CN115070319A - Robot automatic welding workstation for welding inner container of heat-insulation gas cylinder - Google Patents

Abstract

The invention provides a robot automatic welding workstation for welding the inner liner of an insulating gas cylinder, comprising: a guardrail, an liner input mechanism arranged on one side of the guardrail, and an inner liner upper and lower head feeding mechanism arranged on one side of the inner liner input mechanism. Platform, a robot fixture set at the end of the inner tank input mechanism, a molecular sieve cover feeding platform set on one side of the robot fixture, a baffle feeding platform, a logistics line, a robot welding gun set on one side of the inner tank upper and lower head feeding platform, The gun cleaner set in front of the robot welding torch, the first welding positioner and the second welding positioner set on both sides of the robot welding gun, the gantry welding special machine module set on one side of the inner tank input mechanism, set on the gantry The inner tank output mechanism on one side of the special welding machine module and the control device arranged on the outside of the guardrail. The invention can automatically grasp and position, automatically weld and is convenient to improve production efficiency.

Description

A robot automatic welding workstation for welding adiabatic gas cylinder liner

technical field

The invention relates to the technical field of welding thermal insulation gas cylinders, in particular to a robot automatic welding workstation for welding thermal insulation gas cylinders.

Background technique

Welded thermal insulation gas cylinder is a high-vacuum multi-layer winding thermal insulation low-temperature gas cylinder. The inner liner and the outer shell form a sandwich space. Vacuum multi-layer winding insulation layer. The liner is a container for low-temperature liquids, such as liquid nitrogen, liquid oxygen, liquid argon, etc., plus the valve operating system of the gas cylinder, it becomes a low-temperature gas cylinder with high vacuum multi-layer winding insulation.

The existing traditional manufacturing process for the inner tank of the welded heat-insulating gas cylinder is the assembly line operation of the plate rolling machine, the welding longitudinal seam, the welding head and the welding accessories, and the production efficiency is low. The product quality is greatly interfered by artificial factors, the product turnover line is long, and it is easy to be polluted, which is not conducive to high vacuum treatment. It generally takes 4-5 labors and 12 minutes to complete an inner cylinder. The welding positioning is inaccurate, the operation is troublesome, the manual operation of the inner tank welding quality is poor, the production efficiency is low, and the scope of application is small.

SUMMARY OF THE INVENTION

In view of the deficiencies of the above related technologies, the present invention proposes an automatic welding workstation of a robot for welding adiabatic gas cylinder liner, which can automatically grasp and position, automatically weld, and is convenient for improving production efficiency.

In order to solve the above technical problems, an embodiment of the present invention provides a robot automatic welding workstation for welding the inner liner of an insulating gas cylinder, including: a guardrail, an liner input mechanism arranged on one side of the guardrail, a liner provided on the inner liner A feeding platform for the upper and lower heads of the inner liner on one side of the input mechanism, a robot fixture arranged at the end of the inner liner input mechanism, a molecular sieve cover feeding platform arranged on one side of the robot fixture, a baffle feeding platform, a logistics line, A robot welding torch arranged on one side of the upper and lower head feeding platforms of the inner tank, a gun cleaner arranged in front of the robot welding torch, a first welding positioner and a second welding positioner arranged on both sides of the robot welding gun , a gantry welding special machine module arranged on one side of the inner tank input mechanism, an inner tank output mechanism arranged on one side of the gantry welding special machine module, and a control device arranged on the outside of the guardrail; The molecular sieve cover feeding platform, the baffle plate feeding platform and the logistics line are sequentially arranged side by side from the inner tank upper and lower sealing head feeding platform to the direction of the inner tank output mechanism.

Preferably, the upper and lower sealing head loading platforms of the inner liner include an inner liner upper sealing head loading platform and an inner liner lower sealing head loading platform, which are oppositely arranged, and the inner liner upper sealing head loading platform and the inner liner The lower head loading platform is respectively arranged on both sides of the robot welding torch, the inner tank lower head loading platform is adjacent to the molecular sieve cover loading platform, and the inner tank lower head loading platform is adjacent to the The inner tank input mechanism is adjacent.

Preferably, the material loading platform for the upper end head of the inner liner has the same structure as the material platform for the lower sealing head of the inner liner.

Preferably, the control device includes an electrical control cabinet, a robot control cabinet and a welding machine arranged side by side on the outside of the protective fence, the electrical control cabinet, the robot control cabinet and the welding machine are respectively connected to the robot fixture corresponding settings.

Preferably, the logistics line includes a neck tube loading platform and a positioning shaft loading platform disposed on one side of the neck tube loading platform.

Preferably, a gap is further set between the gantry welding special machine module and the inner tank output mechanism, and the gap is used to provide an operating space for the operator.

Preferably, the liner input mechanism includes an input guide rail and an input chain line arranged on the input guide rail.

Preferably, the liner output mechanism includes an output guide rail and an output chain wire arranged on the output guide rail.

Preferably, a jacking module is also arranged under the special gantry welding machine module.

Preferably, the guardrail is provided in a square structure.

Compared with the related art, in the present invention, the inner bladder input mechanism is arranged on one side of the guardrail for conveying the inner bladder tube segment, and the inner bladder upper and lower sealing head feeding platforms arranged at the end of the inner bladder input mechanism are used to transfer the upper and lower ends of the inner bladder. The head is fed and loaded, and the molecular sieve cover feeding platform, the baffle feeding platform, and the logistics line on one side of the robot fixture are respectively used for molecular sieve cover feeding, baffle feeding, and neck tube and positioning shaft feeding. The first welding positioner, the robot welding torch, the gun cleaner and the second welding positioner on the other side of the robot fixture are respectively used for the first welding inversion of the inner tank, welding, cleaning of the robot welding gun welding slag, and the second inner tank. The second welding is turned over, and the welded inner tank is further welded by the gantry welding special machine module to improve the welding quality; the welded inner tank is transported through the inner tank output mechanism, and the above-mentioned platform is controlled by the control device for automation. It is easy to improve production efficiency; the automation effect is good, the cost is saved, and it is widely applicable.

Description of drawings

The present invention will be described in detail below with reference to the accompanying drawings. The above and other aspects of the present invention will become clearer and easier to understand from the detailed description taken in conjunction with the following drawings. In the attached picture:

FIG. 1 is a schematic structural diagram of an automatic welding workstation of a robot for welding the inner liner of an insulated gas cylinder according to the present invention.

In the figure, 1, the guardrail, 2, the input mechanism of the inner tank, 21, the input guide rail, 22, the input chain line, 3, the feeding platform of the upper and lower heads of the inner tank, 31, the feeding platform of the upper head of the inner tank, 32, 4. Robotic fixture, 5. Molecular sieve cover feeding platform, 6. Baffle feeding platform, 7. Logistics line, 71. Neck tube feeding platform, 72. Positioning shaft feeding platform, 8. The first welding positioner, 9. Robot welding torch, 10. Gun cleaner, 11. The second welding positioner, 12. Special machine module for gantry welding, 13. Inner tank output mechanism, 131. Output guide rail, 132, output chain line, 14, control device, 141, electrical control cabinet, 142, robot control cabinet, 143, welding machine, 15, operation space.

Detailed ways

The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

The specific implementations/examples described herein are specific implementations of the present invention, and are used to illustrate the concept of the present invention. They are all illustrative and exemplary, and should not be construed as limiting the implementation of the present invention and the scope of the present invention. limit. In addition to the embodiments described herein, those skilled in the art can also adopt other obvious technical solutions based on the contents disclosed in the claims and the description of the present application, and these technical solutions include any obvious technical solutions to the embodiments described herein. The technical solutions of replacement and modification are all within the protection scope of the present invention.

As shown in FIG. 1 , the present invention provides a robot automatic welding workstation for welding the inner liner of an insulated gas cylinder, including: a guardrail 1 , an liner input mechanism 2 arranged on one side of the guardrail 1 , a liner arranged on the inner liner A loading platform 3 for the upper and lower heads of the inner tank on one side of the input mechanism 2, a robot fixture 4 arranged at the end of the inner tank input mechanism 2, a molecular sieve cover loading platform 5 arranged on one side of the robot fixture 4, and a baffle plate A material platform 6, a logistics line 7, a robot welding torch 9 arranged on one side of the inner tank upper and lower head feeding platform 3, a gun cleaner 10 arranged in front of the robot welding torch 9, a gun cleaner 10 arranged on both sides of the robot welding torch 9 The first welding positioner 8 , the second welding positioner 11 , the gantry welding special machine module 12 arranged on one side of the inner tank input mechanism 2 , the gantry welding special machine module 12 arranged on the side of the gantry welding special machine module 12 The inner tank output mechanism 13 and the control device 14 arranged on the outer side of the guardrail 1; the molecular sieve cover loading platform 5, the baffle loading platform 6 and the logistics line 7 are sequentially sealed by the inner tank The head feeding platforms 3 are arranged side by side in the direction of the inner tank output mechanism 13 .

Among them, the robot fixture 4 has the function of a quick-change device, which can realize the same fixture to absorb the parts of the upper head and the lower head of the inner tank of two different products. The three-claw cylinder inner support is used to connect the upper and lower heads of the inner tank and the molecular workpiece of the sieve cover, and the workpiece is clamped by the inner support; the structure is compact and stable. The cylinder is compatible with the neck tube of the upper head of the liner and the positioning shaft and the baffle of the lower head, which can satisfy the automatic function.

Specifically, the inner bladder input mechanism 2 is provided on one side of the protective fence 1 for conveying the inner bladder tube segments, and the inner bladder upper and lower sealing head loading platform 3 provided at the end of the inner bladder input mechanism 2 is used for the upper and lower sealing heads. Head feeding and feeding, through the molecular sieve cover feeding platform 5, the baffle feeding platform 6, and the logistics line 7 on the side of the robot fixture 4 are respectively used for molecular sieve cover feeding, baffle feeding, and neck tube and positioning shaft feeding , on the other side of the robot fixture 4, the first welding positioner 8, the robot welding gun 9, the gun cleaner 10, and the second welding positioner 11 are respectively used for the first welding of the inner tank, turning over, welding, and cleaning the robot The welding slag of the welding torch 9 and the inner tank are reversed for the second welding, and the welded inner tank is further welded by the gantry welding special machine module 12 to improve the welding quality; the welded inner tank is transported through the inner tank output mechanism 13. After coming out, the above-mentioned platform is controlled by the control device 14 to perform automatic processing, so as to facilitate the improvement of production efficiency; the automation effect is good, the cost is saved, and the adaptability is wide.

Specifically, the liner input mechanism 2 is used for transporting the liner tube sections into the guardrail 1 , and the robot jig 4 grabs the inner liner tube sections for sealing, welding, and turning over. The robot jig 4 grabs the incoming material of the inner tube tube section and places it on the jig for positioning. The upper and lower heads captured from the upper and lower head feeding platforms by the robot fixture 4 are placed on the first welding positioner 8 and the second welding positioner 11 respectively, and the upper heads are aligned with the robot welding torch 9 Weld and form the parts of the lower head. The molecular sieve cover will be grabbed from the molecular sieve cover feeding platform 5 by the robot fixture 4, the baffle plate will be grabbed from the baffle plate feeding platform 6, and the neck tube and the positioning shaft will be loaded from the logistics line 7 into the interior Inside the gallbladder. The assembly of the inner tube section, the neck tube, the positioning shaft, the baffle and the molecular sieve cover is realized by the robot jig 4 . The assembled inner liner is finished by the gantry welding special machine module 12, and the inner liner is placed horizontally by the welding positioner, and the operator is checked and operated. The checked finished liner is delivered through the liner output mechanism 13 to facilitate collection.

In this embodiment, the inner tank upper and lower heads loading platform 3 includes an inner tank upper head loading platform 31 and an inner tank lower head loading platform 32 that are oppositely arranged, and the inner tank upper head is loaded. The platform 31 and the lower head loading platform 32 of the inner tank are respectively arranged on both sides of the robot welding torch 9, and the inner tank lower head loading platform 32 is adjacent to the molecular sieve cover loading platform 5, so The inner tank lower head feeding platform 32 is adjacent to the inner tank input mechanism 2 . The upper head feeding platform 31 of the inner tank is used to provide the upper head, and the inner tank lower head feeding platform 32 is used to provide the lower head, and the upper head and the lower head are respectively placed on the first welding head by the robot fixture 4 On the positioner 8 and the second welding positioner 11 , the upper head, the lower head and the inner tube section are welded and assembled by the robot jig 4 .

In this embodiment, the structure of the upper end head loading platform 31 of the inner bladder is the same as the structure of the inner bladder lower end head feeding platform 32 . It is convenient to install, and it is convenient for the robot fixture 4 to grasp the upper and lower heads of the inner tank upper head feeding platform 31 and the inner tank lower head feeding platform 32 .

In this embodiment, the control device 14 includes an electrical control cabinet 141 , a robot control cabinet 142 and a welding machine 143 that are arranged side by side outside the guardrail 1 . The electrical control cabinet 141 , the robot control cabinet 142 and the The welding machines 143 are respectively arranged corresponding to the robot fixtures 4 . The electrical control cabinet 141 is respectively connected with the first welding positioner 8, the second welding positioner 11, the gun cleaner 10, and the gantry welding special machine module 12, so as to realize the effect of control. The robot control cabinet 142 is connected with the robot fixture 4 and the robot welding torch 9, and is used to control the operation of the robot fixture 4 and the robot welding torch 9 respectively, and has high safety. The welding machine 143 is used to provide welding power for the robot welding gun 9 .

Among them, the robot fixture 4 is composed of ABB robot IRB6700+ fixture, and the robot welding torch 9 is composed of ABB robot IRB1410+ welding torch. ABB Robotics is an industry leader in automation and digital services, providing innovative solutions for industries ranging from automotive and electronics to logistics.

Specifically, the ABB robot IRB6700 is responsible for loading and unloading the upper and lower head parts of the inner tank and assembling them to the welding positioner, as well as the upper and lower barrel sections to the chain line below the welding positioner, which is used to realize the transportation of the inner tank. The ABB robot IRB1410 is responsible for forming the parts for welding the upper and lower heads.

Among them, the ABB IRB-6700 robot is responsible for loading and unloading container parts, with a load of 200kg and a working radius of 2.60m, which can meet the requirements of product load and work area.

Among them, the ABB IRB-1410 robot is used to weld and form the upper and lower head parts of the inner tank, with a load of 5kg and a working radius of 1.44m, which can meet the requirements of product load and working area.

In this embodiment, the logistics line 7 includes a neck tube loading platform 71 and a positioning shaft loading platform 72 disposed on one side of the neck tube loading platform 71 . The neck tube feeding platform 71 is used to provide the neck tube, the positioning shaft feeding platform 72 is used to provide the positioning shaft, and the neck tube and the positioning shaft are assembled with the inner bladder by the robot jig 4 .

In this embodiment, a gap is further provided between the welding positioner and the inner tank output mechanism 13 , and the gap is used to provide an operation space 15 for the operator.

In this embodiment, the inner tank input mechanism 2 includes an input guide rail 21 and an input chain line 22 arranged on the input guide rail 21 . The delivery of the inner bladder cylinder segment is achieved by placing the inner bladder cylinder segment on the input chain line 22 and by moving the input chain line 22 on the input guide rail 21 .

In this embodiment, the inner tank output mechanism 13 includes an output guide rail 131 and an output chain wire 132 arranged on the output guide rail 131 . By placing the finished product of the inner container on the output chain line 132, the finished product of the inner container is conveyed by moving the output chain line 132 on the output guide rail 131.

In this embodiment, a jacking module (not shown) is also arranged under the welding positioner. The jacking module is used to lift the finished inner tank on the welding positioner, which is convenient for the operator to check.

Specifically, the inner tube section is transported from the chain line in place, and the ABB robot IRB6700 clamps the product tube section and places it on the chain line below the welding positioner. Then, the upper and lower heads of the inner tank at both ends of the positioner are welded to form a container into the middle cylinder section. Manually check whether the newly formed container is uneven and hit with a hammer. After the inspection, manually walk out of the chain line position. Press the start button, and the special machine modules at both ends of the gantry are welded at the same time. After the welding is completed, the telescopic chain line of the jacking module transports the welded finished container out.

Among them, after the robot clamp 4 clamps the inner tube section to the chain line and detects it in place, the jacking module lifts the tube section up and is coaxial with the upper and lower head assemblies at both ends of the welding positioner, and then the welding positioner moves left and right Press the upper and lower head assemblies and the inner tube sleeves into a container assembly, manually check the effect of the container assembly on the welding positioner, and press the start button after completion. Cooperate and use laser tracking to achieve the purpose of visual tracking of the weld.

Laser tracking is an active vision method based on the principle of triangulation. First, the laser point light source emitted by the laser tube is projected onto the surface of the workpiece to be measured through an optical scanning mirror, and the laser reflected by the surface of the workpiece is received by the CCD camera. The angle with the main optical axis of the CCD, combined with the known angle between the transmitted beam and the scanning mirror and the distance between the CCD and the scanning mirror, etc., the distance between the projection point of each laser beam on the workpiece surface and the CCD mirror can be obtained. Thereby, the end profile of the welding seam can be obtained, and the purpose of visual tracking of the welding seam can be realized through appropriate image processing algorithm.

Specifically, the lower head welding process: the robot fixture 4 places the inner tank head on the lower head welding positioner to clamp and position it, and the flip platform flips 180°. The robot fixture 4 clamps the positioning shaft to the inner tank head and positions the welding robot First spot welding and then full welding, then the robot fixture 4 absorbs the molecular sieve cover for precise positioning, and then sets the workpiece into the positioning axis. . After the welding is completed, the robot fixture 4 sucks the lower head assembly to the welding positioner. Upper head welding process: Robot fixture 4 places the inner tank head on the upper head welding positioner to clamp and position, flip the platform and turn it over 180°. Robot fixture 4 clamps the neck tube and feeds the material to the inner tank head positioning welding robot first. After the spot welding is fully welded, the turning platform is turned over again by 180° to weld the welding seam on the back of the neck tube and the inner tank head. After the welding is completed, the robot fixture 4 sucks the upper head assembly to the welding positioner.

Specifically, it is convenient to manually feed the neck tube and the positioning shaft to the tooling positioning of the logistics line 7 through the material line, and transport the product to a designated position to wait for the robot fixture 4 to be clamped. It can be satisfied that the two products are fed at the same time and realize cyclic operation. The structure is compact and stable, and can be satisfied with functions such as automation.

Specifically, the upper head feeding platform 31 of the inner liner is a double-station automatic feeding structure, so as to realize the uninterrupted feeding work. It is driven by a cylinder and is automated with the overall system program. The material loading platform 32 for the lower sealing head of the inner tank has the same structure and the same function as the material feeding platform 31 for the upper sealing head of the inner tank, and will not be described one by one here.

Specifically, the molecular sieve cover feeding platform 5 is a double-station automatic feeding structure to realize uninterrupted feeding work. It is driven by a cylinder and is automated with the overall system program.

The specific working principle is as follows:

Robot fixture 4 sucks the lower head of the inner tank to the welding positioner for clamping and positioning; robot fixture 4 clamps the positioning shaft to the inner tank head. Positioning welding robot first spot welding and then full welding; robot fixture 4 clamps the baffle to positioning Positioning on the shaft, the welding robot is responsible for welding, and after the welding is completed, the robot fixture 4 sucks the lower head assembly to the welding positioner. Connect the circular automatic longitudinal seam welder 143 and the chain line to the circular automatic longitudinal seam welder 143 to transport the incoming material of the inner tube section in place and wait for the robot to clamp; the robot clamp 4 clamps the neck tube and feeds it to the inner container Head positioning, the welding robot first spot welding and then full welding; the robot fixture 4 sucks the inner tank head to the welding positioner for clamping and positioning, and the welding positioner turns 180° again. The welding robot welds the neck tube and the back of the inner tank head. After the welding seam and welding are completed, the robot fixture 4 sucks the upper head assembly to the welding positioner. The welding positioner is pressed and formed, and the gantry frame is welded by a special machine; after the welding is completed, the finished chain line is transported out.

In this embodiment, the guardrail 1 is provided in a square structure. Good protection effect and easy to use.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims (10)

1. The utility model provides a welding adiabatic gas cylinder inner bag automatic weld workstation of robot which characterized in that includes: the device comprises a protective guard, a liner input mechanism arranged on one side of the protective guard, an upper liner sealing head feeding platform and a lower liner sealing head feeding platform arranged on one side of the liner input mechanism, a robot clamp arranged at the tail end of the liner input mechanism, a molecular sieve cover feeding platform arranged on one side of the robot clamp, a baffle plate feeding platform, a material flow line, a robot welding gun arranged on one side of the upper liner sealing head feeding platform and the lower liner sealing head feeding platform, a gun cleaning device arranged in front of the robot welding gun, a first welding positioner and a second welding positioner arranged on two sides of the robot welding gun, a portal frame special welding machine module arranged on one side of the liner input mechanism, a liner output mechanism arranged on one side of the portal frame special welding machine module, and a control device arranged on the outer side of the protective guard; the molecular sieve cover feeding platform, the baffle feeding platform and the logistics line are arranged side by side in sequence from the upper and lower sealing head feeding platforms of the inner container to the direction of the inner container output mechanism.

2. The robot automatic welding workstation for welding the liner of the heat insulation gas cylinder according to claim 1, wherein the liner upper and lower head feeding platforms comprise a liner upper head feeding platform and a liner lower head feeding platform which are arranged oppositely, the liner upper head feeding platform and the liner lower head feeding platform are respectively arranged on two sides of the robot welding gun, the liner lower head feeding platform is adjacent to the molecular sieve cover feeding platform, and the liner lower head feeding platform is adjacent to the liner input mechanism.

3. The automatic welding workstation of welding adiabatic gas cylinder inner bag robot of claim 2, characterized in that, inner bag upper head material loading platform is the same with inner bag lower head material loading platform structure.

4. The robot automatic welding workstation for welding the heat-insulating gas cylinder liner according to claim 1, wherein the control device comprises an electric control cabinet, a robot control cabinet and a welding machine which are arranged on the outer side of the guard rail side by side, and the electric control cabinet, the robot control cabinet and the welding machine are respectively arranged corresponding to the robot clamp.

5. The automatic welding workstation of robot of welding adiabatic gas cylinder inner bag of claim 1, characterized in that, the logistics line includes neck material loading platform and sets up the location axle material loading platform in neck material loading platform one side.

6. The robot automatic welding workstation for welding the liner of the heat-insulating gas cylinder according to claim 1, wherein a gap is further arranged between the gantry welding special machine module and the liner output mechanism, and the gap is used for providing an operating space for an operator.

7. The robot automatic welding workstation for welding the liner of the heat-insulating gas cylinder according to claim 1, wherein the liner input mechanism comprises an input guide rail and an input chain line arranged on the input guide rail.

8. The robot automatic welding workstation for welding the liner of the heat-insulating gas cylinder according to claim 1, wherein the liner output mechanism comprises an output guide rail and an output chain line arranged on the output guide rail.

9. The robot automatic welding workstation for welding the liner of the heat-insulating gas cylinder according to claim 1, wherein a jacking module is further arranged below the gantry welding special machine module.

10. The robot automatic welding workstation of a liner of a welded heat-insulating gas cylinder according to claim 1, wherein the guard rail is arranged in a square structure.

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