Grabbing and positioning tool and electron beam welding production line

Abstract

The utility model relates to a grabbing and positioning tool and an electron beam welding production line, relates to the technical field of electron beam welding, and solves the problem that automatic and accurate grabbing is difficult to complete in preassembly and pretreatment procedures before welding of container parts. The grabbing and positioning tool comprises a first positioning block, a second positioning block, a fixing bolt assembly and a visual positioning block, and the first positioning block comprises a first grabbing guide hole and a second grabbing guide hole. By means of the grabbing positioning tool, the robot claw clamp can accurately grab and rotate a workpiece to be welded through the grabbing positioning tool, so that an electron beam welding production line can be delivered from a storeroom 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 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 welding workpiece is the key technical link of pre-welding assembly. Since container parts have diverse structures and easy deformation weaknesses, it is difficult to accurately grasp them automatically. At present, the pre-welding assembly and pre-welding pretreatment processes are still mainly completed by manual operation or 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 and an electron beam welding production line to solve the problem that container parts are difficult to grasp automatically and accurately in the pretreatment process before welding, thereby failing to complete the full process automation of electron beam welding.

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

[0005] A gripping and positioning tool comprises a first positioning block, a second positioning block and a fixing bolt assembly, wherein one end of the first positioning block is fixedly connected to the center of the second positioning block to form a T-shape;

[0006] The other end of the first positioning block and both ends of the second positioning block are provided with workpiece fixing through holes which penetrate up and down, and the fixing bolt assembly fixes the grabbing and positioning tooling to the workpiece to be welded through the three workpiece fixing through holes respectively.

[0007] A first grasping guide hole and a second grasping guide hole are provided on the side surface of the first positioning block, and the first grasping guide hole and the second grasping guide hole enable the robot claw to extend into to clamp the first positioning block.

[0008] Furthermore, the first grasping guide hole is a circular hole, and the second grasping guide hole is an elliptical hole.

[0009] Furthermore, a plurality of grabbing guide holes are provided on the side surface of the first positioning block.

[0010] Furthermore, the bottoms of the first positioning block and the second positioning block both have workpiece fitting surfaces.

[0011] Furthermore, the fixing bolt assembly includes a replaceable positioning sleeve and a connecting fixing bolt.

[0012] Furthermore, the replaceable positioning sleeve includes an upper sleeve, a lower sleeve and a mounting annular surface; the outer wall diameter of the upper sleeve is larger than the outer wall diameter of the lower sleeve, and the mounting annular surface is an annular plane connecting the bottom of the outer wall of the upper sleeve and the top of the outer wall of the lower sleeve.

[0013] Furthermore, the inner wall of the replaceable positioning sleeve is an annular step through hole which is wider at the top and narrower at the bottom.

[0014] Furthermore, the fixing bolt assembly also includes a locking screw.

[0015] Furthermore, one side edge of the upper surface of the replaceable positioning sleeve is recessed to form a stepped locking portion.

[0016] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0017] (1) The grabbing and positioning tool provided by the utility model, on the one hand, is positioned by three end points, so that the grabbing and positioning tool and the workpiece to be welded, such as container parts, are firmly assembled into a whole. On the other hand, by providing two grabbing guide holes that match the grippers of the assembly robot, the robot can grasp and position the workpiece to be welded with high precision, meeting the necessary conditions for subsequent precise docking assembly, weld pretreatment and positioning welding processes;

[0018] (2) One of the two grasping guide holes is a circular hole and the other is an elliptical hole, 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] (3) Due to the use of replaceable positioning sleeves, when the positioning tooling cannot be tightened and assembled due to frequent disassembly or long-term use, there is no need to replace the positioning block, which saves production time and cost, and can also reduce errors in automatic grasping, automatic assembly and weld inspection processing;

[0020] (5) The fixing bolt assembly is locked by a locking screw, which reduces the manual operation steps in the automatic assembly process and improves work efficiency; at the same time, it also plays a role in further locking and reducing the force on the connecting fixing bolts.

[0021] (6) By setting the workpiece contact surface as a whole to drive the workpiece to be welded to rotate synchronously, the force area of ​​the workpiece to be welded when rotating is increased, and the force required to rotate the workpiece to be welded is reduced, making the rotation displacement of the pre-welding process of automated welding more accurate and reliable.

[0022] On the other hand, the utility model also provides an electron beam welding production line using the above grabbing and positioning tooling, which also includes a laser cleaning unit, an automatic assembly unit, a pre-adjustment and positioning welding unit, an electron beam welding unit and an AGV logistics system.

[0023] The beneficial effects of the electron beam welding production line of the utility model are:

[0024] By adopting the gripping and positioning tooling, the premise of automating all processes before welding of large workpieces is met, thus realizing the electron beam welding production from the warehouse in the state of parts, automatically completing the laser cleaning of the weld, automatic assembly of parts, weld quality inspection and positioning welding and other pre-processes, greatly improving the processing efficiency before welding, improving welding quality, and improving the utilization rate of electron beam equipment.

[0025] 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

[0026] 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.

[0027] Figure 1 It is a schematic diagram of the structure of the grabbing and positioning tooling in a specific embodiment;

[0028] Figure 2 It is a schematic diagram of the structure of the first positioning block and the second positioning block of a specific embodiment;

[0029] Figure 3 It is a schematic diagram of a partial cross-sectional structure of a gripping and positioning tooling of a specific embodiment;

[0030] Figure 4 This is a schematic diagram of the assembly robot terminal structure of specific embodiment 3;

[0031] Figure 5 This is a schematic diagram of the structure of the electron beam welding production line of specific embodiment 3.

[0032] Reference numerals:

[0033] 1-first positioning block; 101-first grasping guide hole; 102-second grasping guide hole; 2-second positioning block; 201-step; 3-fixing bolt assembly; 301-interchangeable positioning sleeve; 3011-upper sleeve; 3012-lower sleeve; 3013-mounting annular surface; 3014-locking part; 302-connecting fixing bolt; 303-locking screw; 4-workpiece fixing hole; 401-limiting installation plane; 5-workpiece fitting surface; 6-visual feature block; 7-laser cleaning unit; 8-automatic assembly unit; 811-robot gripper; 8111-spherical block; 812-visual system; 813-force control system; 9-pre-adjustment and positioning welding unit; 10-electron beam welding unit; 11-AGV logistics system. DETAILED DESCRIPTION

[0034] 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.

[0035] Example 1

[0036] A specific embodiment of the utility model is as follows Figure 1 As shown, a gripping and positioning tool is disclosed, including a first positioning block 1, a second positioning block 2, and a fixing bolt assembly 3. The first positioning block 1 and the second positioning block 2 are long rectangular blocks, one end of the first positioning block 1 is fixedly connected to the center of one side of the second positioning block 2, and the other end is fixedly connected to a T-shaped visual feature block 6.

[0037] like Figure 2 As shown, the first grasping guide hole 101 and the second grasping guide hole 102 are two through holes penetrating the side of the first positioning block 1, and the two grasping guide holes are respectively located at the front section and the rear section of the first positioning block 1, so that after the workpiece to be welded is installed, the center of gravity of the workpiece to be welded is located between the first grasping guide hole 101 and the second grasping guide hole 102, so as to achieve stable grasping;

[0038] The other end of the first positioning block 1 and the two ends of the second positioning block 2 are provided with a workpiece fixing hole 4 that runs through from top to bottom. The fixing bolt assembly 3 includes three sets of fixing bolt assemblies, which respectively cooperate with the three workpiece fixing holes 4. The workpiece fixing hole 4 on the first positioning block 1 is larger than the other two workpiece fixing holes 4, and is used to install a larger type of fixing bolt assembly 3 to ensure that the workpiece to be welded is evenly stressed after installation. The distance and position between the three workpiece fixing holes 4 need to be set according to the size of the workpiece to be welded, so as to be suitable for the installation and stable grasping of workpieces of different sizes to be welded.

[0039] When using the grabbing and positioning tooling of this embodiment, first select or customize the first positioning block 1 and the second positioning block 2 according to the shape of the workpiece to be welded. When assembling, first use pins to position the two positioning blocks, and then use two sets of connecting bolts to tighten and assemble. After completing the assembly of the grabbing and positioning tooling, the three sets of fixing bolt assemblies 3 are matched with the corresponding fixed installation holes on the workpiece to be welded through the three workpiece fixing holes 4 and tightened, and the grabbing and positioning tooling and the workpiece to be welded are tightly fixed together. Since the assembly robot clamp has a spherical block 8111 that matches the first grabbing guide hole 101 and the second grabbing guide hole 102, when the robot grabs, the clamp opens, and the spherical block 8111 at the fixed end of the gripper docks with the first grabbing guide hole 101 and the second grabbing guide hole 102 on the first positioning block 1. After docking, the cylinder action of the assembly robot clamp moves the spherical block 8111 to extend into the first grabbing guide hole 101 and the second grabbing guide hole 102 to achieve clamping.

[0040] This embodiment adopts a technical solution of installing a grasping and positioning tool on the workpiece to be welded. On the one hand, three groups of fixing bolt assemblies 3 are used to achieve stable positioning of three end points through three workpiece fixing holes 4, and the grasping and positioning tool and the workpiece to be welded are firmly assembled into a whole. On the other hand, by setting a first grasping guide hole 101 and a second grasping guide hole 102 that match the spherical block 8111 of the assembly robot gripper, high-precision grasping and positioning of the workpiece to be welded such as container parts can be achieved, which provides the necessary conditions for subsequent precise docking assembly, weld pretreatment and positioning welding processes.

[0041] Furthermore, the first grabbing guide hole 101 is a circular hole, and the second grabbing guide hole 102 is an elliptical hole.

[0042] The first grasping guide hole 101 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 guide hole 102 of the elliptical hole can still achieve smooth 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.

[0043] Furthermore, a plurality of grabbing guide holes are provided on the side surface of the first positioning block 1 .

[0044] When the weight of the workpiece to be welded is heavy, more than two grasping guide holes can be provided to cooperate with the robot claw clamp to adopt a method of providing multiple spherical blocks 8111 to improve the grasping ability.

[0045] Furthermore, the bottoms of the first positioning block 1 and the second positioning block 2 have workpiece fitting surfaces 6. In this embodiment, taking the installation plane of the workpiece to be welded as an arc as an example, downward steps 201 are provided at the bottoms of both ends of the second positioning block 2, and the bottoms of the steps 201 are arc surfaces that match the installation surface of the workpiece to be welded. The two workpiece fixing holes 4 on the second positioning block 2 are both provided on the steps 201, and workpiece fitting surfaces 5 that match the surfaces at the corresponding positions of the workpiece to be welded are also provided around the bottoms of the workpiece fixing holes 4 on the first positioning block 1.

[0046] After the grabbing and positioning tooling of this embodiment is installed on the workpiece to be welded, it is not only fixedly connected by the bolts in the three groups of fixing bolt assemblies 3, but also closely fits with the surface of the workpiece to be welded through the workpiece fitting surface 5 arranged around the bottom of the three workpiece fixing holes 4. In the subsequent automated assembly, weld detection and pre-positioning welding process, when the robot claw performs various rotations through the grabbing and positioning tooling, it can not only drive the rotation of the workpiece to be welded through the bolts in the three groups of fixing bolt assemblies 3, but also can drive the workpiece to be welded to rotate synchronously through the rotation of the workpiece fitting surface 5 as a whole, which increases the force area and torque when the workpiece to be welded rotates, reduces the force required for rotation, and makes the rotation displacement of the pre-welding process of automated welding more accurate and reliable.

[0047] Example 2

[0048] like Figure 3 As shown, another embodiment of the utility model is different from the embodiment 1 in that the fixing bolt assembly 3 includes a replaceable positioning sleeve 301 and a connecting fixing bolt 302; the workpiece fixing hole is a stepped through hole that is wide at the top and narrow at the bottom, and there is an annular position-limiting installation plane 401 in the stepped through hole. The replaceable positioning sleeve 301 is a cylindrical sleeve, including an upper sleeve 3011, a lower sleeve 3012 and a mounting annular surface 3013; the outer wall diameter of the upper sleeve is larger than the outer wall diameter of the lower sleeve, the mounting annular surface 3013 is an annular plane connecting the bottom of the outer wall of the upper sleeve 3011 and the top of the outer wall of the lower sleeve, the mounting annular surface 3013 is in contact with the position-limiting installation plane 401, and the outer walls of the upper sleeve 3011 and the lower sleeve 3012 are matched with the inner walls of the three workpiece fixing holes respectively; the inner wall of the replaceable positioning sleeve 301 is also an annular stepped through hole that is wide at the top and narrow at the bottom, and the central fine hole is provided with a thread matching the connecting fixing bolt 302.

[0049] When the gripping and positioning tool is fixed on the workpiece to be welded, firstly, the three interchangeable positioning sleeves 301 are matched and installed in the three workpiece fixing holes respectively, and then the connecting and fixing bolts 302 are screwed into the inner wall of the interchangeable positioning sleeve 301 and the positioning and mounting holes on the workpiece to be welded in turn, and tightened and fixed by thread matching. After the installation is completed, the upper surface of the interchangeable positioning sleeve 301 cannot be higher than the upper surface of the first positioning block 1, and the upper surface of the connecting and fixing bolts 302 cannot be higher than the upper surface of the interchangeable positioning sleeve 301, so as to avoid loosening after collision and interference with other tooling or robots in subsequent processes.

[0050] The purpose of setting the replaceable positioning sleeve 301 in this embodiment is that in Example 1, due to the frequent disassembly and long-term use of the gripping and positioning tooling, the three workpiece fixing holes will be worn and it will be impossible to complete a tight and firm assembly by connecting the fixing bolts 302. At this time, the first positioning block 1 can only be replaced as a whole, which is costly and affects the construction period. The replaceable positioning sleeve 301 is set in this embodiment, and when the above situation occurs, only the replaceable positioning sleeve 301 can be replaced, which not only saves production time and cost, but also ensures the accuracy of automatic gripping, automatic assembly and weld detection processing.

[0051] Furthermore, the fixing bolt assembly 3 also includes a locking screw 303. One side edge of the upper surface of the replaceable positioning sleeve 301 is concave to form a stepped locking portion 3014, and one side of the three workpiece fixing holes is respectively provided with another cylindrical stepped through hole partially overlapping with it, and the central through hole below the step has a locking threaded hole matching the locking screw 303, and the locking threaded hole is tangent to the outer ring of the limit installation plane 401. The head of the locking screw can be a cylindrical head, a spherical cylindrical head, a pan head, or a semi-round head screw, but cannot be a semi-countersunk head or a countersunk nail.

[0052] After the installation of the gripping and positioning fixture and the workpiece to be welded is completed by using the replaceable positioning sleeve 301 and the connecting fixing bolt 302, the head of the locking screw 303 is pressed onto the locking portion 3014 and tightened after matching with the locking threaded holes of the three workpiece fixing holes.

[0053] The locking portion 3014 is pressed and locked by the head of the locking screw 303 and the limiting installation plane 401, so that the replaceable positioning sleeve 301 can be firmly locked on the first positioning block 1, so that the fixing bolt assembly 3 can be installed on the grabbing and positioning fixture before the grabbing and positioning fixture is assembled with the workpiece to be welded, which further facilitates the disassembly process, reduces the manual operation steps in the automatic assembly process, and improves work efficiency; at the same time, the locking screw 303 also plays a role in further locking the fixing bolt assembly 3 to prevent loosening, and sharing the force of the connecting fixing bolt 302 on the workpiece to be welded.

[0054] Example 3

[0055] like Figure 5 As shown, this embodiment provides an electron beam welding production line that adopts the automated grasping and positioning tooling of embodiment 1 or embodiment 2, including a laser cleaning unit 7, an automatic assembly unit 8, a pre-adjustment and positioning welding unit 9, an electron beam welding unit 10 and an AGV logistics system 11.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] like Figure 4 As 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 workpiece to be welded with the grabbing and positioning tooling installed. The matching robot gripper 811 can also be selected according to different 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 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 a smooth docking effect in the common pin pin hole docking, cylindrical stop docking and other states, and solving the deformation of the workpiece caused by the robot directly completing the docking under normal circumstances. In the automatic assembly unit 8, the assembly robot completes the grabbing and docking of more than two workpieces and fixes them on the automatic assembly tooling.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] Specifically, after the AGV logistics system 11 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.

[0064] Furthermore, the AGV logistics system 11 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.

[0065] Specifically, the AGV logistics system 11 completes the task planning of the AGV through the scheduling system, and transfers the workpieces to be welded and the automated assembly tools to the corresponding workstations.

[0066] The electron beam welding production line of this embodiment adopts the grabbing and positioning tooling of Example 1 or Example 2, so that it can complete the processes such as automated assembly, weld detection and positioning welding before electron beam welding with high quality, and through the transportation of the intelligent logistics system, all the processes of electron beam welding are automatically integrated, so that electron beam welding production can be shipped from the warehouse in the state of parts, and laser cleaning of welds, automatic assembly of parts, weld quality detection and positioning welding and other pre-processes 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, characterized in that: It comprises a first positioning block (1), a second positioning block (2) and a fixing bolt assembly (3), wherein one end of the first positioning block (1) is fixedly connected to the center of the second positioning block (2) in a T-shape; The other end of the first positioning block (1) and both ends of the second positioning block (2) are provided with workpiece fixing through holes (4) penetrating from top to bottom, and the fixing bolt assembly (3) fixes the grabbing and positioning tooling to the workpiece to be welded through the three workpiece fixing through holes (4) respectively; A first grasping guide hole (101) and a second grasping guide hole (102) are provided on the side surface of the first positioning block (1), and the first grasping guide hole (101) and the second grasping guide hole (102) enable a robot claw to extend into the first grasping guide hole (101) and the second grasping guide hole (102) to clamp the first positioning block (1).

2. The gripping and positioning tool according to claim 1, characterized in that: The first grasping guide hole (101) is a circular hole, and the second grasping guide hole (102) is an elliptical hole.

3. The gripping and positioning tool according to claim 2, characterized in that: A plurality of grabbing guide holes are provided on the side surface of the first positioning block (1).

4. The gripping and positioning tool according to claim 1, characterized in that: The bottoms of the first positioning block (1) and the second positioning block (2) both have a workpiece fitting surface (5).

5. The gripping and positioning tool according to claim 1, characterized in that: The fixing bolt assembly (3) comprises a replaceable positioning sleeve (301) and a connecting fixing bolt (302).

6. The gripping and positioning tool according to claim 5, characterized in that: The replaceable positioning sleeve (301) comprises an upper sleeve (3011), a lower sleeve (3012) and a mounting annular surface (3013); the outer wall diameter of the upper sleeve is larger than the outer wall diameter of the lower sleeve, and the mounting annular surface (3013) is an annular plane connecting the bottom of the outer wall of the upper sleeve (3011) and the top of the outer wall of the lower sleeve (3012).

7. The gripping and positioning tool according to claim 5, characterized in that: The inner wall of the replaceable positioning sleeve (301) is an annular stepped through hole that is wider at the top and narrower at the bottom.

8. The gripping and positioning tool according to claim 5, characterized in that: The fixing bolt assembly (3) further comprises a locking screw (303).

9. The gripping and positioning tool according to claim 8, characterized in that: One side edge of the upper surface of the replaceable positioning sleeve (301) is concave to form a step-shaped locking portion (3014).

10. A welding production line using the grabbing and positioning tooling according to any one of claims 1 to 9, characterized in that: It also includes a laser cleaning unit (7), an automatic assembly unit (8), a pre-adjustment and positioning welding unit (9), an electron beam welding unit (10) and an AGV logistics system (11).

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