CN111037131A - Equipment and construction method capable of automatically welding and combining stainless steel elbow joint along circumferential direction - Google Patents
Equipment and construction method capable of automatically welding and combining stainless steel elbow joint along circumferential direction Download PDFInfo
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- CN111037131A CN111037131A CN201910584059.2A CN201910584059A CN111037131A CN 111037131 A CN111037131 A CN 111037131A CN 201910584059 A CN201910584059 A CN 201910584059A CN 111037131 A CN111037131 A CN 111037131A
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- 238000003466 welding Methods 0.000 title claims abstract description 129
- 229910001220 stainless steel Inorganic materials 0.000 title claims abstract description 85
- 239000010935 stainless steel Substances 0.000 title claims abstract description 85
- 210000002310 elbow joint Anatomy 0.000 title claims abstract description 58
- 238000010276 construction Methods 0.000 title description 7
- 238000000034 method Methods 0.000 claims abstract description 52
- 239000000047 product Substances 0.000 claims abstract description 35
- 239000011265 semifinished product Substances 0.000 claims abstract description 34
- 238000012545 processing Methods 0.000 claims abstract description 20
- 238000005452 bending Methods 0.000 claims abstract description 11
- 238000011144 upstream manufacturing Methods 0.000 claims abstract description 10
- 230000009471 action Effects 0.000 claims abstract description 9
- 238000005304 joining Methods 0.000 claims description 31
- 230000007246 mechanism Effects 0.000 claims description 26
- 230000000875 corresponding effect Effects 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 229910000679 solder Inorganic materials 0.000 claims description 7
- 239000011324 bead Substances 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 4
- 239000002131 composite material Substances 0.000 claims 1
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- 239000007789 gas Substances 0.000 description 31
- 238000004519 manufacturing process Methods 0.000 description 18
- 239000004065 semiconductor Substances 0.000 description 13
- 238000003825 pressing Methods 0.000 description 10
- 239000010891 toxic waste Substances 0.000 description 7
- 210000001503 joint Anatomy 0.000 description 6
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- 238000012827 research and development Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- 229920002120 photoresistant polymer Polymers 0.000 description 1
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Classifications
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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
-
- 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
-
- 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
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- 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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
-
- 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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
-
- 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
- B23K2103/00—Materials to be soldered, welded or cut
- B23K2103/02—Iron or ferrous alloys
- B23K2103/04—Steel or steel alloys
- B23K2103/05—Stainless steel
Abstract
The invention provides a device and a method for automatically welding and combining stainless steel elbow joints along the circumferential direction, the method enables an operator to weld and combine a plurality of sections of stainless steel elbow joint semi-finished products which are punched by an upstream processing plant one by one to form a blank of the stainless steel elbow joint finished product, a pipe bending channel at one end of the blank is vertically sleeved on a positioning mould arranged on the top surface of a bearing seat of a control machine, the control machine is started, the control machine can drive a plurality of positioning modules on the positioning mould, each positioning module can be abutted against the inner edge of the pipe bending channel at one end of the blank, the control machine can judge the accurate coordinate position of each joint according to the image of the blank captured by a camera element, and can drive a mechanical arm to follow the circumferential direction of the blank after the accurate coordinate position of each joint is calibrated by laser light through a laser positioning element, and performing welding combination action on the joint seam to process the initial blank into a finished product of the large-size stainless steel elbow joint.
Description
Technical Field
The invention provides a device and a method capable of automatically welding and combining a stainless steel elbow joint along the circumferential direction, in particular to a device and a method which are characterized in that an operator only needs to firstly connect a plurality of sections of stainless steel elbow joint semi-finished products which are punched by an upstream processing factory and have circular cross sections one by one, and weld and combine the connecting seams between the adjacent semi-finished products at intervals in a spot welding mode to form an initial blank of the stainless steel elbow joint; the pipe bending channel at one end of the initial blank is vertically sleeved to a positioning mould arranged on the top surface of a bearing seat of a control machine, and then the control machine is started, the control machine can drive a plurality of positioning modules arranged along the circumferential direction on the positioning mould, so that each positioning module moves outwards along the radial direction, the outer periphery of each positioning module can firmly abut against the inner edge of the pipe bending channel at one end of the initial blank, and the initial blank can be stably and accurately positioned on the top surface of the bearing seat; the control machine station can drive the bearing seat to rotate together with the initial blank positioned on the bearing seat so as to enable the axis of the bent pipe channel of the initial blank to be horizontally arranged; at this time, the control platform will drive a mechanical arm to make a welding gun arranged at the front end of the mechanical arm move towards the joining seams on the blank, and will drive the bearing seat to make the blank rotate along the axis of the pipe bending channel, the front end of the mechanical arm also includes a camera element and a laser positioning element, the control platform can accurately determine the accurate coordinate position of each joining seam according to the image of the blank captured by the camera element, and then the laser positioning element marks the accurate coordinate position of each joining seam with laser light, and then the mechanical arm will be driven, according to the indication of a laser tracking computer in the control platform, the welding gun can make the welding gun respectively align to each joining seam at the accurate coordinate positions along the circumferential direction of the blank to form beautiful and airtight welding beads on each joining seam along the circumferential direction of the pipe bending joint quickly and accurately, thereby automatically, rapidly and airtightly processing the initial blank into a large-size stainless steel elbow joint finished product.
Background
Since various semiconductor devices are essential parts of various electronic products, the quality of the semiconductor devices directly affects the performance of the electronic products, which is also called "crude oil for electronic industry", the importance of the semiconductor industry is self evident, especially, in the last two or thirty years, as various industrial technologies advance, the semiconductor industry processes and steps are continuously improved, but the process technologies, whether the initial wet process or the subsequent developed gas dry process or compound semiconductor process, must be largely processed with various acid-base solutions, organic solvents, special gases and other process raw materials to assist the process reaction (for example, as photoresist, developer or organic solvents for cleaning), which have certain toxicity to human body or other organisms, therefore, in general, workers in the semiconductor field must install at least one exhaust gas discharge system in their process chambers to intensively discharge the exhaust gas generated from the process materials to a gas collecting tank through the exhaust gas regulating device, so as to perform a recycling treatment uniformly.
In the present various semiconductor device or electronic device processing chambers, besides the exhaust gas discharged from the exhaust gas discharge system, the process parameters such as temperature, cleanliness, pressure, gas flow rate and gas flow distribution in each processing chamber must be stably controlled within an ideal range by the exhaust gas regulating device in the exhaust gas discharge system, so as to ensure that the process of each semiconductor device or electronic device can be correctly performed and completed, thereby ensuring that the production yield of various semiconductor devices or electronic devices can be stably maintained within an ideal range. Referring now to fig. 1 and 2, a conventional exhaust gas regulating device 4, which is widely used in the industry, is shown as an example, and will be described in detail as follows:
continuing to refer to fig. 2, an exhaust duct 41 and at least one damper 43 are disposed in the conventional exhaust adjusting device 4, wherein one end of the exhaust duct 41 is connected to a process chamber (e.g. semiconductor or photoelectric product process chamber) through a series of stainless steel exhaust pipes connected in series one by one, the other end of the exhaust duct 41 is connected to a gas collecting tank (e.g. exhaust gas recycling tank, not shown) through another series of stainless steel exhaust pipes connected in series one by one, the damper 43 is disposed in the exhaust duct 41, and the exhaust amount of the conventional exhaust adjusting device 4 is controlled by a conventional damper adjusting mechanism 3, which is now exemplified by a conventional damper adjusting mechanism 3 widely used in many exhaust gas discharge systems, as shown in fig. 1, the structure and operation of the conventional damper adjustment mechanism 3 will be described as follows:
continuing to refer to fig. 1, the conventional damper adjusting mechanism 3 includes a base 31, a pressing handle 32 and a linkage rod 39; wherein, the base 31 is provided with an adjusting groove 33, and the adjusting groove 33 is provided with a plurality of adjusting scales 331; the pressing handle 32 is pivoted to the base 31 through a pivot 30, and a clamping member 321 is protruded from the position adjacent to one end 320 and corresponding to the adjusting groove 33, the clamping member 321 can be clamped and locked in an adjusting scale 331 therein, and under the condition that an operator presses the position adjacent to the other end 322 of the pressing handle 32, the clamping member 321 can leave the adjusting scale 331, so that the operator can rotate the pressing handle 32 back and forth along the adjusting groove 33 by taking the pivot 30 as a center; on the contrary, when the operator releases the pressing handle 32 near the other end 322, the engaging member 321 is engaged and locked to the corresponding adjusting scale 331.
Referring to fig. 1 and 2, the linkage rod 39 is pivoted to the conventional exhaust adjusting device 4 and spans the exhaust duct 41, and the damper 43 is fixed thereon, so that the pressing handle 32 can drive the damper 43 to rotate through the linkage rod 39, and further open or close the exhaust duct 41, and one end of the linkage rod 39 is exposed out of the exhaust duct 41 and connected to the pressing handle 32 through the pivot 30, so that the linkage rod 39 and the damper 43 fixed thereon can rotate along with the pressing handle 32. Thus, the operator can adjust and control the exhaust amount and the exhaust rate of the exhaust duct 41 in the conventional exhaust adjusting device 4 by the conventional damper adjusting mechanism 3.
In addition, in order to improve the manufacturing quality of semiconductor or optoelectronic products, workers in the art also install a high-sensitivity detecting instrument in the process chamber to monitor the level of the toxic waste gas concentration in each process chamber, so as to ensure that the concentration of the toxic waste gas in each process chamber can be effectively controlled and always maintained within a standard range, and therefore, as shown in fig. 2, the exhaust volume and the exhaust rate of the conventional exhaust adjusting device 4 must be precisely adjusted to an ideal set value and continuously and stably maintained at the ideal set value, so as to avoid the high-sensitivity detecting instrument generating an erroneous monitoring result, which in turn causes an erroneous warning action. As shown in fig. 2, since the operator rotates the pressing handle 32 on the conventional exhaust adjusting device 4 to make the engaging member 321 engage and lock to the corresponding adjusting scale 331 to adjust the exhaust amount to an ideal setting value, when the engaging member 321 is adjusted to a position corresponding to the position between the two adjusting scales 331, the conventional damper adjusting mechanism 3 cannot be stably and fixedly positioned, and the conventional exhaust adjusting device 4 is in a defect state where the opening and closing degree of the damper 43 cannot be adjusted slightly and precisely, that is, in the defect state, the concentration of the toxic exhaust gas in the process chamber cannot be precisely maintained within a standard range by the conventional damper adjusting mechanism 3, which is very likely to cause malfunction of the high-sensitivity detecting instrument, and cause erroneous removal of the operator, the whole process and the production line must stop operating, which causes serious negative impact on the production efficiency of semiconductor or photoelectric products. In addition, as shown in fig. 1 and fig. 2, since the other end 322 of the pressing handle 32 protrudes out of the base 31, the damper 43 is easily deviated from the originally set ideal open/close state due to accidental touch or collision of an operator, which causes malfunction of the high-sensitivity detecting apparatus and leads to the problem of stopping the operation of the subsequent process and the production line.
As mentioned above, in the semiconductor or photoelectric process chamber, the existing exhaust gas adjusting device 4 is connected to the corresponding gas collecting tank and each process chamber through a series of stainless steel exhaust pipes connected in series one by one, so as to completely discharge each toxic waste gas generated in each process chamber into the gas collecting tank, therefore, in order to ensure the safety and smoothness of the discharge process of the toxic waste gas, the workers in the art have strict requirements on the manufacturing quality of the stainless steel exhaust pipes and the construction quality of the whole waste gas discharge system formed by connecting the stainless steel exhaust pipes in series in each process chamber, in particular, referring to FIG. 3, the elbow joints 5 are assembled at the dead corners or bent corners in each process chamber to connect two adjacent stainless steel exhaust pipes, because each elbow joint 5 is assembled at the dead corners or bent corners in each process chamber, the pipe material is often limited by a narrow space, and must bear a large stress after being assembled, at this time, if the elbow joints 5 themselves have welding holes or joints due to improper operation in the manufacturing and assembling processes, the welding holes or joints are likely to become larger and larger due to the large stress or the temperature change of thermal expansion and contraction in the process chambers or environmental vibration, so that various toxic waste gases which should be discharged to the gas collecting tank originally are leaked back to the process chambers, and the problem that the related processes cannot be normally operated is caused, and even the adverse results that the health and safety of operators in the process chambers are seriously endangered is caused.
Referring to fig. 4, the most problems in design, manufacture, construction and assembly of various stainless steel elbow joints, especially the finished products 50 of large-sized stainless steel elbow joints (e.g. elbow diameter of more than 20 cm), and the larger size of the finished products 50 are also equivalent to a larger weight, so that when the finished products 50 of large-sized stainless steel elbow joints are assembled at the dead corners or bent corners in each process chamber to connect two adjacent large-sized stainless steel exhaust pipes, the pipes of the large-sized stainless steel elbow joints 50 are more subject to larger stress due to the limitation of the narrow space and the larger weight of the pipes. In addition, because each finished product 50 of the large-sized stainless steel elbow joint is difficult to be manufactured by integral punch forming, as shown in fig. 4, the workers in the art who currently manufacture each finished product 50 of the large-sized stainless steel elbow joint decompose each finished product 50 of the large-sized stainless steel elbow joint into a plurality of semi-finished products 501, 502, 503, 504, and 505 of the stainless steel elbow joint with a circular cross section according to the size and specification of each large-sized stainless steel elbow joint (such as elbow diameter and curvature), and entrust the upstream processing plant to punch and form the semi-finished products 501, 502, 503, 504, and 505 of the stainless steel elbow joint according to the designed semi-finished product size and specification, and the workers in the art obtain the semi-finished products 501, 502, 503, 504, 505 of the stainless steel elbow joint manufactured by the upstream processing plant, 503. 504 and 505, referring to fig. 5, the welding operator manually connects the stainless steel elbow connector semi-finished products 501, 502, 503, 504 and 505 one by one with a jig, and welds and combines the adjacent joint seams 51 between the stainless steel elbow connector semi-finished products 501, 502, 503, 504 and 505 with a welding gun, so that the stainless steel elbow connector semi-finished products 501, 502, 503, 504 and 505 are welded and combined into a large-size stainless steel elbow connector finished product 50. With continued reference to fig. 5, in the conventional process of each of the large-sized stainless steel elbow connector semi-finished products 50, since the welding operator must hold the welding gun to perform the welding combination action carefully and precisely along the circumferential direction with respect to the joint seams 51 between the adjacent stainless steel elbow connector semi-finished products 501, 502, 503, 504 and 505, respectively, the stainless steel elbow connector semi-finished products 501, 502, 503, 504 and 505 can be joined into a large-sized stainless steel elbow connector finished product 50 correctly and airtightly. However, since a lot of labor and effort of welding operators are required to be consumed in the process of joining and welding combination in the conventional process, and the welding operators can perform accurate and airtight welding on the joining seams 51 only by butting the two adjacent stainless steel elbow connector semi-finished products 501, 502, 503, 504 and 505 to form the joining seams 51 which are precisely butted, the entire conventional process has low manufacturing efficiency and cannot effectively achieve the goal of mass production, and the manufacturing quality is also poor because each welding operator needs to keep working for a long time and concentrate on the joining and welding combination work, and the large-sized stainless steel elbow connector finished product 50 is a defective product which cannot discharge toxic waste gas in an airtight manner due to the existence of welding holes and joining seams, therefore, the whole goods are returned or discarded, which causes great waste of resources, but is a pity and needs to be improved urgently.
Accordingly, how to improve the large-sized stainless steel elbow connection products 50, the aforementioned problems in design, manufacture, construction and assembly, so that these large-sized stainless steel elbow connection products 50 can not only effectively achieve the goal of mass production, but also greatly reduce the man-made operation loss or negligence in the manufacturing process, thereby ensuring the manufacturing quality of these large-sized stainless steel elbow connection products 50, so that these manufactured large-sized stainless steel elbow connection products 50 do not have any welding holes or joints, and are sufficient to satisfy the important responsibility for exhausting various toxic waste gases hermetically, which becomes an important subject to be further discussed and broken through in the following.
Disclosure of Invention
In view of the problems and disadvantages of the large-size stainless steel elbow joint in design and actual processing and manufacturing, the equipment and the method for automatically welding and combining the elbow joint along the circumferential direction are developed and designed according to professional practical experiences of relevant industry research and development, design, manufacture and construction actively invested in over two and thirty years, through careful observation and research and development and after multiple times of adjustment design and efficiency evaluation, so that the problems and the disadvantages can be overcome at one stroke through the equipment, and the equipment becomes the welding equipment which is truly automatic and can accurately weld and combine the large-size stainless steel elbow joint.
The invention provides a device and a method for automatically welding and combining stainless steel elbow joints along the circumferential direction, wherein the method ensures that an operator only needs to firstly stamp a plurality of sections of stainless steel elbow joint semi-finished products which are manufactured by an upstream processing plant and have round cross sections, the stainless steel elbow joint semi-finished products are connected one by one, and the connecting seams between the adjacent stainless steel elbow joint semi-finished products are welded and combined at intervals in a spot welding mode to form a blank of the stainless steel elbow joint finished product; the pipe bending channel at one end of the initial blank is vertically sleeved to a positioning mould arranged on the top surface of a bearing seat of a control machine, and then the control machine is started, the control machine can drive a plurality of positioning modules arranged along the circumferential direction on the positioning mould, so that the positioning modules respectively move outwards along the radial direction, the outer periphery of each positioning module can firmly abut against the inner edge of the pipe bending channel at one end of the initial blank, and the initial blank can be stably and accurately positioned on the positioning mould; the control machine station drives the bearing seat to rotate together with the initial blank positioned on the bearing seat so as to enable the axis of the bent pipe channel of the initial blank to be horizontally arranged; at this time, the control machine can also drive a mechanical arm to make a welding gun arranged at the front end of the mechanical arm move towards the direction of each joining seam on the initial blank, the front end of the mechanical arm further comprises a camera element and a laser positioning element, the control machine can accurately judge the accurate coordinate position of each joining seam according to the initial blank image captured by the camera element, and then the accurate coordinate position of each joining seam is calibrated by the laser positioning element through laser light, and then the mechanical arm can be driven according to the instruction of a laser tracking computer in the control machine, so that the welding gun at the front end of the mechanical arm can respectively perform welding combination actions on each joining seam at the accurate coordinate positions along the circumferential direction of the initial blank to quickly and accurately form beautiful and airtight welding beads on each joining seam along the circumferential direction of the initial blank, thereby automatically, rapidly and airtightly processing the initial blank into a large-size stainless steel elbow joint finished product.
Another objective of the present invention is to provide a welding method for welding joints by a welding gun, wherein the welding gun is provided with a positioning mold, and the positioning mold is driven by the control machine to rotate the blank along the axis of the bent pipe channel, so as to greatly reduce the displacement amplitude and range of the welding gun when welding the joints, thereby effectively improving the welding efficiency and precision of the joints.
The present invention provides an apparatus for automatically welding a combined elbow joint along a circumferential direction, which includes a control machine, a bearing seat, a positioning mold, a first rotating mechanism, a welding machine, a control display, and a robot arm; wherein, the bottom of the control machine is fixed on a plane; the bearing seat is fixed to the position, close to the front side, on the control machine table, and the positioning die is arranged on the top side of the bearing seat in a vertically protruding mode, so that an operator can vertically sleeve a bent pipe channel at one end of a stainless steel bent pipe joint finished product blank onto the positioning die, wherein the blank is formed by punching a multi-section stainless steel bent pipe joint semi-finished product with a round cross section by an upstream processing plant, the multi-section stainless steel bent pipe joint semi-finished product is connected one by one, and connecting seams among the adjacent stainless steel bent pipe joint semi-finished products are welded and combined at intervals in a spot welding mode; the positioning mould comprises a plurality of positioning modules, each positioning module is arranged on the top side of the bearing seat along the circumferential direction and can respectively move outwards or inwards along the radial direction under the control of the control machine station, so that the outer periphery of each positioning module can be firmly abutted to the inner edge of the bent pipe channel at one end of the blank, the blank can be stably and accurately positioned on the positioning mould, or the outer periphery of each positioning module can be separated from the state of abutting to the inner edge of the bent pipe channel at one end of the blank, and the blank can be dismounted from the positioning mould; the first rotating mechanism is arranged in the control machine platform and is adjacent to the position of the bearing seat, and is connected with the bearing seat, so that the bearing seat can be driven to rotate under the control of the control machine platform; the welding machine is arranged at one side position of the control machine and is electrically connected with the control machine so as to execute welding work under the control of the control machine; the control display is arranged at the other side position of the control machine table and is electrically connected with the control machine table so that an operator can input the size and the specification of the initial blank, and the control machine table can control the positioning die, the first rotating mechanism, the welding machine table and the mechanical arm to respectively execute corresponding actions; the mechanical arm is arranged on the control machine table near the top side and is electrically connected with the control machine table, so that the front end of the mechanical arm can be moved to a preset position under the control of the control machine table, the front end of the mechanical arm is respectively provided with a welding gun, a camera element and a laser positioning element, wherein the welding gun is electrically connected with the welding machine table to execute welding work under the drive of the welding machine table, the control machine table can also accurately judge the accurate coordinate position of each connecting seam on the control machine table according to an initial blank image captured by the camera element, and after the accurate coordinate position of each connecting seam is calibrated by the laser positioning element through laser light, the control machine table can drive the mechanical arm according to the indication of a laser tracking computer in the control machine table, so that the welding gun at the front end of the control machine table can follow the circumferential direction of the initial blank at the outer edge of the initial blank, and respectively aligning each joint seam at the accurate coordinate positions to perform welding combination action so as to quickly and accurately form beautiful and airtight welding paths on each joint seam along the circumferential direction of the initial blank, thereby automatically, quickly and airtightly processing the initial blank into a large-size stainless steel elbow joint finished product.
The present invention also provides a second rotating mechanism installed in the bearing seat, the second rotating mechanism is connected to the positioning mold and can drive the positioning mold to rotate under the control of the control machine, so that the control machine can drive the positioning mold to rotate under the condition that the welding gun at the front end of the manipulator is positioned at the outer edge of the blank along the circumferential direction of the blank and performs the welding combination action on the joining seams at the precise coordinate positions, so as to rotate the blank positioned thereon along the axial direction of the pipe bending channel, thereby greatly reducing the displacement amplitude and range of the welding gun when welding the joining seams, and effectively improving the welding efficiency and precision of the joining seams.
For further understanding and appreciation of the manner of assembly, structural features, effects and objects of the present invention, reference will now be made in detail to the embodiments illustrated in the accompanying drawings, in which:
drawings
FIG. 1 is a schematic view of a prior art damper adjustment mechanism;
FIG. 2 is a schematic diagram of a prior art exhaust gas conditioning device;
FIG. 3 is a schematic view of a prior art stainless steel elbow joint;
FIG. 4 is an exploded view of a conventional large-sized stainless steel elbow joint;
FIG. 5 is an assembled view of a conventional large-sized stainless steel elbow connector;
FIG. 6 is a schematic external view of an automatic welding apparatus according to a preferred embodiment of the present invention;
FIG. 7 is a schematic flow chart of a construction method according to another preferred embodiment of the present invention; and
fig. 8 is an external view schematically showing an automatic welding apparatus according to still another preferred embodiment of the present invention.
[ description of main element symbols ]
[ conventional ]
Existing damper adjustment mechanisms
.
31
32
One end
321. an embedded and clamped component
Another end
Adjusting groove 33
331 a
.
Existing exhaust gas regulating device
43. to.43. to.
Elbow joint
Large-size stainless steel elbow joint finished product 50
.'
501, 502, 503, 504, 505
Welding point
[ invention ]
60
Positioning die 610
Positioning module
. 63 mechanical arm
630
631
Welding machine table
65. to operate the display
67
68
70. a
The second rotating mechanism is 71
701-703
L. solder
R1 and R2
Detailed Description
The invention provides a method for automatically welding and combining elbow joints along the circumferential direction, which is shown by continuing to refer to fig. 4 and fig. 5, and the method enables an operator to only need to firstly stamp a plurality of stainless steel elbow joint semi-finished products 501, 502, 503, 504 and 505 which are manufactured by an upstream processing factory and have circular cross sections, to be connected one by one, and to weld welding points S at intervals on connecting seams 51 between the adjacent stainless steel elbow joint semi-finished products 501, 502, 503, 504 and 505 in a spot welding manner, so as to form an initial blank 50' of the stainless steel elbow joint finished product; with reference to fig. 5, the method is used to automatically weld and combine the joint seams 51 between the adjacent stainless steel elbow joint semi-finished products 501, 502, 503, 504 and 505 on the initial blank 50 ', particularly, the joint seams 51 between any two spot welding points S between the adjacent stainless steel elbow joint semi-finished products 501, 502, 503, 504 and 505, so that the stainless steel elbow joint semi-finished products 501, 502, 503, 504 and 505 are welded and combined into a large-size stainless steel elbow joint finished product 50 in an airtight manner, as shown in fig. 6, after an operator vertically sleeves the elbow channel at one end of the initial blank 50' on a positioning mold 610 disposed on a top surface of a bearing seat 61 of a control machine 60, the control machine 60 is started, as shown in fig. 7: the control machine 60 will sequentially execute the following steps:
continuing with fig. 6, driving the plurality of positioning modules 611, 612, 613 arranged along the circumferential direction on the positioning mold 610 to make each of the positioning modules 611, 612, 613 respectively displace outward along the radial direction (as shown by the two-way linear arrows on fig. 6), so that the outer periphery of each of the positioning modules 611, 612, 613 can firmly abut against the inner periphery of the bent pipe channel at one end of the blank 50 ', and the blank 50' can be stably and precisely positioned on the positioning mold 610;
continuing with FIG. 6: driving a first rotating mechanism 70 in the control machine 60, so that the first rotating mechanism 70 can drive the bearing seat 61 and the blank 50 'positioned thereon to rotate together with R1 (as shown by the two-way curved arrows in fig. 6), so that the axis of the bent pipe channel of the blank 50' can be dynamically maintained in a horizontal state according to the requirement of the welding position;
referring to fig. 8, a robot arm 63 pivoted to the control machine 60 near the top side is driven to move a welding gun 630 disposed at the front end of the robot arm 63 toward each joining seam 51 on the blank 50 ', the front end of the robot arm 63 further includes a camera 631 and a laser positioning element 632, the control machine 60 can accurately determine the precise coordinate position of each joining seam 51 according to the image of the blank 50' captured by the camera 631, and then the laser positioning element 632 marks the precise coordinate position of each joining seam 51 with laser light, so as to drive the robot arm 63 according to the indication of a laser tracking computer 66 in the control machine 60, so that the welding gun 630 at the front end of the robot arm can be located at the outer edge of the blank 50 'and perform the welding combination operation for each joining seam 51 located at the precise coordinate position along the circumferential direction of the blank 50', so as to form an aesthetic and airtight weld bead on each of the joint seams 51 along the circumferential direction of the blank 50 'rapidly and precisely, thereby automatically, rapidly and airtightly processing the blank 50' into a large-sized stainless steel elbow connector product 50.
The above-mentioned embodiments are only examples of the method of the present invention, but the present invention is not limited to the above-mentioned embodiments, and other equivalent changes that can be easily made by those skilled in the art after considering the above-mentioned steps and related actions of the present invention can be added or subtracted according to the actual needs without departing from the protection scope of the present invention, and it should be understood that the method of the present invention is another preferred embodiment as an example, and the following is briefly described: .
In another preferred embodiment of the present invention, referring to fig. 5, fig. 6 and fig. 8, in order to greatly simplify the displacement amplitude and range of the welding gun 630 for welding the joint seam 51, when the welding gun 630 at the front end of the robot 63 performs welding combination on the joint seam 51, the positioning molds 610 and the elbow joint blank 50 ' positioned thereon can be rotated R2 (as shown by the two-way arc arrow in fig. 8) along the axis of the elbow channel of the blank 50 ', so that the welding gun 630 can automatically perform welding combination on the joint seam 51 along the circumferential direction of the blank 50 ' at a certain position, so as to greatly reduce the displacement amplitude and range of the welding gun 630 for welding the joint seam 51, thereby effectively improving the efficiency and accuracy of welding combination on the joint seam 51, to weld and combine the stainless steel elbow joint semi-finished products 501, 502, 503, 504 and 505 into the large-sized stainless steel elbow joint finished product 50 quickly and airtightly.
In another preferred embodiment of the present invention, referring to fig. 6, an apparatus for automatically welding a combined elbow connector along a circumferential direction is provided, which includes a control machine 60, a carrying base 61, a positioning mold 610, a first rotating mechanism 70, a welding machine 64, a control display 65, a robot 63, and a second rotating mechanism 71; with continued reference to FIG. 6, the bottom of the control platform 60 is fixed to a surface (e.g., the ground); the bearing seat 61 is fixed to the position adjacent to the front side of the control machine 60, and the positioning mold 610 is vertically protruded from the top side of the bearing seat 61, so that an operator can vertically sleeve the elbow channel at one end of the initial blank 50 'of a finished stainless steel elbow connector to the positioning mold 610, wherein, as shown in fig. 5, the initial blank 50' is formed by stamping in an upstream processing plant and is formed by connecting a plurality of sections of semi-finished stainless steel elbow connectors 501, 502, 503, 504 and 505 with circular cross sections one by one, and the connecting seams 51 between the adjacent semi-finished stainless steel elbow connectors 501, 502, 503, 504 and 505 are connected by spot welding points S at intervals; the positioning mold 610 includes a plurality of positioning modules 611, 612 and 613, each of the positioning modules 611, 612 and 613 is arranged on the top side of the supporting base 61 along the circumferential direction, and can be respectively moved radially outward or inward (as shown by the two-way linear arrow on fig. 6) under the operation of the control machine 60, so that the outer periphery of each of the positioning modules 611, 612 and 613 can be firmly abutted against the inner edge of the elbow channel at one end of the blank 50 ', thereby the blank 50' can be stably and accurately positioned on the positioning mold 610, or the outer periphery of each of the positioning modules 611, 612 and 613 can be disengaged from the inner edge of the elbow channel at one end of the blank 50 ', thereby the blank 50' can be detached from the positioning mold 610; continuing to refer to fig. 6 and 8, the first rotating mechanism 70 is installed in the control machine 60 at a position adjacent to the bearing seat 61, and is connected to the bearing seat 61, so that under the operation of the control machine 60, the bearing seat 61 and the blank 50 'positioned thereon are driven to rotate together R1 (as shown by the two-way curved arrows in fig. 6 and 8), so that the axis of the bent pipe channel of the blank 50' can be dynamically maintained in a horizontal state according to the requirement of the welding position; the welding machine 64 is installed at a side position of the control machine 60 and electrically connected to the control machine 60 to perform welding work under the control of the control machine 60; the control display 65 is installed at another side of the control machine 60 and electrically connected to the control machine 60 for the operator to input the size and specification of the blank 50', so that the control machine 60 can control the positioning mold 610, the first rotating mechanism 70, the welding machine 64 and the robot 63 to perform corresponding actions respectively; the robot 63 is mounted on the control machine 60 near the top side and electrically connected to the control machine 60, so that the front end of the robot 63 can be moved to a predetermined position under the control of the control machine 60, the front end of the robot 63 is respectively provided with a welding gun 630, a camera 631 and a laser positioning element 632, wherein the welding gun 630 is electrically connected to the welding machine 64 to perform welding under the driving of the welding machine 64, the control machine 60 can further accurately determine the precise coordinate position of each joint 51 according to the image of the blank 50' captured by the camera 631, and after the precise coordinate position of each joint 51 is calibrated by the laser positioning element 632 using laser light, the control machine 60 can drive the robot 63 according to the indication of a laser tracking computer 66 therein, the welding gun 630 at the front end can perform the welding combination action on the joining seams 51 respectively aligned at the precise coordinate positions along the circumferential direction of the blank 50 ' at the outer edge of the blank 50 ', so as to quickly and accurately form beautiful and airtight welding beads on the joining seams 51 along the circumferential direction of the blank 50 ', thereby automatically, quickly and airtightly processing the blank into a large-size stainless steel elbow joint finished product 50.
While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims:
in the apparatus according to still another preferred embodiment of the present invention, referring to fig. 5, 6 and 8, in order to greatly simplify the displacement and range of the welding gun 630 for welding the joint seams 51, the positioning mold 610 is pivoted on the supporting base 61 near the top and can be driven by a second rotating mechanism 71 disposed in the supporting base 61 to rotate R2, so that the positioning mold 610 and the blank 50 'positioned thereon can rotate R2 (as shown by the two-way arc arrow in fig. 6 and 8) along the axis of the bending channel of the blank 50', so as to greatly reduce the displacement and range of the welding gun 630 for welding and assembling the joint seams 51, thereby effectively improving the welding and assembling efficiency and accuracy of the joint seams 51, and rapidly and hermetically assembling the semi-finished products 501, 51, and 51 of stainless steel elbow joints, 502 are welded and combined into the finished large-sized stainless steel elbow connector 50.
In addition, in the apparatus according to another embodiment of the present invention, as shown in fig. 5, fig. 6 and fig. 8, the apparatus further includes a start pedal 67 and a solder turntable 68, wherein the start pedal 67 is electrically connected to the control machine 60 for the operator to step on the control machine 60; the solder turntable 68 is pivoted to a position adjacent to the robot 63 on the top side of the control table 60, and is wound with solder L, which provides a welding material for the welding gun 630 at the front end of the robot 63 to perform a welding operation.
The above description is only for the preferred embodiments of the present invention, and the technical features of the present invention are not limited thereto, and equivalent changes and modifications that can be easily made by persons skilled in the relevant art after considering the technical contents of the present invention should not depart from the scope of the present invention.
Claims (6)
1. A method for automatically welding and combining elbow joints along the circumferential direction is characterized in that a blank is punched by an upstream processing plant to form a plurality of stainless steel elbow joint semi-finished products with circular cross sections, the stainless steel elbow joint semi-finished products are connected one by one, and the adjacent connecting seams between the stainless steel elbow joint semi-finished products are welded and combined at intervals in a spot welding mode, the method is characterized in that an elbow channel at one end of the blank is vertically sleeved to a positioning die arranged on the top surface of a bearing seat of a control machine, and then the control machine is started to execute the following steps:
driving a plurality of positioning modules which are arranged along the circumferential direction on the positioning mould, and enabling each positioning module to respectively move outwards along the radial direction, so that the outer periphery of each positioning module can be firmly abutted against the inner edge of the bent pipe channel at one end of the initial blank, and the initial blank can be stably and accurately positioned on the positioning mould;
driving the bearing seat to rotate together with the initial blank positioned on the bearing seat, so that the axes of the bent pipe channels of the initial blank are horizontally arranged; and
driving a mechanical arm on the control machine to make a welding gun arranged at the front end of the mechanical arm displace towards the direction of each joining seam on the initial blank, wherein the front end of the mechanical arm further comprises a camera element and a laser positioning element, the control machine can accurately determine the accurate coordinate position of each joining seam according to the initial blank image captured by the camera element, after the laser positioning element calibrates the accurate coordinate position of each joining seam with laser light, the control machine can drive the mechanical arm according to the indication of a laser tracking computer arranged in the control machine, so that the welding gun at the front end of the control machine can respectively perform welding combination actions on each joining seam at the accurate coordinate positions along the circumferential direction of the initial blank to quickly and accurately form beautiful and airtight welding beads on each joining seam along the circumferential direction of the initial blank, thereby automatically, rapidly and airtightly processing the initial blank into a large-size stainless steel elbow joint finished product.
2. The method as claimed in claim 1, wherein the control machine further performs the following steps while the welding gun at the front end of the robot arm respectively welds the joining seams:
this positioning die of drive makes this initial blank can rotate along the axis of its return bend passageway to displacement range and scope when this welder of great reduction welds each this joint seam respectively, thereby can effectively promote and carry out welded efficiency and precision to each this joint seam.
3. An apparatus capable of automatically welding a composite elbow connection circumferentially, comprising:
a control machine, the bottom of which is fixed on a plane;
a bearing seat fixed on the control machine table near the front side;
a positioning mould which is arranged on the top side of the bearing seat along the vertical direction in a protruding way so as to vertically sleeve a bent pipe channel at one end of a blank of a large-size stainless steel bent pipe joint finished product onto the positioning mould, wherein the blank is punched by an upstream processing factory and is made into a multi-section stainless steel bent pipe joint semi-finished product with a round cross section, and the multi-section stainless steel bent pipe joint semi-finished product is formed by connecting the multi-section stainless steel bent pipe joint semi-finished product one by one and welding and combining the connecting seams between the adjacent stainless steel bent pipe joint semi-finished products at intervals in a spot welding way; the positioning mould comprises a plurality of positioning modules, each positioning module is arranged on the top side of the bearing seat along the circumferential direction and can respectively move outwards or inwards along the radial direction under the control of the control machine station, so that the outer periphery of each positioning module can be firmly abutted to the inner edge of the bent pipe channel at one end of the blank, the blank can be stably and accurately positioned on the positioning mould, or the outer periphery of each positioning module can be separated from the state of being abutted to the inner edge of the bent pipe channel at one end of the blank, and the blank can be dismounted from the positioning mould;
a first rotating mechanism, which is installed in the control machine station near the bearing seat and connected with the bearing seat, and can drive the bearing seat to rotate together with the initial blank positioned thereon under the control of the control machine station, so that the axes of the bent tube channels of the initial blank are arranged horizontally;
the welding machine table is arranged at one side position of the control machine table and is electrically connected with the control machine table so as to drive a welding gun to perform welding work under the control of the control machine table;
a mechanical arm mounted on the control machine near the top side and electrically connected with the control machine, so that the front end of the mechanical arm can be moved to a designated position under the control of the control machine, the front end of the mechanical arm is respectively provided with a welding gun, a camera element and a laser positioning element, wherein the welding gun is electrically connected with the welding machine to perform welding work under the drive of the welding machine, the control machine can accurately judge the accurate coordinate position of each connecting seam according to the initial blank image captured by the camera element, and the control machine can drive the mechanical arm according to the indication of a laser tracking computer in the control machine after the accurate coordinate position of each connecting seam is calibrated by the laser positioning element through laser light, so that the welding gun at the front end can follow the circumferential direction of the initial blank at the outer edge of the initial blank, respectively aligning each joint seam at the accurate coordinate positions to perform welding combination so as to quickly and accurately form beautiful and airtight welding beads on each joint seam along the circumferential direction of the initial blank, thereby automatically, quickly and airtightly processing the initial blank into a large-size stainless steel elbow joint finished product; and
and the control display is arranged at the other side position of the control machine table and is electrically connected with the control machine table, so that the control machine table can control the positioning die, the first rotating mechanism, the welding machine table and the mechanical arm to respectively execute corresponding actions according to the size and the specification of the input initial blank.
4. The apparatus of claim 3, wherein a second rotating mechanism is further installed in the supporting base, the second rotating mechanism is connected to the positioning mold, and under the operation of the control platform, the positioning mold is driven to rotate the blank positioned thereon along the axis of the bending channel, and the welding gun at the front end of the robot arm can perform a welding assembly on the joining seams at the precise coordinate positions along the circumferential direction of the blank at the outer edge of the blank.
5. The apparatus of claim 4, wherein the carriage further comprises a start pedal electrically connected to the control console for being stepped on by an operator to start the control console.
6. The apparatus of claim 4, wherein the carrier further comprises a solder turntable pivoted to the top of the control stage adjacent to the robot arm and around which solder is wound to provide a solder material for the welding gun at the front end of the robot arm to perform a welding operation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW107135845 | 2018-10-11 | ||
| TW107135845A TWI673129B (en) | 2018-10-11 | 2018-10-11 | Equipment and method for automatic welding of combined stainless steel elbow joints along the circumference |
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| CN111037131A true CN111037131A (en) | 2020-04-21 |
| CN111037131B CN111037131B (en) | 2021-10-08 |
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| TWI782246B (en) * | 2019-12-31 | 2022-11-01 | 旭東機械工業股份有限公司 | Laser tube processing method and robotic arm laser tube proessing machine |
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| US4314861A (en) * | 1979-06-05 | 1982-02-09 | Kubota Ltd. | Manufacturing method of elbows made of cast stainless steel |
| EP1044756A2 (en) * | 1999-04-02 | 2000-10-18 | Nippon Sanso Corporation | Stainless steel pipe and joining method thereof |
| CN101798845A (en) * | 2010-03-15 | 2010-08-11 | 谢家明 | Thin-walled stainless steel elbow structure for drainage and processing method thereof |
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Also Published As
| Publication number | Publication date |
|---|---|
| TW202014267A (en) | 2020-04-16 |
| CN111037131B (en) | 2021-10-08 |
| TWI673129B (en) | 2019-10-01 |
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