CN111390375A - Automatic clamping and feeding device of large-scale melon petal wallboard robot - Google Patents
Automatic clamping and feeding device of large-scale melon petal wallboard robot Download PDFInfo
- Publication number
- CN111390375A CN111390375A CN202010288817.9A CN202010288817A CN111390375A CN 111390375 A CN111390375 A CN 111390375A CN 202010288817 A CN202010288817 A CN 202010288817A CN 111390375 A CN111390375 A CN 111390375A
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- China
- Prior art keywords
- robot
- material grabbing
- wallboard
- melon
- petal
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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
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/26—Auxiliary equipment
-
- 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
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction 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
- 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
- B23K37/0443—Jigs
Abstract
The invention discloses an automatic clamping and feeding device of a large-scale melon petal wallboard robot, which is used for solving the problems of large horizontal hoisting difficulty, difficult on-frame positioning and pose adjustment and low assembly efficiency caused by adopting a manual hoisting tool for large-scale melon petal wallboard parts, and comprises the following steps: the material grabbing device comprises a material grabbing frame, a material supporting device is arranged at the bottom of the material grabbing frame, a pressing device is arranged at the upper part of the material grabbing frame, and a jacking device is arranged in the middle of the material grabbing frame; the outer side of the material grabbing fixture is in flange connection with the end part of the robot through a switching disc; the material grabbing fixture, the material supporting device, the pressing device, the jacking device and the robot form a manipulator grabbing device together; the robot bottom is installed on the base, the height of base and the high phase-match of longitudinal joint welding frock, base and ground fixed connection.
Description
Technical Field
The invention relates to an automatic clamping and feeding device of a large-scale melon-petal wallboard robot, which can be used for solving the problems of high horizontal hoisting difficulty, difficult racking positioning and pose adjustment and low assembling efficiency caused by adopting a manual hoisting tool for large-scale melon-petal wallboard parts and belongs to the technical field of assembling and welding automation equipment development of the bottom of a large-scale storage tank of a carrier rocket.
Background
The longitudinal seam welding of the annular melon petals at the bottom of the box adopts a friction stir welding process, and the process requires that the staggered seam clearance and the parallel seam clearance between every two melon petals do not exceed 0.5mm, so that the assembly precision of the large melon petals is of great importance to the quality of a final product. At present, the melon-petal part of the carrier rocket with the diameter of 3.35m is small in structure and relatively small in total weight due to the fact that the wall thickness is thin (generally not more than 8mm), a lifting appliance is adopted to lift the melon-petal to a longitudinal seam tooling mold, the assembly position of the melon-petal part is adjusted through the combination of the lifting appliance and manual adjustment, and finally the assembly welding precision is basically achieved. The time-consuming fusion welding process adopted by welding the longitudinal seams of the melon-petals of the carrier rocket with the diameter of 5m has much lower assembly precision requirement and the assembly precision requirement of the friction stir welding process, and the production requirement can be basically met by adopting the mode. However, the above method has extremely low melon petal assembling efficiency, poor positioning precision at one time, difficult melon petal adjustment and high labor intensity of workers.
The feeding device provided by the invention aims at the difficulties to realize efficient, high-quality and automatic assembly welding of the bottom of the large-scale storage tank and improve the processing efficiency of the whole welding system.
Disclosure of Invention
The invention aims to provide an automatic clamping and feeding device for large-scale melon-petal wall plates, which is used for automatically loading, adjusting and positioning melon-petal wall plate parts during longitudinal seam assembly welding of medium and large-scale carrier rockets, solves the problems of high horizontal hoisting difficulty, loading positioning and pose adjustment difficulty, low assembly efficiency and the like caused by the adoption of a manual hoisting tool for the large-scale melon-petal wall plate parts, and meets the requirements of automatic loading, adjusting and positioning of the large-scale melon-petal wall plate parts in the assembly welding process, so that efficient, high-quality and automatic assembly welding of the bottom of a large-scale storage tank is realized, and the processing efficiency of the whole welding system is improved.
The technical solution of the invention is as follows: the utility model provides a large-scale melon lamella wallboard robot self-holding loading attachment for grab tight melon lamella wallboard, include:
the material grabbing device comprises a material grabbing frame, a material supporting device is arranged at the bottom of the material grabbing frame, a pressing device is arranged at the upper part of the material grabbing frame, and a jacking device is arranged in the middle of the material grabbing frame;
the outer side of the material grabbing fixture is in flange connection with the end part of the robot through a switching disc;
the material grabbing fixture, the material supporting device, the pressing device, the jacking device and the robot form a manipulator grabbing device together;
the robot bottom is installed on the base, the height of base and the high phase-match of longitudinal joint welding frock, base and ground fixed connection.
Preferably, the material grabbing fixture is a welding type profiling fixture and comprises a plurality of groups of frames which are inwards concave towards the center, the plurality of groups of frames form an integral structure together, and the plurality of groups of frames can grab the top end and the bottom end in a side standing state;
the material grabbing fixture is subjected to full aging treatment and shape correction after welding, the mounting surface of the material supporting device is added in the final machine, the mounting surface of the pressing device is arranged at the upper part of the material grabbing fixture, and the mounting surface of the jacking device is arranged in the middle of the material grabbing fixture.
Preferably, a plurality of lightening holes are uniformly arranged on each group of frames of the welding type profiling frame.
Preferably, the material supporting devices are provided with two groups, and the two groups of material supporting devices are respectively positioned at the bottoms of the two sides of the material grabbing type frame.
Preferably, each material supporting device is clamped in an air cylinder driving type automatic mode.
Preferably, each material supporting device is provided with an air cylinder driving hook claw, a guide groove and a supporting plate, the air cylinder driving hook claw can move back and forth in the guide groove, a product is located between the air cylinder driving hook claw and the supporting plate, and the supporting plate presses the product against the supporting plate along with the movement of the air cylinder driving hook claw to complete the bottom clamping process.
Preferably, the two groups of pressing devices are respectively corresponding to the two groups of material supporting devices;
each group of the pressing devices comprise a pressing hook clamping portion and a positioning tightening portion, and are driven by a cylinder, when the positioning tightening portion is driven by the cylinder to move to a full stroke, the cylinder of the pressing hook clamping portion drives the pressing hook to rotate around a fulcrum, and the upper material clamping process is completed.
Preferably, the structure of the jacking device is the same as that of the positioning and tensioning part of the pressing device, and a positioning block is driven by a cylinder to move, so that the process of clamping the middle material is completed.
Compared with the prior art, the invention successfully solves the problems in the background technology, and has the following advantages:
(1) the welding of the longitudinal joint of the melon petal of the heavy carrier rocket is realized through a longitudinal joint friction stir welding tool. Before longitudinal seam welding, firstly, positioning and clamping a large-scale melon-petal wallboard part from a melon-petal material bearing station through a robot automatic clamping and feeding device of a large-scale melon-petal wallboard positioned on one side, assembling the melon-petal wallboard on a positioning type tire of a longitudinal seam friction stir welding tool through the robot and the clamping device, and clamping the positioned wallboard by the longitudinal seam friction stir welding tool to realize longitudinal seam welding;
(2) the light weight and automatic design level of the nonstandard automatic equipment are improved, and the wallboard part grabbing principle, the clamping mode, the profiling design and the like can be conveniently expanded to the processing process of other models of similar products. The device design method and design concept can be applied to the field of automatic assembly welding of large-scale shells such as aerospace and ships in the future, reliable experience is provided for design and manufacture of follow-up more complex advanced automatic nonstandard equipment, and powerful technical support is provided for companies to develop advanced manufacturing equipment.
Drawings
Fig. 1 is a schematic half-section structure view of a large-scale melon petal wallboard automatic clamping and feeding device of the invention;
fig. 2 is a schematic position diagram of an adapter plate of the automatic clamping and feeding device for the large-scale melon petal wallboard;
FIG. 3 is a schematic axial side structure diagram of the material grabbing type frame for grabbing large melon petal wall plates;
FIG. 4 is a schematic side view of the material holding device of FIG. 1 according to the present invention;
fig. 5 is a schematic axial side view of the compression device of fig. 1 according to the present invention.
FIG. 6 is a schematic side view of the tightening device shown in FIG. 1 according to the present invention;
fig. 7 is a schematic axial side view of the base of fig. 1 according to the present invention.
Reference numerals:
1-material grabbing and shaping frame; 2-a material supporting device; 3-a pressing device; 4-a jacking device; 5-a robot; 6-a base; 7-leveling the inclined iron; 8-a switching disk;
11-mounting surface of the hold-down device; 12-mounting surface of the jacking device; 13-mounting surface of the robot adapter plate; 14-mounting surface of the material supporting device;
21-cylinder driving hook claw; 22-a first cylinder; 23-a pallet; 24-a mounting seat; 25-product;
31-a second cylinder; 32-a third cylinder; 33-press hook clamping part; 34-positioning and tightening part;
41-fourth cylinder; 42-positioning blocks; 43-fixed part.
Detailed Description
Examples
A large-scale melon lamella wallboard robot 5 self-holding loading attachment, as shown in fig. 1 and 2, is used for grasping melon lamella wallboard, includes: the material grabbing device comprises a material grabbing frame 1, wherein a material supporting device 2 is arranged at the bottom of the material grabbing frame 1, a pressing device 3 is arranged at the upper part of the material grabbing frame 1, and a jacking device 4 is arranged in the middle of the material grabbing frame 1; the outer side of the material grabbing jig 1 is in flange connection with the end part of the robot 5 through the adapter plate 8; the material grabbing fixture 1, the material supporting device 2, the pressing device 3, the jacking device 4 and the robot 5 form a manipulator grabbing device together; the bottom of the robot 5 is installed on the base 6, the height of the base 6 is matched with the height of the longitudinal seam welding tool, the base 6 is fixedly connected with the foundation, and particularly, the base 6 is fixedly connected with the foundation through the leveling inclined iron 7.
It should be pointed out that, under the combined action of grabbing material type frame 1, holding in the palm material device 2, closing device 3 and tight device 4 in top, can carry out powerful self-holding to large-scale melon lamella wallboard, simultaneously, have the supplementary of robot 5 and snatch, improved holistic material loading efficiency and precision management and control.
The optional technical scheme of the embodiment is that the material grabbing frame 1 is a welding type profiling frame, namely, the grabbing shape of the welding type profiling frame is matched with the shape of a large melon petal wallboard to be grabbed, and the material grabbing frame 1 is optimally designed into a welding type profiling frame structure in consideration of the rigidity of equipment when the melon petal grabbing moves due to the large size of the melon petal structure; as shown in fig. 3, the welding type profiling frame comprises a plurality of groups of frames which are inwards concave towards the center, the plurality of groups of frames form an integral structure together, and the plurality of groups of frames can grab the top end and the bottom end in a side standing state; the material grabbing jig 1 is subjected to full aging treatment and shape correction after welding, a mounting surface 14 of a material supporting device is added out finally, a mounting surface 11 of a pressing device is mounted at the upper part, a mounting surface 12 of a jacking device is mounted in the middle, meanwhile, as shown in figure 3, a mounting surface 13 of a robot adapter plate is further arranged on the material grabbing jig 1, the position is used for mounting the adapter plate 8 and is connected with a robot through the adapter plate 8, and under the arrangement of each mounting surface, the mechanical precision of the clamping device is integrally ensured.
The optional technical scheme of this embodiment is that evenly be provided with a plurality of lightening holes on every group frame of welding formula profile modeling frame to do benefit to the nimble support of this welding formula profile modeling frame, reduce the interference of self gravity.
An optional technical solution of this embodiment is that, as shown in fig. 3, there are two mounting surfaces 14 of the material supporting devices added on the material grabbing jig 1, that is, two groups of material supporting devices 2 are arranged and are respectively located at the bottoms of two sides of the material grabbing jig 1.
An optional technical scheme of this embodiment is that, as shown in fig. 4, each material supporting device 2 is clamped in an air cylinder driving type automatic manner, so that the material supporting devices 2 are automatically clamped.
An optional technical scheme of this embodiment is that, as shown in fig. 4, each material supporting device 2 is provided with a cylinder driving hook claw 21, a guide groove and a supporting plate 23, the cylinder driving hook claw 21 can move back and forth in the guide groove, a product 25 is located between the cylinder driving hook claw 21 and the supporting plate 23, the supporting plate 23 presses the product 25 against the supporting plate 23 along with the movement of the cylinder driving hook claw 21, and the bottom clamping process is completed.
The optional technical scheme of the embodiment is that the cylinder drives the hook claw to move forwards by 75mm in the guide groove, when the robot 5 drives the material grabbing fixture 1 to move to the bottom of the product 25, the supporting plate 23 of the material supporting device 2 supports the product 25, the cylinder drives the hook claw to retract, the product 25 is pressed against the supporting plate 23, the bottom clamping is completed, and the whole process is controlled by a numerical control program; the air cylinder contained in the material supporting device 2 is a first air cylinder 22, and the first air cylinder 22 provides air cylinder driving force.
An optional technical solution of this embodiment is that, as shown in fig. 3, there are two mounting surfaces 11 of the pressing devices added on the material grabbing frame 1, and correspondingly, two groups of pressing devices 3 are provided, which correspond to the two groups of material supporting devices 2 respectively; each group of pressing devices 3 comprises a pressing hook clamping portion 33 and a positioning supporting portion 34, and are driven by cylinders, wherein the pressing hook clamping portion 33 is driven by a third cylinder 32, the positioning supporting portion 34 is driven by a second cylinder 31, when a melon petal wallboard is grabbed, the bottom of the melon petal wallboard is clamped, the second cylinder 31 of the positioning supporting portion 34 drives a cylinder positioning block 42 at the position to move to a full stroke, the third cylinder 32 of the pressing hook clamping portion 33 drives a pressing hook to rotate around a fulcrum, the clamping process of an upper material is completed, and the whole process is controlled by a numerical control program.
An alternative technical solution of this embodiment is that, as shown in fig. 6, the structure of the tightening device 4 is the same as that of the positioning and tightening portion 34 of the pressing device 3, and the positioning block 42 is driven by the fourth cylinder 41 to move, so as to complete the clamping process of the middle material, where as can be seen from fig. 6, the fourth cylinder 41 passes through the fixing portion 43 to push the positioning block 42 to perform the cylinder-driven movement, and the structure of the fixing portion 43 is not particularly limited, as long as the fixing portion can play a role of stable support.
To sum up, through the coordinated operation of three automatic grabbing, locating and clamping devices, the large-scale melon petal wallboard is finally connected with the mounting flange of the robot 5 through the grabbing type frame to form a whole. The automatic feeding of the large melon petals is realized by means of the strong space pose transformation capacity of the KUKA KR1000 heavy-load robot 5.
By adopting the automatic clamping and feeding device for the large-scale melon-petal wallboard, the problems of high horizontal hoisting difficulty, difficult racking and positioning, difficult pose adjustment, low assembly efficiency and the like caused by the adoption of a manual hoisting tool for large-scale melon-petal wallboard parts are solved, and the automatic racking, adjustment and positioning of the large-scale melon-petal wallboard parts in the assembly welding process are met, so that the efficient, high-quality and automatic assembly welding of the bottom of a large-scale storage tank is realized, the processing efficiency of the whole welding system is improved, and the requirements of assembly friction stir welding production tasks of the bottom of the heavy carrier rocket storage tank of the company are met. The light weight and automatic design level of the nonstandard automatic equipment are improved, and the wallboard part grabbing principle, the clamping mode, the profiling design and the like can be conveniently expanded to the processing process of other models of similar products 25. The device design method and design concept can be applied to the field of automatic assembly welding of large-scale shells such as aerospace and ships in the future, and reliable experience is provided for design and manufacture of follow-up more complex advanced automatic nonstandard equipment.
The present invention has not been described in detail as is known to those skilled in the art.
Claims (8)
1. The utility model provides a large-scale melon lamella wallboard robot self-holding loading attachment for promptly grasp melon lamella wallboard, include:
the material grabbing device comprises a material grabbing frame, a material supporting device is arranged at the bottom of the material grabbing frame, a pressing device is arranged at the upper part of the material grabbing frame, and a jacking device is arranged in the middle of the material grabbing frame;
the outer side of the material grabbing fixture is in flange connection with the end part of the robot through a switching disc;
the material grabbing fixture, the material supporting device, the pressing device, the jacking device and the robot form a manipulator grabbing device together;
the robot bottom is installed on the base, the height of base and the high phase-match of longitudinal joint welding frock, base and ground fixed connection.
2. The automatic clamping and feeding device of the robot for the large melon-petal wall plates as claimed in claim 1, wherein the material grabbing fixture is a welding type profiling fixture and comprises a plurality of groups of frames which are concave inwards towards the center, the plurality of groups of frames form an integral structure together, and the plurality of groups of frames can grab the top end and the bottom end in a side-standing state;
the material grabbing fixture is subjected to full aging treatment and shape correction after welding, the mounting surface of the material supporting device is added in the final machine, the mounting surface of the pressing device is arranged at the upper part of the material grabbing fixture, and the mounting surface of the jacking device is arranged in the middle of the material grabbing fixture.
3. The automatic clamping and feeding device of the large-scale melon-petal wall plate robot as claimed in claim 2, wherein a plurality of lightening holes are uniformly formed in each group of frames of the welding-type profiling frame.
4. The automatic clamping and feeding device of the large melon-petal wallboard robot of claim 2, wherein two groups of material supporting devices are arranged and are respectively positioned at the bottoms of two sides of the material grabbing type frame.
5. The large melon-petal wallboard robot automatic clamping and feeding device of claim 4, wherein each material supporting device adopts a cylinder-driven automatic clamping mode.
6. The automatic clamping and feeding device of the large melon-petal wallboard robot as claimed in claim 5, wherein each material supporting device is provided with a cylinder driving hook claw, a guide groove and a supporting plate, the cylinder driving hook claw can move back and forth in the guide groove, a product is located between the cylinder driving hook claw and the supporting plate, and the supporting plate presses the supporting plate against the surface along with the movement of the cylinder driving hook claw to complete the bottom clamping process.
7. The large-scale melon petal wallboard robot automatic clamping feeding device of claim 1, wherein the pressing device is provided with two groups, and the two groups correspond to the two groups of material supporting devices respectively;
each group of the pressing devices comprise a pressing hook clamping portion and a positioning tightening portion, and are driven by a cylinder, when the positioning tightening portion is driven by the cylinder to move to a full stroke, the cylinder of the pressing hook clamping portion drives the pressing hook to rotate around a fulcrum, and the upper material clamping process is completed.
8. The automatic clamping and feeding device of the robot for the large melon-petal wall plates as claimed in claim 7, wherein the structure of the jacking device is the same as that of the positioning and supporting part of the pressing device, and a positioning block is driven by a cylinder to move, so that the clamping process of the middle material is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010288817.9A CN111390375A (en) | 2020-04-14 | 2020-04-14 | Automatic clamping and feeding device of large-scale melon petal wallboard robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010288817.9A CN111390375A (en) | 2020-04-14 | 2020-04-14 | Automatic clamping and feeding device of large-scale melon petal wallboard robot |
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| Publication Number | Publication Date |
|---|---|
| CN111390375A true CN111390375A (en) | 2020-07-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010288817.9A Pending CN111390375A (en) | 2020-04-14 | 2020-04-14 | Automatic clamping and feeding device of large-scale melon petal wallboard robot |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104801904A (en) * | 2015-04-24 | 2015-07-29 | 艾美特焊接自动化技术(北京)有限公司 | Numerically-controlled welding system for scalloped segment longitudinal seams at store-vessel bottom |
| CN207841302U (en) * | 2017-11-07 | 2018-09-11 | 泉州梅洋塑胶五金制品有限公司 | A kind of universal five axis robots device |
| US10105853B1 (en) * | 2017-10-05 | 2018-10-23 | GM Global Technology Operations LLC | Flexible robot end-effector for assembling door closure |
| CN110523872A (en) * | 2019-07-31 | 2019-12-03 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | A kind of Quadratic Finite Element manipulator |
| CN210115925U (en) * | 2019-04-16 | 2020-02-28 | 扬州四化年代科技有限公司 | Automatic material device of grabbing of storage |
| CN110961776A (en) * | 2019-12-27 | 2020-04-07 | 首都航天机械有限公司 | Automatic feeding device of large-scale melon lamella wallboard robot |
-
2020
- 2020-04-14 CN CN202010288817.9A patent/CN111390375A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104801904A (en) * | 2015-04-24 | 2015-07-29 | 艾美特焊接自动化技术(北京)有限公司 | Numerically-controlled welding system for scalloped segment longitudinal seams at store-vessel bottom |
| US10105853B1 (en) * | 2017-10-05 | 2018-10-23 | GM Global Technology Operations LLC | Flexible robot end-effector for assembling door closure |
| CN207841302U (en) * | 2017-11-07 | 2018-09-11 | 泉州梅洋塑胶五金制品有限公司 | A kind of universal five axis robots device |
| CN210115925U (en) * | 2019-04-16 | 2020-02-28 | 扬州四化年代科技有限公司 | Automatic material device of grabbing of storage |
| CN110523872A (en) * | 2019-07-31 | 2019-12-03 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | A kind of Quadratic Finite Element manipulator |
| CN110961776A (en) * | 2019-12-27 | 2020-04-07 | 首都航天机械有限公司 | Automatic feeding device of large-scale melon lamella wallboard robot |
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