A multi-station robot system integrating welding and grinding of conical head welds

Abstract

The present invention belongs to the technical field of welding and grinding, and particularly relates to a multi-station robot system for welding and grinding the weld of a conical head, including a ground rail device; a welding and grinding assembly, which is movably arranged on the ground rail device and is used to reciprocate along the ground rail device. The welding and grinding assembly is used to weld the conical head and grind the weld formed by welding; several workbenches are symmetrically arranged on both sides of the ground rail device, and several workbenches on the same side of the ground rail device are arranged at equal intervals. The workbench is used to place the conical head to be processed and drive the conical head to rotate; a limiting module, including a first limiting mechanism and a second limiting mechanism, and the first limiting mechanism and the second limiting mechanism are arranged on two opposite side walls of the workbench. The present invention can improve the welding efficiency and quality, has the function of weld cleaning, has a high degree of automation, and meets the requirements of high-quality and high-efficiency manufacturing of conical heads in industrial production.

Description

Technical Field

[0001] The present invention belongs to the technical field of welding and grinding, and particularly relates to a multi-station robot system for welding and grinding the weld seam of a conical head integrally. Background Art

[0002] A conical head is a head with a conical surface on the shell surface, which is widely used in industrial fields such as pressure vessels, chemical equipment, and oil storage tanks, and is one of the main pressure components of these equipment. Its unique conical structure can effectively disperse and bear the internal pressure, enhance the stability and safety of the structure, and at the same time facilitate the smooth guiding of fluids or gases, reduce the flow resistance, and optimize the material mixing and heat transfer efficiency in some specific applications. The manufacturing materials of conical heads are diverse, 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 and other properties.

[0003] Currently, the welding process for preparing conical heads often relies on manual operations. However, the diameter of some conical heads can reach several meters, resulting in a large amount of manual welding work, long working hours, and low automation. At the same time, it is difficult to ensure the stability of the welding quality when using traditional welding processes to weld components with circular or non-circular cross-sections.

[0004] At the same time, to ensure the welding quality, it is also necessary to grind the weld seam after welding. Currently, the grinding of the weld seam of conical heads mostly relies on manual operations, with low grinding efficiency, and the grinding quality is greatly affected by the skill level of the operators, making it difficult to ensure the flatness and consistency of the weld seam surface.

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

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

[0007] To achieve the above purpose, the present invention provides the following solution: A multi-station robot system for welding and grinding the weld seam of a conical head integrally, comprising

[0008] A ground rail device;

[0009] A welding and grinding assembly, which is movably arranged on the ground rail device, and 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 seam formed by welding;

[0010] A plurality of workbenches, which are symmetrically arranged on both sides of the ground rail device, and a plurality of the workbenches on the same side of the ground rail device are arranged at equal intervals;

[0011] 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;

[0012] 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.

[0013] 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.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] A multi-station robot system for welding and grinding the weld of a conical head based on the present invention. The welding and grinding assembly includes a welding robot and a grinding robot. The welding robot and the grinding robot are fixedly arranged side by side 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.

[0019] A multi-station robot system for welding and grinding the weld of a conical head based on the present invention. A wire feeding reel is arranged at the top of the ground rail device, and the wire feeding reel is used to supply welding wire to the welding robot.

[0020] A multi-station robot system for welding and grinding the weld of a conical head based on the present invention. The ground rail device includes a track, and a hollow turntable is movably arranged on the track. The welding and grinding assembly is fixedly arranged at the top of the hollow turntable.

[0021] A multi-station robot system for welding and grinding the weld of a conical head based on the present invention. The hollow turntable includes a turntable base, the turntable base is movably arranged on the track, 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, the bottom end of the turntable housing is in rotational contact with the top end of the turntable base, and the welding and grinding assembly is fixedly arranged at the top of the turntable housing.

[0022] Compared with the prior art, the present invention has the following advantages and technical effects:

[0023] By arranging a plurality of workbenches on both sides of the welding and grinding assembly and movably arranging the welding and grinding assembly on the ground rail device, the welding and grinding assembly can simultaneously weld and grind two conical heads. The first limiting mechanism and the second limiting mechanism arranged on the workbench can limit and position the conical head. The two roller assemblies arranged can drive the conical head to rotate, which is convenient for the welding and grinding assembly to weld and grind the inner and outer sides of the conical head. The plurality of workbenches arranged can improve the work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings:

[0025] Figure 1 It is a schematic diagram of the whole of the present invention;

[0026] Figure 2Schematic diagram of the ground rail device and welding and grinding assembly of the present invention;

[0027] Figure 3 Schematic diagram of the workbench of the present invention;

[0028] Figure 4 Schematic diagram of the interior of the workbench of the present invention.

[0029] 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. Work turntable; 311. Base; 312. Turntable motor; 313. Turntable housing; 320. Workbench frame; 330. First limit mechanism; 331. Driving motor; 332. Connecting rod; 333. First roller; 340. Roller assembly; 341. Roller motor; 342. Second roller; 350. Second limit mechanism; 351. Fixed flange; 352. Curved connecting rod; 353. Limit rod. Detailed implementation manners

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0031] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0032] Refer to Figures 1 to 4 As shown, the present invention provides a multi-station robot system for welding and grinding the weld seam of a conical head, including

[0033] Ground rail device 1;

[0034] Welding and grinding assembly 2, 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 seam formed by welding;

[0035] A plurality of workbenches 3, 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;

[0036] 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;

[0037] The rotation driving mechanism is fixedly arranged on the top of the workbench 3, and is used for driving the conical head to rotate.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] As an additional embodiment of the present invention, the second limiting mechanism 350 includes two fixed flanges 351, which are detachably mounted on the workbench frame 320. One end of a crank connecting rod 352 is fixedly connected to the fixed flange 351, and the other end of the crank connecting rod 352 is fixedly connected to a limiting rod 353. Two limiting rollers are rotatably connected to the limiting rod 353, and the two limiting rollers are respectively arranged to roll 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. After 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 then installed on the workbench frame 320, and the inner and outer side walls of the large end of the conical head are limited by the four limiting rollers.

[0043] Furthermore, the rotation driving mechanism includes two roller assemblies 340. Each roller assembly 340 includes a roller motor 341, which is fixedly connected to the workbench 3. One end of a second roller 342 is fixedly connected to the output shaft of the roller motor 341, and 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 close to each other are close to the first limiting mechanism 330.

[0044] Furthermore, the welding and grinding assembly 2 includes a welding robot 210 and a grinding robot 220, which are fixedly arranged side by side 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.

[0045] The welding robot 210 performs welding work on the conical head, and the grinding robot 220 grinds the weld seam of the conical head after the welding work is completed.

[0046] Furthermore, a wire feeding reel 203 is arranged at the top of the ground rail device 1, and the wire feeding reel 203 is used to supply welding wire to the welding robot 210.

[0047] Furthermore, the ground rail device 1 includes a track 101, and a hollow turntable 102 is movably arranged on the track 101. The welding and grinding assembly 2 is fixedly arranged at the top of the hollow turntable 102.

[0048] 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, and the output shaft of the turntable motor is fixedly connected to a turntable housing. The bottom end of the turntable housing is in rotational contact with the top end of the turntable base. The welding and grinding assembly 2 is fixedly arranged at the top of the turntable housing.

[0049] The turntable housing is driven to rotate by the turntable motor, thereby realizing the repeated rotation of the welding and grinding assembly 2.

[0050] The working process of the present invention is as follows:

[0051] After the staff spot-welds the conical head, the conical head is placed on the workbench 3 by the overhead crane and moved close to the first limiting mechanism 330 until it touches. At this time, the weld seam of the conical head is at 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 on the workbench frame 320. The second limiting mechanism 350 restricts the lateral movement of the conical head, and the fixation is completed. Then the work turntable 310 rotates 180° to make the first limiting mechanism 330 rotate 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 machining preparation work is completed.

[0052] The welding robot 210 is controlled by the control cabinet 205 and coordinates with the welding machine 204 and the wire feeding reel 203. The welding torch of the welding robot 210 welds the internal weld seam of the conical head on one side of the ground rail device 1. After the machining of the inner weld seam is completed, the roller motor 341 drives the second roller 342 to roll, driving the conical head to rotate 180°. At the same time, the work turntable rotates 180° to make the inner space of the conical head face outwards. The welding torch of the welding robot 210 welds the external weld seam of the conical head. After the weld seams on both the inner and outer sides of the conical head are welded, 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 work turntable 310 and the roller assembly 340 cooperate to drive the conical head to rotate, and the grinding robot 220 grinds the weld seams on both the inner and outer sides of the already welded conical head. After 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.

[0053] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention, rather than indicating or implying 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 construed as a limitation to the present invention.

[0054] The above-described embodiments are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention should fall within the protection scope of the present invention.

Claims

1. A multi-station robot system for welding and grinding of conical head welds, characterized in that, including a ground rail device (1); a welding and grinding assembly (2), movably arranged on the ground rail device (1), the welding and grinding assembly (2) being used for reciprocatingly moving along the ground rail device (1), and the welding and grinding assembly (2) being used for welding a conical head and grinding a weld formed by the welding; a plurality of workbenches (3), symmetrically arranged on both sides of the ground rail device (1), and a plurality of the workbenches (3) on the same side of the ground rail device (1) being arranged at equal intervals; a limiting module, including a first limiting mechanism (330) and a second limiting mechanism (350), the first limiting mechanism (330) and the second limiting mechanism (350) being arranged on two opposite side walls of the workbench (3), the first limiting mechanism (330) being used for rotatably cooperating with the small end of the conical head, and the second limiting mechanism (350) being used for rotatably cooperating with the large end of the conical head; a rotation driving mechanism, fixedly arranged at the top of the workbench (3), the rotation driving mechanism being used for driving the conical head to rotate; the first limiting mechanism (330) includes a driving motor (331), the driving motor (331) being fixedly embedded in the workbench (3), one end of a bidirectional driving mechanism being in transmission connection with the output shaft of the driving motor (331), the other end of the bidirectional driving mechanism being in transmission connection with two connecting rods (332), the middle parts of the two connecting rods (332) being rotatably connected to the workbench (3) through a rotating shaft, the rotation directions of the two connecting rods (332) being opposite, and a first roller (333) being rotatably connected to one end of the two connecting rods (332) away from the bidirectional driving mechanism; the second limiting mechanism (350) includes two fixed flanges (351), the fixed flanges (351) being detachably installed on a workbench frame (320), one end of a crank connecting rod (352) being fixedly connected to the fixed flange (351), the other end of the crank connecting rod (352) being fixedly connected to a limiting rod (353), two limiting rollers being rotatably connected to the limiting rod (353), and the two limiting rollers being respectively arranged to roll on the inner side and the outer side of the large end of the conical head; the rotation driving mechanism includes two roller assemblies (340), each roller assembly (340) including a roller motor (341), the roller motor (341) being fixedly connected to the workbench (3), one end of a second roller (342) being fixedly connected to the output shaft of the roller motor (341), the other end of the second roller (342) being rotatably connected to the workbench (3), the two second rollers (342) being arranged in a "V" shape, and one end of the two second rollers (342) close to each other being close to the first limiting mechanism (330).

2. The multi-station robot system for welding and grinding of a conical head weld according to claim 1, characterized in that The workbench (3) includes a work turntable (310). A rotating end of the work turntable (310) is fixedly connected to a 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 two roller assemblies (340) are arranged on the top of the workbench frame (320).

3. A multi-station robot system for welding and grinding the weld seam of a conical head, as described in claim 2, wherein The work 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).

4. The multi-station robot system for welding and grinding the weld of a conical head according to claim 1, wherein The welding and grinding assembly (2) includes a welding robot (210) and a grinding robot (220). The welding robot (210) and the grinding robot (220) are fixedly arranged side by side on 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).

5. The multi-station robot system for welding and grinding of a conical head weld according to claim 4, wherein, A wire feeding reel (203) is arranged on 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).

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

7. The multi-station robot system for welding and grinding of the conical head weld according to claim 6, wherein, The hollow turntable (102) includes 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. The bottom end of the turntable housing is in rotational contact with the top end 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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