CN114310064B - An automatic linear welding device for tanks - Google Patents

Abstract

The invention relates to the technical field of tank welding, and particularly discloses an automatic linear welding device for a tank, which comprises the following components: the automatic feeding and discharging device comprises a workbench, a rotating assembly, a rotary drum assembly, a discharging roller way, a feeding and discharging device, a guiding assembly, a protecting device, a multi-axis welding robot, a water cooling sleeve, a laser range finder, a controller, a gun washing machine and a protecting gas tank. According to the invention, the laser range finder is arranged on the welding gun head of the multi-axis welding robot, so that the periphery of the tank body can be subjected to multi-point sampling before the tank body is subjected to linear welding, the actual position coordinates and the shape tolerance of a welding line of the tank body are determined, and then the self-adaptive linear welding is performed through the welding gun of the multi-axis welding robot, so that the influence of repeated positioning errors on the accuracy of the welding line is eliminated; the feeding and discharging device and the material guiding assembly are arranged, so that rapid feeding and discharging can be performed, and the production beat is improved; the water cooling jacket is arranged on the protective sleeve, so that the protective sleeve of the welding gun can be cooled in real time, and the service life of the protective sleeve is prolonged.

Description

An automatic linear welding device for tanks

Technical field

The invention belongs to the technical field of tank welding, and particularly relates to an automatic linear welding device for a tank.

Background technique

The high-pressure gas storage tank is a common pressure vessel. The tank is usually butt welded by arc welding on the two parts of the tank, and the quality of the weld is extremely demanding, especially in the circumferential direction. The thickness and uniformity of the welds need to be strictly controlled.

Since the two parts of the tank parts need to be spot welded before linear welding, there will be a certain shape and position error during the spot welding process, and there will also be a positioning error during the positioning process. Therefore, during normal welding, Due to individual differences during the process, the position of the weld seam will deviate to a certain extent, making it difficult to ensure the consistency of the quality of the weld seam during welding. It is also inconvenient to load and unload the welded parts during the loading and unloading process, requiring manual intervention. Therefore, a lot of loading and unloading time will be wasted and the production rhythm will be affected. After long-term use, the protective sheath in the welding gun head of the multi-axis welding robot becomes too hot, which can easily cause deformation or accelerate the aging of the material. This not only affects the service life of the welding gun head, but also affects the stability of the welding quality.

The disclosure of the above background technology content is only used to assist in understanding the inventive concepts and technical solutions of the present invention. It does not necessarily belong to the prior art of this patent application. In the absence of clear evidence that the above content has been disclosed on the filing date of this patent application, In this case, the above background technology should not be used to evaluate the novelty and inventiveness of this application.

Contents of the invention

The object of the present invention is to provide an automatic linear welding device for tanks, thereby overcoming the existing defects of poor positioning accuracy in the linear welding process of the tank, resulting in poor control of the quality consistency of the weld, as well as the loading and unloading of materials. It is inconvenient, the production cycle is slow, and the protective cover of the welding gun ages quickly.

In order to achieve the above object, the present invention provides an automatic linear welding device for a tank, which includes: a workbench, a first guide rail is provided on the workbench, and a third guide rail perpendicular to the first guide rail is provided on both sides. Two guide rails; a rotating assembly, which includes a rotating base and a rotating drum assembly. The rotating base is slidably provided on the second guide rail. The rotating drum assembly is rotatably installed on the two said second guide rails. On the opposite side of the rotating seat, the axes of the two rotating drum assemblies coincide with each other; a discharge roller is located on one side of the workbench, and the conveying direction of the discharge roller is in line with the first guide rail Perpendicular to each other; a loading and unloading device is slidably installed on the first guide rail. The loading and unloading device includes a loading assembly and a discharging assembly. The loading assembly includes a lifting loading tooling, so The loading tooling is provided with an inwardly recessed positioning groove, and a clamping device is provided on one side of the positioning groove. The unloading assembly is located between the loading assembly and the discharge roller. The unloading assembly includes a liftable electromagnet assembly; a guide assembly, which is located between the loading and unloading device and the unloading roller; the guide assembly includes two guide posts, each of the guide Columns are respectively provided on both sides of the first guide rail, and a guide guide rail is provided between the guide column and the discharge roller; a protection device includes a protective cover and a first lifting part, the protective cover The first lifting part is connected to any one of the rotating seats, and the first lifting part can drive the protective cover to lift. The upper and lower ends of the protective cover are respectively provided with a first cover opening and a second cover that communicate with each other. A maintenance port is provided on one side of the protective cover, an opening and closing protective cover is provided at the maintenance port, and an observation port corresponding to the maintenance port is provided on the protective cover; multi-axis welding robot , which includes a multi-axis welding arm and a welding gun head. One end of the multi-axis welding arm is rotatably installed on the workbench, and the welding gun head is installed on the other end of the multi-axis welding arm. The welding gun head is equipped with a protective cover and a laser rangefinder, and the protective cover is equipped with a water-cooling jacket; a controller and a gun washer, and the controller and the gun washer are simultaneously located on the other side of the workbench. , the gun washer and the controller are close to each other.

Preferably, the above technical solution also includes a protective gas tank, and the protective gas tank is connected with the inside of the protective sheath.

Preferably, in the above technical solution, the rotating assembly further includes a first driving part, the first driving part connects the rotating base and the workbench to each other, and the first driving part can drive the rotating base. Slide along the second guide rail.

Preferably, in the above technical solution, the first driving part includes: a first cylinder, which is fixedly installed in the rotating base, and the movable end of the first cylinder extends to both ends of the workbench; a connecting block. , which is fixedly installed on the end of the workbench; a connecting sleeve, which is rotatably installed on the connecting block, and the connecting sleeve is fixedly installed on the movable end of the first cylinder.

Preferably, in the above technical solution, the rotating assembly further includes a driving assembly, and the driving assembly includes a driving shaft, which is rotatably provided on the rotating base, and the end of the driving shaft is connected to the rotating base. The end of the rotating drum assembly is coaxially fixedly connected; a gearbox is located in the rotating seat, the output end of the gearbox is connected to the drive shaft, and the input end of the gearbox is provided with a rotating motor.

Preferably, in the above technical solution, the rotating drum assembly includes: a first sleeve, one end of which is detachably connected to the end of the drive shaft coaxially, and the other end of the first sleeve is provided with a A first sleeve; a second sleeve, one end of which is detachably connected to the first sleeve, and the other end of the second sleeve is provided with a second sleeve.

Preferably, in the above technical solution, the loading and unloading device further includes a moving tray, which is connected to the workbench through a second cylinder, and the second cylinder can drive the moving tray to slide along the first guide rail, The mobile pallet is also provided with a vertical first hydraulic cylinder and a second hydraulic cylinder. The movable end of the first hydraulic cylinder is fixedly connected to the loading tool, and the movable end of the second hydraulic cylinder is connected to the loading tool. The electromagnet assembly is fixedly connected.

Preferably, in the above technical solution, the clamping device further includes a third cylinder, the third cylinder is fixedly installed on the loading tool, and the movable end of the third cylinder can expand and contract in the direction of the positioning groove, The movable end of the third cylinder is equipped with a clamping block. Several rubber heads are installed on the clamping block. The rubber heads face the positioning groove. The sides of the rubber heads are provided with a certain cone angle. The glue head is located above the axis of the positioning groove.

Preferably, in the above technical solution, the electromagnet assembly includes a magnetic base, a magnetic head is provided on the magnetic base, the distance between the magnetic head and the magnetic base is adjustable, the magnetic head includes a shell, and the shell There is a magnetic core that can elastically float inside. The outer shell is provided with a "V"-shaped first bayonet. The magnetic core is provided with a "V"-shaped second bayonet. The second bayonet is The shape is consistent with the shape of the first bayonet and is higher than the first bayonet. There is a relief groove in the middle of the second bayonet, and a coil is provided between the magnetic core and the housing. , the coil is electrically connected to the magnetic base.

Preferably, in the above technical solution, the water-cooling jacket is provided with an inner cavity, and the water-cooling jacket is provided with a water inlet pipe and a water outlet pipe, and the water inlet pipe and the water outlet pipe are simultaneously connected with the inner cavity; The end of the laser rangefinder is provided with a laser transmitting head and a laser receiving head, and a protective enclosure is provided around the transmitting head and the laser receiving head.

Compared with existing technology, the present invention has the following beneficial effects:

1. The automatic linear welding device for tanks in the present invention is equipped with a laser rangefinder on the welding gun head of the multi-axis welding robot, so that it can sample the outer circumference of the tank at multiple points before linearly welding the tank, thereby determining The actual position coordinates and shape tolerance of the weld are then used for adaptive linear welding by the welding gun of the multi-axis robot, thereby eliminating the impact of repeated positioning errors on the weld accuracy; by setting up a loading and unloading device and a guide component , capable of fast loading and unloading, thereby improving the production cycle; by installing a water-cooling sleeve on the protective sleeve, the protective sleeve of the welding gun can be cooled down in real time, thus extending the service life of the protective sleeve.

2. The first driving part and the driving assembly of the rotating assembly in the automatic linear welding device for tanks in the present invention are both arranged in the rotating seat, which not only protects the cylinder and the rotating motor from the influence of the external environment, but also extends their service life. , and can also improve the overall aesthetics of the device.

3. The loading tool in the loading assembly of the present invention is provided with an arc-shaped positioning groove, and a clamping device is provided on one side of the positioning groove. The clamping device is provided with a tapered rubber head, and the rubber head is located at the positioning position. Above the axis of the groove, when the clamping device clamps the part, the tapered rubber head can exert an oblique downward force on the side of the part, so that the tank forms a three-point support structure, making the tank The positioning of body parts is more accurate and stable.

4． The shell of the electromagnet assembly in the present invention is provided with a V-shaped first bayonet, and the elastically floating magnetic core is provided with a V-shaped second bayonet. After the welding is completed, the side of the part can be attracted and The bayonet structure is just enough to engage the arc-shaped outer wall of the tank, making the grip of the electromagnet assembly more stable; and the relief groove in the magnetic core is just enough to make way for the bulge of the weld. This further improves the stability of the electromagnet assembly when attracting parts; the elastically floating magnetic core can better discharge the shoe material, eliminating the adverse effects of the magnetization of the tank on the discharge.

5. The sleeve assembly in the present invention is composed of a detachable first sleeve and a second sleeve. The first sleeve can engage and position the steel ring at the bottom of the tank, and the second sleeve can engage and position the steel ring at the bottom of the tank. The outer walls of the tank are snap-fitted and positioned, and can be easily combined and replaced according to different tank sizes.

6. The protection device in the present invention can protect the working area of the welding gun during the welding process to prevent sparks from splashing to the outside during the welding process, and by being provided with a maintenance port, the welding gun head can be inspected and repaired in time in case of shutdown failure. Maintenance, the condition of the welding joint can be observed in real time through the observation port.

7. The loading and unloading device in the present invention moves the electromagnet assembly carrying parts to the middle of the guide assembly when unloading, and then lowers the electromagnet assembly, and automatically rolls the welded tank through the guide rail on the guide assembly. to the unloading roller, thus realizing automatic unloading, saving manpower and improving production rhythm.

8. The controller and the gun washer in the present invention are located on the front side of the device, making it convenient for the operator to operate the controller and the gun washer together.

Description of the drawings

Figure 1 is a structural diagram of the automatic linear welding device for tanks according to the present invention.

Figure 2 is a structural diagram of the workbench, guide assembly and discharge roller.

Figure 3 is a partial cutaway view of the rotating assembly.

Figure 4 is a structural diagram of the loading and unloading device.

Figure 5 is a structural diagram of the protection device.

Figure 6 is a partial structural diagram of the welding gun head.

Explanation of main reference symbols:

1-workbench, 11-first guide rail, 12-second guide rail;

2-Rotating component, 21-Rotating seat, 22-Rotating drum component, 221-First sleeve, 222-First sleeve opening, 223-Second sleeve, 224-Second sleeve opening, 23-First driving part , 231-first cylinder, 232-connecting block, 233-connecting sleeve, 24-driving assembly, 241-driving shaft, 242-gear box, 243-rotating motor;

3-Discharging roller table;

4-Loading and unloading device, 41-Loading assembly, 411-Loading tooling, 412-Location slot, 413-Clamping device, 414-Third cylinder, 415-Clamping block, 416-Glue head, 42-Unloading assembly , 421-electromagnet assembly, 422-magnetic seat, 423-magnetic head, 424-casing, 425-magnetic core, 426-first bayonet, 427-second bayonet, 428-coil, 429-vacation slot, 43 -Moving pallet, 44-second cylinder, 45-first hydraulic cylinder, 46-second hydraulic cylinder;

5-Guide assembly, 51-Guide column, 52-Guide rail;

6-protection device, 61-protective cover, 62-first lifting part, 63-first cover opening, 64-second cover opening, 65-maintenance port, 66-protective cover, 67-observation port;

7-Multi-axis welding robot, 71-Multi-axis welding arm, 72-Welding gun head, 73-Protective cover, 74-Laser range finder, 741-Laser emitting head, 742-Laser receiving head, 743-Protective enclosure, 75 -Water cooling jacket, 751-water inlet pipe, 752-water outlet pipe;

8-Controller;

9-Gun washer;

10-Protect the gas tank.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

In the description of the present invention, it should be noted that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical" ", "horizontal", "top", "bottom", "top", "bottom", "top", "bottom", "inside", "outside", "inside", "outside" and other directions indicated Or the positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. , therefore cannot be construed as a limitation of the present invention.

In the description of the present invention, several means one or more, plural means two or more, greater than, less than, more than, etc. are understood to exclude the original number, and above, below, within, etc. are understood to include the original number. If the terms "first", "second" and "third" are described, they are only used for descriptive purposes and for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the indicated technical features. The quantity or implicit indication of the sequence relationship of the indicated technical features.

In the description of the present invention, it should be noted that, unless otherwise clearly stated and limited, the terms "installation", "connection", "connection" and "setting" should be understood in a broad sense. For example, it can be a fixed connection or a fixed connection. It can be a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis. The embodiments of the present invention will be described below based on the overall structure of the present invention.

As shown in Figures 1 to 6, the automatic linear welding device for tanks in this embodiment includes: a workbench 1, a first guide rail 11, a second guide rail 12, a rotating assembly 2, a rotating base 21, and a rotating drum assembly 22. A sleeve 221, a first sleeve opening 222, a second sleeve 223, a second sleeve opening 224, a first driving part 23, a first cylinder 231, a connecting block 232, a connecting sleeve 233, a driving assembly 24, a driving shaft 241, Gear box 242, rotating motor 243, unloading roller 3, loading and unloading device 4, loading assembly 41, loading tool 411, positioning slot 412, clamping device 413, third cylinder 414, clamping block 415, rubber head 416 , blanking assembly 42, electromagnet assembly 421, magnetic base 422, magnetic head 423, shell 424, magnetic core 425, first bayonet 426, second bayonet 427, coil 428, relief slot 429, moving tray 43, Two cylinders 44, first hydraulic cylinder 45, second hydraulic cylinder 46, guide assembly 5, guide column 51, guide rail 52, protection device 6, protective cover 61, first lifting part 62, first cover opening 63 , the second cover opening 64, the maintenance opening 65, the protective cover 66, the observation opening 67, the multi-axis welding robot 7, the multi-axis welding arm 71, the welding gun head 72, the protective cover 73, the laser range finder 74, the laser transmitting head 741, Laser receiving head 742, protective enclosure 743, water cooling jacket 75, water inlet pipe 751, water outlet pipe 752, controller 8, gun washer 9, protective gas tank 10.

The workbench 1 is fixed on the ground. A first guide rail 11 is installed on the workbench 1. A set of second guide rails 12 are respectively installed on both sides of the first guide rail 11. The second guide rails 12 and the first guide rail 11 are perpendicular to each other. The guide rail 11 extends from the rear side of the workbench 1 to its front side; the rotating assembly 2 includes: a rotating base 21, a rotating drum assembly 22, a first driving part 23 and a driving assembly 24; the rotating base 21 has a hollow structure inside, which is installed on On and can slide along the second guide rail 12 , the first driving part 23 includes: a first cylinder 231 , a connecting block 232 and a connecting sleeve 233 ; the first cylinder 231 is fixedly installed in the rotating base 21 , and the first cylinder 231 The movable ends of the workbench 1 extend to both ends of the workbench 1. The connection block 232 is fixedly installed at the end of the workbench 1 and is perpendicular to the top surface of the workbench 1; the connection sleeve 233 is rotatably installed on the connection block 232. At the same time, the connecting sleeve 233 is sleeved on the outer periphery of the movable end of the first cylinder 231 through the sleeve hole and fixed to each other. The sleeve hole of the connecting sleeve 233 is perpendicular to its rotation axis; the driving assembly 24 is installed inside the rotating seat 21 and includes: a driving shaft. 241. Gearbox 242 and rotating motor 243; the driving shaft 241 is installed on the rotating base 21 through the bearing seat and can rotate. One end of the driving shaft 241 extends outward from the opposite end of the two rotating bases 21 and connects with the end of the rotating drum assembly 22. The gear box 242 is fixedly connected to the rotating base 21, the output end of the gear box 242 is connected to the drive shaft 241, the input end of the gear box 242 is connected to the output end of the rotating motor 243, and the input end of the gear box 242 is connected to the output end of the rotating motor 243. The end and the output end can rotate synchronously; the drum assembly 22 includes a first sleeve 221 and a second sleeve 223; one end of the first sleeve 221 is detachably coaxially connected to the end of the drive shaft 241 through bolts, The other end of the first sleeve 221 is provided with a first sleeve opening 222; one end of the second sleeve 223 is detachably connected to the first sleeve opening 222 through bolts, and the other end of the second sleeve 223 is provided with a third sleeve opening 222. Second set of mouth 224.

The unloading roller 3 is installed on the rear side of the workbench 1 . The conveying direction of the unloading roller 3 is perpendicular to the first guide rail 11 . A plurality of rollers are installed at intervals along the conveying direction of the unloading roller 3 .

The loading and unloading device 4 includes: a loading assembly 41, an electromagnet assembly 421, a moving tray 43, a second cylinder 44, a first hydraulic cylinder 45 and a second hydraulic cylinder 46; the moving tray 43 is installed on the first guide rail 11, and the second The cylinder 44 is installed between the movable pallet 43 and the rear side of the workbench 1. The second cylinder 44 can drive the movable pallet 43 to slide along the first guide rail 11. A vertical first hydraulic cylinder 45 and a second hydraulic cylinder are installed on the movable pallet 43. Cylinder 46; the unloading assembly 42 is located between the loading assembly 41 and the unloading roller 3. The loading assembly 41 includes a loading tool 411. The loading tool 411 is provided with an inwardly concave semicircular positioning groove 412. The two ends of the positioning groove 412 extend outward from both sides of the loading tool 411 respectively. A clamping device 413 is installed on one side of the positioning groove 412. The movable end of the first hydraulic cylinder 45 is fixedly connected to the loading tool 411 for clamping. The device 413 includes: a third cylinder 414, a clamping block 415 and a rubber head 416; the third cylinder 414 is fixedly installed on the loading tool 411, and the movable end of the third cylinder 414 can expand and contract in the direction of the positioning groove 412. The third cylinder 414 A clamping block 415 is installed on the movable end of the clamping block 415. Two rubber heads 416 made of rubber material are installed on the clamping block 415. The ends of the rubber heads 416 face the positioning groove 412, and the sides of the rubber heads 416 have a certain cone angle. The diameter of its root is larger than the diameter of its end, and the two rubber heads 416 are located above the axis of the positioning groove 412; the electromagnet assembly 421 includes: a magnetic base 422 and a magnetic head 423; the movable end of the second hydraulic cylinder 46 and the magnetic base 422 Fixed connection, the magnetic head 423 is installed on the magnetic base 422 through four studs and nuts. By adjusting the distance of the nuts on the studs, the distance between the magnetic head 423 and the magnetic base 422 can be changed. The magnetic head 423 includes a shell 424, and the shell 424 There is an opening at the top of the housing 424, and a magnetic core 425 that can elastically float up and down is installed in the housing 424. The housing 424 is provided with a "V"-shaped first bayonet 426, and the magnetic core 425 is provided with a "V"-shaped second bayonet. The shape of the second bayonet 427 is consistent with the shape of the first bayonet 426 and is higher than the first bayonet 426. There is a relief groove 429 in the middle of the second bayonet 427. The direction of the relief groove 429 is The direction of the second bayonet 427 is perpendicular to each other. A coil 428 is installed between the magnetic core 425 and the shell 424. The coil 428 is electrically connected to the magnetic base 422. The unloading assembly 42 includes a liftable electromagnet assembly 421.

The guide assembly 5 is installed between the loading and unloading device 4 and the unloading roller 3. The guide assembly 5 includes two guide columns 51 that are vertically fixed and welded to the top surface of the workbench 1. Each guide column 51 is located at the first A guide rail 52 is installed on both sides of the guide rail 11 between the top of the guide column 51 and the discharge roller 3 . The guide rail 52 gradually slopes downward from the guide column 51 toward the discharge roller 3 .

The protection device 6 includes a protective cover 61 and a first lifting part 62; the protective cover 61 is connected to any rotating base 21 through the first lifting part 62. The first lifting part 62 is a cylinder or a hydraulic cylinder, which can drive the protective cover 61 to lift. The upper and lower ends of the protective cover 61 are respectively provided with first cover openings 63 and second cover openings 64 that communicate with each other. A maintenance opening 65 is provided on one side of the protective cover 61, and an openable and closable protective cover 66 is installed at the maintenance opening 65. One side of the protective cover 61 and one side of the maintenance port 65 are hinged to each other. The protective cover 66 is provided with an observation port 67 corresponding to the maintenance port 65, and a light-shielding glass sheet is installed in the observation port 67.

The multi-axis welding robot 7 includes a multi-axis welding arm 71 and a welding gun head 72. One end of the multi-axis welding arm 71 is rotatably installed on the workbench 1. The welding gun head 72 is installed on the other end of the multi-axis welding arm 71 and can Rotate, a protective sleeve 73 is installed on the welding gun head 72, a laser rangefinder 74 is fixedly installed on one side of the welding gun head 72, a water-cooling sleeve 75 is placed on the protective sleeve 73, and an annular inner cavity is provided in the water-cooling sleeve 75. A water inlet pipe 751 and a water outlet pipe 752 are installed on the water cooling jacket 75. The water inlet pipe 751 and the water outlet pipe 752 are connected to the inner cavity at the same time and the circulating cooling water is provided by an external water pump; the end of the laser rangefinder 74 is installed with a laser transmitter. head 741 and laser receiving head 742. A protective enclosure 743 is installed around the transmitting head 741 and laser receiving head 742. A controller 8, a gun washer 9 and a protective gas tank 10 are also installed on the workbench 1 to protect the head 741 and the laser receiving head 742. The gas tank 10 is connected with the inside of the protective cover 73. The controller 8 and the gun washer 9 are simultaneously located outside the workbench 1, and the gun washer 9 and the controller 8 are close to each other.

Next, the working process of an automatic linear welding device for tanks in this embodiment will be described in detail, so that those skilled in the art can better understand the present invention:

Loading: place the spot-welded tank in the positioning groove 412, then start the clamping device 413 to clamp the tank, and then the first hydraulic cylinder 45 drives the loading tool 411 to lift upward, and moves the loading assembly 41 to The two ends of the tank are coaxially aligned with the mouth of the rotating drum assembly 22, and the first driving part 23 is activated to bring the two rotating seats 21 close to each other, so that the two rotating drum assemblies 22 are respectively buckled at the two ends of the tank. position it;

Protection: The protective cover 61 in the protection device 6 is driven down by the first lifting part 62, and is located above the tank body and close to its sides;

Detection: The welding gun head 72 of the multi-axis welding robot 7 automatically moves to the top of the protective cover 61 and extends into the protective cover from the first cover opening 63, and then the laser rangefinder 74 measures the distance between the welding seam and the protective cover. The rotating drum assembly 22 drives the tank to rotate, and causes the laser rangefinder 74 to collect 7 detection points in the circumferential direction of the weld, and fit the roundness and center of the weld based on the distance difference between each detection point. s position;

Linear welding: start the welding gun head, and at the same time start the external water circulation system to generate circulating cooling water in the water cooling jacket 75;

Gun cleaning: After the welding is completed, the multi-axis welding arm 71 moves the welding gun head 72 to the gun washing machine 9 to clean the welding gun head 72;

Blanking: The blanking assembly 42 moves to the bottom of the tank and the second hydraulic cylinder 46 drives it upward. At the same time, the electromagnet assembly 421 is energized to attract the outer periphery of the tank, and the rotating base 21 moves toward the workbench 1 The two ends move to separate the drum assembly 22 from the two ends of the tank. The unloading assembly 42 carries the tank and moves between the guide assemblies 5. Then the second hydraulic cylinder 46 drives the unloading assembly 42 to lower and at the same time makes the electromagnet When the assembly 421 is powered off, the two ends of the tank are respectively in contact with the two guide rails 52 , and the tank slides along the guide rails 52 to the discharge roller 3 .

To sum up, the automatic linear welding device for tanks in this embodiment is equipped with a laser rangefinder on the welding gun head of the multi-axis welding robot, so that it can perform multi-point welding on the outer circumference of the tank before linearly welding the tank. sampling to determine the actual position coordinates and shape tolerance of the weld, and then perform adaptive linear welding through the welding gun of the multi-axis robot, thereby eliminating the impact of repeated positioning errors on the weld accuracy; by setting up a loading and unloading device As well as the material guide assembly, it can quickly load and unload materials, thereby improving the production cycle; by installing a water-cooling sleeve on the protective sleeve, the protective sleeve of the welding gun can be cooled down in real time, thus extending the service life of the protective sleeve.

The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and illustration. These descriptions are not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teachings. The embodiments of the present invention have been shown and described, but this specific embodiment is only an explanation of the present invention and is not a limitation of the invention. The specific features, structures, materials or characteristics described may be implemented in any one or more implementations. Examples or examples are combined in a suitable manner. The exemplary embodiments are selected and described for the purpose of explaining the specific principles of the present invention and its practical application, so as to enable those skilled in the art to make reference to the present invention after reading this specification. Without departing from the principles and purposes of the present invention, modifications, substitutions, variations and various selections and changes may be made to the embodiments without creative contribution as needed, but as long as they are within the scope of the claims of the present invention, they are protected by the patent. legal protection.

Claims (8)

1. An automatic linear welding device for tanks, which is characterized in that it includes: A workbench (1), a first guide rail (11) is provided on the workbench (1), and second guide rails (12) perpendicular to the first guide rail (11) are provided on both sides; The rotating assembly (2) includes a rotating base (21) and a rotating drum assembly (22). The rotating base (21) is slidably provided on the second guide rail (12). The rotating drum assembly (22) They are rotatably installed on the opposite sides of the two rotating seats (21), and the axes of the two rotating drum assemblies (22) coincide with each other; A discharge roller (3) is located on one side of the workbench (1), and the conveying direction of the discharge roller (3) is perpendicular to the first guide rail (11); A loading and unloading device (4) is slidably provided on the first guide rail (11). The loading and unloading device (4) includes a loading assembly (41) and a loading assembly (42). The loading assembly (41) includes a liftable loading tool (411). The loading tool (411) is provided with an inwardly recessed positioning groove (412). One side of the positioning groove (412) is provided with Clamping device (413), the unloading assembly (42) is located between the loading assembly (41) and the unloading roller (3), the unloading assembly (42) includes a liftable electromagnetic Iron components(421); A guide assembly (5) is located between the loading and unloading device (4) and the discharge roller (3). The guide assembly (5) includes two guide posts (51), each The guide posts (51) are respectively provided on both sides of the first guide rail (11), and a guide guide rail (52) is provided between the guide posts (51) and the discharge roller (3). ); The protection device (6) includes a protective cover (61) and a first lifting part (62). The protective cover (61) is connected to any one of the rotating seats (21) through the first lifting part (62), so The first lifting part (62) can drive the protective cover (61) to lift. The upper and lower ends of the protective cover (61) are respectively provided with a first cover opening (63) and a second cover opening (64) that communicate with each other. ), a maintenance opening (65) is provided on one side of the protective cover (61), an openable protective cover (66) is provided at the maintenance opening (65), and a protective cover (66) is provided on the protective cover (66). An observation port (67) corresponding to the maintenance port (65); A multi-axis welding robot (7) includes a multi-axis welding arm (71) and a welding gun head (72). One end of the multi-axis welding arm (71) is rotatably installed on the workbench (1) , the welding gun head (72) is installed at the other end of the multi-axis welding arm (71), and the welding gun head (72) is provided with a protective cover (73) and a laser rangefinder (74). The upper cover (73) is provided with a water-cooling cover (75); Controller (8) and gun washer (9). The controller (8) and gun washer (9) are located on the other side of the workbench (1) at the same time. The gun washer (9) Be close to each other with the controller (8); The clamping device (413) also includes a third cylinder (414). The third cylinder (414) is fixedly installed on the loading tool (411). The movable end of the third cylinder (414) can move in any direction. The direction of the positioning groove (412) is telescopic. A clamp block (415) is installed on the movable end of the third cylinder (414). Several rubber heads (416) are installed on the clamp block (415). The head (416) faces the positioning groove (412), the side of the rubber head (416) is provided with a certain cone angle, and the rubber head (416) is located above the axis of the positioning groove (412); The electromagnet assembly (421) includes a magnetic base (422). A magnetic head (423) is provided on the magnetic base (422). The distance between the magnetic head (423) and the magnetic base (422) is adjustable. , the magnetic head (423) includes a shell (424), the shell (424) is provided with an elastically floating magnetic core (425), and the shell (424) is provided with a "V"-shaped first bayonet. (426), the magnetic core (425) is provided with a "V"-shaped second bayonet (427), the shape of the second bayonet (427) is the same as the shape of the first bayonet (426) Consistent with and higher than the first bayonet (426), a relief groove (429) is opened in the middle of the second bayonet (427), between the magnetic core (425) and the shell (424) There is a coil (428) between them, and the coil (428) is electrically connected to the magnetic base (422). 2. The automatic linear welding device for tanks according to claim 1, further comprising a protective gas tank (10), the protective gas tank (10) being connected with the inside of the protective sheath (73). 3. The automatic linear welding device for tanks according to claim 1, characterized in that the rotating assembly (2) further includes a first driving part (23), and the first driving part (23) rotates the rotating assembly. The base (21) is connected to the workbench (1), and the first driving part (23) can drive the rotating base (21) to slide along the second guide rail (12). 4. The automatic linear welding device for tanks according to claim 3, characterized in that the first driving part (23) includes: A first cylinder (231) is fixedly installed in the rotating base (21), and the movable end of the first cylinder (231) extends to both ends of the workbench (1); The connecting block (232) is fixedly installed at the end of the workbench (1); A connecting sleeve (233) is rotatably installed on the connecting block (232), and the connecting sleeve (233) is fixedly sleeved on the movable end of the first cylinder (231). 5. The automatic linear welding device for tanks according to claim 1, characterized in that the rotating assembly (2) further includes a driving assembly (24), and the driving assembly (24) includes: A driving shaft (241) is rotatably provided on the rotating base (21), and the end of the driving shaft (241) is coaxially fixedly connected to the end of the rotating drum assembly (22); A gearbox (242) is located in the rotating seat (21). The output end of the gearbox (242) is connected to the drive shaft (241). The input end of the gearbox (242) is provided with There is a rotating motor (243). 6. The automatic linear welding device for tanks according to claim 5, characterized in that the rotating drum assembly (22) includes: A first sleeve (221), one end of which is detachably connected to the end of the driving shaft (241), and the other end of the first sleeve (221) is provided with a first sleeve (222) ); One end of the second sleeve (223) is detachably connected to the first sleeve (222), and the other end of the second sleeve (223) is provided with a second sleeve (224). 7. The automatic linear welding device for tanks according to claim 1, characterized in that the loading and unloading device (4) further includes a moving pallet (43), and the moving pallet (43) passes through the second cylinder (44) Connected to the workbench (1), the second cylinder (44) can drive the moving tray (43) to slide along the first guide rail (11). The moving tray (43) is also provided with a vertical third A hydraulic cylinder (45) and a second hydraulic cylinder (46). The movable end of the first hydraulic cylinder (45) is fixedly connected to the loading tool (411). The movable end of the second hydraulic cylinder (46) The end is fixedly connected to the electromagnet assembly (421). 8. The automatic linear welding device for tanks according to claim 1, characterized in that the water-cooling jacket (75) is provided with an inner cavity, and the water-cooling jacket (75) is provided with a water inlet pipe (751) and an outlet. Water pipe (752), the water inlet pipe (751) and the water outlet pipe (752) are simultaneously connected with the inner cavity; the end of the laser rangefinder (74) is provided with a laser emitting head (741) and Laser receiving head (742), a protective enclosure (743) is provided around the transmitting head (741) and the laser receiving head (742).