CN108927615B - Automatic welding device and method for sealing titanium pipe - Google Patents
Automatic welding device and method for sealing titanium pipe Download PDFInfo
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- CN108927615B CN108927615B CN201810960448.6A CN201810960448A CN108927615B CN 108927615 B CN108927615 B CN 108927615B CN 201810960448 A CN201810960448 A CN 201810960448A CN 108927615 B CN108927615 B CN 108927615B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
- B23K31/027—Making tubes with soldering or welding
Abstract
The invention belongs to the technical field of welding and sealing of metal pipes, and particularly relates to an automatic welding device and method for sealing a titanium pipe. The device comprises a feeding system (3) connected with a vibration screw table (2), a mechanical clamping system (4) arranged on a sliding rail system (5), a welding system (6) and a discharging system (7), wherein under the control of a control system (1), a titanium pipe output by the vibration screw table (2) is clamped by the mechanical clamping system (4) and is sequentially transmitted to the welding system (6) and the discharging system (7) through the sliding rail system (5) after being transmitted by the feeding system (3), and the welding of one end of the titanium pipe to form a titanium cup and the release of the titanium cup are completed. The invention has high automation degree, high production efficiency, high product qualification rate, beautiful welding spots of the titanium cup, no oxidative discoloration, and simultaneously, the invention can reduce the working intensity of operators and is beneficial to labor protection.
Description
Technical Field
The invention belongs to the technical field of welding and sealing of metal pipes, and particularly relates to an automatic welding device and method for sealing a titanium pipe.
Background
Malignant tumors have been serious diseases threatening human health, and brachytherapy by implanting radioactive particles into tumor tissue has been a new tumor treatment technology developed in recent decades. The radioactive nuclide in the radioactive particles emits rays when decaying, and the tumor cells are continuously irradiated in a short distance to kill the tumor cells, so that the purposes of relieving and treating diseases are achieved. The technology is widely used for treating various solid tumors, such as prostate cancer, breast cancer, liver cancer, ovarian cancer, brain tumor, intraorbital tumor and the like, has good treatment effect, and has wide application prospect, and clinical practice proves that the technology is safe and reliable, has good curative effect and small damage to normal tissues.
The radioactive particles for brachytherapy consist essentially of a source core and an envelope, the source core being typically adsorbed with 125 I、 103 Pd、 131 The cladding of the silver rod or microsphere of the radionuclide such as Cs is an ultrathin titanium tube (with the outer diameter of 0.8mm and the wall thickness of 0.05 mm) with two ends welded and sealed. The preparation process of the radioactive particles generally comprises the steps of firstly welding and sealing one end of a titanium tube to form a titanium cup, then filling a source core into the titanium cup, and finally welding and sealing the open end of the titanium cup, namely the other end of the titanium tube to obtain the radioactive particles, wherein the radioactive particles are required to have good welding and sealing performance and no leakage. That is, the preparation of radioactive particles generally requires the preparation of a titanium tube, i.e., a titanium cup, closed at one end, by welding. The preparation of titanium cup adopts manual operation's welding mode generally, for example presss from both sides the titanium pipe with tweezers, puts into the welding station and fixes, then welds the one end of titanium pipe and seals, forms the titanium cup, takes off the titanium cup again, obviously this mode needs to spend more time and manpower, and is efficient, with high costs, intensity of labour is big. The preparation of titanium cup also can adopt semi-automatic welding mode, firstly assemble titanium pipe 50 or 100 in specific feeding anchor clamps, then place anchor clamps in the relevant position of welding machine, have the push rod to promote every titanium pipe in proper order to the welding position, seal the one end of titanium pipe through electron beam or laser etc. welding, form titanium cup, semi-automatic welding mode adopts manual operation to pack into feeding anchor clamps with the titanium pipe, because the titanium pipe size is less, this process needs operating personnel to have good skill, still there is inefficiency, the cost is higher, intensity of labour is great shortcoming.
Disclosure of Invention
The invention aims to design an automatic welding device and method for sealing a titanium pipe, so that the welding sealing of the titanium pipe, namely the preparation of a titanium cup, is more automatic, the production efficiency is further improved, the high qualification rate and the attractive appearance of welding spots are ensured, the oxidation discoloration is avoided, and the labor intensity is reduced.
In order to achieve the aim, the invention adopts the technical proposal that
The automatic welding device for sealing the titanium pipe comprises a vibration screw table for supplying the titanium pipe, a feeding system connected with the vibration screw table, a mechanical clamping system arranged on a sliding rail system, a welding system and a discharging system, wherein the titanium pipe output by the vibration screw table is conveyed by the feeding system and then clamped by the mechanical clamping system under the control of a control system, the titanium pipe is firstly conveyed to the welding system by the sliding rail system to be welded into a titanium cup with one end closed, and then the titanium cup is conveyed to the discharging system to be released.
Further, vibrations screw table comprises electromagnetic shaker, screw table, wherein the screw table includes the feeding storehouse of cylinder, sets up the inboard spiral track of feeding storehouse lateral wall, interval setting are in a plurality of separation raised head on the spiral track, be located the spiral track export at spiral track end, a plurality of titanium pipe follow the feeding storehouse is followed under the effect of electromagnetic shaker the spiral track is continuous to the spiral track export, the separation raised head will overlap on the spiral track the titanium pipe separates for the titanium pipe arranges in a row and moves forward.
Further, the feeding system comprises a feeding hose, a transverse channel, a transverse push rod, a discharging straight pipe channel, a first induction probe and a vertical push rod, wherein one end of the feeding hose is connected with the outlet of the spiral track through the feeding port, the other end of the feeding hose is connected with the inlet of the feeding straight pipe, the transverse channel is connected with the outlet of the feeding straight pipe, one end of the transverse channel is provided with the transverse push rod pushed by a first motor, the other end of the transverse channel is provided with the discharging straight pipe channel, the outlet of the feeding straight pipe is arranged between the transverse push rod and the discharging straight pipe channel, the first induction probe is arranged on the transverse channel and is positioned near the outlet of the feeding straight pipe, and the vertical push rod can do up-down telescopic motion in the discharging straight pipe channel; the titanium tube sequentially passes through the feeding port, the feeding hose and the feeding straight tube from the spiral track outlet to enter the transverse channel, when the first sensing probe senses that the titanium tube falls into the transverse channel, the sensing signal of the first sensing probe is transmitted to the control system, the control system sends an instruction to enable the vibration spiral table to stop vibrating, movement of the titanium tube in the spiral track is stopped, and the titanium tube is prevented from being blocked at the spiral track and the spiral track outlet; the transverse push rod pushes the titanium tube to the discharge straight tube channel, the vertical push rod pushes the titanium tube downwards to pass through the discharge straight tube channel, and meanwhile, the transverse push rod returns to the original position; when the first inductive probe senses that no titanium pipe exists in the transverse channel, an inductive signal of the first inductive probe is transmitted to the control system, and the control system sends an instruction to enable the vibration screw table to start vibrating.
Further, the mechanical clamping system comprises a mechanical clamping hand and a second motor for driving the mechanical clamping hand to clamp, two clamping jaws which are arranged oppositely are arranged on the mechanical clamping hand, semicircular hole grooves corresponding to the diameter of the titanium tube are formed in the clamping jaws, and the two semicircular hole grooves jointly form a circular hole groove capable of clamping the titanium tube; an adjusting column is arranged below the discharging straight pipe channel and used for being matched with the mechanical clamping hand to adjust the titanium pipe clamped in the round hole groove, and the length of the titanium pipe extending out of the round hole groove is limited.
Further, the welding system comprises a welding table, a welding gun, a welding machine, a cold water machine and an inert gas steel cylinder, wherein the welding gun can be adjusted in position in the horizontal direction and the vertical direction and can also rotate, so that the optimal welding position relative to the titanium pipe is obtained.
Further, the discharging system comprises a discharging table provided with a first discharging hole, and the first discharging hole is divided into an upper part and a lower part through a notch; the device also comprises a second inductive probe opposite to the notch and a discharging ejector rod positioned above the first discharging hole; the device also comprises a stripper plate which is positioned below the first stripper hole and is pushed by a stripper rod, wherein a second stripper hole is arranged on the stripper plate, and the second stripper hole is aligned and staggered with the first stripper hole along with the reciprocating motion of the stripper plate, so that the first stripper hole is opened and plugged; the discharging device also comprises a discharging bin positioned below the discharging plate; the titanium pipe clamped in the clamping jaw is moved to the middle of the discharging ejector rod and the first discharging hole along the sliding rail system after one end of the titanium pipe is welded and sealed by the welding system to form the titanium cup, the titanium cup is coaxial with the discharging ejector rod and the first discharging hole, one welding end of the titanium cup is positioned above the titanium cup, the clamping jaw is loosened, the discharging ejector rod is pressed down, the titanium cup falls into the first discharging hole, at the moment, the discharging plate seals the first discharging hole, the titanium cup is intercepted by the discharging plate in the first discharging hole, at the moment, one end of the titanium cup, which is welded and sealed, is positioned at the notch, the second sensing probe senses that the titanium cup is positioned at the notch, the sensing signal of the second sensing probe is transmitted into the control system, and the control system sends an instruction to enable the discharging push rod to push the discharging plate to move, so that the second discharging hole is aligned with the first discharging hole, and then the titanium cup falls into the first discharging hole through the second sensing probe, and then the second sensing probe is not driven by the control system to fall into the notch, and the control system is reset, so that the titanium cup is not enabled to fall into the discharging hole; the first unloading hole can also intercept the titanium cup with unqualified welding quality.
Further, the sliding rail system comprises a sliding rail and a sliding table arranged on the sliding rail, the sliding table is driven by a third motor to move along the sliding rail, the mechanical clamping system is arranged on the sliding table, the sliding table drives the mechanical clamping system to move, so that the mechanical clamping hand clamps the titanium pipe below the discharging straight pipe channel, aligns one end of the titanium pipe below the welding gun, realizes that the welding gun seals one end of the titanium pipe to manufacture the titanium cup, aligns the titanium cup above the first discharging hole, and finishes releasing the titanium cup.
Further, the monitoring system comprises a monitoring probe connected with a video amplifier and a display for displaying video signals of the video amplifier, the monitoring probe faces the notch, a circle of micro-spotlight is arranged around the monitoring probe, light of the micro-spotlight irradiates the notch, the display displays images of the position of the notch in real time through the video amplifier, and one end of the titanium cup, which is sealed by welding, is inspected.
In order to achieve the above object, the present invention also discloses an automated welding method for titanium tube sealing for the automated welding device for titanium tube sealing, comprising the steps of:
step S1, arranging the titanium tubes in a row in the spiral track, sequentially entering the feeding hose and entering the transverse channel through the feeding straight tube;
step S2, the mechanical clamping hand moves to the position below the discharging straight pipe channel, the transverse push rod pushes the titanium pipe to the discharging straight pipe channel, then the titanium pipe is pushed into the mechanical clamping hand through the vertical push rod until the bottom end of the titanium pipe is contacted with the top end of the adjusting column, the mechanical clamping hand clamps the titanium pipe, and the adjusting column can be kept at a set height, so that the length of each titanium pipe extending outside the mechanical clamping hand is kept consistent;
step S3, the mechanical clamping hand is moved to the lower part of the welding gun, and one end of the titanium tube clamped by the mechanical clamping hand is aligned with the welding gun;
s4, welding and sealing one end of the titanium tube clamped by the mechanical clamping hand to manufacture the titanium cup;
s5, moving the mechanical clamping hand to the position above the first discharging hole, and aligning the titanium cup clamped by the mechanical clamping hand to the first discharging hole;
s6, loosening the mechanical clamping hand, pressing down the discharging ejector rod, enabling the titanium cup to fall into the first discharging hole, pushing the discharging plate to move through the discharging ejector rod, enabling the second discharging hole to be aligned with the first discharging hole, and enabling the titanium cup to fall into the discharging bin;
and step S7, repeating the step S1 to the step S6.
The invention has the beneficial effects that:
the invention has high automation degree, high production efficiency and high product qualification rate, and the welding spot of the titanium tube (namely the miniature titanium cup) welded and sealed at one end is beautiful and has no oxidative discoloration.
Drawings
FIG. 1 is a schematic view of an automated welding apparatus for sealing titanium tubes in accordance with an embodiment of the present invention.
Fig. 2 is a schematic top view of an automated welding apparatus for sealing titanium tubes in accordance with an embodiment of the present invention.
Fig. 3 is a schematic view of a vibrating screw table according to an embodiment of the present invention.
Fig. 4 is a schematic view of a feed system according to an embodiment of the invention.
Fig. 5 is a schematic view of a mechanical clip system according to an embodiment of the present invention.
Fig. 6 is a schematic view of a discharge system according to an embodiment of the present invention.
In the figure: 1-control system, 2-vibration screw deck, 21-vibrator, 22-screw deck, 221-feed bin, 222-screw track, 223-blocking nose, 224-screw track outlet, 3-feed system, 31-feed hose, 311-feed inlet, 32-feed straight pipe, 33-transverse channel, 34-transverse push rod, 35-discharge straight pipe channel, 36-vertical push rod, 37-first inductive probe, 38-first motor, 4-mechanical clamp system, 41-mechanical clamp hand, 411-clamping jaw, 412-semicircle orifice slot, 42-second motor, 5-slide rail system, 51-slide rail, 52-slide table, 53-third motor, 6-welding system, 61-welding table, 62-welding gun, 7-discharge system, 71-discharge table, 711-first discharge hole, 712-notch, 72-discharge push rod, 73-discharge plate, 731-second discharge hole, 74-discharge push rod, 75-bin, 76-second inductive probe, 8-monitoring system, 81-probe, 82-monitor, 82-video amplifier, 83-video amplifier, 9-working table.
Detailed Description
The invention is further described below with reference to the drawings and examples.
As shown in fig. 1 and 2, the automatic welding device for sealing the titanium pipe provided by the invention consists of a control system 1, a vibrating screw table 2, a feeding system 3, a mechanical clamping system 4, a sliding rail system 5, a welding system 6, a discharging system 7, a monitoring system 8 and a workbench 9. The control system 1, the vibrating screw table 2, the feeding system 3, the mechanical clamping system 4, the sliding rail system 5, the welding system 6, the discharging system 7 and the monitoring system 8 are arranged on the workbench 9. The dimensions of the titanium tube used for welding are 0.8mm in outer diameter, 6.4mm in length and 0.05mm in wall thickness (the automatic welding device and the automatic welding method provided by the invention are not limited to the dimensions, and the automatic welding device and the automatic welding method can be applied to the sealing of the titanium tube with other dimensions and the welding sealing of the end head of other metal tubes through adjusting equipment). The vibration screw table 2 is connected with the feeding system 3, the mechanical clamping system 4 is arranged on the sliding rail system 5, under the control of the control system 1, the titanium pipe output by the vibration screw table 2 is conveyed through the feeding system 3 and then clamped by the mechanical clamping system 4, the titanium pipe is firstly conveyed to the welding system 6 through the sliding rail system 5 and welded into a titanium cup with one closed end, and then the titanium cup is conveyed to the discharging system 7 for release.
As shown in fig. 3, the vibration screw table 2 is composed of a vibrator 21 and a screw table 22, wherein the screw table 22 comprises a cylindrical feeding bin 221, a screw rail 222 arranged on the inner side of the side wall of the feeding bin 221, four blocking bosses 223 arranged on the screw rail 222 at intervals, and a screw rail outlet 224 positioned at the tail end of the screw rail 222. A plurality of titanium pipes are placed in a feeding bin 221 of the vibration screw table 2, the vibrator 21 drives the screw table 22 to vibrate, the titanium pipes move forwards along a screw track 222 from the feeding bin 221, and the blocking raised heads 223 can separate the overlapped titanium pipes on the screw track 222, so that the titanium pipes are arranged in a row along the screw track 222 without overlapping and sequentially move to a screw track outlet 224.
As shown in fig. 4, the feeding system 3 is composed of a feeding hose 31, a feeding straight pipe 32, a transverse channel 33, a transverse push rod 34, a discharging straight pipe channel 35, a vertical push rod 36, a first induction probe 37 and a first motor 38. One end of the feeding hose 31 is connected with the spiral track outlet 224 through a feeding hole 311 (the feeding hole 311 is shown in fig. 3), the other end is connected with the inlet of the feeding straight tube 32, the inner diameter of the feeding hose 31 is matched with the inner diameter of the feeding straight tube 32 and the outer diameter of the titanium tube, and a single titanium tube can smoothly pass through the feeding hose 31 and the feeding straight tube 32. The transverse channel 33 is connected with the outlet of the feeding straight tube 32, one end of the transverse channel 33 is provided with a transverse push rod 34 pushed by a first motor 38, the other end of the transverse channel is provided with a discharging straight tube channel 35, and the outlet of the feeding straight tube 32 is arranged between the transverse push rod 34 and the discharging straight tube channel 35. The first sensing probe 37 is disposed on the lateral passage 33 at a position near the outlet of the feed straight tube 32, and is capable of sensing whether or not a titanium tube enters the lateral passage 33 from the outlet of the feed straight tube 32. The vertical ejector rod 36 can perform up-and-down telescopic movement in the discharging straight pipe channel 35. The titanium tube sequentially passes through the feeding hole 311, the feeding hose 31 and the feeding straight tube 32 from the spiral track outlet 224 to enter the transverse channel 33, when the first sensing probe 37 senses that the titanium tube falls into the transverse channel 33, the sensing signal of the first sensing probe 37 is transmitted into the control system 1, the control system 1 sends a command to stop vibrating the spiral table 2, the titanium tube stops moving along the spiral track 222, so that the titanium tube stops entering the feeding hose 31, the transverse push rod 34 pushes the titanium tube entering the transverse channel 33 to the position of the discharge straight tube channel 35, the vertical push rod 36 pushes the titanium tube positioned at the position of the discharge straight tube channel 35 downwards to pass through the discharge straight tube channel 35, and meanwhile, the transverse push rod 34 returns to the original position; when the first sensing probe 37 senses that no titanium tube exists in the transverse channel 33, a sensing signal of the first sensing probe 37 is transmitted into the control system 1, and the control system 1 sends a command to enable the vibrating screw table 2 to start vibrating, and the titanium tube moves forwards along the screw track 222 so as to enter the feeding hose 31.
As shown in fig. 1 and 2, the welding system 6 is composed of a welding table 61, a welding gun 62, a welding machine, a cold water machine and an inert gas steel cylinder, wherein the welding gun 62 can be adjusted in the horizontal direction and the vertical direction (namely, the front direction, the rear direction, the left direction, the right direction, the upper direction, the lower direction and the like can be adjusted), and can also be rotated, so that the optimal welding position relative to the titanium pipe is obtained.
As shown in fig. 5, the mechanical clamping system 4 includes a mechanical clamping hand 41 and a second motor 42 for driving the mechanical clamping hand 41 to clamp, two clamping jaws 411 are arranged on the mechanical clamping hand 41, semicircular hole grooves 412 (with the diameter of 0.8 mm) corresponding to the diameter of the titanium tube are arranged on the clamping jaws 411, and the two semicircular hole grooves 412 together form a circular hole groove capable of clamping the titanium tube. The mechanical clamping system 4 is connected to a sliding table 52 of the sliding rail system 5, and can move along the sliding rail 51 along with the sliding table 52. When the vertical ejector rod 36 of the feeding system 3 pushes the titanium pipe downwards to pass through the straight discharging pipe channel 35, the mechanical clamping system 4 moves to the lower part of the straight discharging pipe channel 35 of the feeding system 3 in advance, so that the round hole groove spliced by the two semicircular hole grooves 412 of the clamping jaw 411 of the mechanical clamping system 4 is located right below the straight discharging pipe channel 35 of the feeding system 3, the round hole groove spliced by the two semicircular hole grooves 412 of the clamping jaw 411 of the mechanical clamping system 4 is coaxial with the straight discharging pipe channel 35 of the feeding system 3, the titanium pipe coming out of the straight discharging pipe channel 35 of the feeding system 3 falls into the round hole groove spliced by the two semicircular hole grooves 412 of the clamping jaw 411 of the mechanical clamping system 4, and the second motor 42 of the mechanical clamping system 4 drives the clamping jaw 411 of the mechanical clamping hand 41 to clamp the titanium pipe. An adjusting column is arranged below the discharging straight pipe channel 35, the adjusting column can be adjusted in position on the vertical height and is used for being matched with the mechanical clamping hand 41 to adjust the titanium pipe clamped in the round hole groove, and the length of the titanium pipe extending out of the round hole groove is limited. The specific function of the adjusting column is: the titanium pipe falls from ejection of compact straight tube passageway 35, passes the round hole groove of clamping jaw 411, and the bottom of titanium pipe falls on the adjusting column, then clamping jaw 411 cramps the titanium pipe for every titanium pipe extends the length below the round hole groove and keeps unanimous.
As shown in fig. 6, the discharging system 7 is composed of a discharging table 71, a discharging ejector rod 72, a discharging plate 73, a discharging push rod 74, a discharging bin 75 and a second sensing probe 76. The discharging table 71 is provided with a first discharging hole 711, and the first discharging hole 711 is divided into an upper part and a lower part through a notch 712; the second sensing probe 76 is opposite to the notch 712, and can sense whether a titanium cup (i.e. a titanium tube with one end welded and sealed) exists in the notch 712. The discharge ram 72 is positioned above the first discharge aperture 711, the discharge ram 72 being coaxial with the first discharge aperture 711. The stripper plate 73 is located below the first stripper hole 711, and is pushed by the stripper rod 74, the stripper plate 73 is provided with a second stripper hole 731, the diameter of the second stripper hole 731 is larger than that of the first stripper hole 711, and along with the reciprocating motion of the stripper plate 73, the second stripper hole 731 can be aligned (i.e., coaxial) with and staggered from the first stripper hole 711, so that the first stripper hole 711 is opened and plugged. A discharge bin 75 is located below the stripper plate 73 for collecting the welded titanium cups. After one end of the titanium tube clamped in the clamping jaw 411 is welded and sealed on the welding system 6 to form a titanium cup, the sliding rail system 5 moves to the middle of the discharge ejector rod 72 and the first discharge hole 711, the titanium cup, the discharge ejector rod 72 and the first discharge hole 711 are coaxial, one welding end of the titanium cup is positioned above, the second motor 42 of the mechanical clamping system 4 drives the clamping jaw 411 to loosen, the discharge ejector rod 72 pushes downwards, the titanium cup falls into the first discharge hole 711, at the moment, the discharge plate 73 seals the first discharge hole 711, the titanium cup is intercepted in the first discharge hole 711 by the discharge plate 73, at the moment, one end of the titanium cup, which is welded and sealed, is positioned at the gap 712, a sensing signal of the second sensing probe 76 is transmitted into the control system 1, the control system 1 sends an instruction to enable the discharge push rod 74 to push the discharge plate 73 to move so that the second discharge hole is aligned with the first discharge hole 731, then the second sensing probe 76 senses no titanium cup at the gap 712, and the sensing signal is transmitted into the control system 1, the control system 74 sends an instruction to enable the discharge plate 73 to be staggered with the first discharge hole 731, and the first discharge plate 73 is enabled to be staggered with the discharge hole 73; the first discharge hole 711 can also intercept titanium cups with unacceptable weld quality (e.g., titanium cups with oversized weld site diameters, skewed heads, and burrs on the surface).
As shown in fig. 1 and 2, the slide rail system 5 is composed of a slide rail 51, a slide table 52, and a third motor 53, and the third motor 53 can drive the slide table 52 to move along the slide rail 51. The mechanical clamping system 4 is arranged on the sliding table 52, the sliding table 52 drives the mechanical clamping system 4 to move, the mechanical clamping hand 41 clamps the titanium pipe below the discharging straight pipe channel 35, one end of the titanium pipe is aligned with the welding gun 62 below the welding gun 62, the titanium pipe is welded and sealed at one end of the titanium pipe to form a titanium cup, and the titanium cup is aligned with the first discharging hole 711 above the first discharging hole 711 to finish the release of the titanium cup.
As shown in fig. 1 and 2, the monitoring system 8 includes a monitoring probe 81, a video amplifier 82, and a display 83. The monitoring probe 81 is connected to a video amplifier 82, and the signal of the video amplifier 82 is transmitted to a display 83. The monitoring probe 81 is opposite to the notch 712 of the discharging system 7, and the display 83 displays images of the position of the notch 712 in real time through the video amplifier 82, wherein the images comprise the falling process of the titanium cup at the notch 712. Around the monitoring probe 81 is a circle of miniature spotlight, and the light of the miniature spotlight irradiates the notch 712 to provide light for the position of the notch 712 so as to ensure the definition of the displayed image. When the titanium cup falls into the first discharging hole 711 (at this time, the first discharging hole 711 is blocked, the titanium cup holder is on the discharging plate 73), the welded seal head part of the titanium cup is just located in the notch 712, and the image of the upper end part of the titanium cup including the seal head is amplified and transmitted to the display 83, and is displayed on the display 83 in real time, so that the one-by-one inspection of the welded sealed ends of the titanium cup is realized.
The invention also provides an automatic welding method for the titanium tube sealing, which is used for the automatic welding device for the titanium tube sealing and comprises the following steps of:
step S1, arranging titanium pipes in a row in a spiral track 222, sequentially entering a feeding hose 31 and entering a transverse channel 33 through a feeding straight pipe 32;
step S2, the mechanical clamping hand 41 moves to the lower part of the discharging straight pipe channel 35, the transverse push rod 34 pushes the titanium pipe to the discharging straight pipe channel 35, then the titanium pipe is pushed into a round hole groove formed by a semicircular hole groove 412 on the clamping jaw 411 of the mechanical clamping hand 41 through the vertical push rod 36 until the bottom end of the titanium pipe contacts with the top end of an adjusting column, the mechanical clamping hand 41 clamps the titanium pipe, and the adjusting column can be kept at a set height, so that the length of each titanium pipe extending outside the mechanical clamping hand 41 is kept consistent;
step S3, the mechanical clamping hand 41 is moved to the lower part of the welding gun 62, and one end of the titanium tube clamped by the mechanical clamping hand 41 is aligned with the welding gun 62;
s4, welding and sealing one end of the titanium tube clamped by the mechanical clamp 41 to manufacture a titanium cup; when the upper end of the titanium tube is right against the welding gun head of the welding gun 62, the upper end of the titanium tube is protected by inert gas, a welding arc is sent out by the welding gun head, the welding arc is vertical to the clamping jaw 411 of the mechanical clamping system 4, and is concentric with a round hole groove spliced by a semicircular hole groove 412 at the front end of the clamping jaw 411 of the mechanical clamping system 4, that is, the welding arc is concentric with the titanium tube in the round hole groove spliced by the semicircular hole groove 412 clamped by the clamping jaw 411 of the mechanical clamping system 4, the welding arc melts the material at the part of the upper end of the titanium tube, the melted material forms the sealing head at the upper end part of the titanium tube, and the preparation of the titanium cup is completed;
step S5, the mechanical clamping hand 41 is moved to the position above the first unloading hole 711, and the titanium cup clamped by the mechanical clamping hand 41 is aligned with the first unloading hole 711;
step S6, the mechanical clamping hand 41 is loosened, the discharging ejector rod 72 is pressed down, the titanium cup falls into the first discharging hole 711, the discharging plate 73 is pushed to move by the discharging ejector rod 74, the second discharging hole 731 is aligned with the first discharging hole 711, and the titanium cup falls into the discharging bin 75;
step S7, repeating steps S1 to S6.
The device according to the invention is not limited to the examples described in the specific embodiments, and a person skilled in the art obtains other embodiments according to the technical solution of the invention, which also belong to the technical innovation scope of the invention.
Claims (2)
1. An automatic welding device for sealing a titanium pipe is characterized in that: the device comprises a vibration screw table (2) for supplying titanium pipes, a feeding system (3) connected with the vibration screw table (2), a mechanical clamping system (4) arranged on a sliding rail system (5), a welding system (6) and a discharging system (7), wherein under the control of a control system (1), the titanium pipes output by the vibration screw table (2) are clamped by the mechanical clamping system (4) after being conveyed by the feeding system (3), and the titanium pipes are firstly conveyed to the welding system (6) through the sliding rail system (5) to be welded into titanium cups with one closed end, and then conveyed to the discharging system (7) to be released;
the vibration screw table (2) consists of a vibrator (21) and a screw table (22), wherein the screw table (22) comprises a cylindrical feeding bin (221), screw rails (222) arranged on the inner side of the side wall of the feeding bin (221), a plurality of blocking raised heads (223) arranged on the screw rails (222) at intervals, screw rail outlets (224) positioned at the tail ends of the screw rails (222), and a plurality of titanium pipes continuously advance from the feeding bin (221) to the screw rail outlets (224) along the screw rails (222) under the action of the vibrator (21), and the blocking raised heads (223) separate the titanium pipes overlapped on the screw rails (222) so that the titanium pipes are arranged in a row to move forwards;
the feeding system (3) comprises a feeding hose (31) with one end connected with the spiral track outlet (224) through a feeding hole (311) and the other end connected with the inlet of a feeding straight pipe (32), and further comprises a transverse channel (33) connected with the outlet of the feeding straight pipe (32), wherein one end of the transverse channel (33) is provided with a transverse push rod (34) pushed by a first motor (38), the other end of the transverse channel is provided with a discharging straight pipe channel (35), the outlet of the feeding straight pipe (32) is arranged between the transverse push rod (34) and the discharging straight pipe channel (35), and further comprises a first induction probe (37) arranged on the transverse channel (33) and positioned near the outlet of the feeding straight pipe (32), and a vertical push rod (36) capable of performing up-down telescopic motion in the discharging straight pipe channel (35); the titanium tube sequentially passes through the feeding hole (311), the feeding hose (31) and the feeding straight tube (32) from the spiral track outlet (224) to enter the transverse channel (33), when the first inductive probe (37) senses that the titanium tube falls into the transverse channel (33), an inductive signal of the first inductive probe (37) is transmitted to the control system (1), the control system (1) sends an instruction to enable the vibration spiral table (2) to stop vibrating, movement of the titanium tube in the spiral track (222) is stopped, and the titanium tube is prevented from being blocked at the spiral track (222) and the spiral track outlet (224); the transverse push rod (34) pushes the titanium tube to the position of the straight discharging tube channel (35), the vertical push rod (36) pushes the titanium tube downwards to pass through the straight discharging tube channel (35), and meanwhile the transverse push rod (34) returns to the original position; when the first induction probe (37) senses that no titanium pipe exists in the transverse channel (33), an induction signal of the first induction probe (37) is transmitted to the control system (1), and the control system (1) sends an instruction to enable the vibration screw table (2) to start vibrating;
the mechanical clamping system (4) comprises a mechanical clamping hand (41) and a second motor (42) for driving the mechanical clamping hand (41) to clamp, two clamping jaws (411) which are oppositely arranged are arranged on the mechanical clamping hand (41), semicircular hole grooves (412) corresponding to the diameter of the titanium tube are formed in the clamping jaws (411), and the two semicircular hole grooves (412) jointly form a circular hole groove capable of clamping the titanium tube; an adjusting column is arranged below the discharging straight pipe channel (35) and is used for adjusting the titanium pipe clamped in the round hole groove in a matched mode by the mechanical clamping hand (41), and the length of the titanium pipe extending out of the round hole groove is limited;
the welding system (6) comprises a welding table (61), a welding gun (62), a welding machine, a cold water machine and an inert gas steel cylinder, wherein the welding gun (62) can be adjusted in position in the horizontal direction and the vertical height and can also rotate so as to obtain the optimal welding position relative to the titanium pipe;
the discharging system (7) comprises a discharging table (71) provided with a first discharging hole (711), and the first discharging hole (711) is divided into an upper part and a lower part through a notch (712); the device also comprises a second inductive probe (76) which is opposite to the notch (712) and a discharging ejector rod (72) which is positioned above the first discharging hole (711); the device also comprises a stripper plate (73) which is positioned below the first stripper hole (711) and is pushed by a stripper rod (74), wherein a second stripper hole (731) is arranged on the stripper plate (73), and the second stripper hole (731) is aligned and staggered with the first stripper hole (711) along with the reciprocating motion of the stripper plate (73), so that the first stripper hole (711) is opened and plugged; the device also comprises a discharging bin (75) positioned below the discharging plate (73); after the welding system (6) welds one end of the titanium tube clamped in the clamping jaw (411) to form the titanium cup, the titanium tube is moved along the sliding rail system (5) to the middle of the first unloading hole (711) and the titanium cup is coaxial with the unloading ejector rod (72) and the first unloading hole (711), the welding end of the titanium cup is positioned above, the clamping jaw (411) is loosened, the unloading ejector rod (72) is pressed down, so that the titanium cup falls into the first unloading hole (711), the unloading plate (73) is blocked in the first unloading hole (711) at the moment, the welding closed end of the titanium cup is positioned at the notch (712), the second sensing probe (76) senses the titanium cup at the notch (712), the control signal of the second sensing probe (76) is transmitted, the control system (731) is transmitted to the second sensing probe (76) to enable the titanium cup to fall into the notch (731), the unloading plate (73) is stopped in the first unloading hole (711) at the moment, the second sensing probe (731) is stopped in the notch (76), the sensing signal is transmitted to the control system (1), the control system (1) sends an instruction to enable the discharging push rod (74) to drive the discharging plate (73) to reset, so that the second discharging hole (731) is staggered with the first discharging hole (711), and the blocking of the discharging plate (73) to the first discharging hole (711) is realized; the first discharging hole (711) can also intercept titanium cups with unqualified welding quality;
the sliding rail system (5) comprises a sliding rail (51) and a sliding table (52) arranged on the sliding rail (51), the sliding table (52) is driven by a third motor (53) to move along the sliding rail (51), the mechanical clamping system (4) is arranged on the sliding table (52), the sliding table (52) drives the mechanical clamping system (4) to move, so that the mechanical clamping hand (41) clamps the titanium pipe below the discharging straight pipe channel (35), one end of the titanium pipe is aligned with the welding gun (62) below the welding gun (62) to realize the welding and sealing of one end of the titanium pipe to manufacture the titanium cup, and the titanium cup is aligned with the first discharging hole (711) above the first discharging hole (711) to finish the release of the titanium cup;
the titanium cup welding device is characterized by further comprising a monitoring system (8), wherein the monitoring system (8) comprises a monitoring probe (81) connected with a video amplifier (82) and a display (83) for displaying video signals of the video amplifier (82), the monitoring probe (81) is opposite to the notch (712), a circle of micro-spotlight is arranged around the monitoring probe (81), light of the micro-spotlight irradiates the notch (712), and the display (83) displays images of the position of the notch (712) in real time through the video amplifier (82), so that one end of the titanium cup, which is welded and sealed, is inspected.
2. An automated welding method for titanium tube sealing for use with the apparatus of claim 1, comprising the steps of:
step S1, arranging the titanium pipes in a row in the spiral track (222), sequentially entering the feeding hose (31) and entering the transverse channel (33) through the feeding straight pipe (32);
step S2, the mechanical clamping hand (41) moves to the position below the straight discharging pipe channel (35), the transverse push rod (34) pushes the titanium pipe to the straight discharging pipe channel (35), then the titanium pipe is pushed into the mechanical clamping hand (41) through the vertical push rod (36) until the bottom end of the titanium pipe is in contact with the top end of the adjusting column, the mechanical clamping hand (41) clamps the titanium pipe, and the adjusting column can be kept at a set height, so that the length of each titanium pipe extending outside the mechanical clamping hand (41) is kept consistent;
step S3, the mechanical clamping hand (41) is moved to the lower part of the welding gun (62), and one end of the titanium tube clamped by the mechanical clamping hand (41) is aligned with the welding gun (62);
s4, welding and sealing one end of the titanium tube clamped by the mechanical clamping hand (41) to manufacture the titanium cup;
step S5, the mechanical clamping hand (41) is moved to the position above the first discharging hole (711), and the titanium cup clamped by the mechanical clamping hand (41) is aligned to the first discharging hole (711);
step S6, the mechanical clamping hand (41) is loosened, the discharging ejector rod (72) is pressed down, the titanium cup falls into the first discharging hole (711), the discharging plate (73) is pushed to move by the discharging ejector rod (74), so that the second discharging hole (731) is aligned with the first discharging hole (711), and the titanium cup falls into the discharging bin (75);
and step S7, repeating the step S1 to the step S6.
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| CN201810960448.6A CN108927615B (en) | 2018-08-22 | 2018-08-22 | Automatic welding device and method for sealing titanium pipe |
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| CN201810960448.6A CN108927615B (en) | 2018-08-22 | 2018-08-22 | Automatic welding device and method for sealing titanium pipe |
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| CN108927615B true CN108927615B (en) | 2023-06-13 |
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| CN108927615A (en) | 2018-12-04 |
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