Grabbing and positioning tool for cylindrical workpiece and electron beam welding production line

Abstract

The utility model relates to a grabbing tool for a cylindrical workpiece and an electron beam welding production line, relates to the technical field of electron beam welding, and solves the problem that the cylindrical workpiece is difficult to automatically and accurately grab in preassembly and pretreatment procedures before welding. The grabbing and positioning tool for the cylindrical workpiece comprises a frame body, a binding belt, a locking mechanism and a workpiece positioning block, a grabbing rod of the frame body is provided with a grabbing and positioning hole, the cylindrical workpiece is bound to the grabbing and positioning tool, a robot claw clamp can accurately grab and rotate the cylindrical workpiece through the grabbing and positioning tool, and therefore the grabbing and positioning efficiency of the cylindrical workpiece is improved. Therefore, the electron beam welding production line can be delivered from a warehouse in a part state, the front procedure of welding is automatically completed, the processing efficiency before welding is greatly improved, the welding quality is improved, and the utilization rate of electron beam equipment is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of welding, in particular to a grabbing and positioning tool for a cylindrical workpiece and an electron beam welding production line. Background Art

[0002] Electron beam welding technology is mainly used in products or industries with high quality or productivity requirements. Electron beam welding is one of the most mature high-energy beam processing methods. Since the use of electron beam welding faces more stringent process requirements, the process of electron beam welding is also relatively complicated, involving material transfer, surface cleaning before welding, assembly quality inspection, positioning welding, electron beam welding and other processes. Especially before welding, complex welding processes and equipment are required to complete the pre-welding assembly and welding dimensioning of the product. Among them, the precise positioning and grasping of the welded workpiece is the key technical link of pre-welding assembly. Cylindrical workpieces have the weaknesses of easy deformation and difficult grasping of arc surfaces. Usually, the installation holes are processed on the surface of the workpiece and special automatic grasping tooling is installed to solve the problem of grasping before welding. However, for cylindrical workpieces with thin walls, high surface requirements or other reasons that cannot provide installation holes on the surface of the workpiece, the pre-welding assembly and pre-welding pretreatment processes are still completed by manual operation or in conjunction with single-machine equipment. The welding quality is seriously dependent on the operator's level, which can neither meet the needs of mass production nor conform to the development trend of intelligent and flexible equipment manufacturing. Utility Model Content

[0003] In view of the above analysis, the embodiments of the utility model aim to provide a grasping and positioning tool for a cylindrical workpiece and an electron beam welding production line, so as to solve the problem that it is difficult to automatically and accurately grasp the cylindrical workpiece in the pretreatment process before welding, thereby failing to complete the automation of the entire electron beam welding process.

[0004] The purpose of this utility model is mainly achieved through the following technical solutions:

[0005] On the one hand, the present embodiment provides a grasping and positioning tool for a cylindrical workpiece, comprising a frame, a binding strap and a locking mechanism; the frame comprises a grasping rod, a positioning rod, a first support rod and a second support rod; both ends of the grasping rod are fixedly connected to the centers of the two positioning rods, the two positioning rods are arranged parallel to each other, and both ends of the first support rod and the second support rod are respectively fixed on the two opposite end faces of the two positioning rods; one end of the two binding straps are respectively fixed to the two end portions of the first support rod, and the other ends can be respectively locked on the second support rod through two locking mechanisms, thereby tightening the cylindrical workpiece in the frame; a first grasping positioning hole and a second grasping positioning hole are provided on the side of the grasping rod, and the first grasping positioning hole and the second grasping positioning hole enable the robot claw to extend into to clamp the frame.

[0006] Furthermore, the first grabbing and positioning hole is a circular through hole, and the second grabbing and positioning hole is an elliptical through hole.

[0007] Furthermore, the grabbing rod also includes a third grabbing positioning hole, which is an elliptical through hole and is located on both sides of the first grabbing positioning hole together with the second grabbing positioning hole.

[0008] Furthermore, the positioning rod is an arc-shaped rod, and the grabbing rod is perpendicular to the plane where the two positioning rods are located.

[0009] Furthermore, the inner arc surface of the positioning rod matches with the surface of the cylindrical workpiece.

[0010] Furthermore, the two positioning rods have different lengths.

[0011] Furthermore, the two straps have different lengths.

[0012] Furthermore, workpiece positioning blocks are respectively installed on the inner arc surfaces of the ends of the two positioning rods.

[0013] Furthermore, a positioning groove opening outward is provided on the surface of the workpiece positioning block.

[0014] On the other hand, the utility model also provides an electron beam welding production line, which adopts any of the above-mentioned technical solutions of the grabbing tooling for cylindrical workpieces, and also includes an AGV logistics system laser cleaning unit, an automatic assembly unit, a pre-adjustment and positioning welding unit and an electron beam welding unit.

[0015] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0016] (1) The utility model adopts a frame structure matched with the surface of the cylindrical workpiece and four workpiece positioning blocks to achieve accurate positioning of the relative position between the workpiece and the positioning tooling;

[0017] (2) Two flexible straps and a locking mechanism are used to complete the annular binding of the cylindrical workpiece, so that the positioning hole is not processed on the cylindrical workpiece, and the assembly tool can be firmly installed on the workpiece. In the subsequent automated assembly, weld inspection and pre-positioning welding process, the robot can indirectly grasp the cylindrical workpiece by grasping the positioning tool;

[0018] (3) The grabbing rod is provided with both circular and elliptical grabbing holes, which can not only accurately position and dock with the spherical block of the assembly robot gripper to achieve stable grasping, but also compensate for the deviation during docking;

[0019] (4) Elliptical gripping holes are respectively provided on both sides of the circular gripping hole on the gripping rod, which can reduce the torque generated by the gravity of the workpiece on the robot gripping clamp when the robot gripping clamp grasps the tooling, ensure the balanced force on the workpiece, and make the automated gripping, moving, rotating and other actions of each pre-welding process of automated welding more labor-saving, accurate and reliable;

[0020] (5) By adopting the grabbing and positioning tooling provided by the utility model, the precise requirements of automated grabbing of each process before welding of cylindrical workpieces are met, so that electron beam welding production can be delivered from the warehouse in the form of parts, and the laser cleaning of welds, automatic assembly of parts, weld quality inspection and positioning welding and other pre-processes can be automatically completed, which greatly improves the processing efficiency before welding, improves the welding quality, and improves the utilization rate of electron beam equipment;

[0021] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the following content, and some advantages can be obvious from the description or understood by implementing the present invention. The purpose and other advantages of the present invention can be achieved and obtained through the contents specifically pointed out in the text and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are only used for the purpose of illustrating specific embodiments and are not to be considered as limiting the present invention. In the entire drawings, the same reference symbols represent the same components.

[0023] Figure 1 It is a schematic diagram of the structure of a cylindrical workpiece grabbing and positioning tooling in a specific embodiment;

[0024] Figure 2 It is a schematic diagram of the frame structure of a specific embodiment;

[0025] Figure 3 It is a schematic diagram of the grab bar structure of a specific embodiment;

[0026] Figure 4 It is a schematic diagram of the structure of a workpiece positioning block in a specific embodiment;

[0027] Figure 5 This is a schematic diagram of the assembly robot terminal structure of specific embodiment 3;

[0028] Figure 6 This is a schematic diagram of the structure of the electron beam welding production line of specific embodiment 3.

[0029] Reference numerals:

[0030] 1-frame; 101-grabbing rod; 1011-first grabbing positioning hole; 1012-second grabbing positioning hole; 1013-third grabbing positioning hole; 102-positioning rod; 103-first support rod; 104-second support rod; 2-binding strap; 3-locking mechanism; 301-lock body; 302-lock hook; 4-workpiece positioning block; 401-positioning groove; 5-visual feature block; 6-AGV logistics system; 7-laser cleaning unit; 8-automatic assembly unit; 811-robot gripper; 8111-spherical block; 812-vision system; 813-force control system; 9-pre-adjustment and positioning welding unit; 10-electron beam welding unit. DETAILED DESCRIPTION

[0031] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0032] Example 1

[0033] A specific embodiment of the utility model is as follows Figure 1 , Figure 2 As shown, a gripping and positioning tool for a cylindrical workpiece is disclosed, comprising a frame 1, a binding belt 2, a locking mechanism 3 and a workpiece positioning block 4. The frame 1 comprises a gripping rod 101, a positioning rod 102, a first support rod 103 and a second support rod 104; the gripping rod 101 is a rectangular long bar, the positioning rod 102 is two arc-shaped rods, the two ends of the gripping rod 101 are fixedly connected with the center of the two positioning rods 102 by bolts, the two positioning rods 102 are arranged in parallel and symmetrically, and the gripping rod 101 is perpendicular to the plane where the arcs of the two positioning rods 102 are located; the first support rod 103 and the second support rod 104 are two long bars, which are equal in length to the gripping rod 101 and are parallel to the gripping rod 101, and the two ends of the first support rod 103 and the second support rod 104 are respectively fixed on two opposite end faces of two different positioning rods 102.

[0034] The straps 2 are two strips, one end of the two straps 2 is respectively fixed to the two ends of the first support rod 103, and the straps 2 are made of wear-resistant and tough material; the locking mechanism 3 is two adjustable locks, including a lock body 301 and a lock hook 302, the two lock bodies 301 are fixed on the two straps 2, and the two lock hooks are fixed to the two ends of the second support rod 104, and the handle on the lock body 301 is connected to the hanging ring through a screw, and the locking force between the strap 2 and the workpiece can be adjusted by rotating the screw.

[0035] like Figure 4As shown, the workpiece positioning block 4 is composed of four blocks, which are fixed on the inner surfaces of the ends of the two positioning rods 102 by positioning pins and screws respectively. The surface of the workpiece positioning block 4 is provided with a positioning groove 401 opening outward, and the inner surface of the positioning groove 401 matches the positioning boss pre-machined on the outer surface of the cylindrical workpiece.

[0036] It should be noted that, in order to better fit the surface of the cylindrical workpiece, the inner arc surface of the positioning rod 102 can be processed into a conforming structure that can fit according to the shape of the workpiece, and the sizes of the two positioning rods 102 can be different. In addition, the lengths of the two binding straps 2 can also be different to adapt to the irregular shape and inconsistent size of the lower surface of the cylindrical workpiece.

[0037] During implementation, first, the mating surface of the cylindrical workpiece is fitted with the inner surfaces of the two positioning rods 102, and then the four positioning grooves 401 are matched with the positioning bosses on the outer surface of the workpiece to complete the positioning between the workpiece and the grasping tooling; then, the two straps 2 are wrapped around the other side of the workpiece, and the hanging rings on the two lock bodies 301 are respectively hung on the two locking hooks 302 on the same side of the second support rod 104, and finally, the handle on the lock body 301 is pushed to lock the two locking mechanisms 3, and then the locking force between the strap 2 and the workpiece is adjusted by rotating the screw on the lock body 301, thereby completing the installation of the positioning tooling on the cylindrical workpiece.

[0038] This embodiment installs a strap-type grasping and positioning tooling on the cylindrical workpiece. On the one hand, the frame 1 and four workpiece positioning blocks 4 that cooperate with the surface of the cylindrical workpiece can realize the precise positioning of the relative position between the workpiece and the positioning tooling; on the other hand, two flexible straps 2 and a locking mechanism 3 are used to complete the annular binding of the cylindrical workpiece, so that the positioning hole is not processed on the cylindrical workpiece, and the assembly tooling can be firmly installed on the workpiece, which provides the necessary conditions for the robot to indirectly grasp the cylindrical workpiece through the grasping and positioning tooling during the subsequent automated assembly, weld detection and pre-positioning welding.

[0039] like Figure 3 As shown, the grabbing rod 101 has a first grabbing positioning hole 1011 and a second grabbing positioning hole 1012 , and the first grabbing positioning hole 1011 and the second grabbing positioning hole 1012 are circular through holes located on the side wall of the grabbing rod 101 .

[0040] Since the assembly robot gripper has four spherical blocks 8111 that match the first gripping positioning hole 1011 and the second gripping positioning hole 1012, when the robot grips, the gripper opens, and the spherical block 8111 at the fixed end of the gripper docks with the first gripping positioning hole 1011 and the second gripping positioning hole 1012 on the gripping rod 101. After the docking is completed, the cylinder action of the assembly robot gripper causes the spherical block 8111 to move and extend into the first gripping positioning hole 1011 and the second gripping positioning hole 1012 to achieve clamping. In the subsequent automated assembly, weld inspection and pre-positioning welding processes, when the robot gripper performs various rotations by grasping and positioning the tooling, the grabbing rod 101 drives the frame 1 to rotate as a whole. Since the two positioning rods 102 apply a thrust in the rotation direction to the cylindrical workpiece, and the binding belt 2 has a limiting effect on the cylindrical workpiece, the cylindrical workpiece is driven to rotate stably, thereby realizing automated high-precision grasping and positioning of the tooling, providing the necessary positioning conditions for the subsequent precise docking assembly, weld pretreatment and positioning welding processes of the workpiece.

[0041] Furthermore, the gripping and positioning tooling also includes a visual feature block 5, which is installed on the outer side wall of a positioning rod 102 and is used for robot vision system recognition and positioning.

[0042] Example 2

[0043] like Figure 3 As shown, another embodiment of the utility model is different from embodiment 1 in that the shapes of the first grabbing positioning hole 1011 and the second grabbing positioning hole 1012 on the grabbing rod 101 are different. The first grabbing positioning hole 1011 is a circular through hole located in the middle section of the grabbing rod 101, and the second grabbing positioning hole 1012 is an elliptical through hole located on an end section of the grabbing rod 101.

[0044] The first grasping positioning hole 1011 of the circular hole can be accurately positioned and docked with the spherical block 8111 of the assembly robot gripper to achieve stable grasping, while the second grasping positioning hole 1012 of the elliptical hole can smoothly achieve grasping when there is a position deviation between the spherical block 8111 and the positioning guide hole, avoiding the problem of being unable to dock and grasp due to slight deviations.

[0045] Preferably, a third grabbing position hole 1013 is further provided on the grabbing rod 101 . The third grabbing position hole 1013 is also an elliptical through hole and is located on both sides of the first grabbing position hole 1011 together with the second grabbing position hole 1012 , and may also be located on the other end section of the grabbing rod 101 .

[0046] The function of the third grabbing position hole 1013 is that when the robot grasps the gripping and positioning tooling, it can select the first grabbing positioning hole 1011 and the second grabbing positioning hole 1012 or the first grabbing positioning hole 1011 and the third grabbing position hole 1013 according to the overall center of gravity of the workpiece after the gripping and positioning tooling is installed, thereby reducing the torque formed by the gravity of the workpiece on the robot claw when the robot claw grasps the tooling, ensuring that the workpiece is subjected to balanced force, and making the automated grasping, moving, rotating and other actions of each pre-welding process of automated welding more labor-saving, accurate and reliable.

[0047] Example 3

[0048] like Figure 6 As shown, this embodiment provides an electron beam welding production line that adopts the automated grasping and positioning tooling of Example 1 or Example 2, including an AGV logistics system 6, a laser cleaning unit 7, an automatic assembly unit 8, a pre-adjustment and positioning welding unit 9 and an electron beam welding unit 10.

[0049] Furthermore, the AGV logistics system 6 includes a small AGV for transferring workpieces to be welded, a large AGV for transferring tooling, a small AGV transfer pallet and a scheduling system.

[0050] Specifically, the AGV logistics system 6 completes the task planning of the AGV through the scheduling system, and transfers the workpieces to be welded and the automated assembly tooling to the corresponding workstations.

[0051] Furthermore, the laser cleaning unit 7 includes a gantry truss, a collaborative arm robot, a laser cleaning head, a laser cleaning machine and a table for placing workpieces to be welded.

[0052] Specifically, the gantry truss includes an X-axis, a Y-axis and a Z-axis. A collaborative arm robot is integrated at the end of the Z-axis. A laser head cleaning device is integrated at the end of the collaborative arm robot. Two tables for placing workpieces to be welded are set in the area covered by the gantry truss.

[0053] Furthermore, the automatic assembly unit 8 includes an automatic assembly robot, an automatic assembly tool, an automatic assembly tool docking station, a workpiece docking station for welding and a tool storage table; the assembly robot end of the automatic assembly robot includes a robot gripper 811, a visual system 812 and a force control system 813; a spherical block 8111 is provided on the robot gripper 811.

[0054] like Figure 5As shown, specifically, the gripper of the robot gripper 811 is provided with a spherical block 8111 with a guiding function on the release and clamping structure, and the robot gripper 811 can automatically grab the cylindrical workpiece installed with the grabbing and positioning tooling. At the same time, the end of the assembly robot is also integrated with a visual system 812 and a force control system 813. The visual system can grab and position the grabbing and positioning tooling by identifying the visual feature block 5 installed on the grabbing and positioning tooling; the force control system 813 has a six-dimensional force control sensor system, which is integrated with the robot system to achieve smooth force control after visual guidance docking. When grabbing and assembling workpieces, the docking angle can be adjusted in real time through the force sensor, thereby achieving the common pin pin hole docking, cylindrical stop docking and other states to achieve smooth docking effects, and solve the workpiece deformation caused by the robot directly completing the docking under normal circumstances. In the automated assembly unit 8, the assembly robot completes the grabbing and docking of two or more workpieces and fixes them on the automated assembly tooling.

[0055] Furthermore, the pre-adjustment and positioning welding unit 9 includes a gantry truss, a collaborative arm robot, a laser 3D camera, a laser positioning welding machine, a tooling rotating device and a tooling automatic power-on device.

[0056] Specifically, the Z-axis of the gantry truss is integrated with a collaborative arm robot, which can quickly replace the laser 3D camera or the welding gun of the laser positioning welder through the quick-change plate mounted at the end.

[0057] Furthermore, the electron beam welding unit 10 includes electron beam welding equipment, an electron beam automatic loading and unloading truss robot, and a tooling positioning cache docking station.

[0058] Specifically, after the AGV logistics system 6 transfers the automatic assembly tooling that has completed positioning welding to the electron beam welding station, the electron beam automatic loading and unloading truss robot places the automatic assembly tooling on the platform of the electron beam welding equipment.

[0059] The electron beam welding production line of this embodiment adopts the cylindrical grasping and positioning tooling of Example 1 or Example 2, thereby being able to complete the automated assembly, weld detection, and positioning welding processes before electron beam welding of cylindrical workpieces with high quality, and through the transportation of the intelligent logistics system, all the electron beam welding processes are automatically integrated, and the electron beam welding production of cylindrical workpieces is realized. The parts are shipped from the warehouse in the form of parts, and the pre-processes such as laser cleaning of welds, automatic assembly of parts, weld quality detection, and positioning welding are automatically completed, which greatly improves the processing efficiency before welding, improves the welding quality, and improves the utilization rate of electron beam equipment.

Claims

1. A gripping and positioning tool for a cylindrical workpiece, characterized in that: It comprises a frame (1), a binding belt (2) and a locking mechanism (3); The frame (1) comprises a grabbing rod (101), a positioning rod (102), a first support rod (103) and a second support rod (104); the two ends of the grabbing rod (101) are fixedly connected to the centers of the two positioning rods (102), the two positioning rods (102) are arranged parallel to each other, and the two ends of the first support rod (103) and the second support rod (104) are respectively fixed to two opposite end surfaces of the two positioning rods (102); One end of the two binding belts (2) is respectively fixed to the two ends of the first support rod (103), and the other end can be respectively locked on the second support rod (104) through the two locking mechanisms (3), so as to bind the cylindrical workpiece in the frame (1); A first grasping positioning hole (1011) and a second grasping positioning hole (1012) are provided on the side of the grasping rod (101), and the first grasping positioning hole (1011) and the second grasping positioning hole (1012) enable a robot claw to extend into the hole to clamp the frame (1).

2. The cylindrical workpiece grabbing and positioning tool according to claim 1, characterized in that: The first grabbing and positioning hole (1011) is a circular through hole, and the second grabbing and positioning hole (1012) is an elliptical through hole.

3. The cylindrical workpiece grabbing and positioning tool according to claim 2, characterized in that: The grabbing rod (101) further comprises a third grabbing positioning hole (1013), wherein the third grabbing positioning hole (1013) is an elliptical through hole and is located on both sides of the first grabbing positioning hole (1011) together with the second grabbing positioning hole (1012).

4. The cylindrical workpiece grabbing and positioning tool according to claim 1, characterized in that: The positioning rod (102) is an arc-shaped rod, and the grabbing rod (101) is perpendicular to the plane where the two positioning rods (102) are located.

5. The cylindrical workpiece grabbing and positioning tool according to claim 4, characterized in that: The inner arc surface of the positioning rod (102) matches the surface of the cylindrical workpiece.

6. The cylindrical workpiece grabbing and positioning tool according to claim 4, characterized in that: The two positioning rods (102) have different lengths.

7. The cylindrical workpiece grabbing and positioning tool according to claim 1, characterized in that: The two binding straps (2) have different lengths.

8. The cylindrical workpiece grabbing and positioning tool according to claim 5, characterized in that: Workpiece positioning blocks (4) are respectively installed on the inner arc surfaces of the ends of the two positioning rods (102).

9. The cylindrical workpiece grabbing and positioning tool according to claim 8, characterized in that: The surface of the workpiece positioning block (4) is provided with a positioning groove (401) opening outwards.

10. An electron beam welding production line using the cylindrical workpiece grabbing tool according to any one of claims 1 to 9, characterized in that: It also includes an AGV logistics system (6), a laser cleaning unit (7), an automatic assembly unit (8), a pre-adjustment and positioning welding unit (9) and an electron beam welding unit (10).

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