CN104801904B - Store-vessel bottom melon lobe longitudinal joint numerical control welding system - Google Patents

Store-vessel bottom melon lobe longitudinal joint numerical control welding system Download PDF

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Publication number
CN104801904B
CN104801904B CN201510195805.0A CN201510195805A CN104801904B CN 104801904 B CN104801904 B CN 104801904B CN 201510195805 A CN201510195805 A CN 201510195805A CN 104801904 B CN104801904 B CN 104801904B
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CN
China
Prior art keywords
welding
melon lobe
positioner
seat
longitudinal joint
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CN201510195805.0A
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CN104801904A (en
Inventor
李建营
王博
王安泽
王贵超
罗金辉
王旭光
王新
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AMET Welding Automation Technology (Beijing) Co Ltd
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AMET Welding Automation Technology (Beijing) Co Ltd
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0252Steering means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/0426Fixtures for other work
    • B23K37/0435Clamps
    • B23K37/0443Jigs
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/047Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps

Abstract

The present invention relates to store-vessel bottom melon lobe longitudinal joint numerical control welding system, including seat positioner end to end, melon lobe assembly tooling and manipulator three parts;Melon lobe assembly tooling is arranged on end to end on seat positioner, utilizes seat positioner end to end to rotate and realizes 8 longitudinal joints switchings of workpiece;Manipulator is provided with welding gun, utilizes manipulator beam lifting and stretches, and the upset of cooperating head tailstock positioner ensures that every some normal of longitudinal joint total length keeps vertical, it is achieved automatic numerical control welds.The present invention uses air bag finger tip mechanism workpiece pressing, and thrust size is adjustable, each finger tip can self adaptation workpiece configurations, belong to Compliant pressure, it is ensured that can workpiece pressing, the most not disfiguring workpiece surface.8 melon lobes respectively increase a pneumatic drawstring of longitudinal direction, can effectively prevent workpiece deformation and dislocation.Employing numerically controlled automatic welds, it is achieved that the input of welding process heat is consistent, reduces welding deformation and greatly reduces labor strength simultaneously, improves production efficiency, it is ensured that welding quality.

Description

Store-vessel bottom melon lobe longitudinal joint numerical control welding system
Technical field
The invention belongs to metal automatic welding and connect field, be specifically related to a kind of longitudinal joint that can be used for store-vessel bottom from Dynamic welding system, i.e. store-vessel bottom melon lobe longitudinal joint numerical control welding system.
Background technology
Tank is large component important in carrier rocket rocket body structure, and the spheroid bottom at tank two ends is Difficult point in tank production and emphasis.Spheroid bottom is made up of annulus, fork ring and top cover, annulus by Eight melon lobe weldings form, and form 8 longitudinal seams, are the works that during tank produces, weld seam at most deforms maximum Part.
Melon lobe is large thin-wall element, and profile is spheroid, and welding edge region is all curved surface, and actual requirement is indulged Seam welding edge fit must reliably be fixed, accurate alignment, it is impossible to the bad phenomenon such as misalignment occurs, in welding process Workpiece is immovable.It is reliable that this just requires to weld thrust, does not the most weigh workpiece wounded.
At present, the simple frock of the many employings of melon lobe clamping adjusts by manpower and compresses, and labor intensity is big, and efficiency is low Under, cause clamping difficulty and waste time and energy.Using human weld, thermal weld stress is uneven, adds Clamping force is little and uneven, and workpiece often the changing of the relative positions and metaboly occurs because of welding stress, and welding quality is difficult to Control.
Summary of the invention
For the problem of above-mentioned existence, the invention provides a kind of store-vessel bottom melon lobe longitudinal joint numerical control Welding system, it is possible to achieve melon lobe clamping is simple to operate, compressing parts is firm, and longitudinal seam welding is real Existing automatization.
For solving above-mentioned technical problem, it is an object of the invention to be achieved through the following technical solutions:
Store-vessel bottom melon lobe longitudinal joint numerical control welding system, described store-vessel bottom melon lobe longitudinal joint numerical control welding system Including seat positioner end to end, melon lobe assembly tooling and the big major part of manipulator three;
Described melon lobe assembly tooling is arranged on end to end on seat positioner, utilizes seat positioner end to end to rotate and realizes Article 8, longitudinal joint switching;
The beam-end of described manipulator is provided with welding gun, utilize manipulator crossbeam lifting and Flexible, the upset of cooperating head tailstock positioner can ensure that every some normal of longitudinal joint total length keeps vertical, it is achieved from Dynamic numerical control welding.
The floral disc of the described positioner of seat end to end can rotate continuously, it is possible to forwards melon lobe assembly tooling to welding position It is automatically stopped;The upset of the described positioner of seat end to end uses driven by servomotor, and drive system is with the gap that disappears Function, it is ensured that transmission stability.The described positioner of seat end to end drives melon lobe assembly tooling in welding process Variable speed continuous overturning.
Described melon lobe assembly tooling is using ellipsoid mould tire as the installation matrix of workpiece, equal along ellipsoid mould tire circumference Even it is machined with 8 grooves, in order to erecting and welding backing;In the top and the bottom of ellipsoid mould tire respectively along 8 groove cloth It is equipped with 16 and puts paw and 16 set lower pressing claws, in order to compress the edge up and down of melon lobe;Upper paw and under press It is disposed with 8 pneumatic drawstrings along 8 grooves between pawl, melon lobe is pressed on ellipsoid mould tire, prevents longitudinal joint from welding Termination process causes workpiece warpage.Described pneumatic drawstring is flexible structure, and inner side is air bag, and outside is stainless Steel band;During use, upper lower draw-bar is hung on the hanging groove of mould tire, melon lobe can be tightly pressed against after inflation On mould tire.Ellipsoid mould tire is provided with guiding mechanism, convenient adjustment melon lobe height.Air bag finger tip compresses Mechanism is hydraulically operated realization and swings opening and closing, equipped with two air bag hold down gags on it;Install store-vessel bottom Close up air bag finger tip hold-down mechanism after melon lobe, will be located in end hook look and hang on the hangers of ellipsoid mould tire, Melon lobe welding edge just can tightly be compacted on ellipsoid mould tire to the inflation of air bag finger tip hold-down mechanism again.
Described manipulator beam lifting and flexible employing driven by servomotor, by digital control system control, Coordination is overturn with seat positioner end to end.
Described pneumatic drawstring is arranged in the middle part of each melon lobe, for longitudinally pneumatic drawstring.
The beneficial effects of the present invention is: the present invention uses air bag finger tip mechanism workpiece pressing, and thrust is big Little adjustable, each finger tip can self adaptation workpiece configurations, belong to Compliant pressure, it is ensured that can workpiece pressing, The most not disfiguring workpiece surface.8 melon lobes respectively increase a pneumatic drawstring of longitudinal direction, can effectively prevent workpiece from becoming Shape and dislocation.Employing numerically controlled automatic welds, it is achieved that the input of welding process heat is consistent, reduces welding Deformation greatly reduces labor strength simultaneously, improves production efficiency, it is ensured that welding quality.
Accompanying drawing explanation
Fig. 1 is circular ring work piece structural representation;
Fig. 2 is melon lobe assembly tooling schematic diagram;
Fig. 3 is air bag finger tip hold-down mechanism shaft side figure;
Fig. 4 is melon lobe pneumatic pulling belt structure figure;
Fig. 5 is melon lobe longitudinal joint numerical control welding system schematic diagram.
Wherein, 1-air bag finger tip hold-down mechanism;2-hangers;The upper paw of 3-;4-ellipsoid mould tire;5-lower pressing claw; 6-guiding mechanism;The pneumatic drawstring of 7-;61-seat positioner end to end;62-melon lobe assembly tooling;63-welds behaviour Make machine.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail: the present embodiment is with skill of the present invention Implement under premised on art scheme, give detailed embodiment, but protection scope of the present invention is not It is limited to following embodiment.
As one embodiment of the present invention, as shown in Figures 2 to 5, store-vessel bottom melon lobe longitudinal joint number Control welding system is big including seat positioner 61 end to end, melon lobe assembly tooling 62 and manipulator 63 3 Major part.
As in figure 2 it is shown, described melon lobe assembly tooling 62 is arranged on end to end on seat positioner 61, utilize head Tailstock positioner 61 rotates and realizes 8 longitudinal joint switchings;
The floral disc of the described positioner of seat end to end 61 can rotate continuously, it is possible to melon lobe assembly tooling 62 is forwarded to Welding position is automatically stopped;The upset of the described positioner of seat end to end 61 uses driven by servomotor, power train Regiment commander has the gap function that disappears;The upset of the described positioner of seat end to end 61 drives melon lobe to assemble in welding process Frock 62 variable speed continuous overturning.
Described melon lobe assembly tooling 62 is using ellipsoid mould tire 4 as the installation matrix of workpiece, along ellipsoid mould tire 4 Even circumferential is machined with 8 grooves, in order to erecting and welding backing;Edge respectively, top and the bottom at ellipsoid mould tire 4 Article 8, groove is disposed with 16 and puts paw 3 and 16 set lower pressing claw 5, in order to compress the edge up and down of melon lobe;? It is disposed with 8 pneumatic drawstrings 7 along 8 grooves between upper paw 3 and lower pressing claw 5, melon lobe is pressed on ellipsoid On mould tire 4;Described pneumatic drawstring 7 is flexible structure, and inner side is air bag, and outside is stainless steel band;? On ellipsoid mould tire 4, guiding mechanism 6 is installed;Air bag finger tip hold-down mechanism 1 is hydraulically operated realization and swings Opening and closing, equipped with two air bag hold down gags on it;Close up air bag finger tip after installing store-vessel bottom melon lobe to compress Mechanism 1, will be located in end hook look and hangs on the hangers 2 of ellipsoid mould tire 4, then compresses to air bag finger tip Melon lobe welding edge just can be tightly compacted on ellipsoid mould tire 4 by mechanism 1 inflation.
The beam-end of described manipulator 63 is provided with welding gun, utilizes manipulator 63 crossbeam Lifting and flexible, the upset of cooperating head tailstock positioner 61 can ensure that every some normal of longitudinal joint total length keeps hanging down Directly, it is achieved automatic numerical control welds.
Described manipulator 63 beam lifting and flexible employing driven by servomotor, by digital control system control System, overturns coordination with seat positioner 61 end to end.
Described pneumatic drawstring 7 is arranged in the middle part of each melon lobe, for longitudinally pneumatic drawstring.
The above, the only present invention preferably detailed description of the invention, these detailed description of the invention are all bases Different implementations under general idea of the present invention, and protection scope of the present invention is not limited to This, any those familiar with the art, in the technical scope that the invention discloses, can think easily The change arrived or replacement, all should contain within protection scope of the present invention.

Claims (3)

1. store-vessel bottom melon lobe longitudinal joint numerical control welding system, it is characterised in that: described store-vessel bottom melon lobe Longitudinal joint numerical control welding system includes seat positioner (61), melon lobe assembly tooling (62) and welding behaviour end to end Make the big major part of machine (63) three;
Described melon lobe assembly tooling (62) is arranged on end to end on seat positioner (61), utilizes seat end to end to become Position machine (61) rotates and realizes 8 longitudinal joint switchings;
The beam-end of described manipulator (63) is provided with welding gun, utilizes manipulator (63) The lifting of crossbeam and flexible, the upset of cooperating head tailstock positioner (61) can ensure every some method of longitudinal joint total length Line keeps vertical, it is achieved automatic numerical control welds;
The floral disc of the described positioner of seat end to end (61) can rotate continuously, it is possible to by melon lobe assembly tooling (62) Forward welding position to be automatically stopped;The upset of the described positioner of seat end to end (61) uses driven by servomotor, Drive system is with the gap function that disappears;The described positioner of seat end to end (61) drives melon lobe to fill in welding process Allotment of labor fills (62) variable speed continuous overturning;
Described melon lobe assembly tooling (62) is using ellipsoid mould tire (4) as the installation matrix of workpiece, along ellipse Ball mould tire (4) even circumferential is machined with 8 grooves, in order to erecting and welding backing;At ellipsoid mould tire (4) Top and the bottom be disposed with 16 along 8 grooves respectively and put paw (3) and 16 sets lower pressing claw (5), in order to Compress the edge up and down of melon lobe;It is disposed with 8 gas along 8 grooves between upper paw (3) and lower pressing claw (5) Dynamic drawstring (7), is pressed on melon lobe on ellipsoid mould tire (4);Described pneumatic drawstring (7) is flexible knot Structure, inner side is air bag, and outside is stainless steel band;Ellipsoid mould tire (4) is provided with guiding mechanism (6); Air bag finger tip hold-down mechanism (1) is hydraulically operated realization and swings opening and closing, and it compresses equipped with two air bags Device;Close up air bag finger tip hold-down mechanism (1) after installing store-vessel bottom melon lobe, will be located in end hook look Hang on the hangers (2) of ellipsoid mould tire (4), more just may be used to air bag finger tip hold-down mechanism (1) inflation Melon lobe welding edge is tightly compacted on ellipsoid mould tire (4).
Store-vessel bottom melon lobe longitudinal joint numerical control welding system the most according to claim 1, its feature exists In:
Described manipulator (63) beam lifting and flexible employing driven by servomotor, by digital control system Control, overturn coordination with seat positioner (61) end to end.
Store-vessel bottom melon lobe longitudinal joint numerical control welding system the most according to claim 1, its feature exists In:
Described pneumatic drawstring (7) is arranged in the middle part of each melon lobe, for longitudinally pneumatic drawstring.
CN201510195805.0A 2015-04-24 2015-04-24 Store-vessel bottom melon lobe longitudinal joint numerical control welding system Active CN104801904B (en)

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Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105352982A (en) * 2015-11-23 2016-02-24 上海航天精密机械研究所 Rocket storage tank bottom welded seam X-ray digital imaging detection system and detection method
CN107020473A (en) * 2016-01-29 2017-08-08 南京科技职业学院 A kind of group of melon flap-type end socket is to instrument
CN107350614A (en) * 2017-08-11 2017-11-17 江门市江海区中盈汇五金制品有限公司 Arrange welder in a kind of fan housing side Wang Hu sides
CN108907524B (en) * 2018-07-31 2020-07-31 中南大学 Method for accurately measuring welding clamping loading force of large-scale complex curvature component
CN109175619A (en) * 2018-09-01 2019-01-11 哈尔滨工程大学 A kind of ship bulb welding mechanism
CN111390375A (en) * 2020-04-14 2020-07-10 首都航天机械有限公司 Automatic clamping and feeding device of large-scale melon petal wallboard robot

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Publication number Priority date Publication date Assignee Title
FR2456588A1 (en) * 1979-05-18 1980-12-12 Creusot Loire Automatic welding plant for large curved workpieces or domes - can be tilted under automatic welding burner provided with horizontal and vertical motions
CN202861602U (en) * 2012-09-18 2013-04-10 天津市津莆钢结构有限公司 Gantry type H-shaped steel submerged-arc welding machine
CN103464905A (en) * 2013-09-12 2013-12-25 上海航天精密机械研究所 Clamping device adoptable for cutting and welding rocket tank bottom longitudinal seam through laser
CN203726060U (en) * 2014-03-03 2014-07-23 首都航天机械公司 Compressing device for tank bottom scalloped segment parts
CN204686315U (en) * 2015-04-24 2015-10-07 艾美特焊接自动化技术(北京)有限公司 Store-vessel bottom melon lobe longitudinal joint numerical control welder

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JPS5223866B2 (en) * 1974-11-15 1977-06-27
JPH08206880A (en) * 1995-01-31 1996-08-13 Mitsubishi Heavy Ind Ltd Plate material holder
JP5162193B2 (en) * 2007-09-27 2013-03-13 Jfeコンテイナー株式会社 Inner jig device for circumferential welding and circumferential welding method using the same

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2456588A1 (en) * 1979-05-18 1980-12-12 Creusot Loire Automatic welding plant for large curved workpieces or domes - can be tilted under automatic welding burner provided with horizontal and vertical motions
CN202861602U (en) * 2012-09-18 2013-04-10 天津市津莆钢结构有限公司 Gantry type H-shaped steel submerged-arc welding machine
CN103464905A (en) * 2013-09-12 2013-12-25 上海航天精密机械研究所 Clamping device adoptable for cutting and welding rocket tank bottom longitudinal seam through laser
CN203726060U (en) * 2014-03-03 2014-07-23 首都航天机械公司 Compressing device for tank bottom scalloped segment parts
CN204686315U (en) * 2015-04-24 2015-10-07 艾美特焊接自动化技术(北京)有限公司 Store-vessel bottom melon lobe longitudinal joint numerical control welder

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Denomination of invention: Numerical control welding system for longitudinal seam of melon flap at tank bottom

Effective date of registration: 20210414

Granted publication date: 20160817

Pledgee: Bank of Communications Ltd. Beijing branch

Pledgor: AMET WELDING AUTOMATION TECHNOLOGY (BEIJING) Co.,Ltd.

Registration number: Y2021990000329