Cylinder flange welding and assembling device based on manipulator

Abstract

The barrel flange welding assembly device comprises an annular bottom plate, and a plurality of limiting mechanisms are evenly arranged on the annular bottom plate in the circumferential direction. The limiting mechanism comprises a limiting base, a telescopic rod is arranged on the upper portion of the limiting base, an adjusting base is arranged on the upper portion of the telescopic rod, a supporting palm is arranged on the side, facing the barrel, of the adjusting base and connected with the adjusting base through a pushing driving piece, and the pushing driving piece pushes the supporting palm to stretch out and draw back in the radial direction of the annular bottom plate. A limiting driving mechanism used for controlling the limiting mechanism to move in the radial direction of the annular bottom plate is arranged between the limiting base and the annular bottom plate. According to the utility model, through the arrangement of the limiting mechanism, the position of the barrel body which is put in place can be adjusted according to the coaxiality requirement, so that the coaxiality requirement between the barrel body of which the position is adjusted and the lower flange is met, and the subsequent welding and assembling precision is improved.

Description

Technical Field

[0001] This utility model belongs to the field of tooling equipment technology, specifically relating to a cylindrical flange welding assembly device based on a robotic arm. Background Technology

[0002] Many existing cylinder or shell products use flange connections when assembling with other components, requiring the upper and lower flanges to be welded to the cylinder body during assembly.

[0003] Before welding the cylinder body to the lower flange, the lower flange to be welded is first placed on the welding support platform, and then the cylinder body is lowered. During the lowering of the cylinder body, it is necessary to ensure the coaxiality of the lower flange and the cylinder body to guarantee the welding assembly accuracy. However, after the cylinder body is lowered into place, the coaxiality between it and the lower flange may not meet the requirements, resulting in insufficient assembly accuracy after welding.

[0004] Based on this, this application proposes a robotic arm-based cylindrical flange welding assembly device, which can adjust the position of the cylindrical body after it has been lowered into place according to the coaxiality requirements, so that the cylindrical body and the flange meet the coaxiality requirements after the adjustment, thereby improving the subsequent welding and assembly accuracy. Utility Model Content

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and propose a robotic arm-based welding assembly device for cylindrical flanges.

[0006] A robotic arm-based cylindrical flange welding assembly device includes an annular base plate, on which several limiting mechanisms for adjusting the position of the cylindrical body are uniformly arranged along the circumferential direction.

[0007] The limiting mechanism includes a limiting base, a telescopic rod is provided on the upper part of the limiting base, an adjusting seat is provided on the upper part of the telescopic rod, a supporting palm is provided on the side of the adjusting seat facing the cylinder, the supporting palm is connected to the adjusting seat through a push driving component, and the push driving component pushes the supporting palm to extend and retract along the radial direction of the annular base plate;

[0008] A limiting drive mechanism is provided between the limiting base and the annular base plate to control the movement of the limiting mechanism along the radial direction of the annular base plate.

[0009] Preferably, the annular base plate is provided with a plurality of first moving grooves that cooperate with the limiting mechanism, and the first moving grooves extend along the radial direction of the annular base plate;

[0010] The limiting base slides into the corresponding first moving groove.

[0011] Preferably, the supporting palm has an arc-shaped structure that adapts to the outer wall of the cylinder.

[0012] Preferably, a plurality of gap adjustment mechanisms are evenly arranged along the circumferential direction on the annular base plate, and the gap adjustment mechanisms and the limiting mechanisms are evenly and alternately arranged along the circumferential direction.

[0013] The gap adjustment mechanism includes a first support base, a second support base, and a third support base arranged in sequence from low to high along the vertical direction. Telescopic hinges are provided between the first support base and the second support base, as well as between the second support base and the third support base. A gap support plate is provided on the side of the third support base facing the cylinder.

[0014] A gap drive mechanism is provided between the first support base and the annular base plate to control the movement of the gap adjustment mechanism along the radial direction of the annular base plate.

[0015] Preferably, the gap support piece is connected to the third support base via a gap drive member, and the gap drive member pushes the gap support piece to extend and retract along the radial direction of the annular base plate.

[0016] Preferably, the annular base plate is provided with a plurality of second moving grooves that cooperate with the gap adjustment mechanism, and the second moving grooves extend along the radial direction of the annular base plate;

[0017] The first support base slides into the corresponding second moving groove.

[0018] Preferably, three of each of the limiting mechanism and the gap adjustment mechanism are provided.

[0019] Preferably, a telescopic support rod extending vertically upward is provided at the center of the annular base plate, and a first robotic arm with a grasping function is provided on the telescopic support rod.

[0020] Preferably, the telescopic support rod is equipped with a second robotic arm with laser cutting function.

[0021] Preferably, a third robotic arm is mounted on the telescopic support rod, and the third robotic arm is equipped with a camera for identifying each part.

[0022] The beneficial effects of this utility model are:

[0023] (1) By setting a limiting mechanism, this utility model can adjust the position of the cylinder after it is lowered into place according to the coaxiality requirement, so that the cylinder and the lower flange meet the coaxiality requirement after the adjustment, thereby improving the subsequent welding and assembly accuracy.

[0024] (2) The gap adjustment mechanism in this utility model can, on the one hand, clamp and position the lower flange, and on the other hand, form a gap between the cylinder and the lower flange end face, thereby meeting the requirements of the assembly gap between the cylinder and the lower flange. By adjusting the thickness of the gap support plate, the requirements of different assembly gaps between the cylinder and the lower flange can be met.

[0025] (3) This utility model realizes the identification and picking of each assembly part by setting up the first robot and the third robot, and also realizes the positioning function of the upper flange when spot welding the upper flange and the cylinder.

[0026] (4) By setting up a second robotic arm, this utility model realizes the opening operation on the cylinder, and thus enables the assembly operation of the boss flange on the cylinder. Attached Figure Description

[0027] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.

[0028] Figure 1 This is a three-dimensional structural schematic of the robotic arm-based cylindrical flange welding assembly device of this utility model. Figure 1 ;

[0029] Figure 2 This is a three-dimensional structural schematic of the robotic arm-based cylindrical flange welding assembly device of this utility model. Figure 2 ;

[0030] Figure 3 This is a schematic diagram of the limiting mechanism in this utility model;

[0031] Figure 4 This is a schematic diagram of the gap adjustment mechanism in this utility model;

[0032] in:

[0033] 01-Lower flange, 02-Cylinder body, 03-Upper flange, 04-Boss flange;

[0034] 1- Annular base plate, 11- First moving groove, 12- Second moving groove;

[0035] 2-Limiting mechanism, 21-Limiting base, 22-Telescopic rod, 23-Adjusting seat, 24-Supporting palm, 25-Push driving component;

[0036] 3- Gap adjustment mechanism, 31- First support seat, 32- Second support seat, 33- Third support seat, 34- Telescopic hinge, 35- Gap support plate;

[0037] 4-Telescopic support rod, 41-First robotic arm, 42-Second robotic arm, 43-Third robotic arm. Detailed Implementation

[0038] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] See appendix Figures 1-4 A robotic arm-based cylindrical flange welding assembly device includes an annular base plate 1, on which several limiting mechanisms 2 are uniformly arranged along the circumferential direction for adjusting the position of the cylindrical body 02.

[0040] The limiting mechanism 2 includes a limiting base 21, a telescopic rod 22 is provided on the upper part of the limiting base 21, an adjusting seat 23 is provided on the upper part of the telescopic rod 22, and a supporting palm 24 is provided on the side of the adjusting seat 23 facing the cylinder 02. The supporting palm 24 is connected to the adjusting seat 23 through a push driving component 25. The push driving component 25 pushes the supporting palm 24 to extend and retract along the radial direction of the annular base plate 1. The push driving component 25 can be implemented using existing technology, such as a hydraulic cylinder. The hydraulic cylinder is located inside the adjusting seat 23, and the piston rod end of the hydraulic cylinder is connected to the supporting palm 24.

[0041] A limiting drive mechanism is provided between the limiting base 21 and the annular base plate 1 to control the movement of the limiting mechanism 2 along the radial direction of the annular base plate 1. The limiting drive mechanism can be implemented using existing technology, such as a linear motor or a motor-screw structure. When a motor-screw structure is used, the screw is connected to the output shaft of the motor, and the axial direction of the screw is consistent with the radial movement direction of the corresponding limiting mechanism 2. A nut that cooperates with the screw is provided on the limiting base 21.

[0042] Preferably, the annular base plate 1 is provided with a plurality of first moving grooves 11 that cooperate with the limiting mechanism 2, and the first moving grooves 11 extend along the radial direction of the annular base plate 1.

[0043] The limiting base 21 is slidably engaged with the corresponding first moving groove 11.

[0044] Preferably, the supporting palm 24 has an arc-shaped structure that is adapted to the outer wall of the cylinder 02.

[0045] Preferably, a plurality of gap adjustment mechanisms 3 are evenly arranged on the annular base plate 1 along the circumferential direction, and the gap adjustment mechanisms 3 and the limiting mechanisms 2 are evenly and alternately arranged along the circumferential direction.

[0046] The gap adjustment mechanism 3 includes a first support base 31, a second support base 32, and a third support base 33 arranged vertically from low to high. Telescopic hinges 34 are provided between the first support base 31 and the second support base 32, as well as between the second support base 32 and the third support base 33. The telescopic hinges 34 are used to adjust the overall height of the gap adjustment mechanism 3. This is prior art, and its specific structure will not be described in detail here. A gap support piece 35 is provided on the side of the third support base 33 facing the cylinder 02.

[0047] A gap drive mechanism is provided between the first support base 31 and the annular base plate 1 to control the movement of the gap adjustment mechanism 3 along the radial direction of the annular base plate 1. The gap drive mechanism can be implemented using existing technology, such as a linear motor or a motor-screw structure. When a motor-screw structure is used, the screw is connected to the output shaft of the motor, and the axial direction of the screw is consistent with the radial movement direction of the corresponding gap adjustment mechanism 3. A nut that cooperates with the screw is provided on the first support base 31.

[0048] Preferably, the gap support piece 35 is connected to the third support base 33 through a gap drive member, and the gap drive member pushes the gap support piece 35 to extend and retract along the radial direction of the annular base plate 1.

[0049] The gap drive component can be achieved using existing technology, such as a hydraulic cylinder. The hydraulic cylinder is located inside the third support 33, and the piston rod end of the hydraulic cylinder is connected to the gap support plate 35.

[0050] Preferably, the annular base plate 1 is provided with a plurality of second moving grooves 12 that cooperate with the gap adjustment mechanism 3, and the second moving grooves 12 extend along the radial direction of the annular base plate 1;

[0051] The first support 31 is slidably engaged with the corresponding second moving groove 12.

[0052] Preferably, three of each of the limiting mechanism 2 and the gap adjustment mechanism 3 are provided.

[0053] Preferably, a telescopic support rod 4 extending vertically upward is provided at the center of the annular base plate 1, and a first robotic arm 41 with a grasping function is provided on the telescopic support rod 4.

[0054] The first robotic arm 41 in this application is a multi-axis robotic arm, which is existing technology and can be purchased directly.

[0055] Preferably, the telescopic support rod 4 is equipped with a second robotic arm 42 with laser cutting function, which carries a laser emitter. The second robotic arm 42 is a multi-axis robotic arm, which is existing technology and can be purchased directly.

[0056] Preferably, a third robotic arm 43 is mounted on the telescopic support rod 4, and the third robotic arm 43 is equipped with a camera for identifying various parts. The third robotic arm 43 in this application is a multi-axis robotic arm, which is existing technology and can be purchased directly.

[0057] A robotic arm-based cylindrical flange welding assembly device is described in detail below:

[0058] The operator places the annular base plate 1 on the platform and the required parts on the platform. Then, the third robot arm 43 identifies the lower flange 01, and the first robot arm 41 picks up the lower flange 01 and places it in the middle position of the annular base plate 1. The three gap adjustment mechanisms 3 move radially inward along their respective second moving grooves 12 until they contact the outer wall of the lower flange 01, achieving clamping and positioning of the lower flange 01. Then, the gap support plate 35 is extended, and the height of the gap support plate 35 is adjusted by the two telescopic hinges 34 so that the bottom end of the gap support plate 35 contacts the top surface of the lower flange 01. Then, the third robot arm 43 identifies the cylinder 02, the first robot arm 41 picks up the cylinder 02 and lowers the cylinder 02 so that the cylinder 02 presses on the gap support plate 35. Then, the three limit mechanisms... The three components move radially inward along their respective first moving grooves 11 towards the cylinder 02. Then, the telescopic rod 22 adjusts the height of the support palm 24, and then controls the support palm 24 to extend and contact the side wall of the cylinder 02. Subsequently, the support palm 24 is further extended or retracted by controlling each push drive component 25. The position of the cylinder 02 is adjusted by pushing the cylinder 02 to move in the corresponding direction, so that the coaxiality between the cylinder 02 and the lower flange 01 meets the requirements. Then, the lower flange 01 and the cylinder 02 are spot welded together. After that, the third robot arm 43 identifies the upper flange 03, the first robot arm 41 picks up the upper flange 03 and places it in the installation position on the upper part of the cylinder 02, so that the upper flange 03 and the lower flange 01 are aligned vertically. Then, the upper flange 03 and the cylinder 02 are spot welded together.

[0059] Then, formal welding operations were carried out between the lower flange 01, the cylinder 02, and the lower flange 03.

[0060] After the welding of the lower flange 01, cylinder 02, and lower flange 03 is completed, when the boss flange 04 needs to be installed on the cylinder 02, the second robot arm 42 laser-cuts a boss flange hole at the location on the cylinder 02 where the boss flange 04 will be installed. Then, the third robot arm 43 identifies the boss flange 04, the first robot arm 41 picks up the boss flange 04, and installs it into the boss flange hole. Subsequently, the boss flange 04 and the cylinder 02 are spot-welded to fix it. Then, the formal welding operation between the boss flange 04 and the cylinder 02 is carried out.

[0061] Although the specific embodiments of the present utility model have been described above in conjunction with the accompanying drawings, they are not intended to limit the present utility model. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solution of the present utility model are still within the protection scope of the present utility model.

Claims

1. A robotic arm-based cylindrical flange welding assembly device, characterized in that, Includes an annular base plate (1), on which a plurality of limiting mechanisms (2) for adjusting the position of the cylinder (02) are evenly arranged along the circumferential direction; The limiting mechanism (2) includes a limiting base (21), a telescopic rod (22) is provided on the upper part of the limiting base (21), an adjusting seat (23) is provided on the upper part of the telescopic rod (22), a supporting palm (24) is provided on the side of the adjusting seat (23) facing the cylinder (02), the supporting palm (24) is connected to the adjusting seat (23) through a push driving member (25), and the push driving member (25) pushes the supporting palm (24) to extend and retract along the radial direction of the annular base plate (1); A limiting drive mechanism is provided between the limiting base (21) and the annular base plate (1) to control the limiting mechanism (2) to move in the radial direction of the annular base plate (1).

2. The robotic arm-based cylindrical flange welding assembly device as described in claim 1, characterized in that, The annular base plate (1) is provided with a plurality of first moving grooves (11) that cooperate with the limiting mechanism (2), and the first moving grooves (11) extend along the radial direction of the annular base plate (1); The limiting base (21) slides in conjunction with the corresponding first moving groove (11).

3. The robotic arm-based cylindrical flange welding assembly device as described in claim 1, characterized in that, The supporting palm (24) has an arc-shaped structure that is adapted to the outer wall of the cylinder (02).

4. The robotic arm-based cylindrical flange welding assembly device as described in claim 1, characterized in that, A plurality of gap adjustment mechanisms (3) are evenly arranged along the circumferential direction on the annular base plate (1), and the gap adjustment mechanisms (3) and the limiting mechanisms (2) are evenly and alternately arranged along the circumferential direction. The gap adjustment mechanism (3) includes a first support seat (31), a second support seat (32), and a third support seat (33) arranged in sequence from low to high along the vertical direction. Telescopic hinges (34) are provided between the first support seat (31) and the second support seat (32) and between the second support seat (32) and the third support seat (33). A gap support piece (35) is provided on the side of the third support seat (33) facing the cylinder (02). A gap drive mechanism is provided between the first support base (31) and the annular base plate (1) to control the gap adjustment mechanism (3) to move in the radial direction of the annular base plate (1).

5. The robotic arm-based cylindrical flange welding assembly device as described in claim 4, characterized in that, The gap support plate (35) is connected to the third support base (33) through a gap drive member, and the gap drive member pushes the gap support plate (35) to extend and retract along the radial direction of the annular base plate (1).

6. The robotic arm-based cylindrical flange welding assembly device as described in claim 4, characterized in that, The annular base plate (1) is provided with a plurality of second moving grooves (12) that cooperate with the gap adjustment mechanism (3), and the second moving grooves (12) extend along the radial direction of the annular base plate (1); The first support (31) slides into the corresponding second moving groove (12).

7. The robotic arm-based cylindrical flange welding assembly device as described in claim 4, characterized in that, Three of each of the limiting mechanism (2) and the gap adjustment mechanism (3) are provided.

8. The robotic arm-based cylindrical flange welding assembly device as described in claim 1, characterized in that, A telescopic support rod (4) extending vertically upward is provided at the center of the annular base plate (1), and a first robotic arm (41) with a grasping function is provided on the telescopic support rod (4).

9. The robotic arm-based cylindrical flange welding assembly device as described in claim 8, characterized in that, The telescopic support rod (4) is equipped with a second robotic arm (42) with laser cutting function.

10. The robotic arm-based cylindrical flange welding assembly device as described in claim 8, characterized in that, A third robotic arm (43) is installed on the telescopic support rod (4), and a camera for identifying each part is installed on the third robotic arm (43).

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