Double-machine-head pipe and pipe plate welding robot with wire harness management function

Abstract

The invention relates to a double-machine-head pipe and pipe plate welding robot with a wire harness management function, which is used for avoiding mutual interference and entanglement between two wire harnesses respectively connected with two machine heads, and comprises a vertical column, a plurality of connecting rods, a plurality of connecting rods and a plurality of connecting rods, the robot base is slidably connected to the front face of the stand column through a guide mechanism. The wire harness management systems are symmetrically arranged on the two sides of the top of the stand column, connected with the head ends of the two wire harnesses correspondingly and used for controlling storage or release of the wire harnesses correspondingly; the two machine heads are respectively connected with the tail ends of the two wire harnesses; and the mechanical arm is rotatably connected with the robot base and is used for grabbing any machine head to carry out welding operation. According to the invention, when the mechanical arm controls the double machine heads to move in a spatial position and switches different machine heads for operation, the wire harnesses connected with the machine heads can be stored and released in real time and always kept in a linear state, so that mutual interference and entanglement among the wire harnesses are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of wire harness layout for tube - tube sheet welding robots, and particularly to a dual - head tube - tube sheet welding robot with wire harness management function. Background Art

[0002] At present, in the field of large - scale equipment manufacturing in nuclear power plants, the intensive welding operation of tube - tube sheet joints places extremely high requirements on automation equipment. Although traditional single - head welding robots have achieved basic automation, in engineering scenarios involving tens of thousands of tube joints, their operation efficiency can no longer meet the construction period requirements of modern nuclear power construction. Therefore, the adoption of a multi - head collaborative operation system has become the development trend of the industry, and the production capacity can be significantly improved by multiple welding heads working in parallel. However, when multi - head welding robots operate at the same or adjacent workstations, the wire harnesses between the heads are prone to interference and entanglement with each other, resulting in abnormal production or even safety accidents.

[0003] Based on this, a dual - head tube - tube sheet welding robot with wire harness management function that can overcome the above - mentioned defects is proposed, and through two symmetrically arranged dual - head tube - tube sheet welding machines with wire harness management function, efficient multi - head operation is realized to address the above problems.

[0004] It can be understood that the above statements only provide background technology related to the present invention and do not necessarily constitute prior art. Summary of the Invention

[0005] The object of the present invention is to provide a dual - head tube - tube sheet welding robot with wire harness management function, which is used to enable the wire harnesses connecting the heads to be stored and released in real time and always keep them in a straight line when the robotic arm controls the dual - heads to move in spatial positions and switch between different heads for operation, avoiding interference and entanglement between the wire harnesses, and realizing efficient multi - head operation through two symmetrically arranged dual - head tube - tube sheet welding machines with wire harness management function.

[0006] To achieve the above object, the present invention provides a dual - head tube - tube sheet welding robot with wire harness management function for avoiding interference and entanglement between two wire harnesses respectively connected to two heads, including: a column, vertically arranged; a robot base, slidably connected to the front of the column through a guiding mechanism; a wire harness management system, symmetrically arranged on both sides of the top of the column, respectively connected to the heads of two wire harnesses, and used to control the storage or release of the wire harnesses respectively; two heads, respectively connected to the ends of the two wire harnesses; a robotic arm, rotatably connected to the robot base, and used to grab any one of the heads for welding operation.

[0007] Preferably, the guiding mechanism includes: a linear guide rail vertically arranged on the front of the column; a slider arranged on the back of the robot base and embedded in the linear guide rail, capable of driving the robot base to slide axially along the linear guide rail; and a fastening bolt is arranged on the slider for fixing the robot base at a required height position.

[0008] Preferably, the column includes two opposite sides, and the wire harness management system includes: a pair of cross beams respectively connected and symmetrically arranged on the two sides of the column; and a pair of support pulleys respectively arranged at the ends of the cross beams not connected to the two sides of the column and symmetrically arranged.

[0009] Preferably, the wire harness management system further includes: a pair of fixed pulleys respectively arranged on the two sides of the column and located below and close to the corresponding cross beam; a pair of tracks vertically arranged on the two sides of the column and located below the corresponding fixed pulley; and a pair of movable pulleys respectively embedded in the corresponding tracks; wherein each track is used to control the corresponding movable pulley to rise or fall within a required range.

[0010] Preferably, grooves for accommodating the corresponding wire harness are respectively arranged on each support pulley, fixed pulley and movable pulley.

[0011] Preferably, the end of each wire harness is connected to the corresponding machine head, and the head end is successively wound upward through the upper groove of the corresponding support pulley, horizontally wound through the upper groove of the corresponding fixed pulley, downward wound through the lower groove of the corresponding movable pulley, and fixed upward to the wire take-up box at the top of the column.

[0012] Preferably, the double-head tube-to-tube sheet welding robot further includes: a central control system communicatively connected to the robotic arm; a driving mechanism respectively connected to the movable pulleys in each wire harness management system and communicatively connected to the central control system; the central control system can calculate the straight-line distance and change speed between the machine head and the corresponding support pulley in real time according to the coordinates, moving direction and moving speed of the machine head grasped by the robotic arm, convert them into lifting and lowering instructions for the corresponding movable pulley, and control the driving mechanism to drive the movable pulley to move along the track.

[0013] Preferably, when the distance between the machine head and the corresponding support pulley shortens, the central control system controls the driving mechanism to drive the movable pulley to descend and contract the wire harness; when the distance between the machine head and the corresponding support pulley increases, the central control system controls the driving mechanism to drive the movable pulley to rise and release the wire harness; and the lifting and lowering speed of the movable pulley matches the moving speed of the corresponding machine head.

[0014] Preferably, a quick-change fixture is arranged at the end of the robotic arm.

[0015] Preferably, when the dual-head pipe-tube sheet welding robot performs welding tasks, the welding target to be welded can be set between two symmetrically placed dual-head pipe-tube sheet welding robots; among them, two heads with different welding functions can be set on each dual-head pipe-tube sheet welding robot, and four heads can be controlled by two robotic arms to achieve multi-head welding tasks.

[0016] In summary, compared with the prior art, the dual-head pipe-tube sheet welding robot with a wire harness management function according to the present invention designs a wire harness management system with a dynamic compensation function. When the robotic arm drives different heads to perform spatial movements, the movable pulley group in the wire harness path can be adjusted in real time to keep the wire harness in a tensioned state, avoiding mutual interference and entanglement between wire harnesses. At the same time, two dual-head pipe-tube sheet welding robots with wire harness management functions can be symmetrically arranged, and four heads with different welding functions can be set to achieve efficient operation of multiple heads, which has great practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a perspective view of the dual-head pipe-tube sheet welding robot in the present invention;

[0018] Figure 2 is a top view of the dual-head pipe-tube sheet welding robot in the present invention;

[0019] Figure 3 is a first side view of the dual-head pipe-tube sheet welding robot in the present invention;

[0020] Figure 4 is a second side view of the dual-head pipe-tube sheet welding robot in the present invention;

[0021] Figure 5 is a front view of the dual-head pipe-tube sheet welding robot in the present invention;

[0022] Figure 6 is a schematic diagram of the symmetrical arrangement of the dual-head pipe-tube sheet welding robot in the present invention.

[0023] Explanation of Reference Numerals:

[0024] 11 - First wire harness, 12 - Second wire harness, 2 - Robotic arm, 31 - First head, 32 - Second head, 4 - Robot base, 5 - Column, 51 - First side, 52 - Second side, 61 - First support pulley, 62 - Second support pulley, 71 - First fixed pulley, 72 - Second fixed pulley, 81 - First movable pulley, 82 - Second movable pulley, 91 - First cross beam, 92 - Second cross beam. DETAILED DESCRIPTION OF THE INVENTION

[0025] The following is combined with the attached Figure 1~Appendix Figure 6 The present invention will be further described by elaborating on a preferred specific embodiment in detail.

[0026] It should be noted that the accompanying drawings are in a very simplified form and use non-precise scales, only for the purpose of conveniently and clearly assisting in explaining the embodiments of the present invention, rather than being used to limit the limiting conditions for implementing the present invention. Therefore, they do not have substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present invention.

[0027] It should be noted that in the present invention, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements explicitly listed, but also other elements not explicitly listed, or elements inherent to such process, method, article or device.

[0028] As Figure 1 As shown, the present invention provides a dual-head tube-to-tube sheet welding robot with a wire harness management function, which is used to avoid mutual interference and entanglement between two wire harnesses respectively connected to two heads, and includes: a column 5, which is vertically arranged; a robot base 4, which is slidably connected to the front of the column 5 through a guiding mechanism; a wire harness management system, which is symmetrically arranged on both sides of the top of the column 5 and is respectively connected to the heads of the first wire harness 11 and the second wire harness 12, and is used to control the storage or release of the first wire harness 11 and the second wire harness 12; a first head 31 and a second head 32, which are respectively connected to the ends of the first wire harness 11 and the second wire harness 12; a robotic arm 2, which is rotatably connected to the robot base 4 and is used to grab the first head 31 or the second head 32 for welding operations.

[0029] Wherein, the guiding mechanism includes: a linear guide rail, which is arranged vertically on the front of the column 5; a slider, which is arranged on the back of the robot base 4 and is embedded in the linear guide rail, and can drive the robot base 4 to slide axially along the linear guide rail; a fastening bolt is arranged on the slider, and when the robot base 4 slides to the required height position along the linear guide rail, tightening the fastening bolt can fix the robot base 4 at this height position.

[0030] Furthermore, as Figures 2 to 5As shown, the column 5 includes opposite first side 51 and second side 52. The wire harness management system includes: a first cross beam 91, one end of which is connected and arranged on the first side 51 of the column 5, and a second cross beam 92, one end of which is connected and arranged on the second side 52 of the column 5, and the first cross beam 91 and the second cross beam 92 are symmetrically arranged; a first support pulley 61 is arranged at the end of the first cross beam 91 not connected to the first side 51, and a second support pulley 62 is arranged at the end of the second cross beam 92 not connected to the second side 52, and the first support pulley 61 and the second support pulley 62 are also symmetrically arranged with each other; wherein, the first support pulley 61 provides support for the first wire harness 11 wound around it, and the second support pulley 62 provides support for the second wire harness 12 wound around it.

[0031] Further, the wire harness management system further includes: a first fixed pulley 71 and a first movable pulley 81 arranged on the first side 51, and a second fixed pulley 72 and a second movable pulley 82 arranged on the second side; wherein, the first fixed pulley 71 is located below and adjacent to the first cross beam 91, so that the first fixed pulley 71 and the first support pulley 61 are substantially on the same horizontal plane; the second fixed pulley 72 is located below and adjacent to the second cross beam 92, so that the second fixed pulley 72 and the second support pulley 62 are substantially on the same horizontal plane. It should be noted that the wire harness management system further includes: a first track and a second track respectively arranged vertically on the first side 51 and the second side 52; wherein, the first track is arranged below the first fixed pulley 71, and the first movable pulley 81 is embedded in the first track, and this first track is used to control the first movable pulley 81 to rise or fall within the required range; the second track is arranged below the second fixed pulley 72, and the second movable pulley 82 is embedded in the second track, and this second track is used to control the second movable pulley 82 to rise or fall within the required range.

[0032] Wherein, grooves for accommodating the first wire harness 11 are respectively arranged on the first support pulley 61, the first fixed pulley 71 and the first movable pulley 81; grooves for accommodating the second wire harness 12 are respectively arranged on the second support pulley 62, the second fixed pulley 72 and the second movable pulley 82.

[0033] Further, the winding methods of the first wire harness 11 and the second wire harness 12 in the present invention are as follows: The end of the first wire harness 11 is connected to the first machine head 31, and the head end is sequentially wound upward through the upper groove of the first support pulley 61, horizontally wound through the upper groove of the first fixed pulley 71, and downward wound through the lower groove of the first movable pulley 81, and finally fixed upward to the first wire take-up box at the top of the column 5, forming a curved path. Similarly, the end of the second wire harness 12 is connected to the second machine head 32, and the head end is sequentially wound upward through the upper groove of the second support pulley 62, horizontally wound through the upper groove of the second fixed pulley 72, and downward wound through the lower groove of the second movable pulley 82, and finally fixed upward to the second wire take-up box at the top of the column 5, forming a curved path. Thus, both the first wire harness 11 and the second wire harness 12 form a dynamic telescopic structure, and the contraction and release of the wire harness are controlled by the movement of the movable pulley on the track.

[0034] Specifically, taking the first wire harness 11 as an example, when the robotic arm 2 grabs the first machine head 31 for welding operations, it is necessary to calculate in real time the distance between the first machine head 31 and the first support pulley 61, thereby controlling the direction and distance that the first movable pulley 81 needs to move on the first track. When the distance between the first machine head 31 and the first support pulley 61 increases after the first machine head 31 is controlled by the robotic arm 2 to move, control the first movable pulley 81 to move upward on the first track, and then control the release of the first wire harness 11. When the distance between the first machine head 31 and the first support pulley 61 shortens, control the first movable pulley 81 to move downward on the first track, and then control the contraction of the first wire harness 11. Therefore, by controlling the rise or fall of the first movable pulley 81, it can be ensured that the first wire harness 11 located between the first machine head 31 and the first support pulley 61 is always in a vertically taut state, and the second wire harness 12 is also controlled by the same structure, so that the first wire harness 11 and the second wire harness 12 do not interfere or entangle with each other.

[0035] Further, the welding robot further includes a central control system (not shown in the figure), which is communicatively connected to the robotic arm 2; a driving mechanism (not shown in the figure), which is respectively connected to the first movable pulley 81 and the second movable pulley 82 and is communicatively connected to the central control system; wherein, the central control system can respectively calculate, in real time, the straight-line distance between the first welding head 31 or the second welding head 32 on the robotic arm 2 and the corresponding first support pulley 61 or the second support pulley 62 and the change speed of this distance increasing or decreasing according to the coordinates, moving direction and moving speed of the first welding head 31 or the second welding head 32 grasped by the robotic arm 2, and convert the calculation results into the height and speed instructions for the corresponding first movable pulley 81 or the second movable pulley 82 to rise or fall, and then instruct the driving mechanism to drive the corresponding first movable pulley 81 or the second movable pulley 82 to rise or fall on the first track or the second track, thereby realizing the functions of contraction and release of the first wire harness 11 or the second wire harness 12.

[0036] In a preferred embodiment of the present invention, the specific calculation method of the above instructions is as follows:

[0037] Assume that within a time period of Δt, a welding head moves from the coordinate (x1, y1, z1) to the coordinate (x2, y2, z2), and the moving path is determined by the welding task path, and the coordinate of its corresponding support pulley is (x0, y0, z0); wherein, the coordinate of the support pulley is an initial set value, and the coordinate of the real-time position of any welding head is directly obtained by a sensor arranged therein, and the acquisition of the real-time position of any welding head is prior art rather than the research focus of the present invention, so it will not be elaborated herein. Then the displacement vector of this welding head can be expressed as Since Δt is very small, the vector from the coordinate (x1, y1, z1) of this welding head to its corresponding support pulley can be expressed as At The projection on Can be expressed as:

[0038]

[0039] At the same time, since the moving distance of the movable pulley is twice the length of the wire harness storage or release when the movable pulley moves up and down, within the time period of Δt, the movable pulley only needs to move Of the distance; when the time Δt approaches 0, the instantaneous speed of the movable pulley moving can be obtained,

[0040] It can be understood that when the distance between the machine head and its corresponding support pulley shortens, the movable pulley descends, and the wire harness is contracted in real time; when the distance between the machine head and the support pulley increases, the movable pulley ascends, and the wire harness is released in real time; when the moving speed of the machine head is fast, the corresponding ascending and descending speeds of the movable pulley are large, and vice versa.

[0041] Further, the ends of the first machine head 31 and the second machine head 32 both include welding execution mechanisms (not shown in the figure). The robotic arm 2 drives the first machine head 31 or the second machine head 32 to move, thereby driving the movement of the welding execution mechanism. The movement route of the welding execution mechanism is the welding route that needs to be welded, and finally the welding function is realized.

[0042] Further, a quick-change fixture is provided at the end of the robotic arm 2, which can quickly replace the first machine head 31 or the second machine head 32 according to the welding requirements.

[0043] Further, a first placement area and a second placement area are also provided on the robot base 4. When the double-head pipe-to-tube sheet welding robot does not perform operations, the first machine head 31 is statically placed in the first placement area, and the second machine head 32 is statically placed in the second placement area; when the robotic arm 2 needs to switch from grasping the first machine head 31 to grasping the second machine head 32, the first machine head 31 will be first placed back in the first placement area, and then the second machine head 32 will be grasped from the second placement area. Conversely, the same is true when the robotic arm 2 needs to switch from grasping the second machine head 32 to grasping the first machine head 31. It should be noted that the robotic arm 2 uses a preset program to grasp the first machine head 31 or the second machine head 32.

[0044] Further, the robot base 4 can slide up and down along the column 5 in the vertical direction, and the sliding range covers 70%-90% of the height of the column 5, so that the robotic arm 2 can grasp the first machine head 31 or the second machine head 32 in a larger space range for welding operations.

[0045] Further, the double-head pipe-to-tube sheet welding robot provided by the present invention can be symmetrically arranged. As Figure 6 shown, the double-head pipe-to-tube sheet welding robots are symmetrically arranged on both sides respectively. When performing welding tasks, the welding target to be welded is located between the two double-head pipe-to-tube sheet welding robots. At this time, two machine heads with different welding functions can be set on each double-head pipe-to-tube sheet welding robot; thus, four machine heads with different welding functions can be controlled by two robotic arms, realizing the efficient operation of multiple machine heads in welding tasks, and significantly improving the production capacity by the parallel operation of multiple welding machine heads.

[0046] In summary, for the dual-head pipe-to-tube sheet welding robot with wire harness management function of the present invention, by designing a wire harness management system with dynamic compensation function, when the robotic arm drives different heads to move in space, the movable pulley group in the wire harness path can be adjusted in real time for lifting to keep the wire harness in a tensioned state, avoiding mutual interference and entanglement between wire harnesses. At the same time, by symmetrically arranging two dual-head pipe-to-tube sheet welding machines with wire harness management function and setting four heads with different welding functions, efficient operation of multiple heads can be achieved, which has great practical value.

[0047] Although the content of the present invention has been introduced in detail through the above preferred embodiments, it should be recognized that the above description should not be considered as a limitation to the present invention. After those skilled in the art have read the above content, various modifications and substitutions to the present invention will be obvious. Therefore, the protection scope of the present invention should be defined by the appended claims.

Claims

1. A dual-head tube-sheet welding robot with a wire harness management function, which is used to avoid mutual interference and entanglement between two wire harnesses respectively connected to two heads, is characterized in that, Comprising: A column, vertically arranged; A robot base, slidably connected to the front of the column through a guiding mechanism; A wire harness management system, symmetrically arranged on both sides of the top of the column, respectively connected to the first ends of two wire harnesses, and used to respectively control the storage or release of the wire harnesses; Two machine heads, respectively connected to the ends of two wire harnesses; A robotic arm, rotatably connected to the robot base, and used to grab any one of the machine heads for welding operations.

2. The dual-head tube-sheet welding robot with wire harness management function according to claim 1, wherein The guiding mechanism includes: A linear guide rail, arranged vertically on the front of the column; A slider, arranged on the back of the robot base and embedded in the linear guide rail, and capable of driving the robot base to slide axially along the linear guide rail; A fastening bolt is arranged on the slider, and is used to fix the robot base at the required height position.

3. The double-head tube-sheet welding robot with wire harness management function according to claim 1, characterized in that, The column includes two opposite sides, and the wire harness management system includes: A pair of cross beams, respectively connected and arranged on the two sides of the column, and symmetrically arranged with each other; a pair of supporting pulleys, respectively arranged at the ends of each cross beam not connected to the two sides of the column, and symmetrically arranged with each other.

4. The dual-head pipe-to-tube sheet welding robot with wire harness management function according to claim 3, characterized in that, The wire harness management system further includes: A pair of fixed pulleys, respectively arranged on the two sides of the column, and located below and close to the corresponding cross beam; A pair of tracks, arranged vertically on the two sides of the column, and located below the corresponding fixed pulleys; A pair of movable pulleys, respectively embedded in the corresponding tracks; Wherein, each track is used to control the corresponding movable pulley to rise or fall within the required range.

5. The dual-head tube-sheet welding robot with wire harness management function according to claim 4, characterized in that, Grooves for accommodating the corresponding wire harnesses are respectively arranged on each of the supporting pulleys, fixed pulleys and movable pulleys.

6. The dual-head tube-sheet welding robot with wire harness management function according to claim 5, characterized in that, The end of each wire harness is connected to the corresponding machine head, and the first end is sequentially wound upwards through the upper groove of the corresponding supporting pulley, horizontally wound through the upper groove of the corresponding fixed pulley, wound downwards through the lower groove of the corresponding movable pulley, and fixed upwards to the wire collecting box at the top of the column.

7. The dual-head pipe-tube sheet welding robot with wire harness management function according to claim 4, characterized in that The double-head pipe-to-tube-sheet welding robot further includes: A central control system, communicatively connected to the robotic arm; A driving mechanism, respectively connected to the movable pulleys in each wire harness management system, and communicatively connected to the central control system; The central control system can, according to the coordinates, moving direction and moving speed of the machine head grabbed by the robotic arm, calculate in real time the straight-line distance and the change speed between this machine head and the corresponding supporting pulley, convert them into the lifting and lowering instructions of the corresponding movable pulley, and control the driving mechanism to drive this movable pulley to move along the track.

8. The dual-head pipe-tube sheet welding robot with wire harness management function according to claim 7, characterized in that, When the distance between the machine head and the corresponding supporting pulley shortens, the central control system controls the driving mechanism to drive the movable pulley to descend and contract the wire harness; when the distance between the machine head and the corresponding supporting pulley increases, the central control system controls the driving mechanism to drive the movable pulley to rise and release the wire harness; and the lifting and lowering speed of the movable pulley matches the moving speed of the corresponding machine head.

9. The dual-head tube-sheet welding robot with wire harness management function according to claim 1, characterized in that, A quick-change fixture is arranged at the end of the robotic arm.

10. The dual-head tube-sheet welding robot with wire harness management function according to claim 1, characterized in that, When the double-head pipe-to-tube-sheet welding robot executes a welding task, the welding target to be welded can be arranged between two symmetrically placed double-head pipe-to-tube-sheet welding robots; Among them, two heads with different welding functions can be set on each of the double-head pipe-to-tube sheet welding robots, and four heads can be controlled by two robotic arms to achieve multi-head welding tasks.

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