and then welds the flipped area; Step 3: Release the limit: After welding is completed, the driving member 6 drives the semi-annular tube 3 to rotate 180 degrees, the pressure supply mechanism 8 releases the limit, opens the buckle lock 11, and rotates a semi-annular tube 3 with the hinge 10 to form an opening and remove the workpiece.

[0053] Working principle: Install the workpiece: open the buckle lock 11, rotate a semi-annular tube 3 with the hinge 10 as the axis, place the workpiece in the middle of the semi-annular tube 3, start the rodless cylinder 52 in the linear actuator 5, the rodless cylinder 52 pushes the slide of the guide rail 53 to move, adjust to a suitable clamping position, flip the pressing mechanism 7 to a direction perpendicular to the central axis of the semi-annular tube 3, start the pressure supply mechanism 8, the driver 82 drives the push plate 83 to squeeze the liquid in the box body 81, and the liquid pressure is transmitted to the sleeve 72 of the pressing mechanism 7 through the semi-annular tube 3 and the connecting tube 78, pushing the moving rod 73 to slide, so that the capsule box 77 and the electromagnetic ring 71 are close to the workpiece, and the electromagnetic ring 71 is energized to generate magnetism, which acts on the magnetorheological fluid in the capsule box 77 to change its viscosity and enhance the pressing effect, thereby firmly pressing the workpiece. At this time, the T-shaped positioning rod 79 in the positioning member is inserted into the outer wall of the sleeve 72 under the action of the spring 710, and the pressing mechanism 7 is stably positioned.

[0054] Welding and tapping: The welding robot 2, supported by the truss 1, welds the upper half of the workpiece. After welding is completed, the driving member 6 is started, and the driving motor 61 drives the driving disk 62 to rotate, and drives the semi-annular tube 3 to rotate 180 degrees through the mounting frame 63. During the rotation, the tapping rod 92 of the tapping mechanism 9 tends to move downward under the action of gravity. At the same time, the magnetism of the electromagnetic ring 71 produces an adsorption force on it, thereby enhancing the impact force. Due to the guiding effect of the guide block 91, the tapping rod 92 slides in a predetermined direction to tap the workpiece, thereby improving the metal structure of the welding point. After the semi-annular tube 3 rotates 180 degrees, the welding robot 2 welds the flipped area.

[0055] Release the limit: After welding is completed, the driving member 6 drives the semi-annular tube 3 to rotate 180 degrees, and the driver 82 of the pressure supply mechanism 8 drives the push plate 83 in reverse to reduce the pressure in the box body 81, and at the same time closes the electromagnetic ring 71, and the pressing mechanism 7 releases the pressure on the workpiece, opens the buckle lock 11, and rotates a semi-annular tube 3 with the hinge 10 as the axis to form an opening, and remove the workpiece. During the whole process, a support rod 12 and a roller 13 installed on a semi-annular body 4 play an auxiliary supporting role.

[0056] The above describes an embodiment of the present invention, but this embodiment is not limited to the above specific implementation methods. The above specific implementation methods are merely illustrative and not restrictive. Under the guidance of this embodiment, ordinary technicians in this field can also make many forms, all of which are protected by this embodiment.

Claims

1. A truss manipulator welding device, characterized in that: It comprises a truss (1), a welding manipulator (2), a semi-ring tube (3), a semi-ring body (4), a linear actuator (5), a driving member (6), a pressing mechanism (7), a pressure supply mechanism (8) and a knocking mechanism (9); The welding robot (2) is assembled on the truss (1); The two semi-annular tubes (3) form an annular body, one end of which is connected by rotation so that the two semi-annular tubes (3) can rotate relative to each other, and the other end is detachably connected so as to adjust the size of the opening and closing. The semi-annular body (4) is slidably sleeved on the semi-annular tubes (3) and is connected to a linear actuator (5). The linear actuator (5) drives the semi-annular body (4) to slide on the semi-annular tubes (3). The pressing mechanism (7) and the knocking mechanism (9) are arranged on the semi-circular tube (3); the pressing mechanism (7) is operated by the pressure supply mechanism (8) to realize pressing or releasing the pressing action on the workpiece; the pressing mechanism (7) comprises an electromagnetic ring (71) to complete the pressing action and magnetic action on the welding point by means of electromagnetic force; When the driving member (6) drives the semi-ring tube (3) to rotate, the striking mechanism (9) impacts the welded workpiece under the combined action of gravity and the magnetic attraction of the electromagnetic ring (71).

2. A truss manipulator welding device according to claim 1, characterized in that: The linear actuator (5) comprises a support seat (51), a rodless cylinder (52) and a guide rail (53); the rodless cylinder (52) and the guide rail (53) are both mounted on the support seat (51), and the output end of the rodless cylinder (52) is connected to the slide of the guide rail (53).

3. A truss manipulator welding device according to claim 2, characterized in that: The driving member (6) comprises a driving motor (61), a driving disk (62) and a mounting frame (63); the driving motor (61) is mounted on the mounting frame (63); one of the mounting frames (63) is fixedly connected to the support seat (51); the other mounting frame (63) is fixedly connected to the slide of the guide rail (53); the mounting frame (63) is fixedly connected to the semi-annular body (4); the driving disk (62) is fixedly sleeved on the driving shaft of the driving motor (61) and is transmission-coordinated with the semi-annular tube (3).

4. The truss manipulator welding equipment according to claim 3 is characterized in that: The pressing mechanism (7) comprises a sleeve (72), a movable rod (73), a torsion spring (74), a rotating shaft (75), a connecting block (76) and a capsule box (77); the connecting block (76) is mounted on the semi-annular tube (3); the sleeve (72) is rotatably connected to the connecting block (76) via the rotating shaft (75) and is connected to the semi-annular tube (3) via a connecting pipe (78); the torsion spring (74) is movably sleeved on the outer periphery of the rotating shaft (75); one end of the torsion spring (74) is connected to the semi-annular tube (3); The connecting block (76) is fixedly connected, and the other end is fixedly connected to the sleeve (72). One end of the moving rod (73) slides into the interior of the sleeve (72), and the other end is fixedly connected to the capsule box (77). The capsule box (77) contains magnetorheological fluid. The electromagnetic ring (71) is assembled on the moving rod (73) to act on the magnetorheological fluid. A positioning piece is provided on the semi-ring tube (3), and the positioning piece is released from the positioning of the sleeve (72) by the semi-ring tube (3) being rotated away.

5. The truss manipulator welding equipment according to claim 4 is characterized in that: The positioning member comprises a T-shaped positioning rod (79), a spring (710) and a pull rope (711); the insertion end of the T-shaped positioning rod (79) is arranged obliquely and slides through the connecting block (76) and extends into the outer wall of the sleeve (72); the connecting block (76) is connected to the T-shaped end of the T-shaped positioning rod (79) via the spring (710); one end of the pull rope (711) is fixedly connected to an adjacent semi-annular tube (3); the pull rope (711) is connected to the T-shaped positioning rod (79) via a branch rope (712); and a guide member (713) for guiding the pull rope (711) is installed on the semi-annular tube (3).

6. The truss manipulator welding equipment according to claim 5, characterized in that: The pressure supply mechanism (8) comprises a box body (81), a driver (82) and a push plate (83); the box body (81) is mounted on a semi-annular tube (3) and is in communication with the interior of the semi-annular tube (3); the box body (81) and the semi-annular tube (3) are filled with liquid; the push plate (83) is slidably sleeved inside the box body (81); the driver (82) is mounted on the box body (81), and a driving end of the driver (82) is fixedly connected to the push plate (83).

7. The truss manipulator welding equipment according to claim 6, characterized in that: The knocking mechanism (9) comprises a guide block (91) and a knocking rod (92); the guide block (91) is mounted on the semi-annular body (4); and the knocking rod (92) is slidably sleeved on the guide block (91).

8. The truss manipulator welding device according to claim 7, characterized in that: One end of the two semi-annular tubes (3) is rotatably connected via a hinge (10), and the other end is connected via a buckle lock (11).

9. The truss manipulator welding device according to claim 8, characterized in that: A support rod (12) is mounted on one of the semi-annular bodies (4), and a roller (13) is mounted on the support rod (12).

10. A truss manipulator welding method, using a truss manipulator welding device as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: Install the workpiece: The workpiece is positioned in the middle of the semi-circular tube (3), the rodless cylinder (52) adjusts the clamping position, the pressing mechanism (7) is turned over, the pressure supply mechanism (8) squeezes the liquid, and the pressing mechanism (7) presses the workpiece; Step 2: Welding and tapping: The welding manipulator (2) welds the upper half of the workpiece, and then the driving member (6) drives the half-ring tube (3) to rotate 180 degrees. During the rotation, the knocking mechanism (9) knocks the workpiece under the influence of gravity and the magnetism of the electromagnetic ring (71), and then the flipped area is welded; Step 3: Release the limit: After welding is completed, the driving member (6) drives the semi-annular tube (3) to rotate 180 degrees, the pressure supply mechanism (8) releases the limit, opens the buckle lock (11), and rotates one semi-annular tube (3) with the hinge (10) to form an opening and remove the workpiece.

Images