CN113427159A - Welding process of filter - Google Patents
Welding process of filter Download PDFInfo
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- CN113427159A CN113427159A CN202110722374.4A CN202110722374A CN113427159A CN 113427159 A CN113427159 A CN 113427159A CN 202110722374 A CN202110722374 A CN 202110722374A CN 113427159 A CN113427159 A CN 113427159A
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- flange
- weldment
- welding
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- 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
- B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
Abstract
The invention relates to a welding process of a filter, which is characterized in that a semi-finished weldment is conveyed through a welding robot a, a welding robot b and a welding robot c, spot welding and full welding are carried out on the semi-finished weldment through the welding robot a, the welding robot b, the welding robot c and a welding robot d, the robots a, b and c are conveyed, and the welding robots a, b, c and d are controlled by a control system. By adopting the technical scheme, the invention provides the welding process of the filter, the second welding procedure in the background technology is processed by adopting the automatic equipment of the carrying robot and the welding robot, the investment of labor cost is greatly reduced, the production efficiency is improved, the welding precision is high, and the using effect of the product is good.
Description
Technical Field
The invention relates to a welding process of a filter.
Background
The filter comprises a cylinder body 100, a tray 200, an elbow 300, a connecting pipe I400, a connecting pipe II 500, a connecting flange I600, a connecting flange II 700, a cylinder body flange 800 and an elliptical head 900, wherein the connecting pipe I400 and the connecting pipe II 500 are respectively welded on two sides of the cylinder body 100 to form a welding line a and a welding line b, the elliptical head 900 is welded on the top of the cylinder body 100 to form a welding line c, the cylinder body flange 800 is welded on the bottom of the cylinder body 100 to form a welding line d1 and a welding line d2, the connecting flange I600 is welded on the end part of the connecting pipe I400 to form a welding line e1 and a welding line e2, the connecting flange II 700 is welded on the end part of the connecting pipe II 500 to form a welding line f1 and a welding line f2, the elbow 300 is welded on the connecting pipe I400, and the tray 200 is positioned in the cylinder body 100 and welded with the elbow 300. The traditional processing method of the filter is that manual welding is carried out, and the traditional processing method comprises the following steps: the elbow 300 is respectively welded with the tray 200 and the connecting pipe I400 in a splicing manner, and the cylinder body 100 is respectively spot-welded with the connecting pipe I400, the connecting pipe II 500, the cylinder body flange 800 and the elliptical sealing head 900, so that a semi-finished product weldment is formed; two procedures are as follows: the cylinder body 100 of the semi-finished weldment is fully welded with the connecting pipe I400, the connecting pipe II 500, the cylinder body flange 800 and the elliptical sealing head 900 respectively, so that the finished weldment (filter) is formed, manual welding is adopted, the efficiency is low, and the product rejection rate is high.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects of the prior art, the invention provides the welding process of the filter, and the welding process adopts a robot and other automatic equipment to replace the existing manual mode for welding, so that the manual investment is reduced, the production efficiency is improved, and meanwhile, the yield is high.
The technical scheme of the invention is as follows: a filter welding process comprising the steps of:
1) the conveying robot a conveys the semi-finished weldment on the weldment feeding table to the horizontal positioner, wherein the semi-finished weldment comprises a cylinder, a connecting pipe I and a connecting pipe II which are spot-welded on two sides of the cylinder, an elliptical seal head spot-welded on the top of the cylinder, a cylinder flange spot-welded on the bottom of the cylinder, an elbow spliced with the connecting pipe I and a tray spliced with the elbow, the cylinder flange of the semi-finished weldment is arranged on the horizontal positioner, and the cylinder is axially arranged in parallel to the horizontal direction;
2) the welding robot a fully welds the intersection line of the connecting pipe I of the semi-finished weldment and the cylinder to form a welding line a, the intersection line of the connecting pipe II and the cylinder to form a welding line b, and the elliptical seal head and the cylinder to form a welding line c;
3) the conveying robot a conveys the semi-finished weldment on the horizontal positioner to the vertical positioner a, a cylinder flange of the semi-finished weldment is arranged on the vertical positioner a, the cylinder is axially arranged in a direction vertical to the horizontal direction, and the elliptical seal head faces upwards;
4) the welding robot b fully welds the cylinder flange of the semi-finished weldment and the cylinder to form a welding seam d 1;
5) the flange of the flange warehouse is conveyed to a connecting pipe I of the semi-finished weldment by the conveying robot b, the flange and the connecting pipe I are assembled, and the flange is a connecting flange I;
6) the welding robot b performs spot welding on the connecting flange I and the connecting pipe I;
7) the flange of the flange warehouse is conveyed to a connecting pipe II of the semi-finished weldment by the conveying robot b, the flange and the connecting pipe II are assembled, and the flange is a connecting flange II;
8) the welding robot b performs spot welding on the connecting flange II and the connecting pipe II;
9) the conveying robot c conveys the semi-finished weldment with the connecting flange I and the connecting flange II on the vertical positioner a to a vertical positioner b, the connecting flange II is arranged on the vertical positioner b, and the axial direction of the connecting pipe II is vertical to the horizontal direction;
10) the welding robot c fillet-welds the connecting flange II of the semi-finished weldment and the connecting pipe II to form a welding seam f1, and performs tower welding on the connecting flange I and the connecting pipe I to form a welding seam e 2;
11) the conveying robot c takes off the semi-finished weldment from the vertical positioner b, turns the semi-finished weldment for 180 degrees and places the semi-finished weldment on the vertical positioner b, the connecting flange I is arranged on the vertical positioner b, and the axial direction of the connecting pipe I is perpendicular to the horizontal direction;
12) the welding robot c fillet-welds the connecting flange I and the connecting pipe I to form a welding seam e1, and the connecting flange II and the connecting pipe II form a welding seam f 2;
13) the carrying robot c carries the semi-finished weldment on the vertical positioner b to the inversion tooling machine, the cylinder body of the semi-finished weldment is axially placed in a vertical horizontal direction, and the flange of the cylinder body faces upwards;
14) the welding robot d carries out lap welding on the cylinder flange of the semi-finished weldment and the cylinder to form a welding seam d2, so that a finished weldment is obtained;
15) the conveying robot c conveys the finished weldment to a weldment discharging table for discharging;
the welding robot a, the welding robot b, the welding robot c and the welding robot d are controlled by a control system.
Adopt above-mentioned technical scheme, through the automation equipment who adopts transfer robot and welding robot, process the second welding process in the background art, the input of the cost of labor that has significantly reduced to improved production efficiency, the welding precision is high, and product excellent in use effect.
The invention further provides that: the flange correcting platform is further included, and the carrying robot b can carry the flanges on the flange library to the flange correcting platform for correction.
Adopt above-mentioned further setting again, the flange correction platform can carry out the secondary to the flange and correct for follow-up welded accuracy is high.
The invention further provides that: still include team's failed material platform and force sensor a, force sensor a be used for detecting the team's situation between flange I and the barrel, when force sensor a feedback surpassed the threshold value, transfer robot b carried flange I to the flange storehouse, and transfer robot c transports the defective work weldment on the vertical machine of shifting to team's failed material platform.
Adopt above-mentioned further setting again, can detect out the team's situation of flange I and barrel through force sensor a, the team failure is retrieved, can effectively avoid appearing the problem of defective work weldment.
The invention further provides that: still include force sensor b, force sensor b be used for detecting the team's situation between flange II and the barrel, when force sensor b feedback surpassed the threshold value, transfer robot b carried flange II to the flange storehouse, and transfer robot c carries the incomplete article weldment on the vertical positioner to team's failed material platform.
Adopt above-mentioned further setting again, can detect out the team's situation of flange II with the barrel through force transducer b, the team failure is retrieved, can effectively avoid appearing the problem of defective work weldment.
The invention further provides that: the flange storehouse have material loading station and ejection of compact station, material loading station and ejection of compact station liftable, control system takes away the thickness that a back drive material loading station shifts up a flange on the material loading station of flange storehouse, and control system drives ejection of compact station and moves down the thickness of a flange after stacking a flange on the ejection of compact station of flange storehouse a.
By adopting the above further arrangement, the feeding station and the discharging station are controlled by the control system to feed and discharge materials in time, and the using effect is good.
The invention further provides that: the flange storehouses are provided with two groups, namely a flange storehouse a and a flange storehouse b, the flange storehouse a and the flange storehouse b can move forwards or backwards, the control system controls the flange storehouse a to move backwards and send a material supplementing or material taking prompt after the flange is emptied on a material loading station of the flange storehouse a or the flange is fully stacked on a material discharging station, and meanwhile the flange storehouse b is controlled to move forwards to the material loading station.
Adopt above-mentioned further setting again, the flange storehouse is provided with two sets ofly to realize that flange storehouse b can continue material loading or ejection of compact when flange storehouse a carries out the feed supplement or gets the material, does not have the shutdown operation, promotes the work efficiency of machine greatly.
The invention further provides that: the group failure material platform can move forward or backward, and the control system can control the group failure material platform to move backward and send a material taking prompt after the defective welding pieces on the group failure material platform are fully piled.
Adopt above-mentioned further setting again, control system can control the failed material platform of team to retreat after the incomplete article weldment of team failure material bench is piled up, sends simultaneously and gets the material suggestion, reminds to get the material.
The invention further provides that: the weldment ejection of compact platform is provided with two sets ofly, is weldment ejection of compact platform an and weldment ejection of compact platform b respectively, and weldment ejection of compact platform an and weldment ejection of compact platform b can advance or retreat, and control system is after the full finished product weldment of sign indicating number on weldment ejection of compact platform a, and steerable weldment ejection of compact platform b retreats and sends and get the material suggestion, and control weldment ejection of compact platform b advances to finished product weldment ejection of compact station simultaneously.
Adopt above-mentioned further setting again, weldment ejection of compact platform is provided with two sets ofly to realize when weldment ejection of compact platform a gets the material, weldment ejection of compact platform b can advance to finished product weldment ejection of compact station and continue the ejection of compact, the operation of no shut down promotes the work efficiency of machine greatly.
The invention further provides that: the welding part feeding tables are provided with two groups, namely a welding part feeding table a and a welding part feeding table b, the welding part feeding table a and the welding part feeding table b can move forward or backward, after the control system empties the materials on the welding part feeding table a, the welding part feeding table a can be controlled to move backward and send a material supplementing prompt, and meanwhile, the welding part feeding table b is controlled to move forward to a welding part feeding station.
Adopt above-mentioned further setting again, weldment material loading platform is provided with two sets ofly to when realizing weldment material loading platform a feed supplement, weldment material loading platform b can advance to finished product weldment material loading station and continue the material loading, and the operation of no shut down promotes the work efficiency of machine greatly.
The invention further provides that: the control system controls the carrying robot a to carry out the operation in the step (1) after detecting that the weldment is arranged on the weldment feeding table;
when detecting that the welding condition of the semi-finished weldment in the step (2) reaches a set value, the control system controls the carrying robot a to perform the operation in the step (3), and when the welding condition of the semi-finished weldment does not reach the set value, the control system controls the welding robot a to perform the operation in the step (2) again;
when detecting that the welding condition of the semi-finished weldment in the step (4) reaches a set value, the control system controls the carrying robot b to perform the operation in the step (5), and when the welding condition of the semi-finished weldment does not reach the set value, the control system controls the welding robot b to perform the operation in the step (4) again;
after detecting that the assembly of the connecting flange I and the connecting pipe I in the step (5) is successful, the control system controls the welding robot b to carry out the operation of the step (6), after the assembly fails, controls the carrying robot b to carry the connecting flange I to a flange library, and carries the semi-finished weldment on the vertical positioner to a material table for assembly failure by the carrying robot c;
after detecting that the assembly of the connecting flange II and the connecting pipe II in the step (7) is successful, the control system controls the welding robot b to carry out the operation of the step (8), after the assembly fails, controls the carrying robot b to carry the connecting flange I to a flange warehouse, and carries the semi-finished weldment on the vertical positioner to a material table for assembly failure by the carrying robot c;
when detecting that the welding condition of the semi-finished weldment in the step (10) reaches a set value, the control system controls the carrying robot c to perform the operation in the step (11), and when the welding condition of the semi-finished weldment does not reach the set value, the control system controls the welding robot c to perform the operation in the step (10) again;
when detecting that the welding condition of the semi-finished weldment in the step (12) reaches a set value, the control system controls the carrying robot c to perform the operation in the step (13), and when the welding condition of the semi-finished weldment does not reach the set value, the control system controls the welding robot c to perform the operation in the step (12) again;
the control system controls the transfer robot c to perform the operation of step (15) when detecting that the welding condition of the semi-finished weldment reaches the set value in step (14), and controls the welding robot d to perform the operation of step (14) again when the welding condition of the semi-finished weldment does not reach the set value.
By adopting the above further arrangement, the welding condition is detected to be unqualified and then the welding is returned again for secondary welding, thereby effectively avoiding the welding problem.
Drawings
FIG. 1 is a block diagram of a filter according to the background of the invention;
FIG. 2 is an internal structural view of a filter according to the background art of the present invention;
fig. 3 is a flowchart illustrating the operation of an embodiment of the present invention.
The welding head comprises a cylinder body 100, a tray 200, an elbow 300, a connecting pipe I400, a connecting pipe II 500, a connecting flange I600, a connecting flange II 700, a cylinder body flange 800, an elliptical seal head 900, a welding line a, a welding line b, a welding line c, a welding line d1, a welding line d2, a welding line e1, a welding line e2, a welding line f1 and a welding line f 2.
Detailed Description
The technical solutions in the embodiments will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the descriptions related to "a", "b", etc. in the present invention are only used for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.
As shown in fig. 3, the welding process of the filter of the present invention is characterized by comprising the following steps:
1) the conveying robot a conveys the semi-finished weldment on the weldment feeding table to the horizontal positioner, wherein the semi-finished weldment comprises a cylinder, a connecting pipe I and a connecting pipe II which are spot-welded on two sides of the cylinder, an elliptical seal head spot-welded on the top of the cylinder, a cylinder flange spot-welded on the bottom of the cylinder, an elbow spliced with the connecting pipe I and a tray spliced with the elbow, the cylinder flange of the semi-finished weldment is arranged on the horizontal positioner, and the cylinder is axially arranged in parallel to the horizontal direction;
2) the welding robot a fully welds the intersection line of the connecting pipe I of the semi-finished weldment and the cylinder to form a welding line a, the intersection line of the connecting pipe II and the cylinder to form a welding line b, and the elliptical seal head and the cylinder to form a welding line c;
3) the conveying robot a conveys the semi-finished weldment on the horizontal positioner to the vertical positioner a, a cylinder flange of the semi-finished weldment is arranged on the vertical positioner a, the cylinder is axially arranged in a direction vertical to the horizontal direction, and the elliptical seal head faces upwards;
4) the welding robot b fully welds the cylinder flange of the semi-finished weldment and the cylinder to form a welding seam d 1;
5) the flange of the flange warehouse is conveyed to a connecting pipe I of the semi-finished weldment by the conveying robot b, the flange and the connecting pipe I are assembled, and the flange is a connecting flange I;
6) the welding robot b performs spot welding on the connecting flange I and the connecting pipe I;
7) the flange of the flange warehouse is conveyed to a connecting pipe II of the semi-finished weldment by the conveying robot b, the flange and the connecting pipe II are assembled, and the flange is a connecting flange II;
8) the welding robot b performs spot welding on the connecting flange II and the connecting pipe II;
9) the conveying robot c conveys the semi-finished weldment with the connecting flange I and the connecting flange II on the vertical positioner a to a vertical positioner b, the connecting flange II is arranged on the vertical positioner b, and the axial direction of the connecting pipe II is vertical to the horizontal direction;
10) the welding robot c fillet-welds the connecting flange II of the semi-finished weldment and the connecting pipe II to form a welding seam f1, and performs tower welding on the connecting flange I and the connecting pipe I to form a welding seam e 2;
11) the conveying robot c takes off the semi-finished weldment from the vertical positioner b, turns the semi-finished weldment for 180 degrees and places the semi-finished weldment on the vertical positioner b, the connecting flange I is arranged on the vertical positioner b, and the axial direction of the connecting pipe I is perpendicular to the horizontal direction;
12) the welding robot c fillet-welds the connecting flange I and the connecting pipe I to form a welding seam e1, and the connecting flange II and the connecting pipe II form a welding seam f 2;
13) the carrying robot c carries the semi-finished weldment on the vertical positioner b to the inversion tooling machine, the cylinder body of the semi-finished weldment is axially placed in a vertical horizontal direction, and the flange of the cylinder body faces upwards;
14) the welding robot d carries out lap welding on the cylinder flange of the semi-finished weldment and the cylinder to form a welding seam d2, so that a finished weldment is obtained;
15) the conveying robot c conveys the finished weldment to a weldment discharging table for discharging;
the welding robot a, the welding robot b, the welding robot c and the welding robot d are controlled by a control system.
Specifically, the flange correction device further comprises a flange correction table, and the transfer robot b can transfer the flanges on the flange library to the flange correction table for correction.
The assembly failure detection device comprises a connection flange I, a cylinder body, a force sensor a, a carrying robot b and a carrying robot c, wherein the force sensor a is used for detecting the assembly condition between the connection flange I and the cylinder body, when the force sensor a feeds back a super-threshold value, the connection flange I is carried to a flange library by the carrying robot b, and the defective weldment on the vertical positioner is carried to the assembly failure material platform by the carrying robot c.
The welding robot comprises a vertical positioner, and is characterized by further comprising a force sensor b, wherein the force sensor b is used for detecting the team forming condition between the connecting flange II and the cylinder, when the feedback of the force sensor b exceeds a threshold value, the carrying robot b carries the connecting flange II to a flange library, and the carrying robot c carries the defective welding parts on the vertical positioner to a team failure material table.
Specifically, the flange storehouse has material loading station and ejection of compact station, and material loading station and ejection of compact station go up and down through the cylinder drive, and control system takes away the thickness that a back drive material loading station shifts up a flange on the material loading station of flange storehouse, and control system drives ejection of compact station and shifts down the thickness of a flange after stacking a flange on the ejection of compact station of flange storehouse a.
Specifically, the flange storehouses are provided with two groups, namely a flange storehouse a and a flange storehouse b, the flange storehouse a and the flange storehouse b can move forwards or backwards, the control system controls the flange storehouse a to move backwards and send a material supplementing or material taking prompt after a flange on a feeding station of the flange storehouse a is empty or a discharging station is full, the prompt can be a sound prompt and a light prompt, the flange storehouse b is controlled to move forwards to the feeding station, and the front position is a flange feeding position.
Specifically, the failed material platform of the team can move forward or backward, the control system can control the failed material platform of the team to move backward and send a material taking prompt after the defective welding pieces on the failed material platform of the team are fully piled, and the front position is the material receiving position of the defective welding pieces.
Specifically, the weldment ejection of compact platform is provided with two sets ofly, is weldment ejection of compact platform an and weldment ejection of compact platform b respectively, and weldment ejection of compact platform an and weldment ejection of compact platform b can advance or retreat, and control system is after the full finished product weldment of sign indicating number on weldment ejection of compact platform a, and steerable weldment ejection of compact platform b retreats and sends and get the material suggestion, and control weldment ejection of compact platform b advances to finished product weldment ejection of compact station simultaneously, "preceding" connect the material position for the finished product weldment.
Specifically, the weldment feeding tables are provided with two groups, namely a weldment feeding table a and a weldment feeding table b, wherein the weldment feeding table a and the weldment feeding table b can advance or retreat, after a material on the weldment feeding table a is emptied by the control system, the weldment feeding table a can be controlled to retreat and send a material supplementing prompt, meanwhile, the weldment feeding table b is controlled to advance to a weldment feeding station, and the front position is a semi-finished weldment feeding position.
Specifically, the control system controls the transfer robot a to carry out the operation in the step (1) after detecting that the weldment is arranged on the weldment feeding table; when detecting that the welding condition of the semi-finished weldment in the step (2) reaches a set value, the control system controls the carrying robot a to perform the operation in the step (3), and when the welding condition of the semi-finished weldment does not reach the set value, the control system controls the welding robot a to perform the operation in the step (2) again; when detecting that the welding condition of the semi-finished weldment in the step (4) reaches a set value, the control system controls the carrying robot b to perform the operation in the step (5), and when the welding condition of the semi-finished weldment does not reach the set value, the control system controls the welding robot b to perform the operation in the step (4) again; after detecting that the assembly of the connecting flange I and the connecting pipe I in the step (5) is successful, the control system controls the welding robot b to carry out the operation of the step (6), after the assembly fails, controls the carrying robot b to carry the connecting flange I to a flange library, and carries the semi-finished weldment on the vertical positioner to a material table for assembly failure by the carrying robot c; after detecting that the assembly of the connecting flange II and the connecting pipe II in the step (7) is successful, the control system controls the welding robot b to carry out the operation of the step (8), after the assembly fails, controls the carrying robot b to carry the connecting flange I to a flange warehouse, and carries the semi-finished weldment on the vertical positioner to a material table for assembly failure by the carrying robot c; when detecting that the welding condition of the semi-finished weldment in the step (10) reaches a set value, the control system controls the carrying robot c to perform the operation in the step (11), and when the welding condition of the semi-finished weldment does not reach the set value, the control system controls the welding robot c to perform the operation in the step (10) again; when detecting that the welding condition of the semi-finished weldment in the step (12) reaches a set value, the control system controls the carrying robot c to perform the operation in the step (13), and when the welding condition of the semi-finished weldment does not reach the set value, the control system controls the welding robot c to perform the operation in the step (12) again; the control system controls the transfer robot c to perform the operation of step (15) when detecting that the welding condition of the semi-finished weldment reaches the set value in step (14), and controls the welding robot d to perform the operation of step (14) again when the welding condition of the semi-finished weldment does not reach the set value.
The handling robots a, b and c select 210Kg Kawasaki six-degree-of-freedom industrial robots, and the action ranges are that the upper limit/lower limit of a J1 axis is +/-160 degrees, the upper limit/lower limit of a J2 axis is +80 degrees to-60 degrees, the upper limit/lower limit of a J3 axis is +95 degrees to-75 degrees, the upper limit/lower limit of a J4 axis is +/-210 degrees, the upper limit/lower limit of a J5 axis is +/-120 degrees, and the upper limit/lower limit of a J6 axis is +/-360 degrees;
the maximum action speed J1 shaft is 125 °/s, the J2 shaft is 115 °/s, the J3 shaft is 115 °/s, the J4 shaft is 155 °/s, the J5 shaft is 160 °/s, and the J6 shaft is 220 °/s;
the maximum working radius is 2699 mm.
Through the automation equipment who adopts transfer robot and welding robot, process the second welding process, the input of the cost of labor that has significantly reduced to improved production efficiency, the welding precision is high, and product excellent in use effect.
Two groups of welding part feeding tables are arranged, so that when the welding part feeding table a feeds materials, the welding part feeding table b can move to a finished product welding part feeding station to continue feeding, no shutdown operation is needed, and the working efficiency of the machine is greatly improved;
the flange correcting table can carry out secondary correction on the flange, so that the subsequent welding accuracy is high;
two groups of flange storehouses are arranged, so that the flange storehouses b can continue to feed or discharge materials while the flange storehouses a feed or take materials, no shutdown operation is needed, and the working efficiency of the machine is greatly improved;
force sensor a can detect out the group's situation of flange I and barrel, and the group is failed to retrieve, can effectively avoid appearing the problem of defective work weldment.
Can detect out the team's situation of flange II with the barrel through force sensor b, the team is failed and is retrieved, can effectively avoid appearing the problem of defective work weldment.
The control system can control the group failure material platform to retreat after the defective welding pieces on the group failure material platform are fully piled, and simultaneously sends a material taking prompt to remind people to take materials;
the weldment ejection of compact platform is provided with two sets ofly to realize when weldment ejection of compact platform a got the material, weldment ejection of compact platform b can advance to finished product weldment ejection of compact station and continue the ejection of compact, and the operation of no shut down promotes the work efficiency of machine greatly.
Claims (10)
1. A filter welding process, comprising the steps of:
1) the conveying robot a conveys the semi-finished weldment on the weldment feeding table to the horizontal positioner, wherein the semi-finished weldment comprises a cylinder, a connecting pipe I and a connecting pipe II which are spot-welded on two sides of the cylinder, an elliptical seal head spot-welded on the top of the cylinder, a cylinder flange spot-welded on the bottom of the cylinder, an elbow spliced with the connecting pipe I and a tray spliced with the elbow, the cylinder flange of the semi-finished weldment is arranged on the horizontal positioner, and the cylinder is axially arranged in parallel to the horizontal direction;
2) the welding robot a fully welds the intersection line of the connecting pipe I of the semi-finished weldment and the cylinder to form a welding line a, the intersection line of the connecting pipe II and the cylinder to form a welding line b, and the elliptical seal head and the cylinder to form a welding line c;
3) the conveying robot a conveys the semi-finished weldment on the horizontal positioner to the vertical positioner a, a cylinder flange of the semi-finished weldment is arranged on the vertical positioner a, the cylinder is axially arranged in a direction vertical to the horizontal direction, and the elliptical seal head faces upwards;
4) the welding robot b fully welds the cylinder flange of the semi-finished weldment and the cylinder to form a welding seam d 1;
5) the flange of the flange warehouse is conveyed to a connecting pipe I of the semi-finished weldment by the conveying robot b, the flange and the connecting pipe I are assembled, and the flange is a connecting flange I;
6) the welding robot b performs spot welding on the connecting flange I and the connecting pipe I;
7) the flange of the flange warehouse is conveyed to a connecting pipe II of the semi-finished weldment by the conveying robot b, the flange and the connecting pipe II are assembled, and the flange is a connecting flange II;
8) the welding robot b performs spot welding on the connecting flange II and the connecting pipe II;
9) the conveying robot c conveys the semi-finished weldment with the connecting flange I and the connecting flange II on the vertical positioner a to a vertical positioner b, the connecting flange II is arranged on the vertical positioner b, and the axial direction of the connecting pipe II is vertical to the horizontal direction;
10) the welding robot c fillet-welds the connecting flange II of the semi-finished weldment and the connecting pipe II to form a welding seam f1, and performs tower welding on the connecting flange I and the connecting pipe I to form a welding seam e 2;
11) the conveying robot c takes off the semi-finished weldment from the vertical positioner b, turns the semi-finished weldment for 180 degrees and places the semi-finished weldment on the vertical positioner b, the connecting flange I is arranged on the vertical positioner b, and the axial direction of the connecting pipe I is perpendicular to the horizontal direction;
12) the welding robot c fillet-welds the connecting flange I and the connecting pipe I to form a welding seam e1, and the connecting flange II and the connecting pipe II form a welding seam f 2;
13) the carrying robot c carries the semi-finished weldment on the vertical positioner b to the inversion tooling machine, the cylinder body of the semi-finished weldment is axially placed in a vertical horizontal direction, and the flange of the cylinder body faces upwards;
14) the welding robot d carries out lap welding on the cylinder flange of the semi-finished weldment and the cylinder to form a welding seam d2, so that a finished weldment is obtained;
15) the conveying robot c conveys the finished weldment to a weldment discharging table for discharging;
the welding robot a, the welding robot b, the welding robot c and the welding robot d are controlled by a control system.
2. The filter welding process according to claim 1, further comprising a flange calibration station, wherein the transfer robot b can transfer the flange on the flange library to the flange calibration station for calibration.
3. The welding process of the filter according to claim 1 or 2, further comprising a team failure material table and a force sensor a, wherein the force sensor a is used for detecting the team condition between the connecting flange I and the barrel, when the feedback of the force sensor a exceeds a threshold value, the carrying robot b carries the connecting flange I to the flange library, and the carrying robot c carries the defective welding parts on the vertical positioner to the team failure material table.
4. The welding process of the filter as claimed in claim 3, further comprising a force sensor b, wherein the force sensor b is used for detecting the formation condition between the connecting flange II and the cylinder, when the feedback of the force sensor b exceeds a threshold value, the carrying robot b carries the connecting flange II to the flange warehouse, and the carrying robot c carries the defective welding parts on the vertical positioner to a formation failure material table.
5. The filter welding process according to claim 1 or 2, wherein the flange library is provided with a feeding station and a discharging station, the feeding station and the discharging station can be lifted, the control system drives the feeding station to move upwards by the thickness of one flange after removing one flange on the feeding station of the flange library, and drives the discharging station to move downwards by the thickness of one flange after stacking one flange on the discharging station of the flange library a.
6. The welding process of the filter as claimed in claim 5, wherein the flange libraries are arranged in two groups, namely a flange library a and a flange library b, the flange library a and the flange library b can move forwards or backwards, the control system controls the flange library a to move backwards and send a material supplementing or material taking prompt after the flange on the feeding station of the flange library a is empty or the flange on the discharging station is full, and simultaneously the flange library b is controlled to move forwards to the feeding station.
7. The filter welding process according to claim 1 or 2, wherein the group failure material platform can move forward or backward, and the control system can control the group failure material platform to move backward and send a material taking prompt after the defective weldment on the group failure material platform is fully piled.
8. The welding process of the filter according to claim 1 or 2, wherein the weldment discharging tables are provided with two groups, namely a weldment discharging table a and a weldment discharging table b, the weldment discharging table a and the weldment discharging table b can move forward or backward, the control system can control the weldment discharging table b to move backward and send a material taking prompt after the weldment discharging table a is fully stacked with finished weldments, and meanwhile, the weldment discharging table b is controlled to move forward to a finished weldment discharging station.
9. The filter welding process according to claim 1 or 2, wherein two groups of weldment feeding tables are arranged, namely a weldment feeding table a and a weldment feeding table b, the weldment feeding table a and the weldment feeding table b can move forward or backward, and the control system can control the weldment feeding table a to move backward and send a material supplementing prompt after materials on the weldment feeding table a are emptied, and simultaneously control the weldment feeding table b to move forward to the weldment feeding station.
10. A filter welding process according to claim 4,
the control system controls the carrying robot a to carry out the operation in the step (1) after detecting that the weldment is arranged on the weldment feeding table;
when detecting that the welding condition of the semi-finished weldment in the step (2) reaches a set value, the control system controls the carrying robot a to perform the operation in the step (3), and when the welding condition of the semi-finished weldment does not reach the set value, the control system controls the welding robot a to perform the operation in the step (2) again;
when detecting that the welding condition of the semi-finished weldment in the step (4) reaches a set value, the control system controls the carrying robot b to perform the operation in the step (5), and when the welding condition of the semi-finished weldment does not reach the set value, the control system controls the welding robot b to perform the operation in the step (4) again;
after detecting that the assembly of the connecting flange I and the connecting pipe I in the step (5) is successful, the control system controls the welding robot b to carry out the operation of the step (6), after the assembly fails, controls the carrying robot b to carry the connecting flange I to a flange library, and carries the semi-finished weldment on the vertical positioner to a material table for assembly failure by the carrying robot c;
after detecting that the assembly of the connecting flange II and the connecting pipe II in the step (7) is successful, the control system controls the welding robot b to carry out the operation of the step (8), after the assembly fails, controls the carrying robot b to carry the connecting flange I to a flange warehouse, and carries the semi-finished weldment on the vertical positioner to a material table for assembly failure by the carrying robot c;
when detecting that the welding condition of the semi-finished weldment in the step (10) reaches a set value, the control system controls the carrying robot c to perform the operation in the step (11), and when the welding condition of the semi-finished weldment does not reach the set value, the control system controls the welding robot c to perform the operation in the step (10) again;
when detecting that the welding condition of the semi-finished weldment in the step (12) reaches a set value, the control system controls the carrying robot c to perform the operation in the step (13), and when the welding condition of the semi-finished weldment does not reach the set value, the control system controls the welding robot c to perform the operation in the step (12) again;
the control system controls the transfer robot c to perform the operation of step (15) when detecting that the welding condition of the semi-finished weldment reaches the set value in step (14), and controls the welding robot d to perform the operation of step (14) again when the welding condition of the semi-finished weldment does not reach the set value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110722374.4A CN113427159A (en) | 2021-06-28 | 2021-06-28 | Welding process of filter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110722374.4A CN113427159A (en) | 2021-06-28 | 2021-06-28 | Welding process of filter |
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| CN113427159A true CN113427159A (en) | 2021-09-24 |
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| CN202110722374.4A Pending CN113427159A (en) | 2021-06-28 | 2021-06-28 | Welding process of filter |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114235293A (en) * | 2021-11-26 | 2022-03-25 | 马帅 | Middle-effect bag type air filter assembling and detecting equipment |
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