Full-automatic laser welding equipment and method for round pipe sealing cover

Abstract

The invention discloses full-automatic laser welding equipment and method for a round pipe sealing cover. The full-automatic laser welding equipment comprises a base, a punching bottom die arranged on the base and a punching upper die which is located above the punching bottom die and moves up and down. The multiple punching bottom dies are arranged in the X direction, and the punching upper dies and the punching bottom dies are arranged in an up-down corresponding mode. A material conveying channel penetrating in the Y direction is formed between the punching bottom die and the punching upper die, and the width of the material conveying channel in the X direction is larger than the length of a material to be punched. According to the automatic feeding device, it is guaranteed that the round pipe is in the correct direction, standing automatic feeding is achieved, the round pipe and wafer assembling precision and welding precision are improved, and the product quality is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of laser welding equipment, and particularly relates to a fully automatic laser welding equipment and method for covering a round tube with a cover.

Background Art

[0002] Currently, there is a product that includes two parts, a round tube and a round plate. Now, it is necessary to assemble the round plate into the assembly groove at one end of the round tube and weld them together to form the target product. In the prior art, Patent CN110605579A discloses a rotary automatic bed foot welding machine. Although the automatic feeding and welding of the round tube and the round plate are achieved in this equipment, the round tube output by the round tube automatic feeding mechanism is in a lying state, and the direction of the assembly ends of the round tube and the round plate cannot be effectively identified, there is a risk of incorrect welding and assembly of the round tube and the round plate. In addition, when the round plate and the round tube are assembled, due to the shaking of the turntable, the assembly position is prone to be incorrect, resulting in inaccurate subsequent welding and defective products.

[0003] Therefore, it is necessary to provide a new fully automatic laser welding equipment and method for covering a round tube with a cover to solve the above technical problems.

Summary of the Invention

[0004] One of the main objects of the present invention is to provide a fully automatic laser welding equipment for covering a round tube with a cover, which ensures the automatic feeding of the round tube with the correct direction and standing state, improves the assembly accuracy and welding accuracy of the round tube and the round plate, and improves the product quality.

[0005] The present invention realizes the above object through the following technical solutions: A fully automatic laser welding equipment for covering a round tube with a cover, which includes:

[0006] A turntable mechanism, including a turntable and a plurality of pneumatic grippers arranged at equal angles on the turntable. A round tube loading station, a round plate loading station, a welding station, and a blanking station are sequentially arranged around the turntable;

[0007] A round tube loading mechanism, arranged at the round tube loading station and including a round tube feeding module that outputs standing round tubes in sequence and a round tube handling module that grabs the round tubes from the round tube feeding module and places them into the pneumatic grippers;

[0008] A round plate loading mechanism, arranged at the round plate loading station and including a round plate feeding module, a round plate handling module, and a round plate guiding module. The round plate guiding module includes a guiding sleeve, and the guiding sleeve is docked with the top end of the round tube at the round plate loading station through up and down movement to provide a guiding channel for the round plate to be placed;

[0009] A laser welding mechanism, arranged at the welding station;

[0010] A product blanking mechanism, arranged at the blanking station.

[0011] Furthermore, an air slip ring is arranged in the center of the turntable, and the air slip ring is connected to the pneumatic clamp through a pipeline; a plurality of positioning lock holes are arranged at equal angles on the turntable, and a rotation-stopping assembly is arranged under the turntable; the rotation-stopping assembly includes a first cylinder and a locking rod driven by the first cylinder to move up and down; the locking rod is inserted upward into the positioning lock hole under the drive of the first cylinder to realize rotation locking of the turntable.

[0012] Furthermore, the round tube feeding module includes a gradient lifting silo, a first offset material distribution component located at the output side of the gradient lifting silo, a direction identification component for identifying the direction of the round tubes in the first offset material distribution component, a direction adjustment component that receives the round tubes offset-cut by the first offset material distribution component and adjusts the direction of the round tubes according to the direction identification component, a slope guide plate arranged on the output side of the direction adjustment component, a first pushing component for pushing the round tubes in the direction adjustment component into the slope guide plate, a feeding channel connected to the bottom of the slope guide plate, a second pushing component for pushing the round tubes that slide down from the slope guide plate into the feeding channel, a second offset material distribution component arranged at the conveying end of the feeding channel, and a direct vibration module arranged at the bottom of the feeding channel.

[0013] Furthermore, the first offset material dividing assembly includes a second cylinder, a first material receiving block driven by the second cylinder to move horizontally, and a bottom support plate located below the first material receiving block; a first material receiving trough is provided on the first material receiving block, one side of the first material receiving trough is an open structure and is connected to the output end of the gradient lifting silo; a window exposing the end of the round tube is provided on the other opposite side of the first material receiving trough, and the direction identification component is aligned with the window.

[0014] Furthermore, the direction adjustment assembly includes a third cylinder and a rotating seat driven by the third cylinder to rotate around the Z axis; the rotating seat is arranged at the end of the bottom support plate; the bottom of the first material receiving trough is an open structure, and the rotating seat is provided with a second material receiving trough which is recessed downward and convenient for docking with the bottom of the first material receiving trough.

[0015] Further, the second material receiving trough has two open sides, and the first material pushing assembly and the slope guide plate are respectively arranged on the two open sides of the second material receiving trough; the first material pushing assembly includes a fourth cylinder and a first material pushing block driven by the fourth cylinder to move horizontally; the first material pushing block is driven by the fourth cylinder to extend into the second material receiving trough, and pushes the round tube in the second material receiving trough toward the slope guide plate;

[0016] The second pusher assembly includes a fifth cylinder and a second pusher block driven by the fifth cylinder;

[0017] The second misaligned material distribution component includes a sixth cylinder and a second material receiving block driven by the sixth cylinder to move perpendicular to the conveying direction of the feeding channel. At least a pair of third material receiving grooves for docking with the feeding channel are arranged on the second material receiving block.

[0018] Furthermore, the circular tube handling module includes a first driving component, a first support plate arranged at the movable end of the first driving component, at least a pair of first jaw components arranged on the first support plate, and a first pressing plate arranged above the first jaw components to press and position the top of the circular tube.

[0019] Furthermore, a first sensor for detecting whether there is a product in the corresponding pneumatic jaw on the turntable is arranged at the circular tube loading station; a second sensor for detecting whether there is a product in the corresponding pneumatic jaw on the turntable is arranged at the welding station.

[0020] Furthermore, the circular wafer handling module includes a second driving component and a circular wafer suction nozzle arranged at the movable end of the second driving component;

[0021] The circular wafer guiding module includes a seventh cylinder and a second support plate driven by the seventh cylinder to move up and down. A pair of guiding sleeves are arranged and fixedly arranged on the second support plate.

[0022] Furthermore, the product unloading mechanism includes an eighth cylinder, a third support plate driven by the eighth cylinder to move up and down, a ninth cylinder fixed on the third support plate, a fourth support plate driven by the ninth cylinder to rotate around the Z axis, a second jaw component fixed on the fourth support plate, and a product collection box located below the rotation range of the second jaw component.

[0023] Another object of the present invention is to provide a method implemented based on the above-mentioned fully automatic laser welding equipment for circular tube capping, which includes the following steps:

[0024] S1. The circular tube feeding module orderly outputs circular tubes in a standing state. The circular tube handling module clamps the circular tubes in a standing state and places them into the pneumatic jaws at the circular tube loading station, and clamps the bottom of the circular tubes through the pneumatic jaws.

[0025] S2. The turntable drives the circular tubes to move to the tube piece loading station. The guiding sleeves move down to the low position. The circular wafer handling module takes out circular wafers from the circular wafer feeding module and places the circular wafers into the circular tube top assembly grooves at the circular wafer loading station along the inside of the guiding sleeves.

[0026] S3. The turntable drives the circular tube and the circular plate to rotate together to the welding station, and the circular tube and the circular plate are welded together by the laser welding mechanism to obtain the product;

[0027] S4. The turntable drives the product to rotate together to the blanking station, the pneumatic gripper is released, and the product is taken out by the product blanking mechanism to realize product blanking.

[0028] Compared with the prior art, the beneficial effects of the full-automatic laser welding equipment and method for covering a circular tube of the present invention are as follows: It ensures the automatic feeding of the circular tube with the correct direction and standing state, improves the assembly accuracy and welding accuracy of the circular tube and the circular plate, and improves the product quality. Specifically:

[0029] (1) By setting up a circular tube feeding module, a gradient boosting type bin is used to orderly output a row of lying circular tubes, and then a first misaligned feeding component cuts out one circular tube and pushes it onto a rotating seat. The direction of the circular tube is identified by a vision camera, and the automatic adjustment of the front and back directions of the circular tube is realized by driving the rotating seat to rotate, ensuring the correct assembly position of the circular tube and the circular plate subsequently;

[0030] (2) A ramp guiding plate is arranged on the output side of the direction adjusting component, and a feeding channel is arranged at the bottom of the ramp guiding plate. The lying circular tube is adjusted to the standing state by the ramp guiding plate and automatically slides into the feeding channel, and then the circular tube in the feeding channel is driven to move orderly by a linear vibrating module to realize the automatic feeding of the standing circular tube;

[0031] (3) At the circular plate feeding station, a circular plate guiding module is arranged, and the top of the circular tube is docked by a guiding sleeve to provide a guiding channel for the precise assembly of the circular plate, so that the circular plate can be accurately placed into the assembly groove at the top of the circular tube along the guiding channel, laying an important foundation for the precise welding of the circular tube and the circular plate subsequently and improving the product quality.

Description of the Drawings

[0032] Figure 1 It is a top view structural schematic diagram of an embodiment of the present invention;

[0033] Figure 2 It is a structural schematic diagram of the turntable mechanism in an embodiment of the present invention;

[0034] Figure 3 It is a structural schematic diagram of the circular tube feeding module in an embodiment of the present invention;

[0035] Figure 4 It is one of the partial structural schematic diagrams of the circular tube feeding module in an embodiment of the present invention;

[0036] Figure 5 It is the second of the partial structural schematic diagrams of the circular tube feeding module in an embodiment of the present invention;

[0037] Figure 6 Schematic structural diagram of the circular tube handling module in the embodiment of the present invention;

[0038] Figure 7 Schematic structural diagram of the wafer loading mechanism in the embodiment of the present invention;

[0039] Figure 8 Schematic structural diagram of the laser welding mechanism in the embodiment of the present invention;

[0040] Figure 9 Schematic structural diagram of the product unloading mechanism in the embodiment of the present invention;

[0041] The numbers in the figure represent:

[0042] 100 - Fully automatic laser welding equipment for circular tube caps;

[0043] 200 - Circular tube; 300 - Wafer;

[0044] 1 - Turntable mechanism, 11 - Turntable, 12 - Pneumatic gripper, 13 - Air slip ring, 14 - Positioning lock hole, 15 - Anti - rotation assembly, 151 - First cylinder, 16 - First sensor, 17 - Second sensor;

[0045] 2 - Circular tube feeding mechanism, 21 - Circular tube feeding module, 211 - Gradient - lifting type bin, 212 - First misalignment feeding component, 2121 - Second cylinder, 2122 - First receiving block, 21221 - First receiving groove, 2123 - Bottom support plate, 213 - Direction recognition part, 214 - Direction adjustment component, 2141 - Third cylinder, 2142 - Rotating seat, 2143 - Second receiving groove, 215 - Slope guide plate, 216 - First pushing component, 2161 - Fourth cylinder, 2162 - First pushing block, 217 - Feeding channel, 218 - Second pushing component, 2181 - Fifth cylinder, 2182 - Second pushing block, 219 - Second misalignment feeding component, 2191 - Sixth cylinder, 2192 - Second receiving block, 2193 - Third receiving groove, 2194 - Limit baffle, 2110 - Linear vibrator module, 22 - Circular tube handling module, 221 - First driving component, 222 - First support plate, 223 - First gripper component, 2231 - Gripper cylinder, 2232 - Circular tube gripper, 224 - First pressing plate;

[0046] 3 - Wafer loading mechanism, 31 - Wafer feeding module, 32 - Third receiving block, 33 - Wafer handling module, 331 - Second driving component, 332 - Wafer suction nozzle, 34 - Wafer guiding module, 341 - Seventh cylinder, 342 - Second support plate, 343 - Guide sleeve;

[0047] 4 - Laser welding mechanism, 41 - Three - axis transfer module, 42 - Laser welding module;

[0048] 5 - Product blanking mechanism, 51 - Eighth cylinder, 52 - Third support plate, 53 - Ninth cylinder, 54 - Fourth support plate, 55 - Second jaw assembly, 56 - Product collection box.

Specific implementation manner

[0049] Example 1:

[0050] Please refer to Figures 1-9 , in this embodiment, there is a fully automatic laser welding device 100 for round tube caps, which includes a turntable mechanism 1, a round tube loading mechanism 2, a round plate loading mechanism 3, a laser welding mechanism 4, and a product blanking mechanism 5 arranged in sequence around the turntable mechanism 1.

[0051] The turntable mechanism 1 includes a turntable 11 that rotates around the Z - axis and a number of pneumatic jaws 12 arranged at equal angles on the turntable 11. A gas - slip ring 13 is arranged at the center of the turntable 11. The gas - slip ring 13 is connected to the pneumatic jaws 12 through a pipeline to provide air - source power for the pneumatic jaws 12. The setting of the gas - slip ring 13 ensures that the pneumatic jaws 12 can rotate infinitely without the trachea being wound.

[0052] In order to ensure the stable and reliable position of the product on the pneumatic jaws 12 when the laser welding mechanism 4 performs laser welding, a number of positioning lock holes 14 are arranged at equal angles on the turntable 11, and a rotation - stopping assembly 15 is arranged below the turntable 11. The rotation - stopping assembly 15 includes a first cylinder 151 and a locking rod (not marked in the figure) that moves up and down under the drive of the first cylinder 151. The locking rod is driven by the first cylinder 151 to insert upward into the positioning lock hole 14 to realize the rotation locking of the turntable 11 and prevent the turntable 11 from shaking and affecting the laser welding accuracy.

[0053] In this embodiment, a round tube loading station, a round plate loading station, a welding station, and a blanking station are arranged in sequence around the turntable mechanism 1. The round tube loading mechanism 2 is arranged corresponding to the round tube loading station, the round plate loading mechanism 3 is arranged corresponding to the round plate loading station, the laser welding mechanism 4 is arranged corresponding to the welding station, and the product blanking mechanism 5 is arranged corresponding to the blanking station.

[0054] The round tube feeding mechanism 2 is mainly used to realize the feeding and loading of the round tube 200, and includes a round tube feeding module 21 and a round tube handling module 22. The round tube feeding module 21 supplies and outputs the round tube 200. The round tube handling module 22 takes out a pair of round tubes 200 from the round tube feeding module 21 and then places them into the pneumatic gripper 12 on the turntable 11 to realize the feeding and loading of the round tube. Among them, the round tube feeding module 21 includes a gradient lifting type bin 211, a first misaligned feeding component 212 located on the output side of the gradient lifting type bin 211, a direction identification component 213 for identifying the direction of the round tube 200 in the first misaligned feeding component 212, a direction adjustment component 214 for receiving the round tube 200 misaligned and cut by the first misaligned feeding component 212 and adjusting the direction of the round tube 200 according to the direction identification component 213, a ramp guide plate 215 arranged on the output side of the direction adjustment component 214, a first pushing component 216 for pushing the round tube 200 in the direction adjustment component 214 onto the ramp guide plate 215, a feeding channel 217 connected to the bottom of the ramp guide plate 215, a second pushing component 218 for pushing the round tube sliding down from the ramp guide plate 215 into the feeding channel 217, a second misaligned feeding component 219 arranged at the conveying end of the feeding channel 217, and a linear vibrator module 2110 arranged at the bottom of the feeding channel 217.

[0055] The gradient lifting type bin 211 automatically and orderly outputs a row of round tubes 200, and the axial direction of the round tubes 200 is parallel to the conveying direction of the round tubes 200; the first misaligned feeding component 212 receives a round tube 200 at the conveying end of the gradient lifting type bin 211, and the direction identification component 213 identifies the end information of the round tube to judge whether it is forward or backward; the first misaligned feeding component 212 carries the round tube 200 and moves perpendicular to the round tube conveying direction of the gradient lifting type bin 211, cuts and separates the round tube 200 onto the direction adjustment component 214. The direction adjustment component 214, according to the identification information of the direction identification component 213, if adjustment is needed, turns the round tube 200 around to realize the front-back direction adjustment. If no adjustment is needed, the first pushing component 216 directly pushes the round tube on the direction adjustment component 214 outwards. Under the guiding action of the ramp guide plate 215, the round tube 200 is adjusted from the horizontal lying state to the standing state. The second pushing component 218 pushes the round tube into the feeding channel 217. Under the action of the linear vibrator module 2110, the round tubes 200 move forward orderly in the feeding channel 217. At the end of the feeding channel 217, the second misaligned feeding component 219 cuts and outputs two round tubes 200 to realize the automatic feeding of the standing round tubes; then the round tube handling module 22 takes out the two round tubes 200 on the second misaligned feeding component 219 and places them into the pneumatic gripper 12 on the turntable 11 to realize the round tube loading.

[0056] The first misaligned material separation component 212 includes a second cylinder 2121, a first material receiving block 2122 driven by the second cylinder 2121 to move horizontally, and a bottom support plate 2123 located below the first material receiving block 2122. A first material receiving groove 21221 is provided on the first material receiving block 2122. One side of the first material receiving groove 21221 is an open structure and is docked with the output end of the gradient-lifting type bin 211. On the other opposite side of the first material receiving groove 21221, there is a window (not marked in the figure) exposing the end of the circular tube 200, and the direction recognition member 213 is aligned with this window. The bottom of the first material receiving groove 21221 is an open structure so that the circular tube 200 can fall from the bottom into the direction adjustment component 214. The bottom support plate 2123 provides bottom support for the circular tube 200 in the first material receiving groove 21221, ensuring that the circular tube 200 can remain in the first material receiving groove 21221 when the first material receiving block 2122 moves between the material receiving position and the discharging position.

[0057] The direction recognition member 213 is a vision camera.

[0058] The direction adjustment component 214 includes a third cylinder 2141 and a rotating seat 2142 driven by the third cylinder 2141 to rotate around the Z axis. The rotating seat 2142 is integrally circular and is arranged at the end of the bottom support plate 2123. A downwardly concave second material receiving groove 2143 is provided on the rotating seat 2142. The second material receiving groove 2143 has open sides on both sides. The first pushing component 216 and the ramp guiding plate 215 are respectively arranged on the open sides of the second material receiving groove 2143, so that the first pushing component 216 can extend into the second material receiving groove 2143 to push the circular tube onto the ramp guiding plate 215. The upper part of the second material receiving groove 2143 is an open structure so that the circular tube 200 can fall from the bottom of the first material receiving groove 21221 on the first material receiving block 2122 into the second material receiving groove 2143, realizing the position transfer of the circular tube 200.

[0059] The end of the ramp guiding plate 215 extends to the side baffle of the feeding channel 217 and is connected and docked with the feeding channel 217.

[0060] The first pushing component 216 includes a fourth cylinder 2161 and a first pushing block 2162 driven by the fourth cylinder 2161 to move horizontally. The first pushing block 2162 is driven by the fourth cylinder 2161 to extend into the second material receiving groove 2143 and push the circular tube 200 in the second material receiving groove 2143 towards the ramp guiding plate 215.

[0061] The feeding channel 217 carries a row of standing circular tubes 200, and the end of the circular tube 200 used for assembling the wafer is upward. Under the vibration of the linear vibration module 2110, a row of standing circular tubes 200 move forward one by one.

[0062] The second material pushing component 218 includes a fifth cylinder 2181 and a second material pushing block 2182 driven by the fifth cylinder 2181. Driven by the fifth cylinder 2181, the second material pushing block 2182 pushes the standing round tubes 200 that slide from the ramp guide plate 215 into the feeding channel 217 towards the second misaligned material distribution component 219, so as to avoid the material receiving position at the end of the ramp guide plate 215 and facilitate the landing of the next round tube.

[0063] The second misaligned material distribution component 219 includes a sixth cylinder 2191 and a second material receiving block 2192 driven by the sixth cylinder 2191 to move perpendicular to the conveying direction of the feeding channel 217. At least a pair of third material receiving grooves 2193 docked with the feeding channel 217 are arranged on the second material receiving block 2192. A limiting baffle 2194 is arranged beside the end of the feeding channel 217 to block the opening side of one of the third material receiving grooves 2193 during the translation and cutting process of the second material receiving block 2192 to prevent the round tubes 200 from falling.

[0064] The round tube handling module 22 includes a first driving component 221, a first support plate 222 arranged at the movable end of the first driving component 221, at least a pair of first jaw components 223 arranged on the first support plate 222, and a first pressing plate 224 arranged above the first jaw components 223 to press and position the top of the round tubes 200. The first jaw component 223 includes a jaw cylinder 2231 fixed on the first support plate 222 and round tube jaws 2232 driven by the jaw cylinder 2231 to open or clamp. One end of the first pressing plate 224 is fixed on the first support plate 222 and the other end extends above the round tube jaws 2232. While the first jaw component 223 clamps the round tubes and places them on the pneumatic jaws 12 for feeding, the first pressing plate 224 performs a pressing operation on the round tubes to press the round tubes 200 downward in place, ensuring the uniform height of the round tubes 200 on the pneumatic jaws 12.

[0065] In this embodiment, the first driving component 221 is a multi-axis robot. In other embodiments, the first driving component 221 can also adopt a three-axis linear transfer module or a two-axis linear transfer module.

[0066] A first sensor 16 for detecting whether there is a product in the corresponding pneumatic jaw 12 on the detection turntable 11 is arranged at the round tube feeding station. If there is still a product remaining on the pneumatic jaw 12 rotated to the round tube feeding station, it is taken out by the round tube handling module 22 for discharging.

[0067] The wafer loading mechanism 3 includes a wafer feeding module 31, a third receiving block 32 arranged at the output end of the wafer feeding module 31, a wafer handling module 33 that takes out the wafer 300 from the third receiving block 32 and places it on the top of the round tube 200 of the pneumatic gripper 12, and a wafer guiding module 34 that provides guidance when the wafer handling module 33 places the wafer on the top of the round tube 200.

[0068] The wafer feeding module 31 uses a vibrating disk for feeding. The end of the third receiving block 32 is provided with a fourth receiving groove.

[0069] The wafer handling module 33 includes a second driving component 331 and a wafer suction nozzle 332 arranged at the movable end of the second driving component 331. In this embodiment, the second driving component 331 is a multi-axis robot. In other embodiments, the first driving component 221 can also adopt a three-axis linear transfer module or a two-axis linear transfer module.

[0070] The wafer guiding module 34 includes a seventh cylinder 341, a second support plate 342 driven by the seventh cylinder 341 to move up and down, and a pair of guiding sleeves 343 fixed on the second support plate 342. The positions of the pair of guiding sleeves 343 correspond to the clamping positions of two adjacent pneumatic grippers 12 on the turntable 11. When the two round tubes 200 rotate to the wafer loading station, the guiding sleeves 343 descend to dock with the top ends of the round tubes 200 or are sleeved on the tops of the round tubes 200. The wafer handling module 33 adsorbs two wafers 300 and places them into the top assembly grooves of the round tubes 200 along the guiding sleeves 343 to complete wafer loading. After that, the guiding sleeves 343 rise to a high position, and the turntable 11 rotates to realize material flow.

[0071] The laser welding mechanism 4 includes a three-axis transfer module 41 and a laser welding module 42 arranged at the movable end of the three-axis transfer module 41. There are two sets of laser welding modules 42, which simultaneously perform laser welding on two round tube and wafer products. A second sensor 17 for detecting whether there is a product on the pneumatic gripper 12 at the corresponding position is arranged at the welding station. Only when the second sensor 17 detects that there is a product on the pneumatic gripper 12 at the welding station, the laser welding mechanism 4 starts to perform the welding operation.

[0072] The product unloading mechanism 5 includes an eighth cylinder 51, a third support plate 52 driven by the eighth cylinder 51 to move up and down, a ninth cylinder 53 fixed on the third support plate 52, a fourth support plate 54 driven by the ninth cylinder 53 to rotate around the Z axis, a second gripper assembly 55 fixed on the fourth support plate 54, and a product collection box 56 located below the rotation range of the second gripper assembly 55. There are two sets of second gripper assemblies 55 on the fourth support plate 54, which simultaneously realize the common unloading of two products.

[0073] The working process of a fully automated laser welding device 100 for round tube caps in this embodiment is as follows: The round tube handling module 22 takes out two round tubes 200 from the round tube feeding module 21, and then places them on two pneumatic grippers 12 located at the round tube loading station. The bottom of the round tube 200 is clamped and fixed by the pneumatic grippers 12. Then, the turntable 11 drives the round tube 200 to rotate to the round wafer loading station. The guiding sleeve 343 in the round wafer guiding module 34 moves downward to the low position. The round wafer handling module 33 takes out a pair of round wafers 300 from the third receiving block 32, and places the round wafers 300 into the top assembly groove of the round tube 200 located at the round wafer loading station along the inside of the guiding sleeve 343. Then, the turntable 11 drives the round tube 200 and the round wafer 300 to rotate together to the welding station, and the round tube 200 and the round wafer 300 are welded together by the laser welding mechanism 4 to obtain the product. Then, the turntable 11 drives the product to rotate together to the unloading station. Two second gripper assemblies 55 clamp the two products, the pneumatic grippers 12 are released, and then the products are taken out upward and rotated 180 degrees and placed into the product collection box 56 to realize product unloading and collection.

[0074] For those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all fall within the protection scope of the present invention.

Claims

1. A fully automated laser welding equipment for round tube capping, characterized in that: It includes: The turntable mechanism comprises a turntable and a plurality of pneumatic clamps arranged at equal angles on the turntable, and a round tube loading station, a round sheet loading station, a welding station and a unloading station are arranged in sequence around the turntable; A round tube feeding mechanism, which is arranged at the round tube feeding station and comprises a round tube feeding module for orderly outputting standing round tubes and a round tube handling module for clamping round tubes from the round tube feeding module and placing them in the pneumatic clamp; A wafer loading mechanism is arranged at the wafer loading station and includes a wafer feeding module, a wafer conveying module and a wafer guiding module. The wafer guiding module includes a guiding sleeve. The guiding sleeve is connected to the top of the round tube at the wafer loading station by moving up and down to provide a guiding channel for inserting the wafer; A laser welding mechanism, arranged at the welding station; The product unloading mechanism is arranged at the unloading station.

2. The fully automatic laser welding equipment for round tube capping according to claim 1, characterized in that: An air slip ring is arranged in the center of the turntable, and the air slip ring is connected to the pneumatic clamp through a pipeline; a plurality of positioning lock holes are arranged at equal angles on the turntable, and a rotation-stopping assembly is arranged below the turntable; the rotation-stopping assembly includes a first cylinder and a locking rod driven by the first cylinder to move up and down; the locking rod is inserted upward into the positioning lock hole under the drive of the first cylinder to realize rotation locking of the turntable.

3. The fully automatic laser welding equipment for round tube capping according to claim 1, characterized in that: The round tube feeding module includes a gradient lifting silo, a first offset material distribution component located at the output side of the gradient lifting silo, a direction identification component for identifying the direction of the round tubes in the first offset material distribution component, a direction adjustment component that receives the round tubes offset-cut by the first offset material distribution component and adjusts the direction of the round tubes according to the direction identification component, a slope guide plate arranged on the output side of the direction adjustment component, a first pushing component that pushes the round tubes in the direction adjustment component into the slope guide plate, a feeding channel connected to the bottom of the slope guide plate, a second pushing component that pushes the round tubes that slide down from the slope guide plate into the feeding channel, a second offset material distribution component arranged at the conveying end of the feeding channel, and a direct vibration module arranged at the bottom of the feeding channel.

4. The fully automatic laser welding equipment for round tube capping according to claim 3, characterized in that: The first offset material dividing assembly includes a second cylinder, a first material receiving block driven by the second cylinder to move horizontally, and a bottom support plate located below the first material receiving block; a first material receiving trough is provided on the first material receiving block, one side of the first material receiving trough is an open structure and is connected to the output end of the gradient lifting silo; a window exposing the end of the round tube is provided on the other opposite side of the first material receiving trough, and the direction identification component is aligned with the window.

5. The fully automatic laser welding equipment for round tube capping according to claim 4, characterized in that: The direction adjustment assembly includes a third cylinder and a rotating seat driven by the third cylinder to rotate around the Z axis; the rotating seat is arranged at the end of the bottom support plate; the bottom of the first material receiving trough is an open structure, and the rotating seat is provided with a second material receiving trough which is recessed downward and convenient for docking with the bottom of the first material receiving trough.

6. The fully automatic laser welding equipment for round tube capping according to claim 5, characterized in that: The second material receiving trough has two open sides, and the first material pushing assembly and the slope guide plate are respectively arranged on the two open sides of the second material receiving trough; the first material pushing assembly includes a fourth cylinder and a first material pushing block driven by the fourth cylinder to move horizontally; the first material pushing block is driven by the fourth cylinder to extend into the second material receiving trough to push the round tube in the second material receiving trough toward the slope guide plate; The second pusher assembly includes a fifth cylinder and a second pusher block driven by the fifth cylinder; The second offset material distribution assembly includes a sixth cylinder and a second material receiving block driven by the sixth cylinder to move perpendicularly to the conveying direction of the material supply channel, and the second material receiving block is provided with at least a pair of third material receiving grooves connected to the material supply channel.

7. The fully automatic laser welding equipment for round tube capping according to claim 1, characterized in that: The round tube handling module includes a first driving assembly, a first supporting plate arranged at the movable end of the first driving assembly, at least one pair of first clamping jaw assemblies arranged on the first supporting plate, and a first pressing plate arranged above the first clamping jaw assembly to press and position the top of the round tube.

8. The fully automatic laser welding equipment for round tube capping according to claim 1, characterized in that: The round tube loading station is provided with a first sensor for detecting whether there is a product in the corresponding pneumatic clamp on the turntable; the welding station is provided with a second sensor for detecting whether there is a product in the corresponding pneumatic clamp on the turntable.

9. The fully automatic laser welding equipment for round tube capping according to claim 1, characterized in that: The wafer handling module includes a second driving assembly and a wafer suction nozzle arranged at a movable end of the second driving assembly; The wafer guide module includes a seventh cylinder and a second support plate driven by the seventh cylinder to move up and down, and a pair of guide sleeves are provided and fixedly arranged on the second support plate.

10. The fully automatic laser welding equipment for round tube capping according to claim 1, characterized in that: The product unloading mechanism includes an eighth cylinder, a third support plate driven by the eighth cylinder to move up and down, a ninth cylinder fixed on the third support plate, a fourth support plate driven by the ninth cylinder to rotate around the Z axis, a second clamping jaw assembly fixed on the fourth support plate, and a product collection box located below the rotation range of the second clamping jaw assembly.

11. The method implemented based on the fully automated laser welding equipment for round tube capping according to claim 1 is characterized in that: It includes the following steps: S1, the round tube feeding module outputs the standing round tubes in order, the round tube transporting module clamps the standing round tubes and places them into the pneumatic clamp located at the round tube loading station, and clamps the bottom of the round tube by the pneumatic clamp; S2, the turntable drives the round tube to move to the tube segment loading station, the guide sleeve moves downward to a low position, the wafer handling module takes out the wafer from the wafer feeding module, and places the wafer into the assembly groove on the top of the round tube at the wafer loading station along the inside of the guide sleeve; S3, the turntable drives the round tube and the round sheet to rotate together to the welding station, and the round tube and the round sheet are welded together by the laser welding mechanism to obtain a product; S4, the turntable drives the product to rotate together to the unloading station, the pneumatic clamp is released, and the product is taken out through the product unloading mechanism to realize product unloading.

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