An automated production line for electron gun assembly and welding

Abstract

This invention discloses an automated production equipment for electron gun assembly and welding, comprising a marble platform frame, a loading / unloading robot assembly, a loading / unloading tray assembly, an assembly table assembly, a press assembly, and a welding robot assembly. The loading / unloading robot assembly, in cooperation with multiple loading / unloading gripper assemblies, places the part positioning mold and electron gun parts onto the assembly platform according to the assembly sequence. The press assembly applies preset pressure to the electron gun parts during the assembly process. The welding robot assembly, in cooperation with the assembly platform, welds the electron gun parts to form electron gun assemblies. The loading robot places the welded electron gun assemblies into circular grooves on the loading / unloading tray assembly. This automated assembly and welding of electron gun parts meets the requirements of automated production, achieving highly efficient automated assembly of electron gun assemblies and solving the problems of cumbersome operation, low efficiency, and high cost associated with traditional manual assembly of electron gun assemblies.

Description

Technical Field

[0001] This invention belongs to the field of electron gun assembly technology, specifically relating to an automated production equipment for electron gun assembly and welding. Background Technology

[0002] An electron gun used in vacuum tube devices is a device that generates high-energy electrons. It is the energy source for generating high-energy microwaves in vacuum tube devices and is widely used in various microwave tubes such as gyrotrons, klystrons, and traveling wave tubes. Working principle: The electron gun used in gyrotrons employs a thermionic cathode. The tungsten substrate of the cathode stores a large amount of active material. When a high voltage of tens of thousands of volts is applied between the electron gun and the high frequency, and the cathode is heated to about 1000°C, a continuous stream of high-energy electrons is generated and injected into the high-frequency system, enhancing the intensity of the microwave electromagnetic field in the device.

[0003] During the assembly of the electron gun, manual assembly requires a large number of tooling fixtures to ensure the concentricity of different components. The assembly and disassembly of these tooling fixtures are cumbersome, affecting the ease and efficiency of electron gun assembly. Furthermore, the development of new tube types necessitates the production of numerous new tooling fixtures, further increasing the production cost of the electron gun.

[0004] 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-mentioned background technology, the present invention proposes an automated production equipment for electron gun assembly and welding, which improves the assembly efficiency and 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 embodiments of the present invention are implemented as follows: The present invention provides an automated production equipment for electron gun assembly and welding, which includes a marble platform frame, on which are arranged a loading and unloading robot assembly, a loading tool library, a loading and unloading tray assembly, an assembly table assembly, a vision inspection assembly, a press assembly, and a welding robot assembly.

[0007] The upper and lower material tray assembly is provided with multiple circular grooves, which are used to accommodate the electron gun assembly, electron gun parts and part positioning molds.

[0008] The loading tool library is equipped with multiple loading and unloading gripper assemblies of different models;

[0009] The loading and unloading robot assembly, in cooperation with multiple loading and unloading gripper assemblies, places the part positioning mold and electron gun parts on the assembly platform in the assembly sequence; the press assembly applies a preset pressure to the electron gun parts during the assembly process; the welding robot assembly, in cooperation with the assembly platform, welds the electron gun parts to form an electron gun assembly; and the loading robot places the welded electron gun assembly into a circular groove on the loading and unloading tray assembly.

[0010] Furthermore, the loading and unloading tray assembly includes a tray mechanism and a drive assembly; the tray mechanism includes two first sliders and a mounting bracket; the two first sliders are horizontally spaced on the marble platform frame, and each first slider is slidably provided with a first slide rail; the mounting bracket is fixedly provided at the ends of the two first slide rails, and a tray is detachably provided on the mounting bracket, the tray being provided with multiple circular grooves; the drive assembly includes a linear drive module, the linear drive module driving the mounting bracket and the tray thereon to move to the outside of the marble platform frame.

[0011] Furthermore, the mounting frame includes a bottom mounting plate, the lower end face of which is fixedly connected to the ends of the two first slide rails. A vertical plate is mounted on the upper end face of the bottom mounting plate, the length direction of which is perpendicular to the movement direction of the mounting frame. Two mounting support plates are horizontally spaced on one side end face of the vertical plate, the two mounting support plates facing outwards from the marble platform frame and in the same direction as the movement direction of the mounting frame. Positioning pins are provided on the upper end faces of the two mounting support plates, and positioning holes that cooperate with the positioning pins are provided at the diagonal of the lower end face of the material tray. A material tray sensor is provided on the side wall of one of the mounting support plates, the sensing direction of which is vertically upward. The bottoms of the two first sliders are fixedly connected to the marble platform frame through slider pads and fixing plates. The linear drive module is a first linear electric cylinder, which is mounted on the upper end face of the fixing plate. The end of the push rod in the first linear electric cylinder is fixedly connected to the bottom mounting plate through a connecting plate.

[0012] Furthermore, the marble platform rack is also equipped with a delivery platform and a temporary storage platform.

[0013] Furthermore, the assembly platform includes a positioning rotary table and a lifting and transplanting mechanism mounted on the marble platform frame; the positioning rotary table has a cylindrical structure, and a drive motor is provided at the bottom of the positioning rotary table. The drive motor drives the positioning rotary table to rotate around its own axis. A positioning clamping mechanism is provided on the positioning rotary table, and the positioning clamping mechanism includes a first V-shaped clamping block, a second V-shaped clamping block, and a drive 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 mounted on the upper end face of the positioning rotary table; a fixed base plate is provided on one side of the top of the positioning rotary table, and the drive cylinder is provided on the fixed base plate. The end of the piston rod of the drive cylinder is fixedly connected to the second V-shaped clamping block, and the extension and retraction of the piston rod of the drive cylinder causes the second V-shaped clamping block to move closer to or away from the first V-shaped clamping block;

[0014] The lifting and transplanting mechanism is equipped with an assembly gripper mechanism located on the top of the positioning rotary table;

[0015] The lifting and transplanting mechanism includes a lifting platform located on one side of the positioning rotary table and fixed to the bottom of the marble platform frame. Two second slide rails are vertically spaced on one side end face of the lifting platform. A second slider is slidably connected to each second slide rail. A first linear module is fixedly connected to the side of the lifting platform between the two second slide rails.

[0016] The assembly gripper mechanism includes a support plate disposed between the two second sliders and the first linear module drive slider. The two sides of one end face of the support plate are fixedly connected to the two second sliders respectively, and the middle part of one end face of the support plate is fixedly connected to the drive slider in the first linear module. A base plate is disposed on the top of the support plate, and a double-nut reverse linear module is disposed on the base plate. A pair of V-shaped clamps are disposed on the double-nut reverse linear module, and the V-shaped openings of the pair of V-shaped clamps are arranged opposite to each other. A pressure sensor is disposed on one of the V-shaped clamps. The double-nut reverse linear module drives the pair of V-shaped clamps to move simultaneously towards or away from each other.

[0017] Furthermore, the press pressing assembly includes a press translation and transfer mechanism, on which a press structure is provided, and at the bottom of the press structure is a rotating press head located on the top of the positioning rotary table.

[0018] Furthermore, the press translation and transplanting mechanism includes a press fixing plate horizontally arranged on the top of the lifting platform. Two third slide rails and a second linear module are arranged parallel to each other on the upper end surface of the press fixing plate. Both the two third slide rails and the second linear module are arranged towards the positioning rotary table. A third slider is slidably connected to each of the two third slide rails. A drive slider is provided on the second linear module.

[0019] The press structure includes a bottom connecting plate. The lower end face of the bottom connecting plate is fixedly connected to the driving sliders of the two third sliders and the second linear module. A press upright plate is provided on the upper end face of the bottom connecting plate. A second linear electric cylinder is vertically provided on one side end face of the press upright plate. The push rod of the second linear electric cylinder is vertically oriented and rotatably connected to the rotating press head. The rotating press head includes a fixed part and a rotating part, both of which are cylindrical. The upper end face of the fixed part is fixedly connected to the end of the push rod in the second linear electric cylinder. A rotary bearing is provided on the lower end face of the fixed part. The rotating part is located at the bottom of the fixed part. A connecting shaft is provided on the upper end face of the rotating part and fixedly connected to the inner ring of the rotary bearing.

[0020] Furthermore, it also includes a vision assembly component, which includes a lower camera component, an upper camera component, and a camera lifting mechanism; the lower camera component is mounted on the marble platform frame, and the shooting direction of the lower camera component is vertically upward; the camera lifting mechanism is mounted on the other end face of the press plate, and the upper camera component is mounted on the camera lifting mechanism, and the shooting direction of the upper camera component is vertically downward.

[0021] Furthermore, it also includes a visual inspection 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 mounted on the marble platform frame, and a light source plate is mounted on the backlight lifting mechanism. The backlight lifting mechanism drives the light source plate to move vertically, and the light source plate is located on one side of the positioning rotary table. The detection camera lifting mechanism is located on the marble platform frame, and the detection camera telescopic mechanism is mounted on the detection camera lifting mechanism. The detection camera lifting mechanism drives the detection camera telescopic mechanism to move vertically, and the detection camera assembly is mounted on the detection camera telescopic mechanism. The detection camera telescopic mechanism drives the detection camera assembly to move horizontally, and the detection camera assembly is located on the other side of the positioning rotary table. The light source plate and the detection camera assembly are positioned opposite each other.

[0022] Furthermore, the marble platform frame is equipped with a placement platform; the loading / unloading robot assembly includes a loading / unloading robot and a loading / unloading gripper assembly; the placement platform is equipped with multiple loading / unloading gripper assemblies of different models; the welding robot assembly includes a welding robot and a laser welding assembly that are fixedly connected to each other; the loading / unloading robot and the loading / unloading gripper assembly are connected by a quick-connect electrical connection; the loading / unloading gripper assembly includes a double-nut reverse linear module, a pressure sensor, a servo motor, and a pair of V-shaped grippers, the openings of the pair of V-shaped grippers are arranged opposite each other, the servo motor drives the double-nut reverse linear module to work, and the double-nut reverse linear module drives the pair of V-shaped grippers to move simultaneously towards or away from each other; the pressure sensor is set on the clamping surface of the pair of V-shaped grippers.

[0023] The beneficial effects of this invention are:

[0024] 1. The automated production equipment for electron gun assembly and welding provided by this invention can automatically assemble and weld electron gun parts, meet the requirements of automated production, realize efficient automated assembly of electron gun components, replace the traditional manual assembly and welding of electron gun parts, improve the welding and assembly efficiency and accuracy of electron gun components, and solve the problems of cumbersome operation, low efficiency and high cost in the traditional manual assembly of electron gun components.

[0025] 2. The automated production equipment for electron gun assembly and welding provided by this invention, in the loading and unloading tray assembly, uses multiple circular grooves on the tray to separately place all the different cylindrical rotating parts and part positioning molds required for electron gun assembly and welding. This facilitates the robot arm to accurately and quickly pick up and assemble them in sequence, greatly improving the assembly efficiency of the rotary tube components. Furthermore, after the electron gun welding and assembly is completed, the welded and assembled electron gun can be placed in the tray for easy unloading, meeting the requirements of automated production and achieving efficient automated assembly of electron gun components. Simultaneously, all components in the loading and unloading tray assembly are detachably connected to the marble platform frame of the automated electron gun assembly and welding production equipment via fixing plates, achieving a modular design that facilitates subsequent replacement and maintenance.

[0026] 3. The automated production equipment for electron gun assembly and welding provided by this invention includes an assembly table component with a 360-degree rotating positioning table to facilitate subsequent welding of electron gun components. A positioning clamping mechanism clamps and fixes the component molds of the electron gun components. An assembly gripper mechanism on the lifting and transferring mechanism performs vertical assembly operations on the electron gun components. A rotating pressure head in the press assembly applies a preset pressure to the electron gun components, ensuring that the electron gun components maintain a stable position and good contact state throughout the assembly and welding process. The synergistic effect of the assembly table component and the press assembly achieves precise positioning and stable pressing of the electron gun components. This invention effectively solves the problems of cumbersome tooling and fixture operation, low assembly efficiency, and high development costs of new tube types in the existing electron gun assembly process. It improves the assembly efficiency and accuracy of electron guns, resulting in significant economic and social benefits. At the same time, the first and second V-shaped clamping blocks in the positioning and clamping mechanism can clamp and fix electron gun components of different diameters. The assembly gripper mechanism can clamp the 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 and clamping mechanism, reducing errors in the assembly process and improving assembly and welding accuracy. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. The above and other objects, features, and advantages of the present invention will become clearer through the accompanying drawings. The same reference numerals indicate the same parts in all the drawings. The drawings are not intentionally drawn to scale to actual dimensions; the focus is on illustrating the main points of the invention.

[0028] Figure 1 This is a schematic diagram of the overall structure of an automated production equipment for assembling and welding electron guns.

[0029] Figure 2 This is a schematic diagram of the structure of the loading and unloading tray assembly mounted on a marble platform frame.

[0030] Figure 3 This is a separate structural diagram of the loading and unloading tray assembly.

[0031] Figure 4 This is a schematic diagram of the mounting bracket in the loading and unloading tray assembly.

[0032] Figure 5 A schematic diagram of the structure in which the assembly table components and the press pressing components are mounted on the marble platform frame.

[0033] Figure 6 A separate 3D structural diagram of the assembly platform component.

[0034] Figure 7 A three-dimensional structural diagram of the pressing component of the press.

[0035] Figure 8 This is a schematic diagram of the rotating pressure head in the pressing assembly of a press.

[0036] Figure 9 This is a structural diagram of a vision assembly component.

[0037] Figure 10 This is a schematic diagram of the structure of the vision inspection component.

[0038] Among them, 1. Marble platform rack;

[0039] 2. Upper and lower material tray assembly; 21. Circular groove; 22. First slider; 23. Mounting bracket; 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 electric cylinder;

[0040] 3. Loading / unloading robot assembly; 31. Loading / unloading robot; 32. Loading / unloading gripper assembly;

[0041] 4. Assembly table components; 41. Positioning rotary table;

[0042] 42. Lifting and transplanting mechanism; 421. Lifting platform; 422. Second slide rail; 423. First linear module;

[0043] 43. Positioning and clamping mechanism; 431. First V-shaped clamping block; 432. Second V-shaped clamping block; 433. Drive cylinder; 434. Fixed base plate;

[0044] 44. Assembly gripper mechanism; 441. Support plate; 442. Base plate; 443. Double nut reverse linear module; 444. V-shaped clamping block;

[0045] 5. Pressing assembly;

[0046] 51. Press translation and transfer mechanism; 511. Press fixing plate; 512. Third slide rail; 513. Second linear module;

[0047] 52. Press structure; 521. Bottom connecting plate; 522. Press vertical plate; 523. Second linear electric cylinder;

[0048] 53. Rotating pressure head; 531. Fixed part; 532. Rotating part; 533. Rotary bearing; 534. Connecting shaft;

[0049] 6. Welding robot components; 61. Welding machine robot; 62. Laser welding components;

[0050] 7. Vision assembly components; 71. Lower camera assembly; 72. Upper camera assembly; 73. Camera lifting mechanism;

[0051] 8. Visual inspection component; 81. Backlight lifting mechanism; 82. Inspection camera lifting mechanism; 83. Inspection camera telescopic mechanism; 84. Inspection camera assembly;

[0052] 9. Delivery platform;

[0053] 10. Temporary storage platform;

[0054] 11. Placement platform. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0056] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0057] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0058] Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0059] Please refer to Figure 1As shown, this invention provides an automated production equipment for electron gun assembly and welding, comprising a marble platform frame 1. The marble platform frame 1 is equipped with a loading / unloading robot assembly 3, a loading / unloading tray assembly 2, an assembly table assembly 4, a press assembly 5, a delivery platform 9, a temporary placement platform 10, and a welding robot assembly 6. The loading / unloading tray assembly 2 has multiple circular grooves 21 for accommodating electron gun assemblies, electron gun parts, and part positioning molds. The loading tool library has multiple loading / unloading gripper assemblies 32 of different models. The loading / unloading robot assembly 3, in cooperation with the multiple loading / unloading gripper assemblies 32, places the part positioning molds and electron gun parts onto the assembly platform according to the assembly sequence. The press assembly 5 applies a preset pressure to the electron gun parts during assembly. The welding robot assembly 6, in cooperation with the assembly platform, welds the electron gun parts to form electron gun assemblies. The loading robot places the welded electron gun assemblies into the circular grooves 21 on the loading / unloading tray assembly 2.

[0060] Specifically, such as Figure 1 As shown, the marble platform frame 1 is provided with a placement platform 11; the loading / unloading robot assembly 3 includes a loading / unloading robot 31 and a loading / unloading gripper assembly 32; the placement platform 11 is provided with multiple loading / unloading gripper assemblies 32 of different models; the welding robot assembly 6 includes a welding robot 61 and a laser welding assembly 62 that are fixedly connected to each other; the loading / unloading robot 31 and the loading / unloading gripper assembly 32 are connected by a quick-connect electrical connection; as a specific arrangement of the loading / unloading gripper assembly 32, the loading / unloading gripper assembly 32 includes a double-nut reverse linear module, a pressure sensor, a servo motor and a pair of V-shaped grippers, the openings of the pair of V-shaped grippers are arranged opposite each other, the servo motor drives the double-nut reverse linear module 443 to work, the double-nut reverse linear module drives the pair of V-shaped grippers to move simultaneously towards or away from each other; the pressure sensor is set on the clamping surface of the pair of V-shaped grippers. V-shaped grippers can center and clamp electron gun parts of different diameters, enabling the assembly of any type of electron gun, improving assembly efficiency and accuracy, and enhancing the versatility of electron gun assembly.

[0061] Specifically, such as Figure 1 , Figures 2-4As shown, in one specific configuration of the upper and lower material tray assembly 2, the upper and lower material tray assembly 2 includes a material tray 25 mechanism and a drive assembly; the material tray 25 mechanism includes two first sliders 22 and a mounting bracket 23; the two first sliders 22 are horizontally spaced on the marble platform frame 1, and each first slider 22 is slidably provided with a first slide rail 24; the mounting bracket 23 is fixedly provided at the ends of the two first slide rails 24, and the material tray 25 is detachably provided on the mounting bracket 23, and the material tray 25 is provided with a plurality of circular grooves 21; the drive assembly includes a linear drive module, which drives the mounting bracket 23 and the material tray 25 thereon to move to the outside of the marble platform frame 1.

[0062] Specifically, the mounting frame 23 includes a bottom mounting plate 26, the lower end face of which is fixedly connected to the ends of the two first slide rails 24. A vertical plate 27 is mounted on the upper end face 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 on one side end face of the vertical plate 27. The two mounting support plates 28 face outwards from the marble platform frame 1 and are in the same direction as the movement direction of the mounting frame 23. Positioning pins 210 are provided on the upper end faces of the two mounting support plates 28. The lower end face of the material tray 25 is provided with a positioning hole that cooperates with the positioning pin 210 at the diagonal; 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 vertically upward; the bottoms of the two first sliders 22 are fixedly connected to the marble platform frame 1 through slider pads and fixing plates 211; the linear drive module is a first linear electric cylinder 212, which is installed on the upper end face of the fixing 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.

[0063] In practical use, the tray 25 mechanism is compatible with automated production equipment for electron gun assembly and welding. All different cylindrical rotating parts and part positioning molds within a single electron gun component are placed separately in different circular grooves 21 of the tray 25. The robotic arm can quickly and accurately locate and retrieve the required parts according to a preset program, meeting the requirements of automated production and achieving highly efficient automated assembly of electron gun welding. After the electron gun welding and assembly are completed, the assembled electron gun can be placed in the tray 25 for easy unloading, meeting the requirements of automated production and achieving highly efficient automated assembly of cylindrical rotating parts. Compared to manual assembly, which requires searching and retrieving parts from numerous tooling fixtures, this significantly shortens retrieval time and improves assembly efficiency. It avoids the use of numerous tooling fixtures in traditional manual assembly, reducing the cost of manufacturing new tooling fixtures for the development of new electron guns and lowering the production cost of the rotary tube.

[0064] The circular groove 21 is customized according to the shape and size of all different cylindrical rotating parts and part positioning molds in the electron gun and electron gun components. It 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 the assembly and welding accuracy.

[0065] A tray sensor 29 is installed on the side wall of one of the mounting support plates 28, with the sensing direction of the tray sensor 29 vertically upward. The tray sensor 29 is an ultrasonic position sensor, radar position sensor, or laser position sensor. The tray sensor 29 is used to identify whether the tray 25 is on the mounting bracket 23.

[0066] In this embodiment, the linear drive module is a first linear electric cylinder 212, which is installed on the upper surface of the marble platform frame 1. The end of the push rod in the linear electric cylinder is fixedly connected to the bottom mounting plate 26 through a connecting plate. The linear electric cylinder can move the mounting frame 23 and the tray 25 on it to the outside of the marble platform frame 1, and the distance between the two mounting support plates 28 is set to be greater than the width of the AGV feeding vehicle, which facilitates the AGV feeding vehicle to load the tray 25 onto the mounting frame 23 or unload the tray 25, thus meeting the production requirements of automated loading and unloading. After the tray 25 is loaded or unloaded, the first linear electric cylinder 212 drives the mounting frame 23 and the tray 25 on it to return to the inside of the marble platform frame 1, reducing the space occupied and avoiding interference or collision with other equipment. All components in the tray 25 mechanism are detachably connected to the marble platform frame 1 through the fixing plate 211, realizing a modular design and facilitating subsequent replacement and maintenance.

[0067] As such Figures 5-8As shown, in one specific configuration of the assembly platform, the assembly platform includes a positioning rotary table 41 and a lifting and transplanting mechanism 42 mounted on the marble platform frame 1. The positioning rotary table 41 has a cylindrical structure, and a drive motor is provided at the bottom of the positioning rotary table 41. The drive motor drives the positioning rotary table 41 to rotate around its own axis, thereby realizing a 10-degree rotation of the positioning rotary table 41 to facilitate the subsequent welding of the electron gun components.

[0068] A positioning and clamping mechanism 43 is provided on the positioning rotary table 41. The positioning and 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 opposite to each other. The first V-shaped clamping block 431 is fixedly installed on the upper end surface of the positioning rotary table 41. A fixed base plate 434 is provided on one side of the top of the positioning rotary table 41. The driving cylinder 433 is provided on the fixed base plate 434. The end of the piston rod of the driving cylinder 433 is fixedly connected to the second V-shaped clamping block 432. The extension and retraction of the piston rod of the driving cylinder 433 causes the second V-shaped clamping block 432 to move closer to or away from the first V-shaped clamping block 431. During the molding of the electron gun component, the component mold is placed between the first V-shaped clamping block 431 and the second V-shaped clamping block 432 by the loading / unloading robot assembly 3. The piston rod of the drive cylinder 433 extends, causing the second V-shaped clamping block 432 to move closer to the first V-shaped clamping block 431, thereby clamping and fixing the component mold of the electron gun component 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, component molds of electron gun components with different diameters can be clamped and fixed. The assembly gripper mechanism 44 can clamp electron gun components of different diameters, and the lifting and transferring mechanism 42 sequentially assembles the clamped electron gun components with the component mold parts in the positioning clamping mechanism 43, reducing errors in the assembly process and improving assembly and welding accuracy.

[0069] The lifting and transplanting mechanism 42 is equipped with an assembly gripper mechanism 44 located on top of the positioning rotary table 41. The lifting and transplanting mechanism 42 includes a lifting platform 421 disposed on one side of the positioning rotary table 41 and whose bottom is fixed to the marble platform frame 1. Two second slide rails are vertically spaced on one side end face of the lifting platform 421. A second slider is slidably connected to each second slide rail. A first linear module 423 is disposed between the two second slide rails and fixedly connected to the side of the lifting platform 421.

[0070] The assembly gripper mechanism 44 includes a support plate 441 disposed between the two second sliders and the drive slider of the first linear module 423. The two sides of one end face of the support plate 441 are fixedly connected to the two second sliders respectively, and the middle part of one end face of the support plate 441 is fixedly connected to the drive slider in the first linear module 423. A base plate 442 is disposed on the top of the support plate 441. A double-nut reverse linear module 443 is disposed on the base plate 442. A pair of V-shaped clamping blocks 444 are disposed on the double-nut reverse linear module 443. The V-shaped openings of the pair of V-shaped clamping blocks 444 are arranged opposite to each other. A pressure sensor is disposed on one of the V-shaped clamping blocks 444. The double-nut reverse linear module 443 drives the pair of V-shaped clamping blocks 444 to move simultaneously towards or away from each other.

[0071] The working principle of the lifting and transplanting mechanism 42 and the assembly gripper mechanism 44 is as follows: the first linear module 423 is activated to move, thereby realizing the reciprocating linear motion of the assembly gripper mechanism 44 in the vertical direction to adapt to the electron gun components with different assembly height requirements; the double nut reverse linear module 443 is activated to realize the V-shaped clamping blocks 444 moving towards or away from each other, thereby completing the action of clamping or releasing the electron gun components.

[0072] As a specific arrangement of the press pressing assembly 5, the press pressing assembly 5 includes a press translation and transfer mechanism 51, on which a press structure 52 is provided, and at the bottom of the press structure 52 is a rotating press head 53 located on the top of the positioning rotary table 41.

[0073] The press translation and transplanting mechanism 51 includes a press fixing plate 511 horizontally disposed on the top of the lifting platform 421. Two third slide rails 512 and a second linear module 513 are arranged parallel to each other on the upper end surface of the press fixing plate 511. Both the two third slide rails 512 and the second linear module 513 are arranged towards the positioning rotary table 41. A third slider is slidably connected to each of the two third slide rails 512. A drive slider is disposed on the second linear module 513.

[0074] The press structure 52 includes a bottom connecting plate 521. The lower end face of the bottom connecting plate 521 is fixedly connected to the driving sliders of the two third sliders and the second linear module 513. A press upright plate 522 is provided on the upper end face of the bottom connecting plate 521. A second linear electric cylinder 523 is vertically provided on one side end face of the press upright plate 522. The push rod of the second linear electric cylinder 523 is vertically oriented and rotatably connected to a rotating press head 53. The rotating press head 53 includes a fixed part 531 and a rotating part 532, both of which are cylindrical. The upper end face of the fixed part 531 is fixedly connected to the end of the push rod in the second linear electric cylinder 523. A rotating bearing 533 is provided on the lower end face of the fixed part 531. The rotating part 532 is located at the bottom of the fixed part 531. A connecting shaft 534 is provided on the upper end face of the rotating part 532 and is fixedly connected to the inner ring of the rotating bearing 533. When the rotating pressure head 53 presses the electron gun component, the rotating part 532 presses the top of the electron gun component. At the same time, the rotating part 532 rotates with the electron gun component to avoid scratches on the top of the electron gun component and improve the appearance quality of the product.

[0075] The working principle of the press translation and transfer mechanism 51 and the press structure 52 is as follows: the second linear module 513 is started, which drives the entire press structure 52 to move in the horizontal direction until the rotating pressure head 53 is directly above the electron gun component. At this point, 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, so as to ensure that the electron gun component always maintains a stable position and good contact state during the assembly and welding process.

[0076] Preferably, such as Figure 1 and Figure 9 As shown, the automated production equipment for electron gun assembly and welding also includes a vision 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 mounted on the marble platform frame 1, and its shooting direction is vertically upward. The camera lifting mechanism 73 is mounted on the other end face of the press plate 522, and the upper camera component 72 is mounted on the camera lifting mechanism 73, with its shooting direction vertically downward.

[0077] Preferably, such as Figure 10As shown, the automated production equipment for electron gun assembly and welding also includes a vision inspection component 8. The vision inspection component 8 includes a backlight lifting mechanism 81, a camera lifting mechanism 82, a camera telescopic mechanism 83, and a camera assembly 84. The backlight lifting mechanism 81 is mounted on the marble platform frame 1, and a light source plate is mounted on the backlight lifting mechanism 81. The backlight lifting mechanism 81 drives the light source plate to move vertically, and the light source plate is located on one side of the positioning rotary table 41. The camera lifting mechanism 82 is located on the marble platform frame 1, and the camera telescopic mechanism 83 is mounted on the camera lifting mechanism 82. The camera lifting mechanism 82 drives the camera telescopic mechanism 83 to move vertically, and the camera assembly 84 is mounted on the camera telescopic mechanism 83. The camera telescopic mechanism 83 drives the camera assembly 84 to move horizontally, and the camera assembly 84 is located on the other side of the positioning rotary table 41. The light source plate and the camera assembly 84 are arranged opposite each other.

[0078] The actual workflow of an automated production equipment for electron gun assembly and welding in this invention includes:

[0079] Loading process: The loading / unloading robot 31 and the loading / unloading gripper assembly 32 are connected by an electric quick-connect connector. The loading / unloading robot 31 picks up and moves the loading / unloading gripper assembly 32. Next, the loading / unloading gripper assembly 32 grips the electron gun part or part positioning mold on the loading / unloading tray assembly 2. Next, the loading robot moves the electron gun part or part positioning mold to the delivery platform 9. Next, the loading / unloading gripper assembly 32 performs secondary clamping and positioning of the electron gun part or part positioning mold. Next, the loading / unloading robot 31 returns to the standby position, and the loading is completed.

[0080] The assembly process of the part positioning mold is as follows: The loading and unloading robot 31 picks up and transports the loading and unloading gripper assembly 32. Next, the loading and unloading gripper assembly 32 clamps the delivery platform 9 and sends it to the assembly gripper feeding position. Next, the loading and unloading gripper assembly 32 aligns and clamps 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 gripper mechanism 44 sends the part mold to the positioning rotary table 41. Next, the assembly gripper mechanism 44 releases 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 aligns and clamps the part positioning mold, completing the assembly of the part positioning mold.

[0081] Parts assembly process: The loading / unloading robot 31 picks up and transports the loading / unloading gripper assembly 32. Next, the loading / unloading gripper assembly 32 grips the delivery platform 9 and sends it to the assembly gripper feeding position. Next, the assembly gripper mechanism 44 aligns the parts on the delivery platform 9. Next, the loading / unloading robot 31 sends the delivery platform 9 back to the placement position. Next, the loading / unloading robot 31 returns to the waiting position. Next, the lifting and transferring mechanism 42 moves downward, and the assembly gripper mechanism 44 sends the parts to the assembly position set by the system for concentric assembly. Next, the assembly gripper mechanism 44 releases to the release position. Next, the lifting and transferring mechanism 42 returns to the waiting position, completing the parts assembly.

[0082] Visual assembly process: The loading / unloading robot 31 picks up and transports the loading / unloading gripper assembly 32. Next, the loading / unloading gripper assembly 32 grips the electron gun part on the loading / unloading tray assembly 2. The electron gun part requires visual assembly. Next, the unloading robot moves the electron gun part above the lower camera assembly 71 for visual positioning and photography. At the same time, the camera translation mechanism and the camera lifting mechanism 73 move the upper camera assembly 72 to the upper camera photography position. Next, the upper camera assembly 72 positions and photographs the electron gun part. After the positioning and photography are completed, the vision system performs position comparison calculation on the two position feature images. Next, the loading / unloading robot 31 sends the electron gun part to the assembly position. Next, the loading / unloading robot 31 performs position compensation movement according to the calculation results of the vision system. Next, the loading / unloading robot 31 sends the electron gun part downward to the assembly position set by the system. Visual assembly is completed.

[0083] Visual inspection process: The backlight lifting mechanism 81 rises to the visual imaging position and opens the light source plate. Next, the detection camera lifting mechanism 82 sends the detection camera assembly 84 to the visual imaging position. Next, the detection camera telescopic mechanism 83 extends the detection camera assembly 84 to the imaging position. Next, the detection camera assembly 84 positions and takes pictures of the electron gun part. Next, the backlight lifting mechanism 81 rises to the visual imaging position and opens the backlight. Next, the detection camera lifting mechanism 82 sends the detection camera assembly 84 to the visual imaging position for positioning and taking pictures. Next, the detection camera telescopic mechanism 83 retracts. Next, the backlight lifting mechanism 81 returns to the standby position. Next, the detection camera lifting mechanism 82 returns to the standby position. The visual inspection system performs position comparison calculations on the two position feature images to obtain the concentricity accuracy of the component. The visual inspection process is completed.

[0084] Pressing process: The press translation and transfer mechanism 51 sends the press structure 52 to the pressing position. The second linear electric cylinder 523 drives the rotating press head 53 to descend to the pressing approach position. Next, the second linear electric cylinder 523 drives the rotating press head 53 to descend slowly and contact the top of the electron gun part. When the pressure value set by the system is reached, the descent stops and the pressure is maintained for 10 seconds. Then, the second linear electric cylinder 523 drives the rotating press head 53 to rise to the safety position. Next, the backlight lifting mechanism 81 rises to the visual imaging position and turns on the backlight. Next, the press translation and transfer mechanism 51 sends the rotating press head 53 back to the standby position, and the press pressing process is completed.

[0085] 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 pressure process is performed in advance. 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.

[0086] In summary, the automated production equipment for assembling gyrotube components provided by this invention can automatically assemble and weld electron gun parts, meeting the requirements of automated production and achieving efficient automated assembly of gyrotube components. It replaces the traditional manual assembly and welding of electron gun parts, improves the welding and assembly efficiency and accuracy of electron gun components, and solves the problems of cumbersome operation, low efficiency and high cost in the traditional manual assembly of electron gun components.

[0087] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An automated production equipment for assembling and welding electron guns, characterized in that, The system includes a marble platform frame, on which are mounted a loading and unloading robot assembly, a loading tool library, a loading and unloading tray assembly, an assembly table assembly, a press assembly, and a welding robot assembly. The upper and lower material tray assembly is provided with multiple circular grooves, which are used to accommodate the electron gun assembly, electron gun parts and part positioning molds. The loading tool library is equipped with multiple loading and unloading gripper assemblies of different models; The loading and unloading robot assembly, in cooperation with multiple loading and unloading gripper assemblies, places the part positioning mold and electron gun parts on the assembly platform in the assembly sequence; the press assembly is used to apply preset pressure to the electron gun parts during the assembly process; the welding robot assembly, in cooperation with the assembly platform, welds the electron gun parts to form an electron gun assembly; and the loading robot places the welded electron gun assembly into a circular groove on the loading and unloading tray assembly. The upper and lower material tray assembly includes a tray mechanism and a drive assembly; the tray mechanism includes two first sliders and a mounting bracket; the two first sliders are horizontally spaced on the marble platform frame, and each first slider is slidably provided with a first slide rail; the mounting bracket is fixedly provided at the ends of the two first slide rails, and a material tray is detachably provided on the mounting bracket, and the material tray is provided with a plurality of circular grooves; the drive assembly includes a linear drive module, which drives the mounting bracket and the material tray thereon to move to the outside of the marble platform frame; The mounting frame includes a bottom mounting plate, the lower end of which is fixedly connected to the ends of the two first slide rails. A vertical plate is mounted on the upper end of the bottom mounting plate, the length direction of which is perpendicular to the movement direction of the mounting frame. Two mounting support plates are horizontally spaced on one side of the vertical plate, facing outwards from the marble platform frame and in the same direction as the movement direction of the mounting frame. Positioning pins are provided on the upper end of the two mounting support plates. Positioning holes that cooperate with the positioning pins are provided at the diagonal of the lower end of the material tray. A material tray sensor is provided on the side wall of one of the mounting support plates, with the sensing direction of the material tray sensor vertically upwards. The bottoms of the two first sliders are fixedly connected to the marble platform frame through slider pads and fixing plates. The linear drive module is a first linear electric cylinder, which is mounted on the upper end of the fixing plate. The end of the push rod in the first linear electric cylinder is fixedly connected to the bottom mounting plate through a connecting plate. The assembly platform includes a positioning rotary table and a lifting and transplanting mechanism mounted on the marble platform frame. The positioning rotary table has a cylindrical structure, and a drive motor is installed at the bottom of the positioning rotary table. The drive motor drives the positioning rotary table to rotate around its own axis. A positioning clamping mechanism is installed on the positioning rotary table. The positioning clamping mechanism includes a first V-shaped clamping block, a second V-shaped clamping block, and a drive cylinder. The V-shaped notches in the first V-shaped clamping block and the second V-shaped clamping block are arranged opposite each other. The first V-shaped clamping block is fixedly installed on the upper end face of the positioning rotary table. A fixed base plate is installed on one side of the top of the positioning rotary table. The drive cylinder is installed on the fixed base plate. The end of the piston rod of the drive cylinder is fixedly connected to the second V-shaped clamping block. The extension and retraction of the piston rod of the drive cylinder causes 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 equipped with an assembly gripper mechanism located on the top of the positioning rotary table; The lifting and transplanting mechanism includes a lifting platform located on one side of the positioning rotary table and fixed to the bottom of the marble platform frame. Two second slide rails are vertically spaced on one side end face of the lifting platform. A second slider is slidably connected to each second slide rail. A first linear module is fixedly connected to the side of the lifting platform between the two second slide rails. The assembly gripper mechanism includes a support plate disposed between the two second sliders and the first linear module drive slider. The two sides of one end face of the support plate are fixedly connected to the two second sliders respectively, and the middle part of one end face of the support plate is fixedly connected to the drive slider in the first linear module. A base plate is disposed on the top of the support plate, and a double-nut reverse linear module is disposed on the base plate. A pair of V-shaped clamping blocks are disposed 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 disposed on one of the V-shaped clamping blocks. The double-nut reverse linear module drives the pair of V-shaped clamping blocks to move towards or away from each other simultaneously. The press pressing assembly includes a press translation and transfer mechanism, on which a press structure is provided, and at the bottom of the press structure is a rotating press head located on the top of the positioning rotary table; The press translation and transplanting mechanism includes a press fixing plate horizontally set on the top of the lifting platform. Two third slide rails and a second linear module are arranged parallel to each other on the upper end surface of the press fixing plate. Both the two third slide rails and the second linear module are arranged towards the positioning rotary table. A third slider is slidably connected to each of the two third slide rails. A drive slider is provided on the second linear module. The press structure includes a bottom connecting plate. The lower end face of the bottom connecting plate is fixedly connected to the driving sliders of the two third sliders and the second linear module. A press upright plate is provided on the upper end face of the bottom connecting plate. A second linear electric cylinder is vertically provided on one side end face of the press upright plate. The push rod of the second linear electric cylinder is vertically oriented and rotatably connected to the rotating press head. The rotating press head includes a fixed part and a rotating part, both of which are cylindrical. The upper end face of the fixed part is fixedly connected to the end of the push rod in the second linear electric cylinder. A rotary bearing is provided on the lower end face of the fixed part. The rotating part is located at the bottom of the fixed part. A connecting shaft is provided on the upper end face of the rotating part and fixedly connected to the inner ring of the rotary bearing. It also includes a visual inspection component, which comprises a backlight lifting mechanism, a detection camera lifting mechanism, a detection camera telescopic mechanism, and a detection camera assembly. The backlight lifting mechanism is mounted on the marble platform frame and has a light source plate mounted on it. The backlight lifting mechanism drives the light source plate to move vertically, and the light source plate is located on one side of the positioning rotary table. The detection camera lifting mechanism is located on the marble platform frame, and the detection camera telescopic mechanism is mounted on it. The detection camera lifting mechanism drives the detection camera telescopic mechanism to move vertically, and the detection camera assembly is mounted on it. The detection camera telescopic mechanism drives the detection camera assembly to move horizontally, and the detection camera assembly is located on the other side of the positioning rotary table. The light source plate and the detection camera assembly are positioned opposite each other.

2. The automated production equipment for electron gun assembly and welding according to claim 1, characterized in that, The marble platform frame is also equipped with a delivery platform and a temporary storage platform.

3. The automated production equipment for electron gun assembly and welding according to claim 1, characterized in that, It also includes a vision assembly component, which includes a lower camera component, an upper camera component, and a camera lifting mechanism; the lower camera component is mounted on the marble platform frame and its shooting direction is vertically upward; the camera lifting mechanism is mounted on the other end face of the press plate, and the upper camera component is mounted on the camera lifting mechanism and its shooting direction is vertically downward.

4. The automated production equipment for electron gun assembly and welding according to any one of claims 1 to 3, characterized in that, The marble platform frame is equipped with a placement platform; the loading / unloading robot assembly includes a loading / unloading robot and a loading / unloading gripper assembly; the placement platform is equipped with multiple loading / unloading gripper assemblies of different models; the welding robot assembly includes a welding robot and a laser welding assembly that are fixedly connected to each other; the loading / unloading robot and the loading / unloading gripper assembly are connected by a quick-connect electrical connection; the loading / unloading gripper assembly includes a double-nut reverse linear module, a pressure sensor, a servo motor, and a pair of V-shaped grippers, the openings of the pair of V-shaped grippers are arranged opposite each other, the servo motor drives the double-nut reverse linear module to work, and the double-nut reverse linear module drives the pair of V-shaped grippers to move simultaneously towards or away from each other; the pressure sensor is set on the clamping surface of the pair of V-shaped grippers.

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