Tapered end socket weld joint welding and coping integrated multi-station robot system

Abstract

The invention belongs to the technical field of welding and coping, and particularly relates to a conical head weld joint welding and coping integrated multi-station robot system which comprises a ground rail device. The welding and coping assembly is movably arranged on the ground rail device, the welding and coping assembly is used for reciprocating along the ground rail device, and the welding and coping assembly is used for welding the conical end socket and coping a welding seam formed by welding; the multiple workbenches are symmetrically arranged on the two sides of the ground rail device, the multiple workbenches located on the same side of the ground rail device are arranged at equal intervals, and the workbenches are used for containing the conical end socket to be machined and driving the conical end socket to rotate; the limiting module comprises a first limiting mechanism and a second limiting mechanism, and the first limiting mechanism and the second limiting mechanism are arranged on the two opposite side walls of the workbench. The welding efficiency and quality can be improved, the welding seam cleaning function is achieved, the automation degree is high, and the requirements for high-quality and high-efficiency manufacturing of conical end sockets in industrial production are met.

Description

Technical Field

[0001] The invention belongs to the technical field of welding and grinding, and in particular relates to a multi-station robot system integrating welding and grinding of a conical head weld. Background Art

[0002] Conical heads are heads with a conical shell surface. They are widely used in pressure vessels, chemical equipment, oil storage tanks and other industrial fields, and are one of the main pressure components of these equipment. Its unique conical structure can effectively disperse and withstand internal pressure, enhance the stability and safety of the structure, and facilitate the smooth guidance of fluids or gases, reduce flow resistance, and optimize material mixing and heat transfer efficiency in some specific applications. Conical heads are made of a variety of materials, including stainless steel, carbon steel, alloy steel, etc., to meet the requirements of different industrial fields for corrosion resistance, high temperature resistance or high strength.

[0003] At present, the welding process for preparing conical heads often relies on manual work. However, the diameter of some conical heads can reach several meters. Manual welding is labor-intensive and time-consuming, and the degree of automation is low. At the same time, the traditional welding process is difficult to ensure stable welding quality when welding components with circular or non-circular cross-sections.

[0004] At the same time, in order to ensure the welding quality, the weld needs to be ground after welding. At present, the grinding of the conical head weld mostly relies on manual operation, the grinding efficiency is low, and the grinding quality is greatly affected by the skill level of the operator, making it difficult to ensure the flatness and consistency of the weld surface.

[0005] Therefore, it is necessary to design a multi-station robot system that integrates conical head weld welding and grinding to solve the above problems. Summary of the invention

[0006] The purpose of the present invention is to provide a multi-station robot system that integrates welding and grinding of conical head welds to meet the demand for high-quality and high-efficiency manufacturing of conical heads in industrial production.

[0007] To achieve the above object, the present invention provides the following solution: a multi-station robot system for welding and grinding a conical head weld, comprising: Ground rail device; A welding and grinding assembly is movably arranged on the ground rail device, the welding and grinding assembly is used to reciprocate along the ground rail device, and the welding and grinding assembly is used to weld the conical head and grind the weld formed by welding; A plurality of workbenches are symmetrically arranged on both sides of the ground rail device, and a plurality of the workbenches located on the same side of the ground rail device are arranged at equal intervals; The limiting module comprises a first limiting mechanism and a second limiting mechanism, wherein the first limiting mechanism and the second limiting mechanism are arranged on two opposite side walls of the workbench, the first limiting mechanism is used for rotationally cooperating with the small end of the conical end cap, and the second limiting mechanism is used for rotationally cooperating with the large end of the conical end cap; The rotation driving mechanism is fixedly arranged on the top of the workbench, and the rotation driving mechanism is used for driving the conical head to rotate.

[0008] Two roller assemblies are arranged at the top of the workbench, and the two roller assemblies jointly drive the conical head to rotate. The two roller assemblies are arranged in a "V" shape, and the ends of the two roller assemblies that are close to each other are close to the first limiting mechanism.

[0009] A multi-station robot system for integrated conical head weld welding and grinding based on the present invention, the workbench includes a work turntable, the rotating end of the work turntable is fixedly connected to the workbench frame, the first limiting mechanism and the second limiting mechanism are arranged on two opposite side walls of the workbench frame, and the two roller assemblies are arranged on the top of the workbench frame.

[0010] A multi-station robot system for integrated conical head weld welding and grinding based on the present invention, the working turntable includes a base, a turntable motor is fixedly connected to the top of the base, the output end of the turntable motor is fixedly connected to a turntable housing, the turntable housing is in rotational contact with the base, and the worktable frame is fixedly arranged on the top of the turntable housing.

[0011] Based on the multi-station robot system for integrating welding and grinding of conical head welds of the present invention, the first limiting mechanism includes a driving motor, the driving motor is fixedly embedded in the workbench, the output shaft of the driving motor is transmission-connected to one end of a two-way driving mechanism, the other end of the two-way driving mechanism is transmission-connected to two connecting rods, the middle parts of the two connecting rods are rotationally connected to the workbench through a rotating shaft, the two connecting rods rotate in opposite directions, and the ends of the two connecting rods away from the two-way driving mechanism are rotationally connected to the first roller.

[0012] A multi-station robot system for integrating conical head weld welding and grinding based on the present invention, the rotation drive mechanism includes two roller assemblies 340, each roller assembly 340 includes a roller motor 341, the roller motor 341 is fixedly connected to the workbench 3, the output shaft of the roller motor 341 is fixedly connected to one end of the second roller 342, the other end of the second roller 342 is rotatably connected to the workbench 3, the two second rollers 342 are arranged in a "V" shape, and the ends of the two second rollers 342 that are close to each other are close to the first limiting mechanism 330.

[0013] A multi-station robot system for integrating welding and grinding of conical head welds according to the present invention, the welding and grinding assembly comprises a welding robot and a grinding robot, the welding robot and the grinding robot are fixedly arranged in parallel at the top of the ground rail device, the welding robot is electrically connected to a welding machine and a control cabinet, and the grinding robot is electrically connected to the control cabinet.

[0014] Based on the multi-station robot system for integrated conical head weld welding and grinding of the present invention, a wire feeding reel is provided at the top of the ground rail device, and the wire feeding reel is used to feed welding wire to the welding robot.

[0015] Based on the multi-station robot system for integrated conical head weld welding and grinding of the present invention, the ground rail device includes a track, a hollow turntable is movably arranged on the track, and the welding and grinding assembly is fixedly arranged on the top of the hollow turntable.

[0016] A multi-station robot system for integrated conical head weld welding and grinding based on the present invention, the hollow turntable includes a turntable base, the turntable base is movably arranged on the track, the top of the turntable base is fixedly connected to a turntable motor, the turntable motor output shaft is fixedly connected to a turntable housing, the bottom end of the turntable housing is in rotational contact with the top of the turntable base, and the welding and grinding assembly is fixedly arranged on the top of the turntable housing.

[0017] Compared with the prior art, the present invention has the following advantages and technical effects: The present invention arranges a plurality of workbenches on both sides of the welding and grinding assembly, and movably arranges the welding and grinding assembly on a ground rail device, so that the welding and grinding assembly can simultaneously perform welding and grinding processing on two conical heads; a first limiting mechanism and a second limiting mechanism arranged on the workbench can limit and position the conical head; two roller assemblies can drive the conical head to rotate, so that the welding and grinding assembly can perform welding and grinding processing on the inner side and the outer side of the conical head; and the plurality of workbenches arranged can improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work: Figure 1 It is an overall schematic diagram of the present invention; Figure 2 It is a schematic diagram of the ground rail device and the welding and grinding assembly of the present invention; Figure 3It is a schematic diagram of a workbench of the present invention; Figure 4 It is a schematic diagram of the interior of the workbench of the present invention.

[0019] Among them, 1. ground rail device; 2. welding and grinding assembly; 3. workbench; 101. rail; 102. hollow turntable; 203. wire feeding reel; 204. welding machine; 205. control cabinet; 210. welding robot; 220. grinding robot; 310. working turntable; 311. base; 312. turntable motor; 313. turntable shell; 320. workbench frame; 330. first limit mechanism; 331. drive motor; 332. connecting rod; 333. first roller; 340. roller assembly; 341. roller motor; 342. second roller; 350. second limit mechanism; 351. fixing flange; 352. curved connecting rod; 353. limit rod. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] Reference Figures 1 to 4 As shown, the present invention provides a multi-station robot system for welding and grinding a conical head weld, comprising Ground rail device 1; The welding and grinding assembly 2 is movably arranged on the ground rail device 1. The welding and grinding assembly 2 is used to reciprocate along the ground rail device 1. The welding and grinding assembly 2 is used to weld the conical head and grind the weld formed by welding; A plurality of workbenches 3 are symmetrically arranged on both sides of the ground rail device 1, and a plurality of workbenches 3 on the same side of the ground rail device 1 are arranged at equal intervals; The limiting module includes a first limiting mechanism 330 and a second limiting mechanism 350, which are arranged on two opposite side walls of the workbench 3, the first limiting mechanism 330 is used to rotate with the small end of the conical head, and the second limiting mechanism 350 is used to rotate with the large end of the conical head; The rotation driving mechanism is fixedly arranged on the top of the workbench 3, and is used for driving the conical head to rotate.

[0023] Furthermore, the workbench 3 includes a work turntable 310, the rotating end of the work turntable 310 is fixedly connected to the workbench frame 320, the first limiting mechanism 330 and the second limiting mechanism 350 are arranged on two opposite side walls of the workbench frame 320, and the two roller assemblies 340 are arranged on the top of the workbench frame 320.

[0024] Furthermore, the working turntable 310 includes a base 311, a turntable motor 312 is fixedly connected to the top of the base 311, an output end of the turntable motor 312 is fixedly connected to a turntable housing 313, the turntable housing 313 is in rotational contact with the base 311, and the workbench frame 320 is fixedly arranged on the top of the turntable housing 313.

[0025] Furthermore, the first limiting mechanism 330 includes a driving motor 331, which is fixedly embedded in the workbench 3. The output shaft of the driving motor 331 is transmission-connected to one end of the bidirectional driving mechanism, and the other end of the bidirectional driving mechanism is transmission-connected to two connecting rods 332. The middle parts of the two connecting rods 332 are rotationally connected to the workbench 3 through a rotating shaft. The rotation directions of the two connecting rods 332 are opposite, and one end of the two connecting rods 332 away from the bidirectional driving mechanism is rotationally connected to the first roller 333.

[0026] As an embodiment that can be added to the present invention, the bidirectional driving mechanism includes a central rotating shaft, which is fixedly connected to the output end of the driving motor 331, and a first gear and a second gear are fixedly sleeved on the central rotating shaft, and the first gear and the second gear are arranged at intervals. The end of a connecting rod 332 is fixedly connected to a first arc-shaped rack, and the inner concave surface of the first arc-shaped rack is provided with teeth and meshes with the first gear. The end of another connecting rod 332 is fixedly connected to a second arc-shaped rack, and the outer convex surface of the second arc-shaped rack is provided with teeth and meshes with the second gear. In the process of the driving motor 331 driving the first gear and the second gear to rotate through the central rotating shaft, the first arc-shaped rack and the second arc-shaped rack respectively drive the two connecting rods 332 to rotate in opposite directions through the action of internal meshing and external meshing, thereby realizing the two first rollers 333 approaching or moving away from each other.

[0027] As an embodiment that can be added to the present invention, the second limiting mechanism 350 includes two fixed flanges 351, which are detachably mounted on the workbench frame 320, and the fixed flanges 351 are fixedly connected to one end of a curved connecting rod 352, and the other end of the curved connecting rod 352 is fixedly connected to a limiting rod 353, and the limiting rod 353 is rotatably connected to two limiting rollers, which are respectively rollingly arranged on the inner and outer sides of the large end of the conical head. Before placing the conical head, the second limiting mechanism 350 is not installed on the workbench frame 320. When the conical head is placed on the workbench frame 320 and its small end is limited by the first limiting mechanism 330, the second limiting mechanism 350 is installed on the workbench frame 320, and the inner and outer side walls of the large end of the conical head are limited by four limiting rollers.

[0028] Furthermore, the rotation drive mechanism includes two roller assemblies 340, each roller assembly 340 includes a roller motor 341, the roller motor 341 is fixedly connected to the workbench 3, the output shaft of the roller motor 341 is fixedly connected to one end of the second roller 342, the other end of the second roller 342 is rotatably connected to the workbench 3, the two second rollers 342 are arranged in a "V" shape, and the ends of the two second rollers 342 that are close to each other are close to the first limiting mechanism 330.

[0029] Furthermore, the welding and grinding assembly 2 includes a welding robot 210 and a grinding robot 220, which are fixedly arranged in parallel at the top of the ground rail device 1, the welding robot 210 is electrically connected to the welding machine 204 and the control cabinet 205, and the grinding robot 220 is electrically connected to the control cabinet 205.

[0030] The welding robot 210 performs welding work on the conical head, and the grinding robot 220 performs grinding work on the weld of the conical head after the welding work is completed.

[0031] Furthermore, a wire feeding reel 203 is provided at the top of the ground rail device 1 , and the wire feeding reel 203 is used to feed welding wire to the welding robot 210 .

[0032] Furthermore, the ground rail device 1 includes a rail 101 , on which a hollow turntable 102 is movably arranged, and the welding and grinding assembly 2 is fixedly arranged on the top of the hollow turntable 102 .

[0033] Furthermore, the hollow turntable 102 includes a turntable base, which is movably arranged on the track 101, a turntable motor is fixedly connected to the top of the turntable base, the turntable motor output shaft is fixedly connected to the turntable housing, the bottom end of the turntable housing is in rotational contact with the top of the turntable base, and the welding and grinding assembly 2 is fixedly arranged on the top of the turntable housing.

[0034] The turntable motor drives the turntable housing to rotate, thereby achieving repeated rotation of the welding and grinding assembly 2.

[0035] The working process of the present invention is as follows: After the staff spot welds the conical head, they place the conical head on the workbench 3 by means of a crane, and move it close to the first limiting mechanism 330 until it touches the conical head. At this time, the weld of the conical head is in the middle of the bottom. When placing the conical head, the first limiting mechanism 330 is located on the side close to the ground rail device 1. After placement, the second limiting mechanism 350 is fixed to the workbench frame 320. The second limiting mechanism 350 limits the lateral movement of the conical head, and the fixation is completed. Then the work turntable 310 rotates 180° to rotate the first limiting mechanism 330 to the side away from the ground rail device 1. The ground rail device 1 drives the welding and grinding assembly 2 to move to the position corresponding to the conical head. At this time, the processing preparation work is completed.

[0036] The welding robot 210 is controlled by the control cabinet 205, and cooperates with the welding machine 204 and the wire feeding reel 203. The welding gun of the welding robot 210 welds the internal weld of the conical head on one side of the ground rail device 1. After the inner weld is processed, the roller motor 341 drives the second roller 342 to roll, driving the conical head to rotate 180°, and the working turntable rotates 180° at the same time, so that the internal space of the conical head faces outward. The welding gun of the welding robot 210 welds the external weld of the conical head. After the welding of the inner and outer welds of the conical head is completed, the hollow turntable 102 drives the welding robot 210 to rotate 180°, and continues to weld the conical head on the other side of the ground rail device 1. The working turntable 310 and the roller assembly 340 cooperate to drive the conical head to rotate, and the grinding robot 220 grinds the inner and outer welds of the welded conical head. After the grinding is completed, the staff places the conical head in the finished product area and places another conical head to be processed on the workbench 3.

[0037] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0038] The embodiments described above are only descriptions of the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the protection scope of the present invention.

Claims

1. A multi-station robot system for welding and grinding conical head welds, characterized in that: include Ground rail device (1); A welding and grinding assembly (2) is movably arranged on the ground rail device (1), the welding and grinding assembly (2) is used to reciprocate along the ground rail device (1), and the welding and grinding assembly (2) is used to weld the conical head and grind the weld formed by welding; A plurality of workbenches (3) are symmetrically arranged on both sides of the ground rail device (1), and a plurality of the workbenches (3) located on the same side of the ground rail device (1) are arranged at equal intervals; The limiting module comprises a first limiting mechanism (330) and a second limiting mechanism (350), wherein the first limiting mechanism (330) and the second limiting mechanism (350) are arranged on two opposite side walls of the workbench (3), wherein the first limiting mechanism (330) is used for rotationally cooperating with the small end of the conical end cap, and the second limiting mechanism (350) is used for rotationally cooperating with the large end of the conical end cap; A rotation drive mechanism is fixedly arranged on the top of the workbench (3), and the rotation drive mechanism is used to drive the conical head to rotate.

2. The multi-station robot system for welding and grinding conical head welds according to claim 1 is characterized in that: The workbench (3) comprises a work turntable (310), a rotating end of the work turntable (310) being fixedly connected to a workbench frame (320), the first limiting mechanism (330) and the second limiting mechanism (350) being arranged on two opposite side walls of the workbench frame (320), and two roller assemblies (340) being arranged on the top of the workbench frame (320).

3. The multi-station robot system for welding and grinding conical head welds according to claim 2 is characterized in that: The working turntable (310) comprises a base (311), a turntable motor (312) is fixedly connected to the top of the base (311), an output end of the turntable motor (312) is fixedly connected to a turntable housing (313), the turntable housing (313) is in rotational contact with the base (311), and the working table frame (320) is fixedly arranged on the top of the turntable housing (313).

4. The multi-station robot system for welding and grinding conical head welds according to claim 1 is characterized in that: The first limiting mechanism (330) comprises a driving motor (331), the driving motor (331) being fixedly embedded in the workbench (3), the output shaft of the driving motor (331) being drivingly connected to one end of a bidirectional driving mechanism, the other end of the bidirectional driving mechanism being drivingly connected to two connecting rods (332), the middle parts of the two connecting rods (332) being rotatably connected to the workbench (3) via a rotating shaft, the two connecting rods (332) rotating in opposite directions, and one end of the two connecting rods (332) away from the bidirectional driving mechanism being rotatably connected to a first roller (333).

5. The multi-station robot system for welding and grinding conical head welds according to claim 1 is characterized in that: The rotation drive mechanism comprises two roller assemblies (340), each of the roller assemblies (340) comprising a roller motor (341), the roller motor (341) being fixedly connected to the workbench (3), the output shaft of the roller motor (341) being fixedly connected to one end of a second roller (342), the other end of the second roller (342) being rotationally connected to the workbench (3), the two second rollers (342) being arranged in a "V" shape, and the ends of the two second rollers (342) that are close to each other are close to the first limiting mechanism (330).

6. The multi-station robot system for welding and grinding conical head welds according to claim 1 is characterized in that: The welding and grinding assembly (2) comprises a welding robot (210) and a grinding robot (220); the welding robot (210) and the grinding robot (220) are fixedly arranged in parallel at the top of the ground rail device (1); the welding robot (210) is electrically connected to a welding machine (204) and a control cabinet (205); and the grinding robot (220) is electrically connected to the control cabinet (205).

7. The multi-station robot system for welding and grinding conical head welds according to claim 6 is characterized in that: A wire feeding disc (203) is provided at the top end of the ground rail device (1), and the wire feeding disc (203) is used to feed welding wire to the welding robot (210).

8. The multi-station robot system for welding and grinding conical head welds according to claim 1 is characterized in that: The ground rail device (1) comprises a rail (101), a hollow turntable (102) is movably arranged on the rail (101), and the welding and grinding assembly (2) is fixedly arranged on the top of the hollow turntable (102).

9. The multi-station robot system for welding and grinding conical head welds according to claim 8, characterized in that: The hollow turntable (102) comprises a turntable base, the turntable base is movably arranged on the track (101), a turntable motor is fixedly connected to the top of the turntable base, an output shaft of the turntable motor is fixedly connected to a turntable housing, a bottom end of the turntable housing is in rotational contact with the top of the turntable base, and the welding and grinding assembly (2) is fixedly arranged on the top of the turntable housing.

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