CN114770016B - Cylinder body machining system and method - Google Patents
Cylinder body machining system and method Download PDFInfo
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- CN114770016B CN114770016B CN202210431492.4A CN202210431492A CN114770016B CN 114770016 B CN114770016 B CN 114770016B CN 202210431492 A CN202210431492 A CN 202210431492A CN 114770016 B CN114770016 B CN 114770016B
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000003754 machining Methods 0.000 title claims abstract description 9
- 238000003466 welding Methods 0.000 claims abstract description 85
- 238000010438 heat treatment Methods 0.000 claims description 32
- 230000007246 mechanism Effects 0.000 claims description 31
- 239000000463 material Substances 0.000 claims description 23
- 238000012545 processing Methods 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 16
- 238000004140 cleaning Methods 0.000 claims description 15
- 238000012546 transfer Methods 0.000 claims description 14
- 210000000078 claw Anatomy 0.000 claims description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 8
- 238000001816 cooling Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 7
- 239000002893 slag Substances 0.000 claims description 7
- 210000002445 nipple Anatomy 0.000 claims description 5
- 238000003825 pressing Methods 0.000 claims description 5
- 238000012840 feeding operation Methods 0.000 claims description 4
- 238000005461 lubrication Methods 0.000 claims description 4
- 230000007306 turnover Effects 0.000 claims description 4
- 238000012937 correction Methods 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 3
- 238000005507 spraying Methods 0.000 claims description 3
- 238000012790 confirmation Methods 0.000 claims description 2
- 230000001050 lubricating effect Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 230000008901 benefit Effects 0.000 abstract description 5
- 239000003638 chemical reducing agent Substances 0.000 description 11
- 229910000831 Steel Inorganic materials 0.000 description 3
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 229910052802 copper Inorganic materials 0.000 description 2
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- 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
- B23K37/003—Cooling means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Automatic Assembly (AREA)
Abstract
The cylinder body machining system comprises a cylinder body assembling and welding device, a robot and a system control device, wherein the cylinder body assembling and welding device is used for assembling and welding a cylinder bottom workpiece and a cylinder barrel workpiece to produce a machined cylinder body; the robot moves the positions of the cylinder bottom workpiece, the cylinder barrel workpiece and the oil nozzle so as to perform different working procedures; the system control device controls the cylinder block assembly and the work of the welding device and the robot. The invention completely realizes unmanned operation, eliminates manual intervention, greatly improves production efficiency and brings great economic benefit to factories.
Description
Technical Field
The invention relates to the technical field of automatic machinery, in particular to a cylinder body processing system and method.
Background
A hydraulic cylinder (hereinafter referred to as a cylinder) is a hydraulic actuator that converts hydraulic energy supplied from a hydraulic pump into mechanical energy for linear motion. The method is widely applied to engineering machinery, machine tool equipment, automobile manufacturing, metallurgical mine, aerospace and the like.
The cylinder body of the oil cylinder mainly comprises a cylinder bottom, a cylinder barrel, a nozzle tip, a fixed column and the like, wherein the cylinder bottom and the cylinder barrel are assembled and then welded into a whole, and then the nozzle tip is welded on the cylinder barrel and the cylinder bottom to form the cylinder body. The assembly and welding are very important procedures in the oil cylinder production process, the assembly precision requirement on the cylinder bottom and the cylinder barrel is very high, if the assembly of the cylinder bottom and the cylinder barrel is different in axis or angle deviation is out of tolerance, the quality defect of a welding seam is caused, and in the later application process, great potential fracture hazards exist, so that oil leakage of the oil cylinder even serious quality accidents occur. How to efficiently and accurately group the cylinder bottom and the cylinder barrel under the condition of ensuring the precision is always a difficult problem puzzling the factory manufacture.
For ease of understanding, fig. 1 shows a cylinder barrel assembly 4 comprising a cylinder bottom 41, a cylinder barrel 42, a nipple a 43, a fixed post 44, a nipple B45. Under the prior art, the cylinder bottom is clamped by adopting a common two-jaw chuck, so that the clamping precision is lower; the cylinder barrel adopts a center mode and a V-shaped bracket for supporting and positioning, so that the positioning accuracy is low, and the requirement of automatic assembly cannot be met.
The cylinder bottom workpiece is manually installed in a handheld manner, the pairing of the cylinder bottom and the cylinder body of the cylinder is mainly calibrated and paired on mechanical equipment in a manual auxiliary mode, manual intervention is needed for each pairing, and a copper rod is used for knocking the cylinder bottom to adapt to the cylinder body to complete the pairing; the labor intensity of field operators is high, the assembly precision is poor, and the production efficiency is low.
Disclosure of Invention
In order to solve the defects in the prior art, the invention aims to provide a cylinder body processing system and method, which completely realize unmanned operation, eliminate manual intervention, greatly improve production efficiency and bring great economic benefit to factories.
In order to achieve the above object, the present invention provides a cylinder processing system comprising a cylinder assembly and welding device, a robot, and a system control device,
the cylinder body assembling and welding device is used for assembling and welding the cylinder bottom workpiece and the cylinder barrel workpiece to produce and process a cylinder body;
the robot moves the positions of the cylinder bottom workpiece, the cylinder barrel workpiece and the oil nozzle so as to perform different working procedures;
the system control device controls the cylinder block assembly and the work of the welding device and the robot.
Further, the cylinder body assembling and welding device also comprises a cylinder bottom material bracket, a nozzle material sliding table, a cylinder bottom positioning and calibrating device, a positioner, a gripper assembly, a heating controller, a gun cleaning device and a water cooling device, wherein,
the cylinder bottom material bracket bears a cylinder bottom workpiece to be processed;
the oil nozzle material sliding table is used for bearing oil nozzle materials to be processed;
the cylinder bottom positioning and calibrating device is used for positioning and calibrating the placing position of a cylinder bottom workpiece;
the position changing machine is used for assembling and position changing welding of the cylinder bottom workpiece and the cylinder barrel workpiece;
the gripper assembly is used for gripping the cylinder bottom workpiece and placing the workpiece on the cylinder bottom positioning and calibrating device;
and the heating controller is used for controlling the heating temperature and the heating time and heating the workpiece.
The gun cleaning device is used for cleaning the inside of a welding gun nozzle and spraying anti-splashing liquid into the nozzle.
The water cooling device reduces the heat generated by the high-frequency heating element during operation through the internal water circulation refrigerating system.
Further, the position changing machine comprises a cylinder bottom positioning and clamping device, a splash protection overturning device, a deslagging assembly, a cylinder barrel supporting and clamping assembly, a base, a sliding table assembly, a heating head, a cylinder bottom auxiliary positioning and calibrating device, a camera assembly and a cylinder barrel positioning and clamping device, wherein,
the cylinder bottom positioning and clamping device is used for accurately positioning and clamping a cylinder bottom workpiece;
the splash protection overturning device comprises a pneumatic overturning mechanism and a splash protection plate and is used for protecting welding splash;
the slag removing assembly is used for cleaning welding slag of the welding seam;
the cylinder barrel supporting and clamping assembly comprises a V-shaped auxiliary supporting unit and a hydraulic center frame unit, wherein a V-shaped supporting block in the V-shaped auxiliary supporting unit is driven by an air cylinder and is used for auxiliary supporting when a cylinder barrel workpiece is loaded;
the sliding table assembly is driven by a servo motor to realize the sliding of the cylinder barrel supporting and clamping assembly and the cylinder barrel positioning and clamping device;
the heating head is arranged on the cylinder bottom positioning and calibrating device and is used for carrying out preheating operation on the welding seam position under the control of the heating controller;
the cylinder bottom auxiliary positioning and calibrating device is used for recalibrating the cylinder bottom workpiece clamped by the cylinder bottom positioning and clamping device;
the camera component is used for photographing and collecting characteristic point positions on the cylinder barrel workpiece;
the cylinder barrel positioning and clamping device is used for positioning and clamping a cylinder barrel workpiece.
Further, the characteristic points comprise oil nozzles or process holes of the end face on the cylinder barrel workpiece.
Further, the cylinder bottom positioning and clamping device also comprises a supporting base, a motor component, a center telescopic mechanism, a high-precision two-jaw chuck, a chuck slip ring bracket component, a detection switch and a guide shaft, wherein,
the support base comprises a base and support side walls;
the motor component is fixed on the supporting side wall and is connected with the high-precision two-jaw chuck;
the center telescopic mechanism is arranged on the supporting side wall;
the chuck slip ring bracket assembly is connected with the high-precision two-jaw chuck;
the detection switch is arranged at the upper part of the support base;
the guide shaft is arranged on the support base.
Further, the cylinder bottom auxiliary positioning and calibrating device further comprises a jacking mechanism, a supporting structure and a calibrating contact wheel.
Further, the cylinder barrel positioning and clamping device also comprises a three-jaw chuck assembly, a guide rail screw automatic lubrication system, a travel switch, a drag chain assembly, a shield, a movable assembly supporting seat, a movable sliding plate and a guide rail screw device, wherein,
the three-jaw chuck assembly comprises a motor for providing a power source for the rotation movement of the three-jaw chuck, and a three-jaw chuck power device in the three-jaw chuck assembly provides the power source for the extension and retraction of the three-jaw chuck;
the cylinder barrel workpiece supporting assembly comprises a jacking cylinder, a guide assembly, a V-shaped supporting block, a hydraulic center frame and a hydraulic center frame lubricating system;
the moving assembly supporting seat can move longitudinally along the cylinder barrel.
Still further, the robots include handling robots and welding robots.
In order to achieve the above object, the present invention further provides a method for processing a cylinder by using the cylinder processing system, comprising the following steps:
1) And (5) cylinder barrel feeding operation:
the carrying robot carries the cylinder barrel from the conveying line to the cylinder barrel supporting and clamping assembly on the position changing machine;
2) And (3) performing cylinder barrel positioning and clamping operation:
the end face of the three-jaw chuck on the cylinder barrel positioning and clamping device pushes the end face of the cylinder barrel to a system setting position, and the cylinder barrel positioning and clamping device returns to a program setting position;
a camera component arranged on the positioner shoots and collects characteristic point positions on a cylinder barrel workpiece, and the camera component swings back to the original position;
the cylinder bottom positioning and clamping device and the cylinder positioning and clamping device work together to position a cylinder workpiece;
3) And (3) carrying out cylinder bottom feeding operation:
the cylinder bottom workpiece is positioned on the cylinder bottom material bracket in advance;
4) And (3) performing cylinder bottom positioning and clamping operation:
the carrying robot places the cylinder bottom workpiece on the cylinder bottom positioning and calibrating device;
the cylinder bottom positioning and calibrating device accurately positions and positions the cylinder bottom workpiece through a three-jaw assembly, a two-jaw assembly, a turnover pressing mechanism and the like which are arranged on the cylinder bottom positioning and calibrating device, so that the position of the cylinder bottom workpiece is accurately identified;
the transfer robot grabs the cylinder bottom workpiece from the cylinder bottom positioning and calibrating device again, and places the cylinder bottom workpiece on two claw chuck positioning blocks on a cylinder bottom positioning and clamping device on the positioner, and the two claw chucks clamp the workpiece;
calibrating the cylinder bottom workpiece;
5) Performing cylinder bottom and cylinder barrel pairing operation:
the cylinder barrel side servo motor drives the cylinder barrel positioning and clamping device to linearly slide to drive the cylinder barrel workpiece to move towards the cylinder bottom workpiece, and the cylinder barrel and the cylinder bottom are assembled;
6) And (3) performing cylinder bottom and cylinder barrel welding operation:
the heating head stretches out under the driving of the air cylinder, and the welding seam position is preheated;
the splash protection overturning device acts to perform welding splash protection;
the welding robot operates to perform welding operation.
Still further, the calibrating the cylinder bottom workpiece in the step 4) further includes the steps of:
a) A servo motor on the cylinder bottom positioning and clamping device drives a cylinder bottom workpiece to rotate, a carrying robot carries a digital runout measuring meter on a gripper assembly to contact with the outer circle of the cylinder bottom workpiece, the runout value of the outer circle is detected and extracted and fed back to a PLC control system in the process of rotating the cylinder bottom workpiece for one circle, and the system calculates a calibration compensation value of a calibration unit according to the feedback value;
b) The calibration unit on the cylinder bottom auxiliary positioning calibration device ascends, the contact wheel on the calibration unit contacts with a workpiece, and the cylinder bottom is corrected according to the system calculation calibration compensation value;
c) And a) after the correction is finished, performing measurement and confirmation of the jitter value until the jitter value meets the requirement of assembly accuracy.
Compared with the prior art, the cylinder body processing system and method have the following beneficial effects:
(1) Automatically assembling the bottom and the cylinder barrel of the oil cylinder, and automatically welding;
(2) The system realizes the automatic welding of the cylinder bottom, the cylinder barrel, the oil nozzle and the fixed column part of the oil cylinder;
(3) The system has high flexibility degree, and can realize the switching production of products with various specifications through program setting and quick change of specific claws;
(4) The system is matched with an MES system, can record and upload measurement data and related information of produced products to a factory product management system, and can track the quality of the products or trace the process data of each procedure in real time.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, and do not limit the invention. In the drawings:
FIG. 1 is a cylinder barrel assembly;
FIG. 2 is a schematic diagram of a cylinder processing system according to the present invention;
FIG. 3 is a schematic view of a cylinder pairing and welding device according to an embodiment of the invention;
FIG. 4 is another schematic view of a cylinder pairing and welding device according to an embodiment of the invention;
FIG. 5 is a schematic view of a cylinder bottom positioning calibration apparatus according to an embodiment of the present invention;
FIG. 6 is a schematic view of a positioner according to an embodiment of the present invention;
FIG. 7 is a perspective view of a cylinder bottom positioning and clamping device according to an embodiment of the present invention;
FIG. 8 is a cross-sectional view of a cylinder bottom positioning and clamping device according to an embodiment of the present invention;
FIG. 9 is a cross-sectional view of a cylinder positioning and clamping device according to an embodiment of the present invention;
FIG. 10 is a schematic view of a gripper assembly according to an embodiment of the present invention;
FIG. 11 is a flow chart of a method for cylinder pairing and welding in accordance with the present invention.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
Fig. 2 is a schematic view of a cylinder processing system according to the present invention, as shown in fig. 2, including a cylinder pairing and welding device 10, a robot 20, and a system control device 30, wherein,
the cylinder block pairing and welding device 10 performs pairing welding on a cylinder bottom workpiece and a cylinder barrel workpiece to produce a machined cylinder block.
The robot 20 performs positional movement of the cylinder bottom workpiece, the cylinder barrel workpiece, and the oil nozzle to perform different process treatments.
The system control device 30 controls the cylinder assembly and the operations of the welding device 10 and the robot 20.
In the embodiment of the present invention, the system control device 30 controls the cylinder block pairing and the welding device 10 to perform pairing of the cylinder bottom workpiece and the cylinder barrel workpiece, and the welding and control of the robot 20 to correspondingly operate when the cylinder bottom workpiece and the cylinder barrel workpiece need to be shifted.
Fig. 3 is a schematic view of a cylinder assembly and a welding apparatus according to an embodiment of the present invention, and fig. 4 is another schematic view of a cylinder assembly and a welding apparatus according to an embodiment of the present invention, as can be seen from fig. 3 and 4, the cylinder assembly and welding apparatus 10 of the present invention includes a cylinder bottom material bracket 101, a nozzle tip material sliding table 102, a cylinder bottom positioning calibration device 104, a positioner 15, a gripper assembly 106, a heating controller 109, a gun cleaning device 110, and a water cooling device 111, wherein,
the cylinder bottom material bracket 101 comprises a supporting platform, supporting legs and a supporting beam, wherein the supporting platform is a steel plate, and the supporting legs and the supporting beam are angle steel.
The oil nozzle material sliding table 102 comprises an oil nozzle sliding table 1021 and a supporting seat 1022, wherein the oil nozzle sliding table 1021 can be driven by a motor or a pneumatic element to linearly slide, and an oil nozzle positioning unit is designed on the oil nozzle sliding table and is used for sliding an oil nozzle workpiece from a manual workpiece feeding position to a system setting position, so that automatic operation is facilitated; the support 1022 is welded by angle steel.
Cylinder bottom positioning and calibrating device
Fig. 5 is a schematic diagram of a cylinder bottom positioning and calibrating device according to an embodiment of the present invention, as shown in fig. 5, the cylinder bottom positioning and calibrating device 104 calibrates the center position of a cylinder bottom workpiece by using a three-jaw centering assembly, so as to ensure the position accuracy of the cylinder bottom workpiece when being assembled relative to a cylinder workpiece, and enable the cylinder bottom workpiece to be successfully assembled with the cylinder workpiece.
The cylinder bottom workpiece comprises two positions to be calibrated, one is an outer cylindrical surface for meshing the cylinder bottom workpiece and the cylinder barrel workpiece group, and the other is an inner cylindrical surface for a rotating shaft of the cylinder body of the oil cylinder, wherein the central axis of the outer cylindrical surface is mutually perpendicular to the central axis of the inner cylindrical surface. The cylinder bottom positioning and calibrating device 104 according to the present invention comprises a turnover pressing assembly 1041, a three-jaw centering assembly 1042, a two-jaw centering assembly 1043, and a workpiece buffer support 1044, wherein,
the three-jaw centering assembly 1042 performs accurate positioning and centering on the center inner circle of the cylinder bottom workpiece by a three-jaw centering principle.
The overturning and compacting assembly 1041 comprises an overturning mechanism and a compacting assembly, wherein the compacting assembly is arranged on the overturning mechanism and can move along with overturning movement of the overturning mechanism, and after the overturning mechanism moves in place, the compacting assembly acts to compact the plane of the cylinder bottom workpiece and ensure that the cylinder bottom workpiece is not inclined, so that the symmetry of the cylinder bottom workpiece and the tool axis is aligned.
After the position of the inner circle of the center is aligned by the three-jaw centering assembly 1042 and is pressed by the overturning pressing assembly, the two-jaw clamping fingers in the two-jaw centering assembly 1043 clamp the outer circle of the cylinder bottom workpiece, the central axis position of the cylinder bottom workpiece is aligned, and the tool axis and the outer circle of the cylinder bottom workpiece are corrected and calibrated by the two-jaw centering principle.
The workpiece buffer support 1044 is used for storing a cylinder bottom workpiece to be aligned.
Displacement machine
As shown in fig. 6, the positioner 15 includes a cylinder bottom positioning clamp 1501, a splash guard flipping mechanism 1502, a deslagging assembly 1503, a cylinder support clamp assembly 1504, a base 1505, a slide assembly 1506, a heating head 1507, a cylinder bottom assisted positioning calibration mechanism 1508, a camera assembly 1509, and a cylinder positioning clamp 1510.
The positioner 15 may perform the following functions:
a) Performing visual photographing on a cylinder workpiece and performing cylinder angle alignment;
b) Centering and positioning and clamping the cylinder barrel workpiece;
c) Centering and positioning and clamping the cylinder bottom workpiece;
d) Performing assembly operation on the cylinder barrel and the cylinder bottom workpiece;
e) After the assembly is completed, carrying out pre-welding high-frequency preheating on the welding position of the workpiece;
f) When welding operation is carried out, the infinite rotation function of the workpiece is realized;
g) After the welding is finished, performing welding splash slag cleaning on the welding seam position;
h) The flexible production of multiple varieties and multiple specifications of serial products is satisfied through quick replacement of the positioning blocks and the sliding table.
Cylinder bottom positioning and clamping device
Fig. 7 is a perspective view of a cylinder bottom positioning and clamping device according to an embodiment of the present invention, and fig. 8 is a cross-sectional view of a cylinder bottom positioning and clamping device according to an embodiment of the present invention, as shown in fig. 7 and 8, the cylinder bottom positioning and clamping device 1501 includes a support base 1501.1, a motor assembly 1501.2, a tip telescopic mechanism 1501.3, a high precision two-jaw chuck 1501.4, a chuck slip ring bracket assembly 1501.5, a guide shaft 1501.6, and a detection switch 1501.7, wherein the support base 1501.1 includes a base and support side walls; the motor component 1501.2 is fixed on the supporting side wall and is connected with the high-precision two-jaw chuck 1501.4; the center telescopic mechanism 1501.3 is arranged on the supporting side wall; the chuck slip ring bracket assembly 1501.5 is connected with a high precision two-jaw chuck 1501.4; the detection switch is arranged at the upper part of the support base 1501.1; the guide shaft 1501.6 is provided on the support base 1501.1.
The motor assembly 1501.2 comprises a motor and a speed reducer, the speed reducer is a hollow speed reducer, and the motor drives the speed reducer, the two claw chucks 1501.4 and the cylinder bottom workpiece to be in a relatively static state in the rotating process, so that the abrasion between a telescopic shaft of the telescopic center and a guide sleeve is reduced, and the service life of the telescopic center is prolonged;
the collar and the guide sleeve are designed in the hollow speed reducer and the hollow two-jaw chuck 1501.4 to support, so that the stretching rigidity of the telescopic center is improved, and the center precision is ensured.
The two claw chucks are provided with the fixed part and the rotating part, so that the air circuit pipeline can be wound without following the rotation of the chucks in the infinite rotation process.
The gap between the rotating part and the fixed part of the two-jaw chuck can be adjusted by an adjusting mechanism, so that the designed gap precision is realized.
A conductive slider assembly is also provided on the vertical support side wall of the support base 1501.1 for forming a welding circuit when welded. One end of the conductive sliding block component is fixedly connected to the supporting side wall of the supporting base through a bolt, and the other end of the conductive sliding block component is in friction contact with the output connecting disc of the speed reducer. When the speed reducer output connecting disc rotates to work, the conductive sliding block component does not rotate and only rubs with the side face of the speed reducer output connecting disc. The conductive sliding block component is made of graphite copper material and has conductive and wear-resistant properties.
The cylinder bottom workpiece is clamped by the two claw chucks 1501.4, the cylinder bottom workpiece is positioned and clamped by the positioning element arranged on the chucks, the motor drives the speed reducer to drive the chucks, infinite rotation of the workpiece can be realized, the design is simple, and the structure is reliable.
A guide shaft 1501.6 is arranged on the outer side of the support base and is connected with the telescopic shaft through an anti-rotation connecting plate, and the guide shaft is used for preventing the telescopic center from rotating in the extending and retracting processes.
The splash guard tilting device 1502 comprises a pneumatic tilting mechanism and splash guard, and can play a role in preventing welding splashes from falling onto the cylinder barrel and cylinder bottom machining surface in the welding process.
The deslagging assembly 1503 comprises a double-guide pneumatic sliding table and a pneumatic needle type derusting gun. The pneumatic needle type rust removing gun is arranged on the double-guide pneumatic sliding table. After the welding is finished, the double-guide pneumatic sliding table extends out, the system ventilates the pneumatic needle type rust removing gun, and the pneumatic needle type rust removing gun generates high-frequency impact vibration to clean welding spatter. After deslagging is completed, the double-guide pneumatic sliding table is retracted, and the next operation is waited.
A cylinder support clamp assembly 1504 including a V-shaped auxiliary support unit and a hydraulic center frame unit; the V-shaped auxiliary supporting unit is used for driving the V-shaped supporting block by an air cylinder and assisting in supporting when the cylinder barrel workpiece is loaded, so that the workpiece is kept stable and does not incline; the hydraulic center frame unit is used for assisting in holding, positioning and supporting after the cylinder barrel workpiece is aligned to the center.
The heating head 1507 is mounted on the cylinder bottom positioning and calibrating device 1508, and is driven by a pneumatic sliding table to linearly slide, so as to directly act on a workpiece as a part of a high-frequency heating system, induce high-frequency current in the workpiece, and achieve the purpose of rapidly heating the workpiece.
Cylinder bottom auxiliary positioning and calibrating device
The cylinder bottom auxiliary positioning calibration device 1508 comprises a jacking mechanism, a supporting structure and a calibration contact wheel.
The cylinder bottom auxiliary positioning calibration device 1508 moves a digital runout measuring meter to be in contact with a cylinder bottom workpiece by using a mechanical arm during working, then a motor in the cylinder bottom positioning clamping device rotates to drive the cylinder bottom workpiece to rotate around a shaft, the digital runout measuring meter feeds back measured values to a control unit in real time according to the change of the circular runout values when the workpiece rotates, and then a servo jacking mechanism corrects the jacking amount according to the measured values after the system calculation and jacks the cylinder bottom workpiece in place; after the measurement calibration is completed, the mechanical arm removes the digital measurement jump table; after the calibration is completed, the servo calibration mechanism (the servo jacking mechanism and the calibration contact wheel) returns to a zero position (initial position).
The jacking mechanism is a servo motor.
The position of the calibration contact wheel in the up-down direction can be adjusted by means of a cylinder.
Cylinder positioning and clamping device
Fig. 9 is a cross-sectional view of a cylinder positioning and clamping device according to an embodiment of the present invention, as shown in fig. 9, the cylinder positioning and clamping device 1510 includes a three jaw chuck assembly 1510.1, a cylinder workpiece support assembly 1510.2, a drag chain assembly 1510.3, a moving assembly support 1510.4, a moving slide 1510.5, a rail screw device, a travel switch, a shroud, a rail screw automatic lubrication system, wherein,
the motor in three-jaw chuck assembly 1510.1 provides a power source for the rotational movement of the three-jaw chuck and the three-jaw chuck power device in the three-jaw chuck assembly provides a power source for the telescoping of the three-jaw chuck. In addition, a hollow speed reducer is further arranged in the three-jaw chuck assembly, so that a three-jaw chuck driving shaft is in power connection with an output shaft of the motor through the hollow speed reducer, the three-jaw chuck is driven by the motor to drive the cylinder barrel workpiece to infinitely rotate around the central shaft, and multi-layer continuous welding of the workpiece is facilitated.
The cylinder work piece support assembly 1510.2 includes a jacking cylinder, a guide assembly, a V-shaped support block, a hydraulic center rest, and a hydraulic center rest lubrication system.
The V-shaped supporting blocks are arranged on two sides of the hydraulic center frame and driven by the air cylinders, and are used for coarsely positioning cylinder barrel workpieces. The hydraulic center frame is used for clamping the cylinder barrel workpiece during operation.
The moving assembly supporting seat can move under the drive of the sliding table motor.
Camera assembly
The invention is also provided with a camera assembly 1509 for taking pictures of the cylinder.
The camera assembly 1509 is mounted to a lower portion of the side of the moving assembly holder.
Tongs subassembly
Fig. 10 is a schematic view of a gripper assembly according to an embodiment of the present invention, as shown in fig. 10, the gripper assembly 106 is mounted on a welding robot 107 for visually photographing a cylinder bottom, gripping a cylinder bottom workpiece and a oil nozzle workpiece, and carrying a digital runout meter for cylinder bottom runout detection.
The gripper assembly 106 includes a mounting plate 1061, a digital jump gauge 1062, a cylinder bottom jaw 1063, a vision system 1064, and a nipple jaw 1065. Cylinder bottom jaw 1063 and nipple jaw 1065 are provided at both ends of mounting plate 1061, respectively.
The heating controller 109 comprises a rectifying unit, an inversion unit, a resonance output unit and an inductor, and is mainly used for converting the power frequency three-phase alternating voltage into strong high-frequency current, so that the inductor induces the high-frequency current in the workpiece, and the purpose that the workpiece is rapidly heated is achieved through controlling the heating temperature and the heating time.
Gun cleaning device
The gun cleaning device is used for cleaning the internal splash of the welding gun nozzle and spraying splash-proof liquid into the nozzle, so that the service life of the welding gun is prolonged. The gun cleaning device is standard outsourcing equipment and is not described in detail herein.
Water cooling device
The water cooling device 111 is provided at one side of the device, and reduces heat generated when the high-frequency heating element works by the internal water circulation refrigerating system, thereby protecting the high-frequency heating system.
The robot 20 includes a transfer robot 103 and a welding robot 107.
In order to accommodate the cylinder body processing system, auxiliary facilities such as a welding room, a hydraulic station, dust removing equipment, a welding power supply, a robot control cabinet, an electrical control cabinet, a display, an operating panel, a supporting structure and the like can be further arranged, and the auxiliary facilities can be designed according to actual needs and are not repeated here.
Fig. 11 is a flowchart of a method for cylinder processing according to the present invention, and a method for cylinder processing using a cylinder processing system according to the present invention will be described with reference to fig. 11.
First, in step 1101, cylinder charging is performed.
In which the cylinder transfer robot transfers the cylinder from the transfer line to the cylinder support clamp assembly 1504 on the indexer 15.
Then, in step 1102, cylinder positioning clamping is performed.
In this step, the servo motor drives the cylinder positioning and clamping device 1510 to slide linearly, and after the three-jaw chuck end face on the cylinder positioning and clamping device 1510 pushes the cylinder end face to the system setting position, the cylinder positioning and clamping device 1510 returns to the program setting position;
then, the camera assembly 1509 mounted on the positioner 15 swings the camera mounted thereon to a photographing position (the center of the camera is at the center position of the cylinder) driven by the cylinder, and the camera photographs and collects the characteristic point positions on the cylinder workpiece, wherein the characteristic points comprise the oil nozzles or the process holes of the end face on the cylinder workpiece;
although a cylinder-driven manner is employed in the present embodiment, it will be appreciated by those skilled in the art that an electric or hydraulic drive manner may be employed.
After photographing is completed, the camera on the camera assembly 1509 swings back to the original position;
the servo motor drives the cylinder positioning and clamping device 1510 to linearly slide, and meanwhile, a telescopic center on the cylinder bottom positioning and clamping device 1501 on the positioner stretches out, the end face of a three-jaw chuck on the cylinder positioning and clamping device 1510 pushes the inner circle of a cylinder workpiece to be in contact with the telescopic center until the sliding table sliding motor reaches a set torque value, the three-jaw chuck on the cylinder positioning and clamping device 1510 is opened, the inner circle of the cylinder workpiece is tensioned, and the center of the cylinder workpiece is aligned by combining the three jaws with the center; the hydraulic center frame installed on the cylinder barrel supporting and clamping assembly 1504 clamps a workpiece, the telescopic center is retracted, the motor on the cylinder barrel positioning and clamping device 1510 drives the three-jaw chuck to rotate, the workpiece is driven to rotate by a certain angle, and the rotation angle is calculated by the system through a photographing result of a camera.
Finally, the servo motor drives the cylinder positioning and clamping device 1510 to slide linearly, and drives the cylinder workpiece to return to the program setting position.
The setting position makes the space reserved on the position changing machine for the next time the cylinder bottom is installed on the position changing machine.
In step 1103, cylinder bottom loading is performed.
In this step, the cylinder bottom workpiece is manually placed on a workpiece tray, and is conveyed to a cylinder bottom material bracket 101 of the system by an AGV trolley;
in step 1104, cylinder bottom positioning clamping is performed.
The transfer robot 103 carries a vision system 1064 on the gripper assembly 106 to photograph the cylinder bottom tray, the placement position and angle of the cylinder bottom workpiece are collected, and the transfer robot 103 grabs the workpiece through a cylinder bottom clamping jaw 1063 on the gripper assembly 106 according to the collected data; and placing the cylinder bottom workpiece onto the cylinder bottom positioning and calibrating device 104;
then, the cylinder bottom positioning and calibrating device 104 performs accurate position positioning on the cylinder bottom workpiece through a three-jaw assembly, a two-jaw assembly, a turnover pressing mechanism and the like which are arranged on the cylinder bottom positioning and calibrating device;
after the position of the cylinder bottom workpiece is calibrated, the transfer robot 103 grabs the cylinder bottom workpiece from the cylinder bottom positioning and calibrating device 104 again, and places the cylinder bottom workpiece on two claw chuck positioning blocks on the cylinder bottom positioning and clamping device 1501 on the positioner 15, and the two claw chucks clamp the workpiece;
then, the calibration step of the cylinder bottom workpiece is carried out:
a) A servo motor on the cylinder bottom positioning and clamping device 1501 drives a cylinder bottom workpiece to rotate, the transfer robot 103 carries a digital runout measuring meter 1062 on the gripper assembly 106 to contact with the outer circle of the cylinder bottom workpiece, in the process of rotating the cylinder bottom workpiece for one circle, the numerical value of the runout of the outer circle is detected and extracted and fed back to a PLC control system, and the system calculates a calibration compensation value of a calibration unit according to the feedback numerical value;
b) The alignment unit on the bottom assisted alignment device 1508 is raised so that the contact wheel thereon contacts and supports the bottom, the distance d of the unit rise can be expressed as:
d＝d1+d2
wherein d1 is the rising distance predetermined by the program, and d2 is the calibration compensation value of the calibration unit obtained in the step a).
c) After the correction is completed, a) is performed again, the jitter value measurement is confirmed, and then the formula of d value becomes:
d＝d2
d2, defining the same as the former expression, repeating the steps for a plurality of times until the jumping value meets the requirement of pairing precision, and if the pairing precision requirement still is not met within the set frequency range, giving an alarm signal by the PLC control system and performing manual intervention.
In step 1105, a bottom and cylinder pairing is performed.
In this step, the cylinder side servo motor drives the cylinder positioning and clamping device 1510 to slide linearly, and drives the cylinder workpiece to move toward the cylinder bottom workpiece, so as to perform the pairing operation of the cylinder and the cylinder bottom.
After the pairing is completed, the flow in a) b) c) is carried out, the jumping value measurement is carried out on the outer circle of the cylinder barrel, and if the requirement is met, the pairing is completed.
In step 1106, a bottom and cylinder welding operation is performed.
In this step, the heating head is extended under the drive of the cylinder, and the welding seam position is preheated.
After the preheating is completed, the heating head is retracted to the original position, and the following steps are carried out
1) A turning mechanism on the spatter shield turning device 1502 drives the spatter shield to a welding position for welding spatter shield.
2) The welding robot 107 operates to perform welding work;
3) After welding is completed, the splash guard tilting device 1502 is tilted back to the original position, and the slag removing assembly 1503 is driven by the cylinder to extend to the welding position for cleaning welding slag.
4) The two claw chucks for clamping the cylinder bottom workpiece are opened, the cylinder barrel side servo motor drives the cylinder barrel positioning clamping device 1510 to linearly slide, the workpiece after the cylinder barrel bottom is welded is driven to move to a program setting position, the three-claw chucks are opened, the transfer robot 103 is used for grabbing the workpiece, the hydraulic center frame is opened, and the transfer robot 103 is used for transferring the workpiece to a lower station.
So far, the cylinder body assembly and welding are all completed.
As can be seen from the above description, the cylinder pairing and welding system of the invention has the following technical characteristics:
(1) The vision system is utilized, the corresponding positioning calibration device and mechanism are combined to scan and identify the feeding state of the workpiece, and the initial placement state of the cylinder bottom workpiece is calibrated, so that the transfer robot can accurately mount the cylinder bottom workpiece on the cylinder bottom positioning clamping device on the positioner, the operation mode of replacing the manually mounted workpiece is realized, and the burden of manual operation is greatly reduced;
(2) After the cylinder bottom workpiece is installed in place, the digital runout measuring meter is used for measuring, the runout deviation data of the cylinder bottom workpiece is fed back to the system control unit in real time, and the system control unit drives the servo calibration device to perform compensation calibration of corresponding numerical values after corresponding calculation, so that calibration of the cylinder bottom position is realized, and the success rate of cylinder bottom and cylinder barrel pairing and the accuracy after pairing are ensured;
(3) The system uses a camera to take a picture to identify characteristic points of the cylinder barrel, calculates an offset value between an actual angle and an expected angle through a system control unit, and drives a workpiece to rotate to the expected angle through a motor on a cylinder barrel positioning and clamping unit on a positioner, so that the angle requirement in the cylinder barrel and cylinder barrel assembly process is realized;
(4) The system utilizes the control of the double-drive function of the motors to realize synchronous operation of the motors at two sides, thereby ensuring synchronous rotation when the cylinder bottom and the cylinder barrel are welded;
(5) The system utilizes the stroke control of the sliding table structure of the positioner and the quick-change mode of the clamping jaw, and combines the program setting of the system, so that the switching processing of multiple products can be realized, and the flexible requirement of the system is perfectly realized;
(6) The system is matched with an MES system, can record and upload measurement data and related information of produced products to a factory product management system, and can track the quality of the products in real time or trace process data of each procedure;
(7) The system completely realizes unmanned operation through various design considerations, eliminates manual intervention, greatly improves production efficiency and brings great economic benefit to factories.
(8) The system has the advantages that a cylinder bottom workpiece is placed in a material tray, and the material tray is conveyed into the system by an AGV automatic logistics vehicle; the work piece is placed in the material tray by the manual work, and the stacking position is unfixed, and the stacking gesture is unfixed, perhaps can appear even fewly expecting, the circumstances of wrong material, uses vision system, discerns the position and the state of work piece incoming material to solve the unordered difficult problem of material incoming material state, thereby guarantee the successful implementation of this system.
Those of ordinary skill in the art will appreciate that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A cylinder body processing system comprises a cylinder body assembling and welding device, a robot and a system control device, and is characterized in that,
the cylinder body assembling and welding device is used for assembling and welding the cylinder bottom workpiece and the cylinder barrel workpiece to produce and process a cylinder body;
the robot moves the positions of the cylinder bottom workpiece, the cylinder barrel workpiece and the oil nozzle so as to perform different working procedures;
the system control device is used for controlling the cylinder block assembly and the work of the welding device and the robot;
the cylinder body assembling and welding device comprises a positioner, wherein the positioner is used for assembling and welding a cylinder bottom workpiece and a cylinder barrel workpiece in a shifting manner;
the system control device is configured to control the rotation of the positioner on the cylinder barrel workpiece according to the position of the characteristic point, and the rotation enables the relative angle relation between the cylinder bottom workpiece and the cylinder barrel workpiece to meet the angle requirement;
the cylinder body group alignment and welding device further comprises a cylinder bottom positioning and calibrating device, wherein the cylinder bottom positioning and calibrating device is used for calibrating the central position of a cylinder bottom workpiece, and comprises a turnover pressing assembly, a three-jaw centering assembly and a two-jaw centering assembly, wherein the three-jaw centering assembly is used for positioning and aligning the central inner circle of the cylinder bottom workpiece; the overturning and compressing assembly comprises an overturning mechanism and a compressing assembly arranged on the overturning mechanism, wherein the overturning mechanism is used for overturning the compressing assembly, and when the overturning mechanism moves in place, the compressing assembly acts to compress the plane of the cylinder bottom workpiece; and after the cylinder bottom workpiece is tightly pressed, the two-claw centering assembly clamps the outer circle of the cylinder bottom workpiece by utilizing the two-claw clamping fingers of the two-claw centering assembly, so that the central axis position of the cylinder bottom workpiece is aligned, and the position accuracy of the cylinder bottom workpiece relative to the cylinder barrel workpiece during assembly is ensured.
2. The cylinder block machining system of claim 1, wherein the cylinder block pairing and welding device further comprises a cylinder bottom material bracket, a nozzle tip material sliding table, a gripper assembly, a heating controller, a gun cleaning device and a water cooling device, wherein,
the cylinder bottom material bracket bears a cylinder bottom workpiece to be processed;
the oil nozzle material sliding table is used for bearing oil nozzle materials to be processed;
the gripper assembly is used for gripping the workpiece and placing the cylinder bottom workpiece on the cylinder bottom positioning and calibrating device;
the heating controller is used for controlling the heating temperature and the heating time and heating the workpiece;
the gun cleaning device is used for cleaning the inside of a welding gun nozzle and spraying anti-splashing liquid into the nozzle;
the water cooling device reduces the heat generated by the high-frequency heating element during operation through the internal water circulation refrigerating system.
3. The cylinder processing system of claim 1, wherein the positioner comprises a cylinder bottom positioning clamp device, a splash guard flip device, a deslagging assembly, a cylinder support clamp assembly, a base, a slipway assembly, a heating head, a cylinder bottom auxiliary positioning calibration device, a cylinder positioning clamp device, wherein,
the cylinder bottom positioning and clamping device is used for accurately positioning and clamping a cylinder bottom workpiece;
the splash protection overturning device comprises a pneumatic overturning mechanism and a splash protection plate and is used for protecting welding splash;
the slag removing assembly is used for cleaning welding slag of the welding seam;
the cylinder barrel supporting and clamping assembly comprises a V-shaped auxiliary supporting unit and a hydraulic center frame unit, wherein a V-shaped supporting block in the V-shaped auxiliary supporting unit is driven by an air cylinder and is used for auxiliary supporting when a cylinder barrel workpiece is loaded;
the sliding table assembly is driven by a servo motor to realize the sliding of the cylinder barrel supporting and clamping assembly and the cylinder barrel positioning and clamping device;
the heating head is arranged on the cylinder bottom auxiliary positioning and calibrating device and is used for carrying out preheating operation on the welding seam position under the control of the heating controller;
the cylinder bottom auxiliary positioning and calibrating device is used for recalibrating the cylinder bottom workpiece clamped by the cylinder bottom positioning and clamping device;
the cylinder barrel positioning and clamping device is used for positioning and clamping a cylinder barrel workpiece.
4. The cylinder machining system of claim 1, wherein the feature point comprises a nipple or a face pilot hole on a cylinder workpiece.
5. The cylinder block machining system of claim 3, wherein the cylinder bottom positioning and clamping device further comprises a support base, a motor assembly, a center telescopic mechanism, a high precision two-jaw chuck, a chuck slip ring bracket assembly, a detection switch, and a guide shaft, wherein,
the support base comprises a base and support side walls;
the motor component is fixed on the supporting side wall and is connected with the high-precision two-jaw chuck;
the center telescopic mechanism is arranged on the supporting side wall;
the chuck slip ring bracket assembly is connected with the high-precision two-jaw chuck;
the detection switch is arranged at the upper part of the support base;
the guide shaft is arranged on the support base.
6. A cylinder processing system as claimed in claim 3, wherein the cylinder bottom auxiliary positioning and calibrating device further comprises a jacking mechanism, a supporting structure and a calibrating contact wheel.
7. The cylinder block machining system of claim 3, wherein the cylinder block positioning and clamping device further comprises a three-jaw chuck assembly, a rail screw automatic lubrication system, a travel switch, a drag chain assembly, a shroud, a moving assembly support, a moving slide plate, a rail screw device, wherein,
the three-jaw chuck assembly comprises a motor for providing a power source for the rotation movement of the three-jaw chuck, and a three-jaw chuck power device in the three-jaw chuck assembly provides the power source for the extension and retraction of the three-jaw chuck;
the cylinder barrel workpiece supporting assembly comprises a jacking cylinder, a guide assembly, a V-shaped supporting block, a hydraulic center frame and a hydraulic center frame lubricating system;
the moving assembly supporting seat can move longitudinally along the cylinder barrel.
8. The cylinder processing system of claim 1, wherein the robot comprises a transfer robot and a welding robot.
9. A method of cylinder processing using the cylinder processing system according to any one of claims 1 to 8, comprising the steps of:
1) And (5) cylinder barrel feeding operation:
the carrying robot carries the cylinder barrel from the conveying line to the cylinder barrel supporting and clamping assembly on the position changing machine;
2) And (3) performing cylinder barrel positioning and clamping operation:
the end face of the three-jaw chuck on the cylinder barrel positioning and clamping device pushes the end face of the cylinder barrel to a system setting position, and the cylinder barrel positioning and clamping device returns to a program setting position;
a camera component arranged on the positioner shoots and collects characteristic point positions on a cylinder barrel workpiece, and the camera component swings back to the original position;
the cylinder bottom positioning and clamping device and the cylinder positioning and clamping device work together to position a cylinder workpiece;
3) And (3) carrying out cylinder bottom feeding operation:
the cylinder bottom workpiece is placed on a cylinder bottom material bracket;
4) And (3) performing cylinder bottom positioning and clamping operation:
the carrying robot places the cylinder bottom workpiece on the cylinder bottom positioning and calibrating device;
the cylinder bottom positioning and calibrating device accurately positions the cylinder bottom workpiece through the overturning and compressing assembly, the three-jaw centering assembly and the two-jaw centering assembly, so that the position of the cylinder bottom workpiece is accurately identified;
the transfer robot grabs the cylinder bottom workpiece from the cylinder bottom positioning and calibrating device again, and places the cylinder bottom workpiece on two claw chuck positioning blocks on a cylinder bottom positioning and clamping device on the positioner, and the two claw chucks clamp the workpiece;
calibrating the cylinder bottom workpiece;
5) Performing cylinder bottom and cylinder barrel pairing operation:
the cylinder barrel side servo motor drives the cylinder barrel positioning and clamping device to linearly slide to drive the cylinder barrel workpiece to move towards the cylinder bottom workpiece, and the cylinder barrel and the cylinder bottom are assembled;
6) And (3) performing cylinder bottom and cylinder barrel welding operation:
the heating head stretches out under the driving of the air cylinder, and the welding seam position is preheated;
the splash protection overturning device acts to perform welding splash protection;
the welding robot operates to perform welding operation.
10. The cylinder block machining method according to claim 9, wherein the step of calibrating the cylinder bottom workpiece in the step 4) further includes the steps of:
a) A servo motor on the cylinder bottom positioning and clamping device drives a cylinder bottom workpiece to rotate, a carrying robot carries a digital runout measuring meter on a gripper assembly to contact with the outer circle of the cylinder bottom workpiece, the runout value of the outer circle is detected and extracted and fed back to a PLC control system in the process of rotating the cylinder bottom workpiece for one circle, and the system calculates a calibration compensation value of a calibration unit according to the feedback value;
b) The calibration unit on the cylinder bottom auxiliary positioning calibration device ascends, the contact wheel on the calibration unit contacts with a workpiece, and the cylinder bottom position is corrected according to the system calculation calibration compensation value;
c) And a) after the correction is finished, performing measurement and confirmation of the jitter value until the jitter value meets the requirement of assembly accuracy.
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| CN115673584B (en) * | 2022-11-03 | 2023-05-02 | 广东天恒液压机械有限公司 | Servo hydraulic cylinder body element processing machine tool |
| CN116690078B (en) * | 2023-07-20 | 2024-01-16 | 扬州飞驰电工有限公司 | Cable drum welding device |
| CN116748784B (en) * | 2023-08-22 | 2023-10-24 | 德州宇力液压有限公司 | Flange type hydraulic cylinder body welding device |
| CN116921824B (en) * | 2023-09-14 | 2023-12-01 | 苏州思萃熔接技术研究所有限公司 | Double-station hydraulic cylinder welding equipment |
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