CN109332932A

CN109332932A - A kind of exhaust manifold automatic welding device and its working method

Info

Publication number: CN109332932A
Application number: CN201811383978.5A
Authority: CN
Inventors: 李春洪
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-11-20
Filing date: 2018-11-20
Publication date: 2019-02-15

Abstract

The present invention provides a kind of exhaust manifold automatic welding device and its working methods, including equipment rack, single hop welding bench, welding carrying inspecting manipuator, flange slideway, Combination Welding workbench and burnishing device；The single hop welding bench can move left and right, overturn butt weld, the clamping jaw of setting can rotate weldment in welding, the clamping welder that inspecting manipuator is carried in the welding has welding, carries, detection function, the flange slideway can glide flange and the butt weld of manifold head section automatically, the Combination Welding workbench can be docking together each section of manifold combinations, and automatically starting polishes program after welding exhaust main.The present invention uses segmented welding working method, first distinguish weldment head section flange and curved segment pipeline, enters back into work in combination platform butt weld integral solder, inner surface of pipeline is polished using fluid abrasive grain, manipulator carries out weld seam detection after the completion of welding, meets very much exhaust manifold welding process requirement.

Description

A kind of exhaust manifold automatic welding device and its working method

Technical field

The invention belongs to auto parts and components processing technique field, it is related to a kind of exhaust manifold automatic welding device and its work Method.

Background technique

Exhaust manifold is important composition part in automobile manufacture, is mainly used in the welding procedure to exhaust manifold at present Based on manual welding, and existing manual welding can not disposably complete the welding of weld seam, and even weld is poor when welding, lead Cause welding quality unstable；When welding simultaneously need that exhaust manifold is fixed in fixture adjustment butt weld repeatedly, it is serious Production efficiency is influenced, high labor cost is increased；And there are welding slag, burr etc. are miscellaneous for welding completion back exhaust manifold inner surface weld seam Object can increase exhaust resistance, be vented the phenomenon that gets muddled, influence engine work；Weld seam can not be detected after welding in time Air-tightness needs to do over again again if it is bad air-tightness occur, time-consuming and laborious.

Therefore, it is necessary to design a kind of exhaust manifold automatic welding device, can be carried out according to each section of face shaping difference Automatic welding work, then automatic transporting docks and welds together into tooling combination mold, can be automatic after the completion of welding It polishes inner surface of pipeline and carries out air-leakage test work.

Summary of the invention

To solve the above problems, the present invention provides a kind of exhaust manifold automatic welding device and its working methods.This hair Bright includes equipment rack, single hop welding bench, welding carrying inspecting manipuator, flange slideway, Combination Welding workbench and throwing Electro-optical device；Single hop welding bench can on equipment rack left and right carry out movement docked with automatic downslide flange, and by Clamping jaw is arranged in shaft so that weldment is rotated by 360 ° around Y-axis, weldment can be made to rotate around X-axis by the way that idler wheel is arranged on clamping jaw 360 °, keeps weld seam docking even closer, butt-welding fitting different angle weld seam is facilitated to be welded, improve welding quality；Welding is carried Inspecting manipuator head is provided with air-actuated jaw, can grab weldment, fixture is equipped with telescopic welding gun, when clamping weldment Welding gun can actively be withdrawn, and not influence fixture clamping work, while ultrasonic transmission/reception one detection probe is installed in gripping finger, weldering Carrying out flaw detection is carried out after the completion of connecing, and improves working efficiency；It, can be each by the way that composable mold is arranged on Combination Welding workbench Section manifold combinations are docking together and then again while being welded, and effectively increase even weld, it is ensured that welding quality；Simultaneously It is also integrated with burnishing device, can be existed automatically to exhaust manifold inner surface weld seam using abrasive fluid after the completion of Combination Welding The sundries such as welding slag, burr reduce exhaust resistance by polishing removal, improve product quality.

Technical scheme is as follows:

A kind of exhaust manifold automatic welding device, including equipment rack, single hop welding bench, welding carry inspecting manipuator, Flange slideway, Combination Welding workbench and burnishing device；The equipment rack passes through upper and lower two cross between being equipped with four groups, every two groups It is fixedly connected to slide bar, the single hop welding bench is equipped with two groups, and single hop welding bench bottom is equipped with linear motor I, the linear motor I is socketed on slide bar, and four support rods I, the support rod I are fixed at the top of the linear motor I Top is fixed on two pack supports, and the mid-stent is equipped with shaft, and the shaft passes through bracket, and the roller end is connected with Servo motor is overturn, sliding sleeve is connected to clamping pull rod in the shaft, and the clamping tie rod end is connected with clamping cylinder I, institute Shaft is stated equipped with clamping jaw, the clamping jaw is divided into movable claw and fixed jaw, and the movable claw, which is fixed on, to be clamped on pull rod, described solid Determine pawl to be fixed in shaft, the clamping jaw top is equipped with multiple groups driven roller, and the clamping jaw bottom is equipped with driving roller, the master Dynamic idler wheel is connected with rolling servo motor；The welding is carried inspecting manipuator and is located at by equipment rack, and inspection is carried in the welding It surveys manipulator bottom and is equipped with slide rail, manipulator base is socketed on the slide rail, is set in the middle part of the manipulator base There is ball screw, the ball screw end is connected on sliding servo motor, and the welding is carried inspecting manipuator end and set There is clamping welder；The flange slideway is located on the left of equipment rack, and flange slideway one end is fixedly connected on support frame On, one end is fixedly connected on equipment rack, and in 45 degree of inclination arrangements, flange slideway middle and lower part is equipped with stop cylinder, Flange slideway bottom end is equipped with clamping cylinder II, and the flange slideway is hollow concave structure；Flange slideway bottom end Level height is consistent with clamping jaw；The Combination Welding workbench includes pressing table, left expansion chuck and right clamping disk, the pressure Tight platform bottom is equipped with linear motor II, and the linear motor II is equipped with four support rods II, II both ends of the support rod difference It is fixed on linear motor II and pressing table, the left expansion chuck is located on the right side of pressing table, during the left expansion chuck passes through Empty fixing pipe is connect with pressing table, and the left expansion chuck is equipped with Pneumatic clamping jaw, and the right clamping disk is located at an equipment rack left side Side, the right clamping disk front end are equipped with composable mold, and the right clamping back-end disk is fixedly connected with rotation axis, and the rotation axis is worn Crossbearer is crossed, and is connected on rotary electric machine, the crossbearer both ends and equipment rack are socketed, and the crossbearer vertical direction is fixed with Elevating screw, the elevating screw top are connected with lifting motor, and the burnishing device is located on the right side of equipment rack；The single hop Welding bench can be driven by linear motor I and be moved left and right along slide bar, facilitate butt weld, institute's shaft is in overturning servo The drive of motor carries out 360 degree rotation, and the clamping jaw in shaft, which carries weldment, to be rotated simultaneously；Multiple groups are provided on clamping jaw Driven roller and driving roller can drive weldment to carry out 360 degree rotation in clamping jaw when clamping weldment welding, improve welding matter Amount；The welding is carried inspecting manipuator and can be slided on slide rail, and clamping is facilitated to weld, and the flange slideway is in 45 degree Inclination can be flange and can be glided using self gravity, facilitate docking weld bond, it is a large amount of that the stop cylinder can be avoided flange Lower slide pressing force is excessive, and II clamping force of clamping cylinder is inadequate, and flange is fallen；The pressing table can by linear motor II drive along Slide bar moves left and right, facilitate and clamp exhaust main and dock weld bond with each section of manifold, and the rotation axis, which is able to drive, to combine Exhaust main, which is rotated by 360 °, to be welded, and welding quality is improved；The elevating screw can drive composable mold to be gone up and down, and cut Change jobs mode.

Further, the clamping welder includes that pneumatic gripping finger cylinder, pneumatic gripping finger, flexible welding gun and ultrasonic wave are received Integrated detection probe is sent out, the pneumatic gripping finger cylinder head portions are equipped with two groups of pneumatic gripping fingers, and the pneumatic gripping finger is equipped with ultrasonic wave Transceiver detection probe, the ultrasonic transmission/reception one detection probe are connected to ultrasound examination by signal wire and control mould Block；The flexible welding gun is located at pneumatic gripping finger cylinder side surface, and the flexible welding gun passes through guide sleeve, and the guide sleeve is fixed on pneumatic clamps Refer on cylinder surface, the flexible welding gun bottom is equipped with linear gear rack, the linear gear rack and is located at pneumatic gripping finger cylinder side surface Flexible gear engagement；The ultrasonic transmission/reception one detection probe is mounted on the through-hole in pneumatic gripping finger, pneumatic gripping finger clamping It does not stress when weldment, avoids tip damage；The flexible welding gun can stretch under the drive of flexible gear, pneumatic gripping finger Clamping retracts when carrying weldment, avoids influencing clamping work, and the welding gun ejection that needs to stretch when welding workpiece is convenient to front end The switching of working method.

Further, the burnishing device includes that upper pressurizing unit, lower pressurizing unit, abrasive grain addition pump and abrasive grain are temporary Case, the upper pressurizing unit are located on pressing table, and the upper pressurizing unit includes plunger shaft I, piston I and hydraulic cylinder I, the work It fills in chamber I and is embedded in pressing table in " L " word, I outlet at bottom of plunger shaft passes through hollow axle and left expansion chuck, and total with exhaust Pipe end docking, the piston I is located inside plunger shaft I, and is connected to hydraulic cylinder I, and the hydraulic cylinder I is vertical by fixed link I It is fixed on pressing table；The lower pressurizing unit includes plunger shaft II, linear motor III, support post, piston II and hydraulic cylinder II, the linear motor III is located on horizontal sliding bar, and the linear motor III is equipped with support post, and the plunger shaft II is horizontal It is fixed on support post, is equipped with piston II in the plunger shaft II, the piston II is fixedly connected with hydraulic cylinder II, the liquid Cylinder pressure II is horizontally fixed on support post by fixed link II, and II end face outlet of plunger shaft is equipped with abutted flange, described Abutted flange is corresponding with manifold flange；Pressure-detecting device, the plunger shaft are equipped in the plunger shaft I and plunger shaft II II, which is equipped with abrasive grain, recycles hose, and the abrasive grain recycling hose is connected to abrasive grain holding tank, and the abrasive grain addition pump is equipped with outlet Pipeline and inlet pipeline, the inlet pipeline are connected to abrasive grain holding tank, and the outlet conduit is connected to plunger shaft I, it is described into It is connected with tracheae on mouth pipeline, the tracheae is connected to air compression system；The upper pressurizing unit and lower pressurizing unit add in abrasive grain It can alternately be squeezed after adding exhaust manifold inside, so that abrasive grain is moved inner surface repeatedly inside exhaust manifold and polished, Keep exhaust manifold inner surface smooth；The tracheae is passed through the mill that compressed air purging remains in exhaust manifold after completing polishing Grain returns to abrasive grain holding tank, and the pressure-detecting device is able to detect that the polish pressure inside exhaust manifold, facilitates and adjusted Whole extruding force size, the linear motor III are able to drive lower pressurizing unit and move left and right along slide bar, compression when facilitating polishing To interface.

Further, the composable mold arc-shaped structure corresponding with manifold shapes, the composable mold include bottom plate, folder Plate and clamping cylinder III, the bottom plate upper and lower side are equipped with twice groove, and left and right is respectively provided with clamping cylinder III in the groove, described Clamping cylinder III is fixedly attached on clamping plate, and the clamping plate is fan-shaped to be located on bottom plate, and the clamping plate is slidably connected with bottom plate, institute Form passageway between stating two groups of clamping plate, the passageway bottom end extended line junction and a bit；The composable mold can be each section of discrimination Pipe is grouped together to dock with general pipeline again and be welded, and effectively ensures even weld, and the groove is that manifold is put into position, presss from both sides Plate is capable of fixing clamping manifold, it is ensured that manifold weld bond compresses.

Operation method of the invention the following steps are included:

1) when welding manifold head section flange, the pneumatic gripping finger gas of inspecting manipuator end clamped on welder is carried in welding Cylinder movement, is clamped in the clamping jaw that head section pipeline is put on single hop welding bench, the clamping cylinder I in shaft by pneumatic gripping finger Clamping pull rod is driven to move to right, movable claw and then moves to right simultaneously clamps head section pipeline with fixed jaw cooperation, and linear motor I drives single hop Welding bench integrally moves to left, while the stop cylinders retract on flange slideway, and the manifold flange in flange slideway slides into flange Slideway bottom end, clamping cylinder II clamp manifold flange and dock with the head section pipeline on single hop welding bench, the rotation of expansion teeth wheel, Flexible welding gun is driven to stretch out, welding system starting starts correct segment pipe and welded with manifold flange, after part is welded and fixed Clamping cylinder II unclamps manifold flange, and linear motor I, which drives single hop welding bench integrally slightly to move to right, is detached from manifold flange Flange slideway rolls servo motor and drives driving roller rotation, and driving roller drives head section pipeline and manifold flange by friction It is rotated in clamping jaw, welds remaining part；

2) when welding manifold curved segment, linear motor I drives the manifold head section flange section on single hop welding bench to move to right, simultaneously The expansion teeth wheel rotation on welder is clamped, drives flexible welding gun to retract, pneumatic gripping finger cylinder movement clamps manifold curved segment pipe In the clamping jaw that road is put on another group of single hop welding bench and stepped up, two groups of single hop welding benches are moved towards and leaned on Closely, starting overturning servo motor drives shaft rotation adjustment, rolls servo motor and also starts adjustment, single hop welding bench simultaneously The manifold head section flange section and manifold curved segment pipeline of upper clamping dock weld bond by overturning, rolling, and welding is removed after the completion of docking The expansion teeth wheel rotation for transporting the clamping welder on inspecting manipuator, drives flexible welding gun to stretch out, and welding system starting starts Manifold head section flange section and manifold curved segment pipeline are welded；

3) when welding manifold combinations section, the clamping welder that welding carries on inspecting manipuator is converted to crawl work shape State is put into the crawl of soldered manifold curved segment in the right passageway for clamping the composable mold on disk, makes manifold curved segment in passageway Bottom end combination is docking together, and the movement of clamping cylinder III pushes clamping plate to clamp manifold curved segment, simultaneously clamps on welder crawl row The total pipeline section of gas is inserted into left expansion chuck, and the Pneumatic clamping jaw movement on left expansion chuck clamps exhaust main section, while straight-line electric Machine II drives pressing table to move to right, and lifting motor rotation elevating screw adjustment makes exhaust main combine docking simultaneously with manifold curved segment Together, the clamping welder that welding is carried on inspecting manipuator is converted to welding state, and starts to exhaust main It is welded with manifold curved segment, Pneumatic clamping jaw unclamps after welding top, and pressing table slightly moves to left, rotary electric machine starting, rotation axis Drive right clamping disk to rotate, the welding workpiece being fixed on composable mold while rotating, welding exhaust main under manifold curved segment Portion；

4) when polishing exhaust manifold, soldered exhaust main and manifold curved segment are under the drive of rotary electric machine under 180 ° It turns over, linear motor III, which drives lower pressurizing unit to move to right, docks abutted flange with manifold flange, while upper pressurizing unit is in straight line Motor II, which moves to right, docks exhaust main with plunger shaft I under drive, and abrasive grain addition pump is kept in abrasive grain is stored in after the completion of docking Abrasive grain in case is pumped into the plunger shaft I on upper pressurizing unit along outlet conduit, hydraulic cylinder I eject piston I squeeze abrasive grain into Enter into exhaust manifold, enter abrasive grain in the plunger shaft II on lower pressurizing unit, alternately ejection piston II makes to grind hydraulic cylinder II Grain moves back and forth in exhaust manifold and carries out polishing operation, and hydraulic cylinder I and hydraulic cylinder II alternately squeeze work, while pressure Detection device detection control extruding force, last tracheae are passed through compressed air, and abrasive grain is temporary along abrasive grain recycling hose top time abrasive grain Case is deposited, polishing operation is completed；

5) when welding catalyst converter and detecting weld seam, the exhaust manifold of polishing is completed under the drive of rotary electric machine and lifting motor Original position is returned to, welding carries inspecting manipuator and is converted to crawl working condition, and crawl catalyst converter, which is put into left expansion chuck, goes forward side by side Row clamps, and welding carries inspecting manipuator and is converted to welding state after weld bond is docked with the exhaust manifold for completing polishing, and Start to weld, after the completion of welding, welding carries inspecting manipuator and is converted to detection working condition, and the ultrasonic wave in pneumatic gripping finger is received It sends out integrated detection probe and issues ultrasonic listening weld seam, and ultrasound examination is returned to by signal wire transmission detection signal and controls mould Block is tested and analyzed, in detection discovery weld seam there are stomata, crack, it is lack of penetration the defects of when will call the police and be automatically converted to weldering Connect working condition repair welding again.

Compared with prior art, advantages of the present invention:

1. the manipulator that the present invention uses have welding, carrying, detection three kinds of functions can be from turn according to different processes Become working condition, the degree of automation, working efficiency are higher.

2. the present invention can carry out welding according to the different segmentations of exhaust manifold welding procedure, after completing welding paragraph by paragraph It places into composable mold and is combined welding, even weld is high, welding quality stable.

3. the present invention face that welding workpiece can be different with 360 ° of Z-direction progress of reverse welding in X-axis in welding, Effectively improve welding quality.

4. the present invention is integrated with burnishing device, can exist automatically to exhaust manifold inner surface weld seam after the completion of Combination Welding The sundries such as welding slag, burr reduce exhaust resistance by polishing removal, improve product quality.

5. passing through the welding quality of ultrasonic listening weld seam after the completion of present invention welding, when detection discovery weldquality exists After defect can automatic repair welding, effectively raise production efficiency.

Detailed description of the invention

Fig. 1 is exhaust manifold welding equipment overall schematic.

Fig. 2 is single hop welding bench schematic diagram.

Fig. 3 is to clamp, weld, detection device schematic diagram.

Fig. 4 is composable mold schematic diagram.

Fig. 5 is burnishing device schematic diagram.

Parts title and serial number in figure:

Equipment rack 1, slide bar 1.1, single hop welding bench 2, linear motor I 2.1, support rod I 2.2, bracket 2.3, shaft 2.4, overturn servo motor 2.5, clamp pull rod 2.6, clamping cylinder I 2.7, clamping jaw 2.8, movable claw 2.81, fixed jaw 2.82, from Dynamic idler wheel 2.83, driving roller 2.84 roll servo motor 2.85, welding carrying inspecting manipuator 3, slide rail 3.1, clamp Welder 3.2, pneumatic gripping finger cylinder 3.21, pneumatic gripping finger 3.22, flexible welding gun 3.23, flexible gear 3.24, guide sleeve 3.25, Ultrasonic transmission/reception one detection probe 3.26, flange slideway 4, support frame 4.1, stop cylinder 4.2, clamps gas at signal wire 3.27 Cylinder II 4.3, manifold flange 4.4, Combination Welding workbench 5, pressing table 5.1, linear motor II 5.2, support rod II 5.3, Zuo Jia Tight chuck 5.4, Pneumatic clamping jaw 5.5, right clamping disk 5.6, composable mold 5.7, bottom plate 5.71, clamping plate 5.72, road 5.73, groove 5.74, clamping cylinder III 5.75, rotation axis 5.8, rotary electric machine 5.9, fixing pipe 5.10, exhaust main 5.11, crossbearer 5.12, liter Screw rod 5.13, lifting motor 5.14, burnishing device 6, upper pressurizing unit 6.1, plunger shaft I 6.11, piston I 6.12, hydraulic cylinder I drop 6.13, fixed link I 6.14, lower pressurizing unit 6.2, hydraulic cylinder II 6.21, fixed link II 6.22, linear motor III 6.23, support Column 6.24, II 6.25 plunger shaft II 6.26 of piston, pressure-detecting device 6.27, abutted flange 6.28, abrasive grain recycle hose 6.29,6.3, inlet pipeline 6.31, tracheae 6.32, outlet conduit 6.33, abrasive grain holding tank 6.4 of abrasive grain addition pump.

Specific embodiment

The following further describes the present invention with reference to the drawings.

Embodiment 1:

1. a kind of exhaust manifold automatic welding device, including equipment rack 1, single hop welding bench 2, welding carrying detection machine Tool hand 3, flange slideway 4, Combination Welding workbench 5 and burnishing device 6；The equipment rack 1 passes through between being equipped with four groups, every two groups Upper and lower two horizontal sliding bars 1.1 are fixedly connected, and the single hop welding bench 2 is equipped with two groups, 2 bottom of single hop welding bench Portion is equipped with linear motor I 2.1, and the linear motor I 2.1 is socketed on slide bar 1.1, and the I 2.1 top fixation of linear motor is set There are four support rods I 2.2, I 2.2 top of support rod is fixed on two pack supports 2.3, is equipped with and turns in the middle part of the bracket 2.3 Axis 2.4, the shaft 2.4 pass through bracket 2.3, and 2.4 end of shaft is connected with overturning servo motor 2.5, the shaft 2.4 Upper sliding sleeve, which is connected to, clamps pull rod 2.6, and 2.6 end of clamping pull rod is connected with clamping cylinder I 2.7, sets in the shaft 2.4 There is a clamping jaw 2.8, the clamping jaw 2.8 divides for movable claw 2.81 and fixed jaw 2.82, and the movable claw 2.81 is fixed on clamping pull rod On 2.6, the fixed jaw 2.82 is fixed in shaft 2.4, and 2.8 top of clamping jaw is equipped with multiple groups driven roller 2.83, described 2.8 bottom of clamping jaw is equipped with driving roller 2.84, and the driving roller 2.84, which is connected with, rolls servo motor 2.85；The welding is removed Fortune inspecting manipuator 3 is located at by equipment rack 1, and the welding carries 3 bottom of inspecting manipuator and is equipped with slide rail 3.1, described It is socketed with manipulator base 3.4 on slide rail 3.1, is equipped with ball screw 3.3, the rolling in the middle part of the manipulator base 3.4 3.3 end of ballscrew is connected on sliding servo motor 3.5, and the welding carries 3 end of inspecting manipuator and is equipped with clamping welding Device 3.2；The flange slideway 4 is located at 1 left side of equipment rack, and described 4 one end of flange slideway is fixedly connected on support frame 4.1 On, one end is fixedly connected on equipment rack 1, and in 45 degree of inclination arrangements, 4 bottom end of flange slideway is equipped with clamping cylinder II 4.3, the flange slideway 4 is hollow concave structure；The 4 lower horizontal height of flange slideway is consistent with clamping jaw 2.8；Institute Stating Combination Welding workbench 5 includes pressing table 5.1, left expansion chuck 5.4 and right clamping disk 5.6, and 5.1 bottom of pressing table is set There is linear motor II 5.2, the linear motor II 5.2 is equipped with four support rods II 5.3, II 5.3 both ends of support rod point It is not fixed on linear motor II 5.2 and pressing table 5.1, the left expansion chuck 5.4 is located at 5.1 right side of pressing table, the left side Expansion chuck 5.4 is connect by hollow fixing pipe 5.10 with pressing table 5.1, and the left expansion chuck 5.4 is equipped with Pneumatic clamping jaw 5.5, the right clamping disk 5.6 is located at 1 left side of equipment rack, and right 5.6 front end of clamping disk is equipped with composable mold 5.7, described Right 5.6 rear end of clamping disk is fixedly connected with rotation axis 5.8, and the rotation axis 5.8 passes through crossbearer 5.12, and is connected to rotary electric machine On 5.9,5.12 both ends of crossbearer and equipment rack 1 are socketed, and 5.12 vertical direction of crossbearer is fixed with elevating screw 5.13,5.13 top of elevating screw is connected with lifting motor 5.14, and the burnishing device 6 is located at 1 right side of equipment rack.

The clamping welder 3.2 includes pneumatic gripping finger cylinder 3.21, pneumatic gripping finger 3.22, flexible welding gun 3.23 and surpasses Sound wave transceiver detection probe 3.26, pneumatic 3.21 end of gripping finger cylinder are equipped with two groups of pneumatic gripping fingers 3.22, the gas Dynamic gripping finger 3.22 is equipped with ultrasonic transmission/reception one detection probe 3.26, and the ultrasonic transmission/reception one detection probe 3.26 passes through Signal wire 3.27 is connected to ultrasound examination control module；The flexible welding gun 3.23 is located at pneumatic 3.21 side of gripping finger cylinder, The flexible welding gun 3.23 passes through guide sleeve 3.25, and the guide sleeve 3.25 is fixed on pneumatic 3.21 surface of gripping finger cylinder, described to stretch 3.23 bottom of contracting welding gun be equipped with linear gear rack 3.27, the linear gear rack 3.27 be located at stretching for pneumatic 3.21 side of gripping finger cylinder Contracting gear 3.24 engages.

The burnishing device 6 includes that upper pressurizing unit 6.1, lower pressurizing unit 6.2, abrasive grain addition pump 6.3 and abrasive grain are temporary Case 6.4, the upper pressurizing unit 6.1 are located on pressing table 5.1, and the upper pressurizing unit 6.1 includes plunger shaft I 6.11, piston I 6.12 and hydraulic cylinder I 6.13, the plunger shaft I 6.11 is embedded in pressing table 5.1, I 6.11 outlet at bottom of plunger shaft in " L " word It is docked across hollow axle 5.10 and left expansion chuck 5.4, and with 5.11 end of exhaust main, the piston I 6.12 is located at piston Inside chamber I 6.11, and it is connected to hydraulic cylinder I 6.13, the hydraulic cylinder I 6.13 is vertically fixed on compression by fixed link I 6.14 On platform 5.1；The lower pressurizing unit 6.2 includes plunger shaft II 6.26, linear motor III 6.23, support post 6.24, piston II 6.25 and hydraulic cylinder II 6.21, the linear motor III 6.23 be located on horizontal sliding bar 1.1, set on the linear motor III 6.23 There is support post 6.24, the plunger shaft II 6.26 is horizontally fixed on support post 6.24, is set in the plunger shaft II 6.26 There is piston II 6.25, the piston II 6.25 is fixedly connected with hydraulic cylinder II 6.21, and the hydraulic cylinder II 6.21 passes through fixed link II 6.22 are horizontally fixed on support post 6.24, and II 6.26 end face outlet of plunger shaft is equipped with abutted flange 6.28, described Abutted flange 6.28 is corresponding with manifold flange 4.4；The plunger shaft II 6.26 is equipped with abrasive grain and recycles hose 6.29, the mill Grain recycling hose 6.29 is connected to abrasive grain holding tank 6.4, and the abrasive grain addition pump 6.3 is equipped with outlet conduit 6.33 and inlet pipeline 6.31, the inlet pipeline 6.31 is connected to abrasive grain holding tank 6.4, and the outlet conduit 6.33 is connected to plunger shaft I 6.11, institute It states and is connected with tracheae 6.32 on inlet pipeline 6.31, the tracheae 6.32 is connected to air compression system.

The arc-shaped structure corresponding with manifold shapes of composable mold 5.7, the composable mold 5.7 include bottom plate 5.71, Clamping plate 5.72 and clamping cylinder III 5.75,5.71 upper and lower side of bottom plate are equipped with twice groove 5.74, a left side in the groove 5.74 The right side is respectively provided with clamping cylinder III 5.75, and the clamping cylinder III 5.75 is fixedly attached on clamping plate 5.72, and the clamping plate 5.72 is in Sector is located on bottom plate 5.71, and the clamping plate 5.72 is slidably connected with bottom plate 5.71, forms passageway between 5.72 two groups of the clamping plate 5.73, the 5.73 bottom end extended line junction of passageway and a bit.

The present invention the following steps are included:

When welding manifold head section flange, the pneumatic gripping finger of 3 end of inspecting manipuator clamped on welder 3.2 is carried in welding Cylinder 3.21 acts, and is clamped in the clamping jaw 2.8 that head section pipeline is put on single hop welding bench 2 by pneumatic gripping finger 3.22, turns Clamping cylinder I 2.7 on axis 2.4 drives clamping pull rod 2.6 to move to right, and movable claw 2.81 and then moves to right simultaneously matches with fixed jaw 2.82 Co-clip lives head section pipeline, and linear motor I 2.1 drives single hop welding bench 2 is whole to move to left, the manifold flange in flange slideway 4 4.4 slide into 4 bottom end of flange slideway, and clamping cylinder II 4.3 clamps the head section pipe on manifold flange 4.4 and single hop welding bench 2 Road docking, the gear 3.24 that stretches rotate, and flexible welding gun 3.23 is driven to stretch out, and welding system starting starts correct segment pipe and manifold Flange 4.4 is welded, and clamping cylinder II 4.3 unclamps manifold flange 4.4 after part is welded and fixed, and linear motor I 2.1 drives single Whole slightly move to right of section welding bench 2 makes manifold flange 4.4 be detached from flange slideway 4, rolls servo motor 2.85 and drives actively Idler wheel 2.84 rotates, and driving roller 2.84 drives head section pipeline and manifold flange 4.4 to be turned in clamping jaw 2.8 by friction It is dynamic, weld remaining part；When welding manifold curved segment, linear motor I 2.1 drives the manifold head on single hop welding bench 2 Section flange section moves to right, and the flexible gear 3.24 simultaneously clamped on welder 3.2 rotates, and drives flexible welding gun 3.23 to retract, gas It goes forward side by side in the clamping jaw 2.8 that the dynamic movement of gripping finger cylinder 3.21 clamping manifold curved segment pipeline is put on another group of single hop welding bench 2 Capable to step up, two groups of single hop welding benches 2 move towards close, the starting overturning drive rotation tune of shaft 2.4 of servo motor 2.5 It is whole, it rolls servo motor 2.85 and also starts adjustment simultaneously, the manifold head section flange section and manifold clamped on single hop welding bench 2 Curved segment pipeline docks weld bond by overturning, rolling, and the clamping welder on inspecting manipuator 3 is carried in welding after the completion of docking 3.2 flexible gear 3.24 rotates, and flexible welding gun 3.23 is driven to stretch out, welding system starting start to manifold head section flange section and Manifold curved segment pipeline is welded；When welding manifold combinations section, the clamping welder on inspecting manipuator 3 is carried in welding 3.2 are converted to crawl working condition, and the crawl of soldered manifold curved segment is put into the composable mold 5.7 on right clamping disk 5.6 Passageway 5.73 in, make manifold curved segment 5.73 bottom end of passageway combination be docking together, clamping cylinder III 5.57 movement push folder Plate 5.72 clamps manifold curved segment, simultaneously clamps on 5.11 sections of exhaust main of the crawl of welder 3.2 and is inserted into left expansion chuck 5.4, The movement of Pneumatic clamping jaw 5.5 on left expansion chuck 5.4 clamps 5.11 sections of exhaust main, while linear motor II 5.2 drives and compresses Platform 5.1 moves to right, and lifting motor 5.14, which rotates the adjustment of elevating screw 5.13, combines exhaust main 5.11 and manifold curved segment simultaneously pair It is connected together, the clamping welder 3.2 that welding is carried on inspecting manipuator 3 is converted to welding state, and starts to row Gas general pipeline 5.11 is welded with manifold curved segment, and Pneumatic clamping jaw 5.5 unclamps after welding top, and pressing table 5.1 slightly moves to left, and is rotated Motor 5.9 starts, and rotation axis 5.8 drives right clampings disk 5.6 to rotate, the welding workpiece being fixed on composable mold 5.7 and meanwhile turn It is dynamic, welding exhaust main 5.11 and manifold curved segment lower part；When polishing exhaust manifold, soldered exhaust main 5.11 and discrimination Pipe curved segment is turned under 180 ° under the drive of rotary electric machine 5.9, and linear motor III 6.23, which drives lower pressurizing unit 6.2 to move to right, to be made to dock Flange 6.28 is docked with manifold flange 4.4, while upper pressurizing unit 6.1 keeps exhaust total in the case where linear motor II 5.2 moves to right drive Pipe 5.11 is docked with plunger shaft I 6.11, abrasive grain addition 6.3 abrasive grains being stored in abrasive grain holding tank 6.4 of pump after the completion of docking It is pumped into the plunger shaft I 6.11 on upper pressurizing unit 6.1 along outlet conduit 6.33, hydraulic cylinder I 6.13 ejects piston I 6.12 and squeezes Pressure abrasive grain enters in exhaust manifold, enters abrasive grain in the plunger shaft II 6.26 on lower pressurizing unit 6.2, hydraulic cylinder II 6.21 Alternately squeezing ejection piston II 6.25 makes abrasive grain move back and forth progress polishing operation, hydraulic cylinder I 6.13 and liquid in exhaust manifold Cylinder pressure II 6.21 alternately squeezes work, and last tracheae 6.32 is passed through compressed air, and abrasive grain is recycled hose along abrasive grain 6.29 push up back abrasive grain holding tank 6.4, complete polishing operation；When welding catalyst converter and detecting weld seam, the exhaust discrimination of polishing is completed Pipe returns to original position under the drive of rotary electric machine 5.9 and lifting motor 5.14, and welding carries inspecting manipuator 3 and is converted to crawl work Make state, crawl catalyst converter is put into left expansion chuck 5.4 and is clamped, after weld bond is docked with the exhaust manifold for completing polishing Welding carries inspecting manipuator 3 and is converted to welding state, and starts to weld, and after the completion of welding, it is mechanical that detection is carried in welding Hand 3 is converted to detection working condition, and the ultrasonic transmission/reception one detection probe 3.26 in pneumatic gripping finger 3.22 issues ultrasonic wave and visits Weld seam is surveyed, and ultrasound examination control module is returned to by the transmission detection signal of signal wire 3.27 and is tested and analyzed, detection hair In existing weld seam there are stomata, crack, it is lack of penetration the defects of when will call the police and be automatically converted to the repair welding again of welding state.

Embodiment 2:

The present embodiment 2 is essentially identical with 1 structure of embodiment and principle, the difference is that 4 middle and lower part of flange slideway is equipped with stop Cylinder 4.2, the stop cylinder 4.2 can adjust flange downslide pressure, avoid flange from largely descending slide pressing force excessive, clamping cylinder II can not clamp completely, and flange is caused to fall phenomenon.

Embodiment 3:

The present embodiment 3 is essentially identical with 1 structure of embodiment and principle, the difference is that the plunger shaft I 6.11 and plunger shaft II 6.26 be equipped with pressure-detecting device 6.27, the pressure-detecting device 6.27 be able to detect grinding squeeze pressure feedback to control Polish pressure inside system control exhaust manifold processed, improves quality of finish.

Embodiment 4:

The present embodiment 4 is essentially identical with 1 structure of embodiment and principle, the difference is that 4 middle and lower part of flange slideway is equipped with stop Cylinder 4.2, the stop cylinder 4.2 can adjust flange downslide pressure, flange avoided largely to glide, 4 end of flange slideway pressure Power is excessive, and clamping cylinder II can not clamp completely, and flange is caused to fall phenomenon；The plunger shaft I 6.11 and plunger shaft II 6.26 It is equipped with pressure-detecting device 6.27, the pressure-detecting device 6.27 is able to detect the pressure that grinding squeezes inside exhaust manifold Power, and feed back to the polish pressure inside control system control, degree with precise polishing is promoted, quality of finish is improved.

Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.

Claims

1. a kind of exhaust manifold automatic welding device, it is characterised in that: including equipment rack (1), single hop welding bench (2), Inspecting manipuator (3), flange slideway (4), Combination Welding workbench (5) and burnishing device (6) are carried in welding；The equipment rack (1) it is fixedly connected between being equipped with four groups, every two groups by upper and lower two horizontal sliding bars (1.1), the single hop welding bench (2) sets There are two groups, single hop welding bench (2) bottom is equipped with linear motor I (2.1), and the linear motor I (2.1) is socketed in cunning On bar (1.1), four support rods I (2.2), support rod I (2.2) top are fixed at the top of the linear motor I (2.1) It is fixed on two pack supports (2.3), is equipped with shaft (2.4) in the middle part of the bracket (2.3), the shaft (2.4) passes through bracket (2.3), shaft (2.4) end is connected with overturning servo motor (2.5), and sliding sleeve is connected to clamping on the shaft (2.4) Pull rod (2.6), clamping pull rod (2.6) end are connected with clamping cylinder I (2.7), and the shaft (2.4) is equipped with clamping jaw (2.8), the clamping jaw (2.8) is divided into movable claw (2.81) and fixed jaw (2.82), and the movable claw (2.81) is fixed on clamping On pull rod (2.6), the fixed jaw (2.82) is fixed on shaft (2.4), and clamping jaw (2.8) top is equipped with the driven rolling of multiple groups It takes turns (2.83), clamping jaw (2.8) bottom is equipped with driving roller (2.84), and the driving roller (2.84) is connected with rolling servo Motor (2.85)；The welding carries inspecting manipuator (3) and is located at equipment rack (1) side, and inspecting manipuator is carried in the welding (3) bottom is equipped with slide rail (3.1), is socketed with manipulator base (3.4), the manipulator on the slide rail (3.1) Ball screw (3.3) are equipped in the middle part of pedestal (3.4), ball screw (3.3) end is connected to sliding servo motor (3.5) On, the welding carries inspecting manipuator (3) end and is equipped with clamping welder (3.2)；The flange slideway (4) is located at equipment On the left of rack (1), described flange slideway (4) one end is fixedly connected on support frame (4.1), and one end is fixedly connected on equipment machine On frame (1), and in 45 degree of inclination arrangements, flange slideway (4) middle and lower part is equipped with stop cylinder (4.2), the flange slideway (4) bottom end is equipped with clamping cylinder II (4.3), and the flange slideway (4) is hollow concave structure；Flange slideway (4) bottom Hold level height consistent with clamping jaw (2.8)；The Combination Welding workbench (5) includes pressing table (5.1), left expansion chuck (5.4) and right clamping disk (5.6), pressing table (5.1) bottom are equipped with linear motor II (5.2), the linear motor II (5.2) be equipped with four support rods II (5.3), support rod II (5.3) both ends be separately fixed at linear motor II (5.2) and On pressing table (5.1), the left expansion chuck (5.4) is located on the right side of pressing table (5.1), and the left expansion chuck (5.4) passes through Hollow fixing pipe (5.10) connect with pressing table (5.1), and the left expansion chuck (5.4) is equipped with Pneumatic clamping jaw (5.5), described Right clamping disk (5.6) is located on the left of equipment rack (1), and right clamping disk (5.6) front end is equipped with composable mold (5.7), described Right clamping disk (5.6) rear end is fixedly connected with rotation axis (5.8), and the rotation axis (5.8) passes through crossbearer (5.12), and is connected to On rotary electric machine (5.9), crossbearer (5.12) both ends and equipment rack (1) are socketed, and crossbearer (5.12) vertical direction is solid Surely elevating screw (5.13) are equipped with, elevating screw (5.13) top is connected with lifting motor (5.14), the burnishing device (6) it is located on the right side of equipment rack (1).

2. a kind of exhaust manifold automatic welding device according to claim 1, it is characterised in that: the clamping welder It (3.2) include that pneumatic gripping finger cylinder (3.21), pneumatic gripping finger (3.22), flexible welding gun (3.23) and ultrasonic transmission/reception integrally detect It pops one's head in (3.26), pneumatic gripping finger cylinder (3.21) end is equipped with two groups of pneumatic gripping fingers (3.22), the pneumatic gripping finger (3.22) it is equipped with ultrasonic transmission/reception one detection probe (3.26), the ultrasonic transmission/reception one detection probe (3.26) passes through Signal wire (3.27) is connected to ultrasound examination control module；The flexible welding gun (3.23) is located at pneumatic gripping finger cylinder (3.21) Side, the flexible welding gun (3.23) pass through guide sleeve (3.25), and the guide sleeve (3.25) is fixed on pneumatic gripping finger cylinder (3.21) On surface, flexible welding gun (3.23) bottom is equipped with linear gear rack (3.27), the linear gear rack (3.27) and is located at pneumatic The flexible gear (3.24) of gripping finger cylinder (3.21) side engages.

3. a kind of exhaust manifold automatic welding device according to claim 1, it is characterised in that: the burnishing device (6) It is described crowded including upper pressurizing unit (6.1), lower pressurizing unit (6.2), abrasive grain addition pump (6.3) and abrasive grain holding tank (6.4) Pressure device (6.1) is located on pressing table (5.1), and the upper pressurizing unit (6.1) includes plunger shaft I (6.11), piston I (6.12) With hydraulic cylinder I (6.13), the plunger shaft I (6.11) is in " L " word insertion pressing table (5.1), plunger shaft I (6.11) bottom Outlet is docked across hollow axle (5.10) and left expansion chuck (5.4), and with exhaust main (5.11) end, the piston I (6.12) it is internal to be located at plunger shaft I (6.11), and is connected to hydraulic cylinder I (6.13), the hydraulic cylinder I (6.13) passes through fixed link I (6.14) are vertically fixed on pressing table (5.1)；The lower pressurizing unit (6.2) includes plunger shaft II (6.26), linear motor III (6.23), support post (6.24), piston II (6.25) and hydraulic cylinder II (6.21), the linear motor III (6.23) are located at On horizontal sliding bar (1.1), the linear motor III (6.23) is equipped with support post (6.24), plunger shaft II (6.26) water It is flat to be fixed on support post (6.24), piston II (6.25), the piston II are equipped in the plunger shaft II (6.26) (6.25) it is fixedly connected with hydraulic cylinder II (6.21), the hydraulic cylinder II (6.21) is horizontally fixed on by fixed link II (6.22) On support post (6.24), plunger shaft II (6.26) end face outlet is equipped with abutted flange (6.28), the abutted flange (6.28) corresponding with manifold flange (4.4)；Pressure detecting is equipped in the plunger shaft I (6.11) and plunger shaft II (6.26) Device (6.27), the plunger shaft II (6.26) are equipped with abrasive grain recycling hose (6.29), and the abrasive grain recycles hose (6.29) It being connected to abrasive grain holding tank (6.4), the abrasive grain addition pump (6.3) is equipped with outlet conduit (6.33) and inlet pipeline (6.31), The inlet pipeline (6.31) is connected to abrasive grain holding tank (6.4), and the outlet conduit (6.33) is connected to plunger shaft I (6.11), it is connected with tracheae (6.32) on the inlet pipeline (6.31), the tracheae (6.32) is connected to air compression system.

4. a kind of exhaust manifold automatic welding device according to claim 1, it is characterised in that: the composable mold (5.7) arc-shaped structure corresponding with manifold shapes, the composable mold (5.7) include bottom plate (5.71), clamping plate (5.72) and folder Tight cylinder III (5.75), bottom plate (5.71) upper and lower side are equipped with twice groove (5.74), and left and right is each in the groove (5.74) Equipped with clamping cylinder III (5.75), the clamping cylinder III (5.57) is fixedly attached on clamping plate (5.72), the clamping plate (5.72) fan-shaped to be located on bottom plate (5.71), the clamping plate (5.72) is slidably connected with bottom plate (5.71), the clamping plate Between (5.72) two groups formed passageway (5.73), passageway (5.73) the bottom end extended line junction and a bit.

5. a kind of working method of exhaust manifold automatic welding device described in -4 according to claim 1, it is characterised in that: including Following steps:

1) when welding manifold head section flange, the gas on the clamping welder (3.2) of inspecting manipuator (3) end is carried in welding Dynamic gripping finger cylinder (3.21) movement, clamps head section pipeline by pneumatic gripping finger (3.22) and is put on single hop welding bench (2) In clamping jaw (2.8), the clamping cylinder I (2.7) in shaft (2.4) drives clamping pull rod (2.6) to move to right, and movable claw (2.81) is simultaneously And then it moves to right and clamps head section pipeline with fixed jaw (2.82) cooperation, linear motor I (2.1) drives single hop welding bench (2) whole Body moves to left, while the stop cylinder (4.2) on flange slideway (4) retracts, and the manifold flange (4.4) in flange slideway (4) slides into Flange slideway (4) bottom end, clamping cylinder II (4.3) clamp the head section pipe on manifold flange (4.4) and single hop welding bench (2) Road docking, gear (3.24) rotation of stretching, drives flexible welding gun (3.23) to stretch out, welding system starting start correct segment pipe with Manifold flange (4.4) is welded, and clamping cylinder II (4.3) unclamps manifold flange (4.4) after part is welded and fixed, linear motor I (2.1), which drive single hop welding bench (2) integrally slightly to move to right, makes manifold flange (4.4) to be detached from flange slideway (4), and rolling is watched It takes motor (2.85) and drives driving roller (2.84) rotation, driving roller (2.84) drives head section pipeline and manifold method by friction Blue (4.4) are rotated in clamping jaw (2.8), weld remaining part；

2) when welding manifold curved segment, linear motor I (2.1) drives the manifold head section flange section on single hop welding bench (2) It moves to right, simultaneously clamps on flexible gear (3.24) rotation on welder (3.2), drive flexible welding gun (3.23) to retract, pneumatically Gripping finger cylinder (3.21) movement clamping manifold curved segment pipeline is put into the clamping jaw (2.8) on another group of single hop welding bench (2) Nei And stepped up, two groups of single hop welding benches (2) move towards close, starting overturning servo motor (2.5) drive shaft (2.4) rotation adjustment rolls servo motor (2.85) and also starts adjustment, the manifold clamped on single hop welding bench (2) simultaneously Head section flange section and manifold curved segment pipeline pass through overturning, rolling docks weld bond, weld after the completion of docking and carry inspecting manipuator (3) the flexible gear (3.24) of the clamping welder (3.2) on rotates, and drives flexible welding gun (3.23) to stretch out, welding system Starting starts to weld manifold head section flange section and manifold curved segment pipeline；

3) when welding manifold combinations section, the clamping welder (3.2) that welding is carried on inspecting manipuator (3) is converted to crawl Working condition is put into the crawl of soldered manifold curved segment in the passageway of the composable mold (5.7) on right clamping disk (5.6) (5.73) in, making manifold curved segment in passageway (5.73) bottom end, combination is docking together, and clamping cylinder III (5.75) movement pushes folder Plate (5.72) clamps manifold curved segment, simultaneously clamps on welder (3.2) crawl exhaust main (5.11) section and is inserted into left expansion chuck (5.4) in, Pneumatic clamping jaw (5.5) movement on left expansion chuck (5.4) clamps exhaust main (5.11) section, while linear motor II (5.2) drive pressing table (5.1) to move to right, and lifting motor (5.14) rotation elevating screw (5.13) adjustment makes exhaust main (5.11) it combines and is docking together simultaneously with manifold curved segment, the clamping welder (3.2) on inspecting manipuator (3) is carried in welding Welding state is converted to, and starts to weld exhaust main (5.11) with manifold curved segment, welds pneumatic clamps behind top Pawl (5.5) unclamps, and pressing table (5.1) slightly moves to left, and rotary electric machine (5.9) starting, rotation axis (5.8) drives right clamping disk (5.6) it rotates, the welding workpiece that is fixed on composable mold (5.7) while rotating, welding exhaust main (5.11) and manifold are curved Pars infrasegmentalis；

4) when polishing exhaust manifold, band of the soldered exhaust main (5.11) with manifold curved segment in rotary electric machine (5.9) It moves and is turned under lower 180 °, linear motor III (6.23), which drives lower pressurizing unit (6.2) to move to right, makes abutted flange (6.28) and manifold method Blue (4.4) docking, at the same upper pressurizing unit (6.1) make in the case where linear motor II (5.2) moves to right drive exhaust main (5.11) with Plunger shaft I (6.11) docking, abrasive grain addition pump (6.3) is the abrasive grain edge being stored in abrasive grain holding tank (6.4) after the completion of docking Outlet conduit (6.33) be pumped into the plunger shaft I (6.11) on pressurizing unit (6.1) Nei, hydraulic cylinder I (6.13) eject piston I (6.12) it squeezes abrasive grain to enter in exhaust manifold, enters abrasive grain in the plunger shaft II (6.26) on lower pressurizing unit (6.2), Hydraulic cylinder II (6.21) ejection piston II (6.25) makes abrasive grain move back and forth progress polishing operation, hydraulic cylinder I in exhaust manifold (6.13) and hydraulic cylinder II (6.21) alternately squeezes work, while pressure-detecting device (6.27) detection control extruding force, Last tracheae (6.32) is passed through compressed air, and abrasive grain is pushed up back abrasive grain holding tank (6.4) along abrasive grain recycling hose (6.29), complete At polishing operation；

5) when welding catalyst converter and detecting weld seam, the exhaust manifold of polishing is completed in rotary electric machine (5.9) and lifting motor (5.14) original position is returned under drive, welding carries inspecting manipuator (3) and is converted to crawl working condition, and crawl catalyst converter is put into It in left expansion chuck (5.4) and is clamped, inspecting manipuator is carried in welding after weld bond is docked with the exhaust manifold for completing polishing (3) welding state is converted to, and starts to weld, after the completion of welding, welding carries inspecting manipuator (3) and is converted to detection work Make state, the ultrasonic transmission/reception one detection probe (3.26) on pneumatic gripping finger (3.22) issues ultrasonic listening weld seam, and leads to It crosses signal wire (3.27) transmission detection signal to return to ultrasound examination control module and tested and analyzed, be deposited in detection discovery weld seam Stomata, crack, it is lack of penetration the defects of when will call the police and be automatically converted to the repair welding again of welding state.