Electronic gun assembling and welding automatic production equipment

Abstract

The invention discloses electronic gun assembling and welding automatic production equipment. The electronic gun assembling and welding automatic production equipment comprises a marble platform rack, a feeding and discharging robot assembly, a feeding and discharging tray assembly, an assembling table assembly, a press pressing assembly and a welding robot assembly. The feeding and discharging robot assembly is matched with the multiple feeding and discharging clamping jaw assemblies to place the part positioning mold and the electronic gun parts on the assembling platform according to the assembling sequence. The press pressing assembly is used for applying preset pressure to the electronic gun part in the assembling process; the welding robot assembly is matched with the assembling platform to weld electronic gun parts to form an electronic gun assembly, the feeding robot places the welded electronic gun assembly into a circular groove in the feeding and discharging tray assembly, the electronic gun parts can be automatically assembled and welded, the requirement of automatic production can be met, and the production efficiency is improved. Efficient and automatic assembly of the electronic gun assembly is achieved, and the problems that when the electronic gun assembly is manually assembled in a traditional mode, operation is tedious, efficiency is low and cost is high are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of electron gun assembly, and in particular relates to automated production equipment for electron gun assembly welding. Background Art

[0002] The electron gun used in vacuum devices is a device capable of generating high-energy electrons. It serves as the energy source for the high-energy microwaves generated by vacuum devices and is widely used in microwave tubes such as gyrotrons, klystrons, and traveling-wave tubes. Operating Principle: The electron gun used in a gyrotron utilizes a hot cathode. The cathode's tungsten matrix contains a large amount of active material. A high voltage of tens of thousands of volts is applied between the electron gun and the high-frequency source. When the cathode is heated to approximately 1000°C, a continuous flow of high-energy electrons is generated, which are injected into the high-frequency system, enhancing the microwave electromagnetic field strength within the device.

[0003] During the electron gun assembly process, manual assembly requires a large number of fixtures to ensure concentricity of the various components. The cumbersome assembly and removal of these fixtures hinders both ease and efficiency of assembly. Furthermore, the development of new tube types necessitates the production of a large number of new fixtures, increasing the production cost of the electron gun.

[0004] In order to solve the above problems and achieve efficient and precise assembly of electron guns, it is imperative to design an automated production equipment for electron gun assembly and welding. Summary of the Invention

[0005] Based on the problems existing in the above background technology, the present invention proposes an automated production equipment for electron gun assembly welding, which improves the assembly efficiency and assembly accuracy of electron guns and solves the problems of cumbersome operation, low efficiency and high cost in traditional manual assembly of electron guns.

[0006] The embodiment of the present invention is implemented as follows: The present invention provides an automated production equipment for electron gun assembly welding, which includes a marble platform frame, on which are provided a loading and unloading robot assembly, a loading tool library, a loading and unloading tray assembly, an assembly table assembly, a visual inspection assembly, a press assembly, and a welding robot assembly; The upper and lower material tray components are provided with a plurality of circular grooves, and the plurality of circular grooves are used to accommodate the electron gun components, electron gun parts and part positioning molds; The loading tool library is provided with a plurality of loading and unloading clamping claw assemblies of different models; The loading and unloading robot assembly cooperates with multiple loading and unloading clamp assemblies to place the parts positioning mold and electron gun parts on the assembly platform in the assembly order; the press pressing assembly is used to apply a preset pressure to the electron gun parts during the assembly process; the welding robot assembly cooperates with the assembly platform to weld the electron gun parts to form an electron gun assembly, and the loading robot places the welded electron gun assembly in the circular groove on the loading and unloading tray assembly.

[0007] Furthermore, the upper and lower material tray assembly includes a material tray mechanism and a drive assembly; the material tray mechanism includes two first sliders and a mounting frame; the two first sliders are horizontally spaced apart and arranged on the marble platform frame, and each first slider is slidably provided with a first slide rail; the mounting frame is fixedly provided at the ends of the two first slide rails, and a material tray is detachably provided on the mounting frame, and a plurality of the circular grooves are provided on the material tray; the drive assembly includes a linear drive module, and the linear drive module drives the mounting frame and the material tray thereon to move to the outside of the marble platform frame.

[0008] The top end face of said sliding panel also is provided with an interlocking plate, and the interlocking plate is fixed with a toothed plate, and the interlocking plate is fixed with a toothed plate on the bottom end face.

[0009] Furthermore, a delivery platform and a temporary storage platform are also provided on the marble platform rack.

[0010] Furthermore, the assembly platform includes a positioning rotating table and a lifting and transplanting mechanism arranged on the marble platform frame; the positioning rotating table is a cylindrical structure, and a driving motor is provided at the bottom of the positioning rotating table, and the driving motor drives the positioning rotating table to rotate around its own axis, and a positioning clamping mechanism is provided on the positioning rotating table, and the positioning clamping mechanism includes a first V-shaped clamping block, a second V-shaped clamping block and a driving cylinder; the V-shaped notches in the first V-shaped clamping block and the second V-shaped clamping block are arranged opposite to each other, and the first V-shaped clamping block is fixedly arranged on the upper end surface of the positioning rotating table; a fixed bottom plate is provided on one side of the top of the positioning rotating table, and the driving cylinder is provided on the fixed bottom plate, and the end of the driving cylinder piston rod is fixedly connected to the second V-shaped clamping block, and the extension and retraction of the driving cylinder piston rod drives the second V-shaped clamping block to move closer to or away from the first V-shaped clamping block; The lifting and transplanting mechanism is provided with an assembly clamping claw mechanism located on the top of the positioning rotating platform; The lifting and transplanting mechanism includes a lifting platform provided on one side of the positioning and rotating platform and fixed at its bottom to the marble platform frame, two second slide rails are vertically spaced apart on one end surface of the lifting platform, each of the second slide rails is slidably connected to a second slider, and a first linear module fixedly connected to the side surface of the lifting platform is provided between the two second slide rails; The assembly clamping mechanism includes a support plate arranged between the two second sliders and the first linear module driving slider, the two sides of the end surface of one side of the support plate are respectively fixedly connected to the two second sliders, the middle part of the end surface of one side of the support plate is fixedly connected to the driving slider in the first linear module, a base plate is provided on the top of the support plate, a double-nut reverse linear module is provided on the base plate, a pair of V-shaped clamping blocks are provided on the double-nut reverse linear module, the V-shaped openings of the pair of V-shaped clamping blocks are arranged opposite to each other, a pressure sensor is provided on one of the V-shaped clamping blocks, and the double-nut reverse linear module drives a pair of V-shaped clamping blocks to move toward or away from each other at the same time.

[0011] Furthermore, the press pressing assembly includes a press translation and transfer mechanism, a press structure is provided on the press translation and transfer mechanism, and a rotating pressing head located on the top of the positioning rotary table is provided at the bottom of the press structure.

[0012] Furthermore, the press translation and transplanting mechanism includes a press fixing plate horizontally arranged on the top of the lifting platform, and two third slide rails and a second linear module are arranged in parallel and spaced apart on the upper end surface of the press fixing plate. The two third slide rails and the second linear module are both arranged toward the positioning rotary table, and a third slider is slidably connected to each of the two third slide rails; a driving slider is provided on the second linear module; The press structure includes a bottom connecting plate, the lower end surface of the bottom connecting plate is fixedly connected to the two third sliders and the driving sliders in the second linear module respectively, the upper end surface of the bottom connecting plate is provided with a press vertical plate, and a second linear electric cylinder is vertically provided on one side end surface of the press vertical plate, the push rod in the second linear electric cylinder is vertically arranged and rotatably connected to the rotating pressure head; the rotating pressure head includes a fixed part and a rotating part both of which are cylindrical structures, the upper end surface of the fixed part is fixedly connected to the end of the push rod in the second linear electric cylinder, the lower end surface of the fixed part is provided with a rotating bearing, the rotating part is located at the bottom of the fixed part, and the upper end surface of the rotating part is provided with a connecting shaft fixedly connected to the inner ring of the rotating bearing.

[0013] Furthermore, it also includes a visual assembly component, which includes a lower camera component, an upper camera component and a camera lifting mechanism; the lower camera component is arranged on a marble platform frame, and the shooting direction of the lower camera component is set vertically upward; the camera lifting mechanism is arranged on the other side end face of the press vertical plate, and the upper camera assembly is arranged on the camera lifting mechanism, and the shooting direction of the upper camera assembly is set vertically downward.

[0014] Furthermore, it also includes a visual detection component, which includes a backlight lifting mechanism, a detection camera lifting mechanism, a detection camera telescopic mechanism and a detection camera assembly; the backlight lifting mechanism is arranged on the marble platform frame, and a light source board is arranged on the backlight lifting mechanism, and the backlight lifting mechanism drives the light source board to move in the vertical direction, and the light source board is located on one side of the positioning rotating platform; the detection camera lifting mechanism is located on the marble platform frame, and the detection camera telescopic mechanism is installed on the detection camera lifting mechanism, the detection camera lifting mechanism drives the detection camera telescopic mechanism to move in the vertical direction, and the detection camera assembly is installed on the detection camera telescopic mechanism, and the detection camera telescopic mechanism drives the detection camera assembly to move in the horizontal direction, and the detection camera assembly is located on the other side of the positioning rotating platform, and the light source board and the detection camera assembly are arranged opposite to each other.

[0015] Furthermore, a placement platform is provided on the marble platform frame; the loading and unloading robot assembly includes a loading and unloading robot and a loading and unloading clamp assembly; the placement platform is provided with a plurality of loading and unloading clamp assemblies of different models; the welding robot assembly includes a welding robot and a laser welding assembly fixedly connected to each other; the loading and unloading robot and the loading and unloading clamp assembly are electrically connected with each other via quick plug-in connection; the loading and unloading clamp assembly includes a double-nut reverse linear module, a pressure sensor, a servo motor and a pair of V-shaped clamps, the openings of the pair of V-shaped clamps are arranged opposite to each other, the servo motor drives the double-nut reverse linear module to work, and the double-nut reverse linear module drives a pair of V-shaped clamps to move toward or away from each other at the same time; the pressure sensor is arranged on the clamping surface of a pair of V-shaped clamps.

[0016] The beneficial effects of the present invention are: 1. The electron gun assembly and welding automated production equipment provided by the present invention can automatically assemble and weld electron gun parts, meet the requirements of automated production, realize efficient automated assembly of electron gun components, replace traditional manual assembly and welding of electron gun parts, improve the welding assembly efficiency and accuracy of electron gun components, and solve the problems of cumbersome operation, low efficiency and high cost in traditional manual assembly of electron gun components.

[0017] 2. The electron gun assembly welding automation production equipment provided by the present invention has a plurality of circular grooves arranged on the material tray in the upper and lower feeding tray assembly, so that all the different cylindrical rotating body parts and part positioning molds in the electron gun components required for electron gun assembly welding are placed separately, which is convenient for the manipulator to accurately and quickly pick up and assemble in sequence, greatly improving the assembly efficiency of the gyrotron components; and after the electron gun welding assembly is completed, the welded assembled electron gun can be placed in the material tray for easy unloading, which can meet the requirements of automated production and realize efficient automated assembly of electron gun components. At the same time, all the components in the upper and lower feeding tray assembly are detachably connected to the marble platform frame of the electron gun assembly welding automation production equipment through a fixed plate, realizing a modular design and facilitating subsequent replacement and maintenance.

[0018] 3. The present invention provides an automated production equipment for electron gun assembly and welding. The positioning rotary table in the assembly table assembly can rotate 360 ​​degrees to facilitate the subsequent welding of electron gun components, and the component molds of the electron gun components are clamped and fixed by the positioning clamping mechanism; the assembly clamping mechanism on the lifting and transferring mechanism performs vertical assembly operations on the electron gun components; the rotating pressure head in the press pressing assembly applies a preset pressure to the electron gun components to ensure that the electron gun components always maintain a stable position and good contact state during the assembly and welding process; the synergistic effect of the assembly table assembly and the press pressing assembly realizes the precise positioning and stable pressure of the electron gun components. The invention is tight and effectively solves the problems of complicated tooling and fixture operation, low assembly efficiency and high cost of new tube type development in the existing electron gun assembly process, improves the assembly efficiency and precision of the electron gun, and has significant economic and social benefits; at the same time, the first V-shaped clamping block and the second V-shaped clamping block in the positioning clamping mechanism can be used to clamp and fix electron gun components of different diameters; the assembly clamping claw mechanism can clamp component molds of electron gun components of different diameters, and the lifting and transferring mechanism can sequentially assemble the clamped electron gun components with the component molds in the positioning clamping mechanism, thereby reducing errors in the assembly process and improving assembly welding precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without inventive work. The above and other objects, features and advantages of the present invention will become more apparent through the accompanying drawings. The same reference numerals indicate the same parts throughout the drawings. The drawings are not intentionally scaled to their actual sizes, and the focus is on illustrating the main purpose of the present invention.

[0020] Figure 1 This is a schematic diagram of the overall structure of an automated production equipment for electron gun assembly welding.

[0021] Figure 2 This is a structural diagram of the upper and lower material tray components set on the marble platform frame.

[0022] Figure 3 This is a separate structural diagram of the upper and lower feeding tray components.

[0023] Figure 4 It is a schematic diagram of the structure of the mounting frame in the upper and lower material tray assembly.

[0024] Figure 5 This is a structural schematic diagram of the assembly table component and the press pressing component being set on the marble platform frame.

[0025] Figure 6 This is a schematic diagram of the three-dimensional structure of the assembly table component.

[0026] Figure 7 This is a schematic diagram of the three-dimensional structure of the press pressing component.

[0027] Figure 8 Schematic diagram of the structure of the rotating pressure head in the pressing assembly of the press.

[0028] Figure 9 Schematic diagram of the structure of the visual assembly components.

[0029] Figure 10 Schematic diagram of the structure of the visual detection component.

[0030] Among them, 1. Marble platform rack; 2. Upper and lower material tray assembly; 21. Circular groove; 22. First slide; 23. Mounting frame; 24. First slide rail; 25. Material tray; 26. Bottom mounting plate; 27. Vertical plate; 28. Mounting support plate; 29. ​​Material tray sensor; 210. Positioning pin; 211. Fixing plate; 212. First linear cylinder; 3. Loading and unloading robot assembly; 31. Loading and unloading robot; 32. Loading and unloading gripper assembly; 4. Assembly table components; 41. Positioning rotary table; 42. Lifting and transplanting mechanism; 421. Lifting platform; 422. Second slide rail; 423. First linear module; 43. Positioning and clamping mechanism; 431. First V-shaped clamping block; 432. Second V-shaped clamping block; 433. Driving cylinder; 434. Fixed base plate; 44. Assembly of the clamping jaw mechanism; 441. Support plate; 442. Base plate; 443. Double-nut reverse linear module; 444. V-shaped clamping block; 5. Pressing components; 51. Press translation and transplanting mechanism; 511. Press fixing plate; 512. Third slide rail; 513. Second linear module; 52. Press structure; 521. Bottom connecting plate; 522. Press vertical plate; 523. Second linear electric cylinder; 53. Rotating pressure head; 531. Fixed portion; 532. Rotating portion; 533. Rotating bearing; 534. Connecting shaft; 6. Welding robot components; 61. Welding robot; 62. Laser welding components; 7. Vision assembly component; 71. Lower camera assembly; 72. Upper camera assembly; 73. Camera lifting mechanism; 8. Visual inspection component; 81. Backlight lifting mechanism; 82. Inspection camera lifting mechanism; 83. Inspection camera telescopic mechanism; 84. Inspection camera component; 9. Delivery platform; 10. Temporary platform; 11. Place the platform. DETAILED DESCRIPTION

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0033] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0034] Furthermore, the terms “first”, “second”, etc. are merely used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0035] Please refer to Figure 1 As shown, the present invention provides an automated production equipment for electron gun assembly and welding, which includes a marble platform frame 1, on which are provided a loading and unloading robot assembly 3, a loading and unloading tray assembly 2, an assembly table assembly 4, a press pressing assembly 5, a delivery platform 9, a temporary platform 10 and a welding robot assembly 6; the loading and unloading tray assembly 2 is provided with a plurality of circular grooves 21, and the plurality of circular grooves 21 are used to accommodate electron gun assemblies, electron gun parts and part positioning molds; the loading tool library is provided with a plurality of loading and unloading clamping claw assemblies 32 of different models; the loading and unloading robot assembly 3 cooperates with the plurality of loading and unloading clamping claw assemblies 32 to place the part positioning mold and electron gun parts on the assembly platform in the assembly order; the press pressing assembly 5 is used to apply a preset pressure to the electron gun parts during the assembly process; the welding robot assembly 6 cooperates with the assembly platform to weld the electron gun parts to form an electron gun assembly, and the loading robot places the welded electron gun assembly in the circular groove 21 on the loading and unloading tray assembly 2.

[0036] Specifically, if Figure 1 As shown, a placement platform 11 is provided on the marble platform frame 1; the loading and unloading robot assembly 3 includes a loading and unloading robot 31 and a loading and unloading clamp assembly 32; the placement platform 11 is provided with a plurality of loading and unloading clamp assemblies 32 of different models; the welding robot assembly 6 includes a welding robot 61 and a laser welding assembly 62 fixedly connected to each other; the loading and unloading robot 31 and the loading and unloading clamp assembly 32 are electrically connected with each other by quick plug connection; as a specific setting method of the loading and unloading clamp assembly 32, the loading and unloading clamp assembly 32 includes a double nut reverse linear module, a pressure sensor, a servo motor and a pair of V-shaped clamps, the openings of the pair of V-shaped clamps are arranged relative to each other, the servo motor drives the double nut reverse linear module 443 to work, and the double nut reverse linear module drives a pair of V-shaped clamps to move toward or away from each other at the same time; the pressure sensor is arranged on the clamping surface of a pair of V-shaped clamps. The V-shaped clamp can center and clamp electron gun parts of different diameters, and can realize the assembly of any electron gun of the same type, thereby improving the assembly efficiency and assembly accuracy of the electron gun and improving the versatility of the electron gun assembly.

[0037] Specifically, if Figure 1 、 Figures 2 to 4As shown, as a specific setting method of the upper and lower feeding tray assembly 2, the upper and lower feeding tray assembly 2 includes a tray 25 mechanism and a driving assembly; the tray 25 mechanism includes two first sliders 22 and a mounting bracket 23; the two first sliders 22 are horizontally spaced apart and arranged on the marble platform frame 1, and each of the first sliders 22 is slidingly provided with a first slide rail 24; the mounting bracket 23 is fixedly provided at the end of the two first slide rails 24, and the mounting bracket 23 is detachably provided with a tray 25, and the tray 25 is provided with a plurality of the circular grooves 21; the driving assembly includes a linear driving module, and the linear driving module drives the mounting bracket 23 and the tray 25 thereon to move to the outside of the marble platform frame 1.

[0038] Specifically, the mounting frame 23 includes a bottom mounting plate 26, the lower end surface of the bottom mounting plate 26 is fixedly connected to the ends of the two first slide rails 24, and a vertical plate 27 is installed on the upper end surface of the bottom mounting plate 26. The length direction of the vertical plate 27 is perpendicular to the movement direction of the mounting frame 23. Two mounting support plates 28 are horizontally spaced apart on one side end surface of the vertical plate 27. The two mounting support plates 28 face the outer side direction of the marble platform frame 1 and are in the same direction as the movement direction of the mounting frame 23. The upper end surfaces of the two mounting support plates 28 are provided with positioning pins 210. A positioning hole cooperating with the positioning pin 210 is provided at the diagonal position of the lower end of the material tray 25; a material tray sensor 29 is provided on the side wall of one of the mounting support plates 28, and the sensing direction of the material tray sensor 29 is set vertically upward; the bottom of the two first sliders 22 is fixedly connected to the marble platform frame 1 through the slider pad and the fixed plate 211; the linear drive module is a first linear electric cylinder 212, and the first linear electric cylinder 212 is installed on the upper end surface of the fixed plate 211, and the end of the push rod in the first linear electric cylinder 212 is fixedly connected to the bottom mounting plate 26 through a connecting plate.

[0039] In actual use, the tray 25 mechanism is compatible with the automated production equipment for electron gun assembly and welding, and all the different cylindrical rotating body parts and part positioning molds in a single electron gun component are placed separately in different circular grooves 21 of the tray 25. The manipulator can quickly and accurately find and pick up the required parts according to the preset program, which can meet the requirements of automated production and realize efficient automated assembly of electron gun assembly and welding. After the electron gun welding assembly is completed, the welded assembled electron gun can be placed in the tray 25 for easy unloading, which can meet the requirements of automated production and realize efficient automated assembly of cylindrical rotating body parts. Compared with manual assembly, which requires searching and picking up parts in a large number of fixtures, this greatly shortens the picking time and improves assembly efficiency. It avoids the use of a large number of fixtures in traditional manual assembly, reduces the cost of making new fixtures due to the development of new electron guns, and reduces the production cost of the gyrotron.

[0040] The circular groove 21 is customized according to the shapes and sizes of all different cylindrical rotating parts and part positioning molds in the electron gun and electron gun components, which can ensure the stability of the placement of all different cylindrical rotating parts and part positioning molds in the electron gun and electron gun components, reduce errors in the assembly process, and improve assembly welding accuracy.

[0041] A tray sensor 29 is mounted on the sidewall of one of the mounting support plates 28. The sensor is positioned vertically upward. The sensor can be an ultrasonic, radar, or laser position sensor. The sensor is used to identify whether the tray 25 is on the mounting bracket 23.

[0042] In this embodiment, the linear drive module is a first linear electric cylinder 212, which is mounted on the upper end surface of the marble platform frame 1. The end of the push rod in the linear cylinder is fixedly connected to the bottom mounting plate 26 via a connecting plate. The linear electric cylinder can move the mounting frame 23 and the material tray 25 on it to the outside of the marble platform frame 1. The spacing between the two mounting support plates 28 is set to be larger than the width of the AGV feeding vehicle, facilitating the AGV feeding vehicle to load or unload the material tray 25 onto the mounting frame 23, thus meeting the production requirements of automated loading and unloading. After the material tray 25 is loaded or unloaded, the first linear electric cylinder 212 drives the mounting frame 23 and the material tray 25 on it to return to the inside of the marble platform frame 1, reducing space usage and avoiding interference or collision with other equipment. All components of the material tray 25 mechanism are detachably connected to the marble platform frame 1 via the fixing plate 211, achieving a modular design and facilitating subsequent replacement and maintenance.

[0043] As Figures 5 to 8As shown, a specific setting method of the assembly platform is shown, the assembly platform includes a positioning rotating table 41 and a lifting and transferring mechanism 42 arranged on the marble platform frame 1; the positioning rotating table 41 is a cylindrical structure, and a driving motor is provided at the bottom of the positioning rotating table 41. The driving motor drives the positioning rotating table 41 to rotate around its own axis, thereby realizing 41-degree rotation of the positioning rotating table to facilitate the subsequent welding of electron gun components.

[0044] A positioning clamping mechanism 43 is provided on the positioning rotating table 41, and the positioning clamping mechanism 43 includes a first V-shaped clamping block 431, a second V-shaped clamping block 432 and a driving cylinder 433; the V-shaped notches in the first V-shaped clamping block 431 and the second V-shaped clamping block 432 are arranged relative to each other, and the first V-shaped clamping block 431 is fixedly arranged on the upper end surface of the positioning rotating table 41; a fixed base plate 434 is provided on one side of the top of the positioning rotating table 41, and the driving cylinder 433 is provided on the fixed base plate 434, and the end of the piston rod of the driving cylinder 433 is fixedly connected to the second V-shaped clamping block 432, and the extension and retraction of the piston rod of the driving cylinder 433 drives the second V-shaped clamping block 432 to move closer to or away from the first V-shaped clamping block 431. When the electron gun component mold is being assembled, the electron gun component mold is placed between the first V-shaped clamping block 431 and the second V-shaped clamping block 432 by the loading and unloading robot assembly 3, and the piston rod of the driving cylinder 433 is extended, driving the second V-shaped clamping block 432 to move closer to the first V-shaped clamping block 431, thereby clamping and fixing the electron gun component mold on the top of the positioning rotary table 41. Due to the characteristics of the V-shaped notches in the first V-shaped clamping block 431 and the second V-shaped clamping block 432, it is possible to clamp and fix the electron gun component molds of different diameters; the assembly claw mechanism 44 can clamp electron gun components of different diameters, and the clamped electron gun components are assembled with the component mold pieces in the positioning clamping mechanism 43 in sequence through the lifting and transferring mechanism 42, thereby reducing errors in the assembly process and improving assembly welding accuracy.

[0045] The lifting and transporting mechanism 42 is provided with an assembly clamping mechanism 44 located on top of the positioning and rotating platform 41. The lifting and transporting mechanism 42 includes a lifting platform 421 disposed on one side of the positioning and rotating platform 41 and fixed at its bottom to the marble platform frame 1. Two second slide rails are vertically spaced apart on one end surface of the lifting platform 421. Each second slide rail is slidably connected to a second slider. A first linear module 423 is fixedly connected to the side of the lifting platform 421 between the two second slide rails.

[0046] The assembly clamping mechanism 44 includes a support plate 441 arranged between the two second sliders and the first linear module 423 driving slider, the two sides of the end face of one side of the support plate 441 are fixedly connected to the two second sliders respectively, the middle part of the end face of one side of the support plate 441 is fixedly connected to the driving slider in the first linear module 423, and a base plate 442 is provided on the top of the support plate 441, and a double-nut reverse linear module 443 is provided on the base plate 442, and a pair of V-shaped clamps 444 are provided on the double-nut reverse linear module 443, and the V-shaped openings of the pair of V-shaped clamps 444 are arranged opposite to each other, and one of the V-shaped clamps 444 is provided with a pressure sensor, and the double-nut reverse linear module 443 drives a pair of V-shaped clamps 444 to move toward or away from each other at the same time.

[0047] The working principle of the lifting and transplanting mechanism 42 and the assembly clamping mechanism 44 is as follows: start the movement of the first linear module 423, thereby realizing the reciprocating linear motion of the assembly clamping mechanism 44 in the vertical direction to adapt to the electron gun components with different assembly height requirements; start the double-nut reverse linear module 443, thereby realizing the V-shaped clamping block 444 to move toward or away from each other, thereby completing the action of clamping or releasing the electron gun components.

[0048] As a specific setting method of the press pressing assembly 5, the press pressing assembly 5 includes a press translation and transplanting mechanism 51, a press structure 52 is provided on the press translation and transplanting mechanism 51, and a rotating pressure head 53 located at the top of the positioning rotary table 41 is provided at the bottom of the press structure 52.

[0049] The press translation and transplanting mechanism 51 includes a press fixing plate 511 horizontally arranged on the top of the lifting platform 421. Two third slide rails 512 and a second linear module 513 are arranged parallel and spaced apart on the upper end surface of the press fixing plate 511. The two third slide rails 512 and the second linear module 513 are both arranged toward the positioning and rotating platform 41. A third slider is slidably connected to each of the two third slide rails 512; a driving slider is provided on the second linear module 513. The press structure 52 includes a bottom connecting plate 521, the lower end surface of the bottom connecting plate 521 is fixedly connected to the two third sliders and the driving slider in the second linear module 513 respectively, and the upper end surface of the bottom connecting plate 521 is provided with a press vertical plate 522, and a second linear electric cylinder 523 is vertically provided on one side end surface of the press vertical plate 522, and the push rod in the second linear electric cylinder 523 is vertically arranged and has a rotating pressure head 53 rotatably connected thereto; the rotating pressure head 53 includes a fixed part 531 and a rotating part 532, both of which are cylindrical structures, the upper end surface of the fixed part 531 is fixedly connected to the end of the push rod in the second linear electric cylinder 523, and the lower end surface of the fixed part 531 is provided with a rotating bearing 533, the rotating part 532 is located at the bottom of the fixed part 531, and the upper end surface of the rotating part 532 is provided with a connecting shaft 534 fixedly connected to the inner ring of the rotating bearing 533. When the rotating pressing head 53 presses the electron gun component, the rotating portion 532 presses the top of the electron gun component. At the same time, the rotating portion 532 rotates with the electron gun component, thereby avoiding scratches on the top of the electron gun component and improving the appearance quality of the product.

[0050] The working principle of the press translation and transplanting mechanism 51 and the press structure 52 is as follows: start the second linear module 513, driving the entire press structure 52 to move in the horizontal direction until the rotating pressure head 53 is directly above the electron gun component, the second linear module 513 stops, and then the push rod in the second linear electric cylinder 523 extends downward, driving the rotating pressure head 53 to press the top of the electron gun component, applying a preset pressure to the electron gun component, ensuring that the electron gun component always maintains a stable position and good contact state during the assembly and welding process.

[0051] Preferably, if Figure 1 and Figure 9 As shown, the electron gun assembly welding automation production equipment also includes a visual assembly component 7, which includes a lower camera component 71, an upper camera component 72 and a camera lifting mechanism 73; the lower camera component 71 is arranged on the marble platform frame 1, and the shooting direction of the lower camera component 71 is set vertically upward; the camera lifting mechanism 73 is set on the other side end face of the press vertical plate 522, and the upper camera component 72 is set on the camera lifting mechanism 73, and the shooting direction of the upper camera component 72 is set vertically downward.

[0052] Preferably, if Figure 10As shown, the electron gun assembly welding automation production equipment also includes a visual inspection component 8, which includes a backlight lifting mechanism 81, a detection camera lifting mechanism 82, a detection camera telescopic mechanism 83 and a detection camera assembly 84; the backlight lifting mechanism 81 is arranged on the marble platform frame 1, and a light source board is arranged on the backlight lifting mechanism 81. The backlight lifting mechanism 81 drives the light source board to move in the vertical direction, and the light source board is located on one side of the positioning rotating table 41; the detection camera lifting mechanism 82 is located on the marble platform frame 1, and the detection camera telescopic mechanism 83 is installed on the detection camera lifting mechanism 82. The detection camera lifting mechanism 82 drives the detection camera telescopic mechanism 83 to move in the vertical direction, and the detection camera assembly 84 is installed on the detection camera telescopic mechanism 83. The detection camera telescopic mechanism 83 drives the detection camera assembly 84 to move in the horizontal direction, and the detection camera assembly 84 is located on the other side of the positioning rotating table 41, and the light source board and the detection camera assembly 84 are arranged opposite to each other.

[0053] The actual working process of an automated production equipment for electron gun assembly welding in the present invention includes: Loading process: The loading and unloading robot 31 and the loading and unloading clamp assembly 32 are connected by an electrical quick-plug connection. The loading and unloading robot 31 picks up and carries the loading and unloading clamp assembly 32. Next, the loading and unloading clamp assembly 32 clamps the electron gun parts or part positioning molds on the loading and unloading tray assembly 2. Next, the loading robot carries the electron gun parts or part positioning molds to the delivery platform 9. Next, the loading and unloading clamp assembly 32 performs secondary clamping and positioning on the electron gun parts or part positioning molds. Next, the loading and unloading robot 31 returns to the standby position and loading is completed.

[0054] Part positioning mold assembly process: the loading and unloading robot 31 picks up and carries the loading and unloading clamp assembly 32. Next, the loading and unloading clamp assembly 32 clamps the delivery platform 9 and sends it to the assembly clamp feeding position. Next, the loading and unloading clamp assembly 32 performs centering clamping on the part positioning mold on the delivery platform 9. Next, the loading and unloading robot 31 sends the delivery platform 9 back to the placement position. Next, the loading and unloading robot 31 returns to the waiting position. Next, the lifting and transferring mechanism 42 moves downward, and the assembly clamp mechanism 44 sends the component mold to the positioning rotary table 41. Next, the assembly clamp mechanism 44 is released to the release position. Next, the lifting and transferring mechanism 42 returns to the waiting position. Next, the positioning clamping mechanism 43 on the top of the positioning rotary table 41 performs centering clamping on the part positioning mold to complete the part positioning mold assembly.

[0055] Parts assembly process: the loading and unloading robot 31 picks up and carries the loading and unloading clamp assembly 32, and next the loading and unloading clamp assembly 32 clamps the delivery platform 9 and sends it to the assembly clamp feeding position, and next the assembly clamp mechanism 44 performs centrifugal clamping on the parts on the delivery platform 9, and next the loading and unloading robot 31 sends the delivery platform 9 back to the placement position, and next the loading and unloading robot 31 returns to the waiting position, and next the lifting and transferring mechanism 42 moves downward, and the assembly clamp mechanism 44 sends the parts to the assembly position set by the system for concentric assembly, and next the assembly clamp mechanism 44 releases to the release position, and next the lifting and transferring mechanism 42 returns to the waiting position to complete the parts assembly.

[0056] Visual assembly process: the loading and unloading robot 31 picks up and carries the loading and unloading clamp assembly 32. Next, the loading and unloading clamp assembly 32 clamps the electron gun parts on the loading and unloading tray assembly 2. The electron gun parts need to be visually assembled. Next, the unloading robot carries the electron gun parts to the top of the lower camera assembly 71 for visual positioning and photographing. At the same time, the camera translation mechanism and the camera lifting mechanism 73 move the upper camera assembly 72 to the upper camera photographing position. Next, the upper camera assembly 72 locates and photographs the electron gun parts. After positioning and photographing, the visual system performs position comparison calculation on the two position feature images. Next, the loading and unloading robot 31 sends the electron gun parts to the assembly position. Next, the loading and unloading robot 31 performs position compensation movement according to the calculation results of the visual system. Next, the loading and unloading robot 31 sends the electron gun parts downward to the assembly position set by the system, and the visual assembly is completed.

[0057] Visual inspection process: the backlight lifting mechanism 81 rises to the visual photographing position to turn on the light source board, and next the detection camera lifting mechanism 82 sends the detection camera assembly 84 to the visual photographing position, and next the detection camera telescopic mechanism 83 extends the detection camera assembly 84 to the photographing position, and next the detection camera assembly 84 positions and photographs the electron gun parts, and next the backlight lifting mechanism 81 rises to the visual photographing position to turn on the backlight, and next the detection camera lifting mechanism 82 sends the detection camera assembly 84 to the visual photographing position for positioning and photographing, and next the detection camera telescopic mechanism 83 is retracted, and next the backlight lifting mechanism 81 returns to the standby position, and next the detection camera lifting mechanism 82 returns to the standby position, and the visual inspection system performs position comparison calculation on the two position feature images to obtain the concentricity accuracy of the components, and the visual inspection process is completed.

[0058] Press pressing process: the press translation and transfer mechanism 51 sends the press structure 52 to the pressing position, and the second linear electric cylinder 523 drives the rotary pressure head 53 to descend to the pressing approach position. Next, the second linear electric cylinder 523 drives the rotary pressure head 53 to slowly descend and contact the top of the electron gun parts. When the pressure value set by the system is reached, it stops descending and maintains pressure for 10 seconds. Then, the second linear electric cylinder 523 drives the rotary pressure head 53 to rise to the safe position. Next, the backlight lifting mechanism 81 rises to the visual photography position to turn on the backlight. Next, the press translation and transfer mechanism 51 sends the rotary pressure head 53 back to the standby position, and the press pressing process is completed.

[0059] Welding process: The welding robot 61 moves to the welding position set by the system. Next, the laser welding component 62 emits light for welding according to the energy curve set by the system. Next, the positioning rotary table 41 rotates to the next welding point according to the system setting parameters to perform laser welding until all points are welded. If pressure welding is required, the press pressing process is carried out in advance, and the rotating pressure head 53 rotates synchronously with the positioning rotary table 41. Next, the welding robot 61 returns to the standby position and the welding process is completed.

[0060] To sum up, the gyrotron component assembly automated production equipment provided by the present invention can automatically assemble and weld electron gun parts, meet the requirements of automated production, and realize efficient automated assembly of gyrotron components, replacing the traditional manual assembly and welding of electron gun parts, improving the welding assembly efficiency and accuracy of electron gun components, and solving the problems of cumbersome operation, low efficiency and high cost in traditional manual assembly of electron gun components.

[0061] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. An automated production equipment for electron gun assembly welding, characterized in that: It includes a marble platform frame, on which are arranged loading and unloading robot components, a loading tool library, loading and unloading tray components, an assembly table component, a press pressing component and a welding robot component; The upper and lower material tray components are provided with a plurality of circular grooves, and the plurality of circular grooves are used to accommodate the electron gun components, electron gun parts and part positioning molds; The loading tool library is provided with a plurality of loading and unloading clamping claw assemblies of different models; The loading and unloading robot assembly cooperates with multiple loading and unloading clamp assemblies to place the parts positioning mold and electron gun parts on the assembly platform in the assembly order; the press pressing assembly is used to apply a preset pressure to the electron gun parts during the assembly process; the welding robot assembly cooperates with the assembly platform to weld the electron gun parts to form an electron gun assembly, and the loading robot places the welded electron gun assembly in the circular groove on the loading and unloading tray assembly.

2. The electron gun assembly welding automation production equipment according to claim 1, characterized in that: The upper and lower material tray assembly includes a material tray mechanism and a drive assembly; the material tray mechanism includes two first sliders and a mounting bracket; the two first sliders are horizontally spaced apart and arranged on the marble platform frame, and each first slider is slidably provided with a first slide rail; the mounting bracket is fixedly arranged at the ends of the two first slide rails, and a material tray is detachably provided on the mounting bracket, and a plurality of the circular grooves are provided on the material tray; the drive assembly includes a linear drive module, and the linear drive module drives the mounting bracket and the material tray thereon to move to the outside of the marble platform frame.

3. The electron gun assembly welding automation production equipment according to claim 2, characterized in that: The top end face of said sliding panel also is provided with an interlocking plate, and the interlocking plate is fixed with a backing plate on the interlocking plate, and the interlocking plate is fixed with a backing plate on the interlocking plate.

4. The electron gun assembly welding automation production equipment according to claim 1, characterized in that: The marble platform rack is also provided with a delivery platform and a temporary placement platform.

5. The electron gun assembly welding automation production equipment according to claim 1, characterized in that: The assembly platform includes a positioning rotating table and a lifting and transplanting mechanism arranged on the marble platform frame; the positioning rotating table is a cylindrical structure, and a driving motor is provided at the bottom of the positioning rotating table, and the driving motor drives the positioning rotating table to rotate around its own axis, and a positioning clamping mechanism is provided on the positioning rotating table, and the positioning clamping mechanism includes a first V-shaped clamping block, a second V-shaped clamping block and a driving cylinder; the V-shaped notches in the first V-shaped clamping block and the second V-shaped clamping block are arranged opposite to each other, and the first V-shaped clamping block is fixedly arranged on the upper end surface of the positioning rotating table; a fixed bottom plate is provided on one side of the top of the positioning rotating table, and the driving cylinder is provided on the fixed bottom plate, and the end of the driving cylinder piston rod is fixedly connected to the second V-shaped clamping block, and the extension and retraction of the driving cylinder piston rod drives the second V-shaped clamping block to move closer to or away from the first V-shaped clamping block; The lifting and transplanting mechanism is provided with an assembly clamping claw mechanism located on the top of the positioning rotating platform; The lifting and transplanting mechanism includes a lifting platform provided on one side of the positioning and rotating platform and fixed at its bottom to the marble platform frame, two second slide rails are vertically spaced apart on one end surface of the lifting platform, each of the second slide rails is slidably connected to a second slider, and a first linear module fixedly connected to the side surface of the lifting platform is provided between the two second slide rails; The assembly clamping mechanism includes a support plate arranged between the two second sliders and the first linear module driving slider, the two sides of the end surface of one side of the support plate are respectively fixedly connected to the two second sliders, the middle part of the end surface of one side of the support plate is fixedly connected to the driving slider in the first linear module, a base plate is provided on the top of the support plate, a double-nut reverse linear module is provided on the base plate, a pair of V-shaped clamping blocks are provided on the double-nut reverse linear module, the V-shaped openings of the pair of V-shaped clamping blocks are arranged opposite to each other, a pressure sensor is provided on one of the V-shaped clamping blocks, and the double-nut reverse linear module drives a pair of V-shaped clamping blocks to move toward or away from each other at the same time.

6. The electron gun assembly welding automation production equipment according to claim 5, characterized in that: The press pressing assembly includes a press translation and transplanting mechanism, a press structure is provided on the press translation and transplanting mechanism, and a rotary pressing head located on the top of the positioning rotary table is provided at the bottom of the press structure.

7. The electron gun assembly welding automation production equipment according to claim 6, characterized in that: The press translation and transplanting mechanism includes a press fixing plate horizontally arranged on the top of the lifting platform, and two third slide rails and a second linear module are arranged in parallel and spaced apart on the upper end surface of the press fixing plate. The two third slide rails and the second linear module are both arranged toward the positioning rotary table, and a third slider is slidably connected to each of the two third slide rails; a driving slider is provided on the second linear module; The press structure includes a bottom connecting plate, the lower end surface of the bottom connecting plate is fixedly connected to the two third sliders and the driving sliders in the second linear module respectively, the upper end surface of the bottom connecting plate is provided with a press vertical plate, and a second linear electric cylinder is vertically provided on one side end surface of the press vertical plate, the push rod in the second linear electric cylinder is vertically arranged and rotatably connected to the rotating pressure head; the rotating pressure head includes a fixed part and a rotating part both of which are cylindrical structures, the upper end surface of the fixed part is fixedly connected to the end of the push rod in the second linear electric cylinder, the lower end surface of the fixed part is provided with a rotating bearing, the rotating part is located at the bottom of the fixed part, and the upper end surface of the rotating part is provided with a connecting shaft fixedly connected to the inner ring of the rotating bearing.

8. The electron gun assembly welding automation production equipment according to claim 7, characterized in that: It also includes a visual assembly component, which includes a lower camera component, an upper camera component and a camera lifting mechanism; the lower camera component is arranged on a marble platform frame, and the shooting direction of the lower camera component is set vertically upward; the camera lifting mechanism is arranged on the other side end face of the press vertical plate, and the upper camera assembly is arranged on the camera lifting mechanism, and the shooting direction of the upper camera assembly is set vertically downward.

9. The electron gun assembly welding automation production equipment according to claim 8, characterized in that: It also includes a visual detection component, which includes a backlight lifting mechanism, a detection camera lifting mechanism, a detection camera telescopic mechanism and a detection camera assembly; the backlight lifting mechanism is arranged on the marble platform frame, and a light source board is arranged on the backlight lifting mechanism, the backlight lifting mechanism drives the light source board to move in the vertical direction, and the light source board is located on one side of the positioning rotating platform; the detection camera lifting mechanism is located on the marble platform frame, the detection camera telescopic mechanism is installed on the detection camera lifting mechanism, the detection camera lifting mechanism drives the detection camera telescopic mechanism to move in the vertical direction, the detection camera assembly is installed on the detection camera telescopic mechanism, the detection camera telescopic mechanism drives the detection camera assembly to move in the horizontal direction, the detection camera assembly is located on the other side of the positioning rotating platform, and the light source board and the detection camera assembly are arranged opposite to each other.

10. The automated production equipment for electron gun assembly welding according to any one of claims 1 to 9, characterized in that: A placement platform is provided on the marble platform frame; the loading and unloading robot assembly includes a loading and unloading robot and a loading and unloading clamp assembly; the placement platform is provided with a plurality of loading and unloading clamp assemblies of different models; the welding robot assembly includes a welding robot and a laser welding assembly fixedly connected to each other; the loading and unloading robot and the loading and unloading clamp assembly are electrically connected with each other via quick plug-in connection; the loading and unloading clamp assembly includes a double-nut reverse linear module, a pressure sensor, a servo motor and a pair of V-shaped clamps, the openings of the pair of V-shaped clamps are arranged opposite to each other, the servo motor drives the double-nut reverse linear module to work, and the double-nut reverse linear module drives a pair of V-shaped clamps to move toward or away from each other at the same time; the pressure sensor is arranged on the clamping surface of a pair of V-shaped clamps.

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