A barrel end cover ring seam welding device

Abstract

The utility model discloses a kind of barrel end cover ring seam welding equipment, including rotary welding mechanism, turnover subassembly, transfer frame and welder, turnover subassembly is movably arranged on transfer frame, rotary welding mechanism is located below transfer frame, turnover subassembly can grab material and drive it to overturn, the material to be welded that is grabbed by turnover subassembly is sent to rotary welding mechanism by transfer frame, welder carries out welding operation to the material to be welded.The utility model cooperates with the rotary welding mechanism below by turnover subassembly movably arranged on transfer frame, effectively solve the problem that each function link of existing equipment is low in degree of coordination, compared with the existing scheme of relying on high-precision manipulator, the device does not need to configure complex multi-axis servo control system and force feedback module, under the premise of guaranteeing material grabbing, overturning, transfer stability, significantly reduce equipment manufacturing cost and later maintenance complexity.

Description

Technical Field

[0001] This utility model relates to the field of processing equipment technology, and in particular to a cylindrical end cap circumferential seam welding equipment. Background Technology

[0002] In the manufacturing process of industrial products such as pressure vessels, pipe fittings, and energy storage tanks, the circumferential welding of the cylinder and end caps is a critical process to ensure the product's sealing performance and structural strength. The welding quality directly determines the product's safety and service life. Currently, to meet the production needs of circumferential welding of cylinder end caps, the industry generally uses specialized welding equipment or robotic arms to complete a series of operations, including cylinder gripping, posture adjustment, welding station transfer, and circumferential rotation welding.

[0003] However, in practical applications, most existing welding equipment uses independently designed gripping, flipping, and rotating welding mechanisms, lacking a coordinated linkage structure between these modules. This leads to positioning deviations when transferring materials to the welding station after gripping, poor material posture stability during flipping, and insufficient circumferential weld precision. This not only increases the difficulty of adjusting the welding torch but also easily produces welding defects such as weld beads and incomplete penetration, severely affecting the quality of circumferential welds. Some equipment uses multi-axis robotic arms to integrate gripping, flipping, and transferring functions to improve operational continuity. However, this approach places extremely high demands on the robotic arm's motion precision and load capacity. To ensure no deviation during flipping and transferring, a high-precision servo control system and force feedback module are required. This significantly increases manufacturing costs and complicates subsequent maintenance. Furthermore, planning the robotic arm's motion trajectory is difficult, requiring frequent adjustments to program parameters when dealing with different cylinder specifications (such as diameter and length differences), resulting in poor flexibility and difficulty adapting to the diverse needs of mass production. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a cylindrical end cap circumferential seam welding device.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] This utility model provides a cylindrical end cap circumferential seam welding device, including a rotary welding mechanism, a flipping component, a transfer frame, and a welding torch. The flipping component is movably mounted on the transfer frame, and the rotary welding mechanism is located below the transfer frame. The flipping component can grab materials and drive them to flip. The materials to be welded grabbed by the flipping component are transported to the rotary welding mechanism through the transfer frame, and the welding torch performs welding operations on the materials to be welded.

[0007] Furthermore, the flipping assembly includes a flipping mounting frame, a flipping power component, a gripper mechanism, and a lifting module. A rotating seat is rotatably mounted on the flipping mounting frame, the gripper mechanism is mounted on the rotating seat, and the output end of the flipping power component is connected to the rotating seat to drive the rotating seat to rotate. The lifting module includes a lifting frame and a lifting power component. The flipping mounting frame and the lifting frame are slidably disposed, the lifting power component is drively connected to the flipping mounting frame, and the lifting frame is movably connected to the transfer frame.

[0008] Furthermore, the gripper mechanism includes a gripper body, which includes a push-pull member, a left connecting rod, a right connecting rod, a gripping fixing seat, a gripper power member, and a left gripping part and a right gripping part arranged opposite to each other. The space between the left gripping part and the right gripping part forms a gripping cavity. The gripping fixing seat is provided with a left guide groove and a right guide groove. The left gripping part is provided with a first left pivot part and a second left pivot part. The first left pivot part is pivotally connected to one end of the left connecting rod through a left pivot shaft, and the left pivot shaft is movably disposed on the... In the left guide groove, the second left pivot part is pivotally connected to the left side of the clamping and fixing seat, and the other end of the left connecting rod is pivotally connected to the push-pull member. The right clamping part is provided with a first right pivot part and a second right pivot part. The first right pivot part is pivotally connected to one end of the right connecting rod through a right pivot shaft, and the right pivot shaft is movably disposed in the right guide groove. The second right pivot part is pivotally connected to the right side of the clamping and fixing seat, and the other end of the right connecting rod is pivotally connected to the push-pull member. The gripper power member is connected to the push-pull member in a transmission connection.

[0009] Furthermore, the gripper mechanism also includes a centering mechanism and a centering bracket. The centering mechanism includes a centering power component and a left gripping arm and a right gripping arm arranged opposite to each other. The left gripping arm and the right gripping arm are rotatably connected to the centering power component. The rear side of the centering bracket is connected to the clamping fixing seat, and the front side of the centering bracket extends toward the clamping cavity. The centering power component is connected to the front side of the centering bracket.

[0010] Furthermore, the flipping assembly also includes a first rotation limiting member and a second rotation limiting member. When the gripper mechanism rotates to the first target position, the first rotation limiting member contacts the rotating seat, so that the first rotation limiting member limits the gripper mechanism at the first target position. When the gripper mechanism rotates to the second target position, the second rotation limiting member contacts the clamping fixing seat, so that the second rotation limiting member limits the gripper mechanism at the second target position.

[0011] Furthermore, the rotary welding mechanism includes a movable support base, a fixed support base, and a rotary drive assembly. The movable support base and the fixed support base are arranged at intervals, and the interval area forms a rotary welding cavity. The movable support base is rotatably provided with a first end clamp, and the fixed support base is rotatably provided with a second end clamp. The rotary drive assembly includes a rotary power component, a first synchronous pulley, a second synchronous pulley, and a synchronous belt. The rotary power component is drivenly connected to the first synchronous pulley, the second synchronous pulley is drivenly connected to the second end clamp, and the synchronous belt is sleeved on the first synchronous pulley and the second synchronous pulley.

[0012] Furthermore, a drive shaft is laterally arranged on the fixed support base, with one end of the drive shaft near the movable support base extending into the rotary welding cavity and connected to the second end fastener, and the other end of the drive shaft away from the movable support base connected to the second synchronous pulley; a passive shaft is laterally arranged on the movable support base, with one end of the passive shaft near the fixed support base extending into the rotary welding cavity and connected to the first end fastener.

[0013] Furthermore, the rotary welding mechanism also includes a lateral linear module for driving the movable support to move away from or towards the fixed support. The lateral linear module includes a lateral force component, a lateral connecting rod, a lateral slide rail, and a lateral slider. The lateral slider is located at the bottom of the movable support and is slidably connected to the lateral slide rail. The lateral force component is connected to one end of the lateral connecting rod, and the other end of the lateral connecting rod is connected to the lateral slider.

[0014] Furthermore, the rotary welding mechanism also includes a lifting support assembly, which includes a lifting support power component and a lifting seat plate. The lifting seat plate is located inside the rotary welding cavity, and the lifting support power component is located below the lifting seat plate and connected to the lifting seat plate to drive the lifting seat plate to move up and down.

[0015] Furthermore, the rotary welding mechanism also includes a positioning component, which includes a positioning power component and a positioning telescopic rod. One end of the positioning telescopic rod is connected to the positioning power component. The end of the passive rotating shaft away from the fixed support is provided with a positioning disk. The positioning disk is provided with a plurality of positioning through holes in the circumferential direction. The positioning telescopic rod passes through the positioning through holes to restrict the rotation of the passive rotating shaft.

[0016] The advantages of this invention compared to existing technologies are as follows: A cylindrical end cap circumferential seam welding device includes a rotary welding mechanism, a flipping component, a transfer frame, and a welding torch. The flipping component is movably mounted on the transfer frame, and the rotary welding mechanism is located below the transfer frame. The flipping component can grab materials and rotate them. The materials to be welded, grabbed by the flipping component, are transported to the rotary welding mechanism via the transfer frame, and the welding torch performs welding operations on the materials. By movably mounting the flipping component on the transfer frame and cooperating with the rotary welding mechanism below, this invention effectively solves the problem of low coordination between functional components in existing equipment. The flipping component can stably grab materials through a gripper mechanism, and combined with the flipping power component, it can achieve precise adjustment of the material's posture. Then, the transfer frame accurately transports the materials to be welded to the rotary welding mechanism. The modules are closely linked, significantly reducing positioning deviations during material transfer and posture adjustment. At the same time, compared to existing solutions that rely on high-precision robotic arms, this equipment does not require a complex multi-axis servo control system and force feedback module. While ensuring the stability of material grabbing, flipping, and transfer, it significantly reduces the equipment manufacturing cost and the complexity of subsequent maintenance.

[0017] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model, it can be implemented according to the contents of the specification. In order to make the above and other objectives, features and advantages of this utility model more obvious and easy to understand, the following are preferred embodiments, which are described in detail below. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A schematic diagram of the structure of a cylindrical end cap circumferential seam welding device provided for a specific embodiment of this utility model. Figure 1 ; Figure 2 A schematic diagram of the structure of a cylindrical end cap circumferential seam welding device provided for a specific embodiment of this utility model. Figure 2 ; Figure 3 This is a schematic diagram of the structure of the flipping component provided in a specific embodiment of the present utility model; Figure 4 A schematic diagram of the gripper mechanism provided in a specific embodiment of this utility model;

[0020] Figure 5 An exploded view of the gripper mechanism provided in a specific embodiment of this utility model; Figure 6 This is a partial structural schematic diagram of the flipping component provided in a specific embodiment of the present utility model; Figure 7A schematic diagram of the structure of the rotary welding mechanism provided in a specific embodiment of this utility model; Figure 8 A schematic diagram of the installation of the rotary drive assembly provided in a specific embodiment of this utility model; Figure 9 A schematic diagram of the structure of the transverse linear module provided in a specific embodiment of this utility model; Figure 10 A schematic diagram of the lifting support assembly provided in a specific embodiment of this utility model; Figure 11 This is a schematic diagram of the installation of the positioning component provided in a specific embodiment of the present utility model.

[0021] Figure Labels

[0022] 1. Flipping assembly; 11. Gripper body; 111. Push-pull component; 112. Left connecting rod; 113. Right connecting rod; 114. Gripper fixing seat; 1141. Movable cavity; 1142. Left guide groove; 1143. Right guide groove; 115. Gripper power component; 116. Left gripping part; 1161. First left pivot part; 1162. Second left pivot part; 117. Right gripping part; 1171. First right pivot part; 1172. 118. Second right pivot joint; 119. Clamping cavity; 12. Contact limiting component; 13. Centering mechanism; 14. Centering power component; 15. Left clamping arm; 16. Right clamping arm; 17. Centering bracket; 18. Flipping mounting bracket; 19. Rotating seat; 100. Flipping power component; 111. Lifting module; 121. Lifting frame; 122. Lifting power component; 13. First rotation limiting component; 14. Second rotation limiting component; 15. 1. Cylinder body; 2. Rotary welding mechanism; 21. Movable support base; 211. First end clamp; 212. Positioning plate; 2121. Positioning through hole; 22. Fixed support base; 221. Second end clamp; 23. Rotary drive assembly; 231. Rotary power component; 232. First synchronous pulley; 233. Second synchronous pulley; 234. Synchronous belt; 24. Lateral linear module; 241. Lateral force component; 242. Lateral connecting rod; 243. Lateral slide rail; 244. Lateral slider; 25. Lifting support assembly; 251. Lifting support power component; 252. Lifting seat plate; 253. Support base plate; 254. Material contact support block; 2541. Elastic contact component; 26. Passive rotating shaft; 27. Active rotating shaft; 28. Positioning assembly; 281. Positioning power component; 282. Positioning telescopic rod; 29. ​​Rotary welding cavity; 3. Transfer frame; 4. Welding torch. Detailed Implementation

[0023] The technical solution of this utility model will be clearly and completely described below with reference to specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0024] like Figures 1 to 11 As shown, this utility model embodiment provides a cylindrical end cap circumferential seam welding equipment, including a rotary welding mechanism 2, a flipping component 1, a transfer frame 3, and a welding torch 4. The flipping component 1 is movably mounted on the transfer frame 3, and the rotary welding mechanism 2 is located below the transfer frame 3. The flipping component 1 can grab the material and drive it to flip. The material to be welded grabbed by the flipping component 1 is transported to the rotary welding mechanism 2 through the transfer frame 3, and the welding torch 4 performs welding operations on the material to be welded.

[0025] The transfer frame 3 is a horizontally extending frame structure. A guide structure (such as a linear guide rail) is laid along the length of the frame. The extension direction of this guide structure is adapted to the arrangement position of the rotary welding mechanism 2, ensuring that the flipping assembly 1 can move stably along the guide rail to the area directly above the rotary welding mechanism 2. The flipping assembly 1 is slidably engaged with the guide structure of the transfer frame 3 via a sliding component (such as a slider), enabling movable installation along the length of the transfer frame 3.

[0026] A moving drive mechanism is provided at the movable connection between the flipping assembly 1 and the transfer frame 3. This moving drive mechanism is used to drive the flipping assembly 1 to move along the extension direction of the transfer frame 3. Specifically, the moving drive mechanism adopts a combination of motor and ball screw transmission. The drive motor (such as a servo motor or stepper motor) is fixedly installed at the end or side of the transfer frame 3. Its output shaft is connected to one end of a ball screw through a coupling. The ball screw extends along the guide structure direction of the transfer frame 3, and the other end of the ball screw is rotatably connected to the transfer frame 3 through a bearing seat. The sliding part of the flipping assembly 1 is provided with a nut seat adapted to the ball screw, and the nut seat is threadedly engaged with the ball screw. When the drive motor starts, its output torque is transmitted to the ball screw through the coupling, causing the ball screw to rotate around its own axis. Then, through the threaded transmission between the nut seat and the ball screw, the sliding part of the flipping assembly 1 is driven to move smoothly along the guide structure, realizing precise position adjustment of the flipping assembly 1 relative to the transfer frame 3.

[0027] The welding torch 4, as the welding execution component, is installed in a position corresponding to the circumferential welding area of ​​the rotary welding mechanism 2. Specifically, it can be fixed to the equipment base via a welding torch 4 bracket. The torch tip of the welding torch 4 faces the circumferential weld of the workpiece, and the welding torch 4 bracket can be equipped with a fine-tuning mechanism (such as a horizontal fine-tuning slider and a vertical fine-tuning knob) to adjust the relative position of the welding torch tip and the circumferential weld before welding, ensuring that the welding arc can accurately act on the circumferential weld joint. The welding torch 4 is connected to an external welding power source (such as a carbon dioxide gas shielded welding power source) via a cable. The welding power source provides a stable welding current and voltage according to the welding process requirements, meeting the welding strength requirements of the circumferential weld between the cylinder 100 and the end cap.

[0028] During the operation, firstly, the flipping component 1 moves along the transfer frame 3 to the material loading station, the gripper structure moves and grabs the material. Then, the flipping component 1 moves along the guide of the transfer frame 3 to transport the material to the welding station of the rotary welding mechanism 2. Then, the flipping component 1 is used to flip the material to a predetermined angle and the rotary welding mechanism 2 is used to position the material. Finally, the welding gun 4 is used to weld the circumferential seam of the material.

[0029] This invention effectively solves the problem of low coordination between functional components in existing equipment by movably mounting the flipping component 1 on the transfer frame 3 and cooperating with the rotary welding mechanism 2 below. The flipping component 1 can stably grip the material through the gripper mechanism, and the flipping power component 14 can achieve precise adjustment of the material's posture. Then, the transfer frame 3 accurately transports the material to be welded to the rotary welding mechanism 2. The modules are closely linked, which greatly reduces the positioning deviation during the material transfer and posture adjustment process. At the same time, compared with the existing solution that relies on a high-precision robot, this equipment does not need to be equipped with a complex multi-axis servo control system and force feedback module. While ensuring the stability of material gripping, flipping, and transfer, it significantly reduces the equipment manufacturing cost and the complexity of later maintenance.

[0030] like Figures 3 to 6 As shown, the flipping assembly 1 includes a flipping mounting frame 13, a flipping power component 14, a gripper mechanism, and a lifting module 15. A rotating seat 131 is rotatably mounted on the flipping mounting frame 13. The gripper mechanism is mounted on the rotating seat 131. The output end of the flipping power component 14 is connected to the rotating seat 131 to drive the rotating seat 131 to rotate. The lifting module 15 includes a lifting frame 151 and a lifting power component 152. The flipping mounting frame 13 and the lifting frame 151 are slidably arranged. The lifting power component 152 is connected to the flipping mounting frame 13 through a transmission connection. The lifting frame is movably connected to the transfer frame through a sliding component.

[0031] like Figure 4As shown, the gripper mechanism includes a gripper body 11, which includes a push-pull member 111, a left connecting rod 112, a right connecting rod 113, a gripping fixing seat 114, a gripper power member 115, and a left gripping part 116 and a right gripping part 117 arranged opposite to each other. The space between the left gripping part 116 and the right gripping part 117 forms a gripping cavity 118. The gripping fixing seat 114 is provided with a left guide groove 1142 and a right guide groove 1143. The left gripping part 116 is provided with a first left pivot part 1161 and a second left pivot part 1162. The first left pivot part 1161 is pivotally connected to one end of the left connecting rod 112 through a left pivot shaft, and the left pivot... The connecting shaft is movably disposed in the left guide groove 1142. The second left pivot part 1162 is pivotally connected to the left side of the clamping and fixing seat 114. The other end of the left connecting rod 112 is pivotally connected to the push-pull member 111. The right clamping part 117 is provided with a first right pivot part 1171 and a second right pivot part 1172. The first right pivot part 1171 is pivotally connected to one end of the right connecting rod 113 through a right pivot shaft, and the right pivot shaft is movably disposed in the right guide groove 1143. The second right pivot part 1172 is pivotally connected to the right side of the clamping and fixing seat 114. The other end of the right connecting rod 113 is pivotally connected to the push-pull member 111. The gripper power member 115 is connected to the push-pull member 111 in a transmission connection.

[0032] The clamping and fixing base 114 can be a plate-shaped or block-shaped structure. The left guide groove 1142 and the right guide groove 1143 are respectively opened on the left and right sides of the clamping and fixing base 114. The left guide groove 1142 and the right guide groove 1143 are arranged symmetrically, and both of them are long strip-shaped through grooves (or semi-through grooves). The extension direction of the groove is adapted to the opening and closing direction of the clamping cavity 118. Specifically, it extends along the front and back direction of the clamping and fixing base 114 (here, the front and back direction is the side of the clamping cavity 118 facing the object to be clamped as the front and the side away from the object to be clamped as the back), which is used to provide a guide path for the subsequent sliding of the left pivot shaft and the right pivot shaft, and ensure that the rotation of the left clamping part 116 and the right clamping part 117 is stable and controllable.

[0033] The left clamping part 116 and the right clamping part 117 are the actuating components that directly contact and clamp objects. The two are completely symmetrical in structure, only differing in their installation positions. Taking the left clamping part 116 as an example, its overall structure is plate-like, which can be a single-layer plate or a combination of multiple layers of plates. The left clamping part 116 integrates two pivot parts with different functions, namely the first left pivot part 1161 and the second left pivot part 1162. The first left pivot part 1161 and the second left pivot part 1162 are arranged one after the other, with the first left pivot part 1161 located behind the second left pivot part 1162.

[0034] The second left pivot portion 1162 is pivotally connected to the left side of the clamping and fixing seat 114 via a pivot pin (such as a cylindrical pin, bolt and nut, or other standard connecting parts), so that the left clamping portion 116 can rotate around the pivot point between the second left pivot portion 1162 and the clamping and fixing seat 114. This rotation allows the left clamping portion 116 to move closer to or further away from the right clamping portion 117, thereby adjusting the opening and closing range of the clamping cavity 118.

[0035] The first left pivot part 1161 forms a pivotal engagement with one end of the left connecting rod 112 through a left pivot shaft. The two ends of the left pivot shaft pass through the shaft hole of the first left pivot part 1161 and the shaft hole at the end of the left connecting rod 112, respectively. The two ends of the left pivot shaft also extend into the left guide groove 1142, so that the left pivot shaft can slide along the extension direction of the left guide groove 1142. At the same time, the other end of the left connecting rod 112 is pivotally connected to the left side of the push-pull member 111 through another set of pivot structures (such as pins, spherical bearings, etc.), forming a movable transmission connection.

[0036] The structure of the right clamping part 117 is completely the same as that of the left clamping part 116. It is provided with a first right pivot part 1171 and a second right pivot part 1172. The first right pivot part 1171 and the second right pivot part 1172 are arranged front and rear, with the first right pivot part 1171 located behind the second right pivot part 1172.

[0037] The second right pivot part 1172 is pivotally connected to the right side of the clamping and fixing seat 114 via a pivot pin. The first right pivot part 1171 is pivotally connected to one end of the right connecting rod 113 via a right pivot shaft, and the right pivot shaft is movably disposed in the right guide groove 1143. The other end of the right connecting rod 113 is pivotally connected to the right side of the push-pull member 111. The overall connection logic is symmetrical with that of the left clamping part 116 and the left connecting rod 112.

[0038] The push-pull component 111 is an intermediate transmission component for transmitting power. The push-pull component 111 can be a plate-shaped or block-shaped structure. The left and right sides of the push-pull component 111 are pivotally connected to the ends of the left connecting rod 112 and the right connecting rod 113, respectively, and the pivoting positions are symmetrical to ensure that the left connecting rod 112 and the right connecting rod 113 can receive the power transmitted by the push-pull component 111 synchronously.

[0039] The gripper power component 115 is the power source that drives the push-pull component 111 to move. Its selection can be determined according to the actual clamping force requirements and installation space. Specifically, it can be a cylinder, an electric cylinder, or a linear motor. Taking a cylinder as an example, the cylinder body can be fixedly installed on the rear end of the clamping fixing seat 114 (on the side away from the clamping cavity 118) by bolts. The piston rod end of the cylinder is fixedly connected to the rear end of the push-pull component 111 by a flange or connecting pin. The extension or retraction of the cylinder piston rod directly drives the push-pull component 111 to move in the front-back direction.

[0040] In the initial state, the gripper power component 115 is in the retracted state, driving the push-pull component 111 to a position close to the rear end of the clamping fixed seat 114; at this time, under the pull of the push-pull component 111, the left connecting rod 112 and the right connecting rod 113 drive the left pivot shaft to slide backward along the left guide groove 1142 and the right pivot shaft to slide backward along the right guide groove 1143, thereby causing the left clamping part 116 to rotate outward around the second left pivot part 1162 and the right clamping part 117 to rotate outward around the second right pivot part 1172, and the clamping cavity 118 to be in the maximum opening and closing range, so that the cylinder 100 to be clamped can enter the clamping cavity 118;

[0041] During the clamping process, after the cylinder 100 enters the clamping cavity 118, the gripper power component 115 is vented, and the piston rod of the gripper power component 115 extends, pushing the push-pull component 111 forward in the front-back direction; when the push-pull component 111 moves forward, it simultaneously pushes the ends of the left connecting rod 112 and the right connecting rod 113 forward. The left connecting rod 112 drives the left pivot shaft to slide forward along the left guide groove 1142. Under the pushing of the left pivot shaft and the pivoting restriction of the second left pivot part 1162, the left clamping part 116 rotates around the second left pivot part 1142. The pivot part 1162 rotates inward (closer to the center of the clamping cavity 118); at the same time, the right connecting rod 113 drives the right pivot shaft to slide forward along the right guide groove 1143, and the right clamping part 117 rotates inward around the second right pivot part 1172 (closer to the center of the clamping cavity 118); until the clamping surfaces of the left clamping part 116 and the right clamping part 117 are in close contact with the outer surface of the cylinder 100, and the clamping force reaches the preset value (which can be achieved by adjusting the cylinder pressure or the electric cylinder torque feedback), the cylinder stops moving, and the clamping is completed.

[0042] During the release process, when it is necessary to release the cylinder 100, the piston rod of the gripper power component 115 retracts, pulling the push-pull component 111 to move backward. The left connecting rod 112 and the right connecting rod 113 drive the left pivot shaft and the right pivot shaft to slide backward along the left guide groove 1142 and the right guide groove 1143 respectively. The left clamping part 116 and the right clamping part 117 rotate outward respectively, and the opening and closing range of the clamping cavity 118 increases, so the cylinder 100 can be released from the clamping cavity 118.

[0043] Through the pivotal engagement of the left connecting rod 112 and the right connecting rod 113 with the left clamping part 116 and the right clamping part 117, and the sliding guidance of the left and right pivot shafts in the guide groove, the rotation amplitude of the left clamping part 116 and the right clamping part 117 can be adaptively adjusted according to the displacement of the push-pull member 111. This allows for the adaptation to various diameter cylindrical objects of type 100 without replacing any clamping components (such as different sizes of gripper heads). This effectively solves the problems of increased equipment costs and downtime during replacement caused by the need to replace gripper parts for objects of different diameters in existing technologies, greatly improving the applicability and flexibility of the gripper mechanism. Simultaneously, the entire opening and closing adjustment process of the clamping cavity 118 is automatically completed by the gripper power member 115, eliminating the need for manual adjustment of the clamping part's position or replacement of parts. This not only simplifies the operation steps and shortens the adaptation time before clamping the object, ensuring the continuous operation efficiency of the production line, but also avoids adjustment errors that may be caused by manual operation.

[0044] In one embodiment, such as Figure 4 As shown, the clamping and fixing base 114 is provided with a movable cavity 1141, and the push-pull member 111 is movably disposed in the movable cavity 1141. The push-pull member 111 has at least one degree of freedom to move in the front-back direction within the movable cavity 1141.

[0045] The movable cavity 1141 is a cavity structure opened inside the clamping and fixing seat 114. Its opening position needs to be adapted to the transmission logic of the gripper mechanism. Specifically, it is located in the middle area of ​​the clamping and fixing seat 114 along the front-back direction (with the side of the clamping cavity 118 facing the object to be clamped as the front and the side away from the object to be clamped as the back). The extension direction of the movable cavity 1141 is consistent with the preset movement direction of the push-pull member 111 (i.e., extending along the front-back direction).

[0046] The cross-sectional shape of the movable cavity 1141 must match the cross-sectional shape of the push-pull member 111 to guide and limit the push-pull member 111. It can be rectangular, square, or circular. The length of the movable cavity 1141 (along the front-back direction) must meet the maximum displacement requirement of the push-pull member 111 (i.e., when the push-pull member 111 moves forward to its limit position in the movable cavity 1141, it can drive the left clamping part 116 and the right clamping part 117 to fully close; when it moves backward to its limit position, it can drive the left clamping part 116 and the right clamping part 117 to fully open). In addition, a mounting hole can be opened at the rear end of the movable cavity 1141 for the gripper power member 115 (such as the piston rod of a cylinder) to extend into. The axis of the mounting hole coincides with the central axis of the movable cavity 1141 to ensure that the driving force transmitted by the power member is applied along the movement direction of the push-pull member 111, avoiding the generation of lateral forces that cause wear on the push-pull member 111.

[0047] The degree of freedom of movement of the push-pull member 111 within the movable cavity 1141 is limited to "at least the forward and backward direction". That is, the structural design of the movable cavity 1141 restricts other redundant degrees of freedom of the push-pull member 111 (such as left and right translation, up and down translation, rotation around the forward and backward axis, rotation around the left and right axis, and rotation around the up and down axis), and only retains the degree of freedom of translation in the forward and backward direction.

[0048] The movement of the push-pull component 111 is as follows: When the gripper power component 115 drives the push-pull component 111 to move forward, the push-pull component 111 moves smoothly forward in the front-back direction under the guidance of the movable cavity 1141, simultaneously pushing the left connecting rod 112 and the right connecting rod 113 to rotate the left clamping part 116 and the right clamping part 117 inward, thereby closing the clamping cavity 118; when the gripper power component 115 drives the push-pull component 111 to move backward, the push-pull component 111 moves smoothly backward along the movable cavity 1141, pulling the left connecting rod 112 and the right connecting rod 113 to rotate the left clamping part 116 and the right clamping part 117 outward, thereby opening the clamping cavity 118. Throughout the entire movement process, the movable cavity 1141 always plays a guiding and limiting role for the push-pull component 111, preventing the push-pull component 111 from shifting or jamming due to uneven force.

[0049] In one embodiment, such as Figure 4 As shown, the push-pull member 111 is provided with a contact limiting member 119. The front side of the contact limiting member 119 extends in the direction of the clamping cavity 118. When the left clamping part 116 and the right clamping part 117 are in the clamping state, the contact limiting member 119 contacts the outer surface of the object being clamped in the clamping cavity 118.

[0050] The contact limiting member 119 can be designed as a plate structure. The part of the contact limiting member 119 that contacts the outer surface of the cylinder 100 is an arc-shaped surface to adapt to the contour of the outer surface of the cylinder 100. In order to avoid damage to the surface of the object caused by rigid contact, an elastic and wear-resistant material can be provided on the arc-shaped surface.

[0051] The push-pull component 111 serves as the mounting carrier for the contact limiting component 119. Since the push-pull component 111 is installed in the movable cavity 1141 of the clamping and fixing seat 114, in order to avoid the clamping and fixing seat 114 interfering with the back-and-forth movement of the contact limiting component 119, the contact limiting component 119 is installed on the top and / or bottom of the push-pull component 111.

[0052] When the cylinder 100 is in the clamping cavity 118, the gripper power unit 115 drives the push-pull member 111 to move forward. At the same time, the contact limiting member 119 moves forward with the push-pull member 111, and the limiting head gradually approaches the outer surface of the cylinder 100. When the clamping surfaces of the left clamping part 116 and the right clamping part 117 are in close contact with the outer surface of the cylinder 100 (clamping state), the contact limiting member 119 is in close contact with the outer surface of the cylinder 100, thereby further improving the stability of clamping.

[0053] In one embodiment, the clamping contact surface of the left clamping portion 116 is at least partially arcuate, and the clamping contact surface of the right clamping portion 117 is at least partially arcuate. This design provides stability for clamping the cylinder 100.

[0054] In one embodiment, such as Figure 4 and Figure 5 As shown, the gripper mechanism also includes a centering mechanism 12, which includes a centering power member 121 and a left gripping arm 122 and a right gripping arm 123 arranged opposite to each other. Both the left gripping arm 122 and the right gripping arm 123 are rotatably connected to the centering power member 121. The gripper mechanism also includes a centering bracket 124, the rear side of which is connected to the clamping fixing seat 114, and the front side of which extends toward the clamping cavity 118. The centering power member 121 is connected to the front side of the centering bracket 124.

[0055] The centering mechanism 12 is used to position the clamped cylinder 100 at the center of the clamping cavity 118 and adjust the cylinder 100 placed in the clamping cavity 118 to the preset central axis.

[0056] The centering power component 121 is the power source for driving the left clamping arm 122 and the right clamping arm 123 to rotate. It needs to meet the requirement of synchronously driving the two clamping arms to move symmetrically. The centering power component 121 can be controlled by a motor or a cylinder.

[0057] The left clamping arm 122 and the right clamping arm 123 are structurally symmetrical. Taking the left clamping arm 122 as an example, the left clamping arm 122 includes a connecting section and a centering section. One end of the connecting section is rotatably connected to the output end of the centering power component 121 via a pivot shaft. The centering section is connected to the connecting section, and the inner side of the centering section is the centering contact surface. The centering bracket 124 is the fixed support carrier for the centering mechanism 12.

[0058] The tilting power component 14 is a pneumatic cylinder or an electric cylinder, and the bottom of the tilting power component 14 is rotatably connected to the tilting mounting bracket 13.

[0059] The flip mounting bracket 13 is an overall vertical frame type. The flip mounting bracket 13 includes two side support arms and two side support plates. Deep groove ball bearings are embedded in the mounting holes near the bottom of the support plates. The rotating seat 131 has a fixing hole corresponding to the position of the inner ring of the deep groove ball bearing. The side of the clamping fixing seat 114 is provided with a rotating shaft, which passes through the fixing hole of the rotating seat 131 and connects to the inner ring of the deep groove ball bearing.

[0060] When it is necessary to perform a flipping operation on the cylinder 100 gripped by the gripper mechanism (refer to...) Figure 3The cylinder 100 is shown in its initial gripping state. At this time, the cylinder 100 is in a vertical posture, and the position corresponding to this posture is defined as the first target position. After the flipping operation is started, the piston rod of the flipping power component 14 extends in a preset direction and is connected to the rotating seat 131 through its output end, driving the rotating seat 131 to rotate synchronously around the rotation fulcrum on the flipping mounting frame 13. Since the gripper mechanism is fixedly connected to the rotating seat 131 through the gripping fixing seat 114, the gripper mechanism rotates together with the rotating seat 131, thereby driving the gripped cylinder 100 to flip synchronously. When the flipping angle of the cylinder 100 reaches 90°, the cylinder 100 switches from the initial vertical posture to a horizontal posture. The position corresponding to this horizontal posture is defined as the second target position. At this time, the flipping power component 14 stops operating, completing one flipping process of the cylinder 100 from the first target position to the second target position.

[0061] In one embodiment, such as Figure 6 As shown, the flipping assembly 1 also includes a first rotation limiting member 16 and a second rotation limiting member 17. When the gripper mechanism rotates to the first target position, the first rotation limiting member 16 contacts the rotating seat 131 so that the first rotation limiting member 16 limits the gripper mechanism at the first target position. When the gripper mechanism rotates to the second target position, the second rotation limiting member 17 contacts the clamping fixing seat 114 so that the second rotation limiting member 17 limits the gripper mechanism at the second target position.

[0062] The core function of the first rotation limiter 16 and the second rotation limiter 17 is to limit the maximum rotation angle of the gripper mechanism by physically contacting the rotating seat 131 or the clamping fixed seat 114, so as to ensure that it stays stably at the first target position (the cylinder 100 is in a vertical state) and the second target position (the cylinder 100 is in a horizontal state), thereby ensuring the angular accuracy of the cylinder 100 when it stays, so as to improve the convenience and accuracy of subsequent operations.

[0063] It should be noted that if the first rotation limiter 16 and the second rotation limiter 17 are not set, and the rotation power component 14 is used to limit the rotation position, positional deviation is likely to occur, which is not conducive to the operation of subsequent processes.

[0064] The first rotation limiting member 16 and the second rotation limiting member 17 can adopt the same structure. Taking the first rotation limiting member 16 as an example, the first rotation limiting member 16 adopts a combination structure of a fixed rod and a contact head. The fixed rod is the mounting carrier to ensure the connection strength with the flip mounting bracket 13. The contact head is the component that directly contacts the rotating seat 131. The contact head can be made of hard material or elastic material. The contact head can be fixed to the end of the fixed rod by threaded connection or adhesive bonding.

[0065] In the initial state, the gripper mechanism is in the first target position (cylinder 100 is vertical). At this time, the buffer contact head of the first rotation limit member 16 is in close contact with the outer wall of the rotating seat 131, forming a physical barrier, so that the gripper mechanism is stably stationed in the first target position. When it is necessary to flip, the piston rod of the flipping power member 14 extends, driving the rotating seat 131 to drive the gripper mechanism to rotate around the rotation axis (cylinder 100 switches from vertical to horizontal). During this process, the rotating seat 131 gradually disengages from the contact head of the first rotation limit member 16, and the clamping fixed seat 114 moves towards the direction of the second rotation limit member 17. When the gripper mechanism rotates to the second target position (cylinder 100 is horizontal), the bottom of the clamping fixed seat 114 just contacts the contact head of the second rotation limit member 17. The second rotation limit member 17 forms a physical barrier to the clamping fixed seat 114, so that the gripper mechanism is stably stationed in the second target position.

[0066] The lifting frame 151 serves as the fixed support and guide base for the lifting module 15, bearing the overall weight of the flipping mounting frame 13, the flipping power component 14, the gripper mechanism, and the object being gripped.

[0067] The lifting frame 151 can be a double-column frame structure. In order to achieve the sliding fit between the flip-mounting frame 13 and the lifting frame 151, guide rails are set on the relative inner side walls of the two columns of the lifting frame 151 along the height direction. The back of the flip-mounting frame 13 is provided with a sliding groove that matches the guide rail.

[0068] The lifting power component 152 is the power source that drives the tilting mounting bracket 13 to slide along the lifting frame 151. The lifting power component 152 can be a combination of a ball screw and a servo motor. The ball screw is arranged vertically along the middle of the lifting frame 151. The bottom end of the ball screw is mounted on the lifting frame 151 near the bottom via a deep groove ball bearing, and the top end of the ball screw is mounted in the bearing seat of the top connecting beam of the lifting frame 151 via an angular contact ball bearing to ensure stable rotation of the screw. The servo motor is connected to the top end of the ball screw via a coupling, and the motor is fixed to the lifting frame 151 via a bracket. The motor drives the ball screw to rotate in both directions. The transmission connection between the ball screw and the tilting mounting bracket 13 is achieved through a screw nut seat.

[0069] like Figures 7 to 11As shown, the rotary welding mechanism 2 includes a movable support 21, a fixed support 22, and a rotary drive assembly 23. The movable support 21 and the fixed support 22 are arranged at intervals, and the interval area forms a rotary welding cavity 29. The movable support 21 can move towards or away from the fixed support 22 to accommodate materials of different lengths to be welded. The movable support 21 is rotatably provided with a first end clamp 211, and the fixed support 22 is rotatably provided with a second end clamp 221. The rotary drive assembly 23 includes a rotary power component 231, a first synchronous pulley 232, a second synchronous pulley 233, and a synchronous belt 234. The rotary power component 231 is drivenly connected to the first synchronous pulley 232, the second synchronous pulley 233 is drivenly connected to the second end clamp 221, and the synchronous belt 234 is sleeved on the first synchronous pulley 232 and the second synchronous pulley 233.

[0070] The rotating power component 231 is a servo motor, which is fixed to the outside of the fixed support base 22, and the motor output shaft is connected to the first synchronous pulley 232 by a key to achieve transmission. The second synchronous pulley 233 is connected to the second end clamp 221, and the tooth ratio of the second synchronous pulley 233 to the first synchronous pulley 232 is set according to the rotation speed required by the material to be welded; the synchronous belt 234 is made of polyurethane material (this material has certain insulation properties, and also has the advantages of wear resistance and tensile strength), and the tooth profile on its inner side is adapted to the tooth profile of the first synchronous pulley 232 and the second synchronous pulley 233.

[0071] By setting up a rotary drive assembly 23 consisting of a rotary power component 231, a first synchronous pulley 232, a second synchronous pulley 233, and a synchronous belt 234, the synchronous belt 234 is used to replace the direct drive method of the prior art. The synchronous belt 234 has certain insulation properties, which can block the path of static electricity generated by welding arc discharge to the rotary power component 231, prevent static electricity from entering the precision electrical components inside the power component, prevent the insulation layer of the power component from breaking down, winding short circuit and other faults, and reduce the risk of damage to the power component.

[0072] In one embodiment, such as Figure 7 As shown, a drive shaft 27 is laterally arranged on the fixed support 22. The end of the drive shaft 27 near the movable support 21 extends into the rotary welding cavity 29 and is connected to the second end fastener 221. The end of the drive shaft 27 away from the movable support 21 is connected to the second synchronous pulley 233. A passive shaft 26 is laterally arranged on the movable support 21. The end of the passive shaft 26 near the fixed support 22 extends into the rotary welding cavity 29 and is connected to the first end fastener 211.

[0073] The drive shaft 27 has a cylindrical structure and is arranged transversely to the fixed support 22 (i.e., in a direction parallel to the axes of the first end clamp 211 and the second end clamp 221). A stepped surface is machined on the shaft of the drive shaft 27 corresponding to the assembly position of the fixed support 22 to prevent axial movement of the drive shaft 27. A keyway is machined at the end near the movable support 21 for keyed connection with the second end clamp 221, and a keyway is also machined at the end away from the movable support 21 for keyed connection with the second synchronous pulley 233. The type of the two keyways is set according to the specifications of the inner keyways of the matched second end clamp 221 and the second synchronous pulley 233 to ensure no relative slippage during power transmission after connection.

[0074] The fixed support 22 has a through mounting hole along its transverse direction. Two sets of deep groove ball bearings are installed in the mounting hole (the two sets of bearings are arranged axially at intervals to improve the stability of the rotation of the drive shaft 27 and prevent radial wobbling of the shaft). The outer ring of the deep groove ball bearing is interference-fitted with the mounting hole, and the inner ring is interference-fitted with the shaft body of the drive shaft 27. To prevent the deep groove ball bearings from coming out of the mounting hole, bearing end caps are provided at both ends of the mounting hole (the bearing end caps are connected to the fixed support 22 by bolts).

[0075] After the active rotating shaft 27 is inserted into the inner rings of the two sets of deep groove ball bearings, one end of it near the movable support 21 extends from the side of the fixed support 22 toward the rotating welding cavity 29 and extends into the interior of the rotating welding cavity 29; the other end away from the movable support 21 extends from the side of the fixed support 22 away from the rotating welding cavity 29 and is located on the outside of the fixed support 22.

[0076] When the end of the active shaft 27 near the movable support 21 is connected to the second end clamp 221, the center of the second end clamp 221 is provided with a connection hole that matches the active shaft 27. A keyway corresponding to the keyway of the active shaft 27 is machined in the connection hole. After the flat key is embedded in the keyway of the active shaft 27 and the second end clamp 221, the key connection between the two is realized. In order to further ensure the firmness of the connection, an external thread is machined at the end of the active shaft 27. The second end clamp 221 is locked on the active shaft 27 by a nut to prevent relative displacement between the second end clamp 221 and the active shaft 27 during the welding process.

[0077] When the end of the drive shaft 27 away from the movable support 21 is connected to the second synchronous pulley 233, the same key connection method as described above is used: the inner hole of the second synchronous pulley 233 is machined with a keyway, and a flat key is embedded in the keyway between the drive shaft 27 and the second synchronous pulley 233 to realize power transmission; at the same time, a shoulder is provided at the end of the drive shaft 27 (the shoulder can axially position the second synchronous pulley 233 and prevent the second synchronous pulley 233 from moving along the shaft axis), and a retaining ring (the retaining ring is stuck in the annular groove of the drive shaft 27) is used to fix the second synchronous pulley 233 on the side away from the shoulder, so as to ensure that the position of the second synchronous pulley 233 on the drive shaft 27 is stable and to avoid slippage or displacement during transmission.

[0078] The passive rotating shaft 26 has an overall cylindrical structure, and its axis is aligned with the relative spacing direction of the movable support 21 and the fixed support 22, i.e., it is arranged laterally. It is also collinear with the axes of the active rotating shaft 27, the first end clamp 211, and the second end clamp 221 to ensure coaxiality during subsequent material clamping and rotation.

[0079] A keyway is machined at one end of the passive rotating shaft 26 near the fixed support 22 (i.e., the end facing the rotary welding cavity 29). This keyway is used to achieve a key connection with the first end clamp 211. The width and depth of the keyway are designed to match the keyway specifications of the inner hole of the first end clamp 211 to ensure that there is no relative slippage in the power transmission after connection. At the same time, an external thread is machined on the shaft section of the passive rotating shaft 26 near the first end clamp 211 to cooperate with the nut to achieve axial locking of the first end clamp 211 and prevent axial displacement during rotation.

[0080] The movable support 21 has a transverse mounting hole, into which a set of deep groove ball bearings are installed. The outer ring of the bearing is interference-fitted with the mounting hole to ensure that the deep groove ball bearing does not loosen within the mounting hole; the inner ring is interference-fitted with the shaft of the driven shaft 26 to achieve synchronous rotation between the driven shaft 26 and the bearing. To prevent the bearing from coming out of the mounting hole, a bearing end cap is provided on the side of the mounting hole facing the rotary welding cavity 29, and this bearing end cap is fixedly connected to the movable support 21 by bolts. On the other side of the mounting hole (the side opposite to the rotary welding cavity 29), a retaining ring is provided. The retaining ring is engaged in the annular groove of the driven shaft 26 and fits against the inner ring of the deep groove ball bearing, further restricting the axial displacement of the deep groove ball bearing and ensuring the assembly stability of the driven shaft 26 on the movable support 21.

[0081] After the passive rotating shaft 26 passes through the inner ring of the deep groove ball bearing, one end of it near the fixed support 22 extends from the side of the movable support 21 toward the rotating welding cavity 29 and extends into the interior of the rotating welding cavity 29 for connection with the first end fastener 211; the other end away from the fixed support 22 extends from the side of the movable support 21 away from the rotating welding cavity 29.

[0082] The first end clamp 211 has a connecting hole at its center that matches the passive shaft 26. A keyway corresponding to the keyway of the passive shaft 26 is machined within the connecting hole. During assembly, a flat key is inserted into the keyway of the passive shaft 26 and the first end clamp 211 to achieve a keyed connection. This connection method ensures that the first end clamp 211 rotates synchronously with the passive shaft 26, and that power transmission is efficient and slip-free. To further enhance the connection's firmness, the first end clamp 211 is fitted onto the shoulder of the passive shaft 26 (the shoulder is an annular step machined on the passive shaft 26 for axial positioning of the first end clamp 211), and then a nut is screwed into the external thread end of the passive shaft 26.

[0083] The passive rotating shaft 26 is collinear with the active rotating shaft 27, the first end clamp 211, and the second end clamp 221. The passive rotating shaft 26 is stably supported on the movable support base 21 by bearings, effectively preventing radial displacement of the first end clamp 211 due to material clamping force or centrifugal force during rotation. This ensures that the first end clamp 211 and the second end clamp 221 remain coaxial, thereby guaranteeing that the material to be welded does not eccentrically wobble during rotation, reducing deviations at the welding point, and improving welding quality. Furthermore, since the passive rotating shaft 26 is a passively rotating structure, no additional power component is required; rotation is achieved solely through the material's movement. Compared to a separate power component for the passive end, this significantly reduces equipment energy consumption, simplifies equipment structure, and reduces costs.

[0084] In one embodiment, the first end clamp 211 has a material end conforming cavity on the side that contacts one end of the material, and the shape and size of the material end conforming cavity are perfectly adapted to the shape of the end of the material to be clamped. The second end clamp 221 has a material end clamping groove on the side that contacts the other end of the material. The second end clamp 221 is generally disc-shaped, and the material end clamping groove is machined on the side facing the material (i.e., the side that contacts the other end of the material). The design of the material end clamping groove must be adapted to the structural characteristics of the material end.

[0085] By using the first end clamp 211 and the second end clamp 221 together, the material can be clamped and positioned bidirectionally from both ends, avoiding problems such as radial displacement, falling or axial movement of the material during rotation.

[0086] In one embodiment, such as Figure 9As shown, the rotary welding mechanism 2 also includes a transverse linear module 24 for driving the movable support 21 to move away from or closer to the fixed support 22. The transverse linear module 24 includes a transverse force member 241, a transverse connecting rod 242, a transverse slide rail 243, and a transverse slider 244. The transverse slider 244 is located at the bottom of the movable support 21 and is slidably connected to the transverse slide rail 243. The transverse force member 241 is connected to one end of the transverse connecting rod 242, and the other end of the transverse connecting rod 242 is connected to the transverse slider 244.

[0087] The transverse slide rail 243 has an overall elongated structure and is arranged along the moving direction of the movable support 21 (i.e., laterally, parallel to the axes of the active rotating shaft 27 and the passive rotating shaft 26). It is rigidly connected to the equipment frame by bolts. The top of the transverse slide rail 243 is machined with a T-slot or dovetail groove, which provides lateral constraint to the transverse slider 244, preventing lateral displacement of the slider during sliding. The bottom of the transverse slider 244 has a protrusion that matches the T-slot or dovetail groove of the transverse slide rail 243; the top of the transverse slider 244 is fixedly connected to the bottom of the movable support 21 by bolts.

[0088] The lateral moving force component 241 is arranged below the fixed support 22. The moving force component is a cylinder, fixed to the equipment frame, with the piston rod's axis parallel to the length direction of the lateral sliding rail 243. One end of the cylinder's piston rod is keyed to the lateral moving connecting rod 242, and the other end of the connecting rod 242 extends towards the movable support 21 and is fixedly connected to the lateral sliding block 244. The lateral moving force component 241's extension and retraction movement allows the movable support 21 to move away from or towards the fixed support 22.

[0089] In one embodiment, such as Figure 10 As shown, the rotary welding mechanism 2 also includes a lifting support assembly 25, which includes a lifting support power component 251 and a lifting seat plate 252. The lifting seat plate 252 is located inside the rotary welding cavity 29. The lifting support power component 251 is located below the lifting seat plate 252 and is connected to the lifting seat plate 252 to drive the lifting seat plate 252 to move up and down.

[0090] The core function of the lifting support assembly 25 is to provide temporary support for the material to be welded. Specifically, after the material to be welded is transferred into the rotary welding cavity 29 by the gripper mechanism, the movable support seat 21 needs to be driven to move towards the fixed support seat 22 by the transverse linear module 24. This will cause the first end clamp 211 to move closer to the second end clamp 221, so as to push the material to be welded gradually closer to the second end clamp 221 and finally cooperate with the second end clamp 221 to achieve clamping and fixing of the material to be welded. During this pushing process, if the gripper mechanism is still in the state of clamping the material to be welded, it will not be conducive to pushing. Therefore, during pushing, the gripper mechanism needs to be removed and the lifting support assembly 25 needs to form a stable support for the bottom of the material to be welded to ensure that the material to be welded always maintains the preset posture during the pushing process, and avoids the precise clamping and cooperation between the first end clamp 211 and the second end clamp 221 due to the deviation of the material position.

[0091] Specifically, the lifting support power component 251 is an electric push rod, and an electric push rod with corresponding rated thrust is selected according to the total weight of the lifting seat plate 252 and the material.

[0092] The number of electric push rods can be set to multiple groups to achieve multi-point synchronous support and avoid uneven force on the seat plate causing tilting. The fixed end of the lifting support power component 251 is rigidly connected to the equipment frame by bolts, and the output end of the lifting support power component 251 is threadedly connected to the connecting ear plate at the bottom of the seat plate.

[0093] In one embodiment, such as Figure 10 As shown, the top of the lifting seat plate 252 is provided with a support base plate 253. The support base plate 253 is provided with multiple sets of material placement support components spaced apart along the length direction of the material. Each set of material placement support components includes two material contact support blocks 254 spaced apart along the width direction of the material. The part of the material contact support block 254 that contacts the material is provided with an elastic contact element 2541.

[0094] The support base plate 253 has a rectangular structure. The bottom of the support base plate 253 is fixedly connected to the top of the lifting seat plate 252 by bolts. The material placement support component includes two material contact support blocks 254 arranged at intervals along the width direction of the material. Each set of support components corresponds to supporting one cross-section of the material. Multiple sets of support components are arranged at intervals along the length direction of the material (e.g., one set is set at a certain interval, the specific interval is determined according to the rigidity of the material, and the interval needs to be reduced and support points increased for materials with poor rigidity).

[0095] The material contact support block 254 has a block-like structure, and its top is machined with a support surface that matches the shape of the material. Each material contact support block 254 has an external thread machined on its bottom, which connects to a pre-set threaded hole on the support base plate 253 through the thread, thereby fixing the support block to the support base plate 253.

[0096] The material contact support block 254 has an elastic contact element 2541 at the point of contact with the material (i.e., the support surface). The elastic contact element 2541 can be sheet-like or hemispherical in shape, and is made of silicone. The elastic contact element 2541 is adhered to the support surface of the support block using a high-strength adhesive. The elastic contact element 2541 enhances the stability of the material support while preventing the material from being scratched.

[0097] In one embodiment, such as Figure 11 As shown, the rotary welding mechanism 2 also includes a positioning component 28. The positioning component 28 includes a positioning power component 281 and a positioning telescopic rod 282. One end of the positioning telescopic rod 282 is connected to the positioning power component 281. The passive rotating shaft 26 is provided with a positioning disk 212 at the end away from the fixed support 22. The positioning disk 212 is provided with a plurality of positioning through holes 2121 in the circumferential direction. The positioning telescopic rod 282 passes through the positioning through holes 2121 to restrict the rotation of the passive rotating shaft 26.

[0098] The positioning disk 212 has a circular flat plate structure. The center of the positioning disk 212 has an assembly hole that matches the passive rotating shaft 26. A keyway is machined in the assembly hole. The positioning disk 212 is fixed to the end of the passive rotating shaft 26 away from the fixed support 22 by a key connection (the key connection can ensure that the positioning disk 212 and the passive rotating shaft 26 rotate synchronously without relative sliding). At the same time, one side of the positioning disk 212 is in contact with the shoulder of the passive rotating shaft 26 (the shoulder axially positions the positioning disk 212), and the other side is locked by a nut (the nut is connected to the external thread at the end of the passive rotating shaft 26).

[0099] The positioning disk 212 has several positioning through holes 2121 arranged circumferentially. The positioning through holes 2121 are evenly distributed along the circumference of the positioning disk 212, and all the positioning through holes 2121 have the same diameter, which is adapted to the outer diameter of the positioning telescopic rod 282 (to ensure that the positioning telescopic rod 282 can be smoothly inserted into the through hole, and there is no obvious gap after insertion, so as to avoid positioning loosening); the depth of the positioning through holes 2121 extends through the thickness of the positioning disk 212.

[0100] The positioning power component 281 is fixed on the movable support frame. The positioning power component 281 is a cylinder, and the axis of the cylinder is perpendicular to the radial direction of the positioning plate 212 (to ensure that when the positioning telescopic rod 282 extends, it can be inserted into the positioning through hole 2121 along the radial direction of the positioning plate 212 to achieve precise positioning).

[0101] The positioning telescopic rod 282 has an overall cylindrical structure. One end of it is connected to the piston rod of the positioning power component 281 (cylinder) by a thread. The other end of the telescopic rod (the end that is inserted into the positioning through hole 2121) is machined with a tapered guide head, which makes it easy for the telescopic rod to be quickly aligned with the positioning through hole 2121 and reduces the difficulty of insertion.

[0102] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A cylindrical end cap circumferential seam welding device, characterized in that, The device includes a rotary welding mechanism, a flipping component, a transfer frame, and a welding torch. The flipping component is movably mounted on the transfer frame, and the rotary welding mechanism is located below the transfer frame. The flipping component can grab materials and rotate them. The materials to be welded, grabbed by the flipping component, are transported to the rotary welding mechanism via the transfer frame, and the welding torch performs welding operations on the materials to be welded.

2. The cylindrical end cap circumferential weld equipment according to claim 1, characterized in that, The flipping assembly includes a flipping mounting frame, a flipping power component, a gripper mechanism, and a lifting module. A rotating seat is rotatably mounted on the flipping mounting frame, the gripper mechanism is mounted on the rotating seat, and the output end of the flipping power component is connected to the rotating seat to drive the rotating seat to rotate. The lifting module includes a lifting frame and a lifting power component. The flipping mounting frame and the lifting frame are slidably arranged, the lifting power component is drivenly connected to the flipping mounting frame, and the lifting frame is movably connected to the transfer frame.

3. The cylindrical end cap circumferential seam welding equipment according to claim 2, characterized in that, The gripper mechanism includes a gripper body, which comprises a push-pull member, a left connecting rod, a right connecting rod, a gripping fixing seat, a gripper power member, and a left gripping portion and a right gripping portion arranged opposite to each other. The space between the left gripping portion and the right gripping portion forms a gripping cavity. The gripping fixing seat is provided with a left guide groove and a right guide groove. The left gripping portion is provided with a first left pivot portion and a second left pivot portion. The first left pivot portion is pivotally connected to one end of the left connecting rod via a left pivot shaft, and the left pivot shaft is movably disposed on the left guide groove. In the guide groove, the second left pivot part is pivotally connected to the left side of the clamping and fixing seat, and the other end of the left connecting rod is pivotally connected to the push-pull member. The right clamping part is provided with a first right pivot part and a second right pivot part. The first right pivot part is pivotally connected to one end of the right connecting rod through a right pivot shaft, and the right pivot shaft is movably disposed in the right guide groove. The second right pivot part is pivotally connected to the right side of the clamping and fixing seat, and the other end of the right connecting rod is pivotally connected to the push-pull member. The gripper power member is connected to the push-pull member in a transmission connection.

4. The cylindrical end cap circumferential weld equipment according to claim 3, characterized in that, The gripper mechanism further includes a centering mechanism and a centering bracket. The centering mechanism includes a centering power component and a left gripping arm and a right gripping arm arranged opposite to each other. The left gripping arm and the right gripping arm are rotatably connected to the centering power component. The rear side of the centering bracket is connected to the clamping fixing seat, and the front side of the centering bracket extends toward the clamping cavity. The centering power component is connected to the front side of the centering bracket.

5. The cylindrical end cap circumferential weld equipment according to claim 3, characterized in that, The flipping assembly further includes a first rotation limiting member and a second rotation limiting member. When the gripper mechanism rotates to the first target position, the first rotation limiting member contacts the rotating seat, so that the first rotation limiting member limits the gripper mechanism at the first target position. When the gripper mechanism rotates to the second target position, the second rotation limiting member contacts the clamping fixing seat, so that the second rotation limiting member limits the gripper mechanism at the second target position.

6. A cylindrical end cap circumferential welder according to any one of claims 1-5, characterized in that, The rotary welding mechanism includes a movable support base, a fixed support base, and a rotary drive assembly. The movable support base and the fixed support base are arranged at intervals, and the interval area forms a rotary welding cavity. The movable support base is rotatably provided with a first end clamp, and the fixed support base is rotatably provided with a second end clamp. The rotary drive assembly includes a rotary power component, a first synchronous pulley, a second synchronous pulley, and a synchronous belt. The rotary power component is driven by the first synchronous pulley, the second synchronous pulley is driven by the second end clamp, and the synchronous belt is sleeved on the first synchronous pulley and the second synchronous pulley.

7. The cylindrical end cap circumferential weld equipment according to claim 6, characterized in that, An active rotating shaft is laterally arranged on the fixed support base. One end of the active rotating shaft near the movable support base extends into the rotary welding cavity and is connected to the second end fastener. The other end of the active rotating shaft away from the movable support base is connected to the second synchronous pulley. A passive rotating shaft is laterally arranged on the movable support base. One end of the passive rotating shaft near the fixed support base extends into the rotary welding cavity and is connected to the first end fastener.

8. The cylindrical end cap circumferential weld equipment according to claim 6, characterized in that, The rotary welding mechanism further includes a lateral linear module for driving the movable support to move away from or towards the fixed support. The lateral linear module includes a lateral force component, a lateral connecting rod, a lateral slide rail, and a lateral slider. The lateral slider is located at the bottom of the movable support and is slidably connected to the lateral slide rail. The lateral force component is connected to one end of the lateral connecting rod, and the other end of the lateral connecting rod is connected to the lateral slider.

9. The cylindrical end cap circumferential weld equipment according to claim 6, characterized in that, The rotary welding mechanism further includes a lifting support assembly, which includes a lifting support power component and a lifting seat plate. The lifting seat plate is located inside the rotary welding cavity. The lifting support power component is located below the lifting seat plate and is connected to the lifting seat plate to drive the lifting seat plate to move up and down.

10. The cylindrical end cap circumferential weld equipment according to claim 7, characterized in that, The rotary welding mechanism further includes a positioning component, which includes a positioning power component and a positioning telescopic rod. One end of the positioning telescopic rod is connected to the positioning power component. The end of the passive rotating shaft away from the fixed support is provided with a positioning plate. The positioning plate is provided with a plurality of positioning through holes in the circumferential direction. The positioning telescopic rod passes through the positioning through holes to restrict the rotation of the passive rotating shaft.

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