CN116511835A - Barrel automatic processing system, barrel processing method and barrel automatic processing technology - Google Patents

Barrel automatic processing system, barrel processing method and barrel automatic processing technology Download PDF

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Publication number
CN116511835A
CN116511835A CN202310388792.3A CN202310388792A CN116511835A CN 116511835 A CN116511835 A CN 116511835A CN 202310388792 A CN202310388792 A CN 202310388792A CN 116511835 A CN116511835 A CN 116511835A
Authority
CN
China
Prior art keywords
cylinder
plate
welding
assembly
barrel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310388792.3A
Other languages
Chinese (zh)
Inventor
易伟
倪川皓
陈林
曹瑜琦
聂一彪
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zoomlion Heavy Industry Science and Technology Co Ltd
Original Assignee
Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zoomlion Heavy Industry Science and Technology Co Ltd filed Critical Zoomlion Heavy Industry Science and Technology Co Ltd
Priority to CN202310388792.3A priority Critical patent/CN116511835A/en
Publication of CN116511835A publication Critical patent/CN116511835A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P15/00Making specific metal objects by operations not covered by a single other subclass or a group in this subclass
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P23/00Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/05Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of roller-ways
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/16Loading work on to conveyors; Arranging work on conveyors, e.g. varying spacing between individual workpieces
    • B23Q7/18Orienting work on conveyors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/92Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)

Abstract

The invention discloses a barrel automatic processing system, a barrel processing method and a barrel automatic processing technology, wherein the barrel automatic processing system comprises: the plate material carrying module is used for carrying the plate material from the plate material caching position to the centering station; the plate centering platform mechanism (C) is arranged on the centering station and is used for centering the plate; the plate material rolling module is used for rolling the plate material into a cylinder; the cylinder conveying module is used for conveying the cylinder; a barrel welding machine workstation (I) for receiving the barrel and performing welding; and the control unit is used for cooperatively controlling to finish the automatic processing of the cylinder body. The invention has high degree of automation, improves the working efficiency and greatly facilitates the processing of the cylinder body.

Description

Barrel automatic processing system, barrel processing method and barrel automatic processing technology
Technical Field
The invention relates to a cylinder production system, in particular to an automatic cylinder processing system. In addition, the invention also relates to a cylinder processing method and a cylinder automatic processing technology.
Background
In production practice, processing of a cylinder is often involved due to the popularity of a cylindrical barrel (hereinafter referred to as "barrel"). Typically, as shown in fig. 1 to 3, the pump truck chassis cylinder 1a has a cylinder structure with a notch, a round hole, a kidney-shaped hole and the like, the butt welding seam of the cylinder is a double-sided groove welding seam, and the notch, the round hole and the kidney-shaped hole on the cylinder are cut after the cylinder is formed. The cylinder 1a is generally formed by rolling a plate material, and the plate material 2a is unfolded as shown in fig. 4.
In the production process of various barrels, the transportation among the working procedures in the prior art is carried out by manually operating a travelling crane to carry out lifting and manually carrying out feeding operation of a plate bending machine, the degree of automation is low, the product quality depends on the experience of workers, the quality is unstable, and the main production and processing method is as follows: firstly, manually cutting the plate according to the requirement; secondly, manually conveying the cylinder plate 2a through a three-roller plate bending machine for rolling, manually closing and spot-fastening the cylinder, and hoisting the travelling crane out of the plate bending machine to obtain a coiled cylinder; thirdly, the single-sided welding of the coiled cylinder body is carried out, the coiled cylinder body is manually pushed to turn over on a flat ground, the other side is back-gouged and polished, the welding seam 3a on the other side is welded, and the inner and outer welding seams 3a (the welding seam structure is shown in an enlarged view of fig. 3) on the coiled cylinder body are welded, so that the cylinder body is obtained. Fourth, manually loading the cylinder body on the plate bending machine again for circle correction to obtain a cylinder body forming part
That is, the above-mentioned prior art production apparatuses and production processes are basically decentralized processing apparatuses, which require carrying back and forth by workers, performing welding work, turning over a cylinder, etc., have low automation degree, heavy work, extremely low processing efficiency, low processing quality, and are prone to production accidents due to the heaviness of the cylinder.
In general, the prior art cylinder production process has the following disadvantages:
firstly, the process flow and equipment configuration are more conventional, and the process flow and the equipment configuration mainly depend on manual transportation and operation of workers, so that the working efficiency is low, the processing quality is poor, the labor intensity is high, and the safety risk is caused;
secondly, manual welding is adopted, welding deformation is large, the prior art cannot be subjected to one-time rounding forming, rounding after welding is needed, and manual operation efficiency is low;
in view of the foregoing, there is a need for a new type of cylinder processing apparatus that addresses one or more of the above-described shortcomings of the prior art.
Disclosure of Invention
The invention aims to solve the technical problem of providing a cylinder automatic processing system for welding, which has the advantages of high automation degree, high processing efficiency and high processing quality, can reduce the processing deformation of the cylinder, reduces the labor intensity of workers and has high production safety.
In addition, the invention also solves the technical problem of providing a cylinder processing method which has high processing efficiency and high processing quality, can reduce the processing deformation of the cylinder, simplifies the working procedure and reduces the complexity and the difficulty of the cylinder production.
Further, the invention aims to solve the technical problem of providing an automatic processing technology for the cylinder, which has higher processing automation degree and high processing quality, can reduce the processing deformation of the cylinder, simplifies the working procedure and reduces the complexity and difficulty of the cylinder production.
In order to solve the above technical problems, the present invention provides an automatic cylinder processing system, which includes: the plate material conveying module is used for conveying the plate material from the plate material caching position to the centering station; the plate centering platform mechanism is arranged on the centering station and is used for centering the received plate; the plate material rolling module is used for receiving the centered plate material and rolling the plate material into a cylinder; the cylinder conveying module is used for conveying the cylinder; a cylinder welding machine workstation for receiving the cylinder and welding; and the control unit is used for cooperatively controlling the plate material carrying module, the plate material centering platform mechanism, the plate material rolling module, the cylinder body carrying module and the cylinder body welding machine workstation so as to complete the automatic processing of the cylinder body.
As a specific structural form, the automatic cylinder processing system further comprises a plate conveying platform, wherein a positioning structure for loading plates is arranged on the plate conveying platform and used for conveying the plates to the plate buffering position, the plate conveying platform comprises a platform structural member, a plurality of material rack guide seats arranged on the platform structural member, a guide rail assembly arranged at the lower part of the platform structural member and a telescopic assembly used for driving the platform structural member, the upper end face of each material rack guide seat is formed into an inclined face serving as the positioning structure, and the telescopic assembly can drive the platform structural member to move along the guide rail assembly so as to enter and exit the set position; and the plate conveying platform further comprises a conveying platform position detection device, and the conveying platform position detection device and the telescopic assembly are both in communication connection with the control unit.
Typically, the sheet material handling module is a sheet material conveying truss manipulator, the sheet material conveying truss manipulator comprises a fixed structure, an X-axis beam, a gripper structure and an X-axis moving structure connected between the X-axis beam and the gripper structure, the X-axis beam is connected with the fixed structure, the gripper structure comprises a lifting structure and a gripper assembly connected with the lifting structure, the lifting structure is connected with the X-axis beam through the X-axis moving structure, and the gripper assembly comprises a gripper bracket and a magnetic attraction mechanism connected with the gripper bracket; and the control unit is in communication connection with the sheet material conveying module and is configured to control the sheet material conveying module to convey the sheet material to the centering station when the sheet material is conveyed to the set position.
More specifically, the sheet material conveying truss manipulator further comprises a slide carriage assembly, the slide carriage assembly comprises a slide carriage, a Z-axis driving mechanism and an X-axis driving mechanism, the Z-axis driving mechanism and the lifting structure are installed on the slide carriage, the Z-axis driving mechanism is connected with the lifting structure to drive the lifting structure to lift, and the X-axis driving mechanism is connected with the X-axis moving structure to drive the X-axis moving structure to work.
Preferably, the slide carriage is further provided with an X-axis zero pointer assembly for limiting the initial position of the X-axis, a Z-axis zero pointer assembly for limiting the initial position of the Z-axis and a travel switch for limiting the maximum displacement of the X-axis and the maximum displacement of the Z-axis.
Further, the X-axis moving structure comprises a first X-axis moving part and a second X-axis moving part which can generate relative movement, one of the first X-axis moving part and the second X-axis moving part is arranged on the X-axis cross beam, and the other is arranged on the lifting structure.
Further, the lifting structure comprises a Z-axis beam column, a first Z-axis moving part and a second Z-axis moving part, wherein the first Z-axis moving part and the second Z-axis moving part can generate relative movement, one of the first Z-axis moving part and the second Z-axis moving part is arranged on the Z-axis beam column, and the other Z-axis moving part is arranged on the X-axis moving structure or the gripper assembly.
Particularly preferably, the gripper assembly further comprises an inductive switch arranged on the gripper bracket, and the inductive switch and the magnetic attraction mechanism are all in communication connection with the control unit, so that whether materials exist below the gripper assembly or not is detected through the inductive switch, and whether the magnetic attraction mechanism works is controlled according to detected material information.
More preferably, the gripper assembly further comprises a ranging sensor for measuring the distance between the material and the gripper assembly, and the ranging sensor is in communication connection with the control unit so as to control whether the magnetic attraction mechanism works according to whether the distance is smaller than a preset distance.
As a preferred structural form, the sheet centering platform mechanism comprises a platform assembly with a platform main body, wherein the platform main body is provided with a sheet centering mechanism for centering the sheet, a first driving mechanism for driving the sheet centering mechanism, an electromagnet mechanism for conveying the sheet and a second driving mechanism for driving the electromagnet mechanism, the sheet centering mechanism can linearly move along the width direction of the platform main body under the driving of the first driving mechanism, and the electromagnet mechanism can absorb the sheet and can move along the length direction of the platform main body under the driving of the second driving mechanism so as to center and convey the sheet; and the first driving mechanism and the second driving mechanism are in communication connection with the control unit, and the control unit is further configured to center the sheet material by controlling the first driving mechanism and after centering, control the second driving mechanism to convey the sheet material to the sheet material rolling module.
Preferably, a conveying channel parallel to the length direction of the platform main body and used for the electromagnet mechanism to move is arranged in the central area of the platform main body, wherein the electromagnetic adsorption surface of the electromagnet mechanism is arranged to be flush with the plate bearing surface of the platform main body, or the electromagnetic adsorption surface of the electromagnet mechanism is arranged to protrude out of the plate bearing surface and elastically support, so that the electromagnetic adsorption surface of the electromagnet mechanism can be contacted with the bottom surface of the plate in the working process to apply adsorption force; the two sides of the conveying channel are provided with a plurality of kidney-shaped through holes at intervals, the kidney-shaped through holes are arranged in the width direction of the platform main body, the plate centering mechanism is arranged on the bottom surface of the platform main body and comprises centering rods which are arranged on the two sides of the conveying channel and arranged along the conveying channel, and guide wheels penetrating through the kidney-shaped through holes are arranged on the centering rods.
More preferably, the centering rod includes a plurality of guide wheel mounting parts for mounting the guide wheels, a plurality of linear bearings, an orifice plate, and a zero pointer mounting part for mounting the zero pointer, the guide wheels being mounted on top of the guide wheel mounting parts.
Preferably, the electromagnet mechanism comprises an electromagnetic propulsion slide carriage, a slide block and an electromagnet fixing part are arranged on the electromagnetic propulsion slide carriage, the slide block is connected with the linear guide rail, so that the electromagnetic propulsion slide carriage can be driven to slide along the linear guide rail, the electromagnet fixing part comprises a bottom plate connected with the electromagnetic propulsion slide carriage and an electromagnet fixing plate used for installing an electromagnet, a spring locating pin is arranged between the electromagnet fixing plate and the bottom plate to form an elastic support, a compression spring is sleeved on the spring locating pin, and the electromagnet fixing plate is fixedly connected with the bottom plate.
More preferably, the plate centering platform mechanism further comprises a universal ball arranged on the platform body and used for conveying the plate and a blocking system connected with the platform body and used for preventing the plate from being conveyed.
As a specific structural form, the cylinder conveying truss manipulator comprises an X-axis system assembly, a linear slide rail arranged on the X-axis system assembly, a slide carriage assembly connected with the linear slide rail in a sliding manner, a Y-axis system assembly connected with the slide carriage assembly, a Z-axis lifting arm connected with one end of the Y-axis system assembly far away from the slide carriage assembly and capable of moving along the up-down direction, and a servo single-arm gripper mechanism connected with the lower end of the Z-axis lifting arm, wherein the servo single-arm gripper mechanism comprises a gripper body assembly, a laterally symmetrical clamping jaw assembly, a gripper screw assembly and a gripper driving assembly connected with the gripper screw assembly are arranged on the gripper body assembly, and the gripper driving assembly can drive the gripper screw assembly to rotate and drive the gripper screw assembly to move so as to clamp and release a cylinder; and the control unit is in communication connection with the barrel handling module and is configured to control the barrel handling module to grasp and handle the barrel to the next station.
Preferably, the cylinder transport module comprises a transfer trolley assembly matched with the cylinder transport truss manipulator, the transfer trolley assembly comprises a ground rail assembly, a cylinder transfer trolley and a cylinder support frame, the cylinder transfer trolley is slidably mounted on the ground rail assembly, the cylinder support frame is mounted on the cylinder transfer trolley, the ground rail assembly comprises a trolley ground rail and a stroke induction assembly used for determining the position of the cylinder transfer trolley, and the stroke induction assembly is mounted on the trolley ground rail and in communication connection with the control unit.
As a typical alternative structure, the barrel welding machine station includes a roller frame for loading and rotating the barrel and a welding robot for welding the workpiece, the welding robot being located at one side of the roller frame; the welding robot comprises a ground rail, a welding and cooling system, a robot arm, a robot mounting seat and a welding wire cylinder mounting seat, wherein the robot mounting seat is slidably mounted on the ground rail, the robot arm is mounted on the robot mounting seat, the welding wire cylinder mounting seat is mounted on one side of the robot mounting seat, and the welding and cooling system is mounted on the other side of the robot mounting seat; and the control unit is in communication with the barrel welding machine workstation and is configured to control the barrel welding machine workstation to weld the received barrels.
As an alternative specific structure, the automatic cylinder processing system further comprises a cylinder turnover machine for receiving the welded cylinder, the cylinder turnover machine comprises a turnover mechanism and a driving mechanism for driving the turnover mechanism to turn, the turnover mechanism comprises a main turnover frame for placing the cylinder, a vertical plate vertically connected with the upper surface of the main turnover frame and support plates connected to two sides of the turnover mechanism and positioned between the main turnover frame and the vertical plate, one side of the turnover mechanism is connected with a first connecting shaft, the other side of the turnover mechanism is connected with a second connecting shaft, and the first connecting shaft and the second connecting shaft can rotate around the central lines of the first connecting shaft and the second connecting shaft under the driving of the driving mechanism, so that the cylinder can be turned from a horizontal state to a vertical state; and the control unit is in communication connection with the barrel overturning machine and is configured to control the barrel overturning machine to overturn the received barrel.
As a preferred processing equipment arrangement, the barrel automated processing system comprises a plurality of process arrangement zones that are functionally independent in a dispersed island arrangement; and combining different process arrangement areas in the plurality of process arrangement areas with each other to form a plurality of L-shaped arrangement structures.
Preferably, the plurality of process arrangement areas comprise a plate material feeding area, a plate material forming area, a barrel transferring area, a barrel welding area, a barrel overturning area and a barrel post-welding buffer area which are arranged in sequence, wherein the barrel welding area and the barrel overturning area are arranged side by side, and a truss conveying area for connecting the plate material forming area and the barrel welding area is arranged on one side of the barrel automatic processing system, wherein the plate material forming area and the truss conveying area form an L-shaped arrangement structure; the barrel welding area and the barrel overturning area which are arranged side by side are respectively formed into an L-shaped arrangement structure with the barrel transferring area, and the barrel welding area and the barrel overturning area which are arranged side by side are respectively formed into an L-shaped arrangement structure with the barrel post-welding buffer area; and the truss conveying area and the barrel transferring area are arranged in a T shape so as to form a double-L-shaped arrangement structure.
Specifically, the sheet material incoming area is equipped with sheet material conveying platform and sheet material conveying truss manipulator, the sheet material shaping area is equipped with sheet material centering platform mechanism with the sheet material is rolled up round module, barrel transfer area with the truss is carried the area and is equipped with barrel transport module, barrel welding area is equipped with welding robot workstation, barrel upset area is equipped with barrel upset machine.
Preferably, the automatic cylinder processing system comprises a plurality of process arrangement areas with independent functions, and the plurality of process arrangement areas are formed into a straight-line or U-shaped layout type.
Correspondingly to the automatic cylinder processing system, the invention also provides a cylinder processing method, which comprises the following steps: firstly, automatically conveying a plate material from a plate material buffer position to a centering station; secondly, centering the plate material in the centering station, and detecting whether the plate material is centered in place or not; thirdly, conveying the centered plate to a plate rolling station for rolling into a cylinder, and spot welding and fixing the joint opening of the rolling cylinder; fourth, the cylinder is conveyed to a welding station, and welding treatment is carried out on the cylinder.
Preferably, in the third step, in the rolling process of the sheet material, the sheet material end edges at two sides of the joint position of the cylinder body are both pre-bent 3-5mm more towards the inside of the cylinder body.
More specifically, in the fourth step, a multi-layer welding process is adopted for the welding of the inner side of the cylinder, and the welding seam is firstly subjected to backing welding, wherein the current intensity of the backing welding is 180-200A, and the welding voltage is 24-26V; further carrying out filling cover surface welding, wherein the current intensity of the filling cover surface welding is 260-300A, and the welding voltage is 26-30V; after the inner side welding is finished, rotating the cylinder body to enable the welding line at the joint opening to rotate to the upper part, adopting a multi-layer welding process for the welding at the outer side of the cylinder body, and firstly carrying out backing welding on the welding line, wherein the current intensity of the backing welding is 180-200A, and the welding voltage is 24-26V; and further carrying out filling cover welding, wherein the current intensity of the filling cover welding is 260-300A, and the welding voltage is 26-30V.
In addition, the invention also provides an automatic cylinder processing technology with higher automation degree, which adopts the automatic cylinder processing system according to any one of the technical schemes and automatically processes the cylinder according to any one of the technical schemes.
According to the technical scheme, the automatic cylinder processing system provided by the invention has the advantages that all functional module equipment is arranged carefully according to the processing process related to cylinder processing, specifically, the plate is conveyed from the plate buffer position to the automatic centering platform mechanism through the plate conveying module for automatic centering, and then is conveyed to the plate rolling module for rolling and forming, after rolling, the joint position of the cylinder is fixed into the cylinder through manual spot welding, and then the cylinder conveying module grabs the cylinder to the roller frame of the welding robot workstation for welding the butt weld of the cylinder. By the automatic cylinder processing system, manual participation is little in the whole cylinder processing process, the automation degree is high, the cylinder processing quality and processing efficiency are high, the cylinder processing deformation can be reduced, the labor intensity of workers is reduced, and the production safety is high.
In the preferred mode of the cylinder processing method, when the cylinder is formed and sealed in a rolling mode, the edges of the plates on two sides of the butt joint position of the cylinder face the inner side of the cylinder by a plurality of pre-bending proper sizes, when the cylinder is welded, the inner side is welded firstly, the inner side is welded and then is deformed in a shrinking mode, the outer side is welded again, and the shrinkage deformation of the outer side is counteracted with the shrinkage deformation of the inner side. The butt welding seam of the cylinder body is completely dissolved, ultrasonic flaw detection requirements can be met without back chipping, the working environment of workers is good, the working efficiency is improved, and meanwhile auxiliary materials for back chipping are saved; the cylinder butt welding double-sided welding is turned over by the roller frame of the welding robot workstation, so that the labor intensity is reduced, the operation site is saved, and the safe operation is realized.
In addition, the automatic cylinder processing system comprises a plurality of process arrangement areas with independent functions in a preferred mode, wherein the process arrangement areas are in a transverse island type L-shaped layout mode, and as the different process arrangement areas are combined with each other according to the production process sequence to form a plurality of L-shaped arrangement structures and the concentrated areas are transversely arranged, the automatic cylinder processing system not only greatly saves the production field, but also is convenient to carry and produce, and greatly reduces the complexity and difficulty of cylinder production.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which 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 description serve to explain the invention. In the drawings:
FIG. 1 is a schematic front view of a conventional pump truck chassis barrel structure in the prior art;
FIG. 2 is a schematic top view of the structural member of the pump truck chassis barrel of FIG. 1;
FIG. 3 is an enlarged view of a portion I of FIG. 2 showing a weld formed by a prior art welding method;
FIG. 4 is an expanded sheet view of the pump truck chassis hollow cylinder structure shown in FIG. 1 prior to rolling, wherein a bottom notch of the pump truck chassis hollow cylinder structure shown in FIG. 1 is formed by other processing steps;
FIG. 5 is a schematic illustration of an intermediate blank rolled from the expanded sheet shown in FIG. 4 into a cylinder;
FIG. 6 is a schematic diagram of a typical layout of a production zone of a cylinder in the prior art;
FIG. 7 is a schematic overall perspective view of an automated barrel processing system according to an embodiment of the present invention;
FIG. 8 is a schematic view of a construction of an embodiment of a plate material conveying platform in the automatic cylinder processing system of the present invention;
FIG. 9 is a schematic view of a plate work or material rest for plate material loading in cooperation with the inventive barrel automatic processing system;
FIG. 10 is a schematic structural view of a slab conveying truss manipulator of one embodiment;
FIG. 11 is a schematic view of the structure of the gripper assembly of FIG. 10;
FIG. 12 is an enlarged schematic view of portion V2 of FIG. 11;
FIG. 13 is a schematic view of the shock absorbing mechanism in the slab conveying truss manipulator shown in FIG. 10;
fig. 14 is an enlarged structural view of the portion V1 in fig. 10;
FIG. 15 is a schematic view of the carriage assembly of the sheet material handling truss manipulator of FIG. 10;
FIG. 16 is a schematic view of the mounting location of a sheet centering platform mechanism according to an embodiment of the present invention;
FIG. 17 is a side view of the sheet centering platform mechanism of FIG. 2;
FIG. 18 is a schematic view of an embodiment of the sheet centering platform mechanism of the present invention;
FIG. 19 is a top view of the sheet centering platform mechanism of FIG. 18;
FIG. 20 is a schematic view of one embodiment of a platform assembly in a sheet centering platform mechanism of the present invention;
FIG. 21 is a front view of the platform assembly shown in FIG. 20;
FIG. 22 is a top view of the platform assembly shown in FIG. 20;
FIG. 23 is a schematic view of one embodiment of a second drive mechanism in the sheet centering platform mechanism of the present invention;
FIG. 24 is a schematic view of an embodiment of a first drive mechanism in the sheet centering platform mechanism of the present invention;
FIG. 25 is a schematic view of a construction of one embodiment of a sheet centering mechanism in the sheet centering platform mechanism of the present invention;
FIG. 26 is a schematic illustration of one embodiment of an electromagnet mechanism in a sheet centering platform mechanism of the present invention;
FIG. 27 is a schematic view of an embodiment of a dam system in a sheet centering platform mechanism of the present invention;
FIG. 28 is a schematic view of the structure of one embodiment of the barrel transfer truss manipulator of the present invention;
FIG. 29 is a top view of the barrel transfer truss manipulator shown in FIG. 28;
FIG. 30 is a left side view of the barrel transfer truss manipulator shown in FIG. 28;
FIG. 31 is a schematic view of a construction of one embodiment of a servo single arm gripper mechanism in a barrel transfer truss manipulator of the present invention;
FIG. 32 is a bottom view of the servo single arm gripper mechanism shown in FIG. 31;
FIG. 33 is a schematic view of the structure of one embodiment of the clamp screw assembly in the barrel transfer truss manipulator of the present invention;
FIG. 34 is a perspective view of one embodiment of a barrel welding robot workstation of the present invention with a barrel placed on a roller frame;
FIG. 35 is a side view of a roller frame in the barrel welding robot workstation shown in FIG. 34;
FIG. 36 is a perspective view of a roller frame in the barrel welding robot workstation shown in FIG. 34;
FIG. 37 is a perspective view of the tilting mechanism in the barrel welding robot workstation shown in FIG. 34;
FIG. 38 is a cross-sectional view of the tilting mechanism in the barrel welding robot workstation shown in FIG. 34;
FIG. 39 is a perspective view of a transfer trolley assembly in the barrel welding robot workstation of FIG. 34;
FIG. 40 is a side view of the transfer trolley assembly in the barrel welding robot workstation shown in FIG. 34;
FIG. 41 is a front view of the transfer trolley assembly in the barrel welding robot workstation shown in FIG. 34;
FIG. 42 is one of the perspective views of one embodiment of the barrel roll-over machine of the present invention;
FIG. 43 is one of the perspective views of one embodiment of the barrel roll-over machine of the present invention;
FIG. 44 is a schematic diagram of the layout of the automated cylinder processing system according to the preferred embodiment of the present invention;
FIG. 45 is a block diagram of steps of a method of processing a cylinder in accordance with an embodiment of the present invention;
fig. 46 is a block diagram of a welding step in the cylinder processing method of the present invention.
The invention is described by reference numerals:
q1 plate material feeding area; q2 sheet forming area;
q3 a barrel transfer zone; q4 cylinder welding area;
q5 cylinder overturning area; q6 barrel post-weld buffer zone;
q7 truss conveying area; q8 workshop channels;
a, a plate conveying platform;
1A a platform structural member; 2A, a material rack guide seat;
201A inclined plane; 3A rail assembly;
301A guide rail; 302A walking track limiting seat;
303A travel switch assembly; 304A an optoelectronic switch assembly;
4A telescopic assembly; 401A oil cylinder;
402A cylinder shroud; 403A oil cylinder tailstock mounting assembly;
a B plate material rack;
1B a plate rack structural member; 2B locating pins;
c, a plate conveying truss manipulator;
1C a fixed structure; 2C X axle beam;
3C gripper structure; a 4C X axis moving structure;
5C slide carriage assembly; 11C a first securing assembly;
12C a second securing assembly; 111C first fixing column;
112C Y axle beam; 31C lifting structure;
a 32C gripper assembly; 311C Z axle beam column;
321C a gripper bracket; 322C magnetic attraction mechanism;
323C damping mechanism; 324C inductive switch;
325C ranging sensor; 3231C axis;
3232C a first compression member; 3233C sleeve;
3234C a second compression member; 3235C shim;
41C first X-axis moving member; 42C a second X-axis mover;
a 51C slide carriage; 52C Z axis drive mechanism;
53C X axis drive mechanism; 54C X shaft zero pointer assembly;
55C Z shaft zero pointer assembly;
d, a plate centering platform mechanism;
a 1D platform assembly; a 100D platform body;
1000D transport channel; 1001D kidney shaped through holes;
101D plate centering mechanism; 1010D centering bar;
10100D guide wheel mounting; 10101D linear bearing;
10102D zero pointer mount; 10103D well plate;
10104D guide wheels; 10105D zero pointer;
102D a first drive mechanism; 1020D first servo motor;
1021D synchronous belt; 1022D synchronous pulley;
1023D ball screw; 1024D support;
1025D, tensioning a screw rod seat by the first servo motor; 103D electromagnet mechanism;
1030D electromagnetic propulsion carriage; 1031D sliders;
1032D electromagnet fixation portion; 10320D backplane;
10321D electromagnet fixation plates; 10322D compressing springs;
1033D links; 1034D zero nameplate mounting plate;
104D a second drive mechanism; 1040D second servo motor;
1041D drive sprocket; 1042D driven sprocket;
1043D chain; 1044D driven sprocket shaft;
1045D bearing blocks; 1046D a second servo motor tensioning screw mount;
105D guide shaft; 106D linear guide rail;
107D limit stop seat; 108D first zero nameplate;
a 2D platform support; 3D universal ball;
a 4D tow chain system; a 5D lubrication system;
a 6D chain tensioner; 7D material blocking system;
700D cylinder; 701D solenoid valve block;
702D a connecting rod; 703D a rotation axis;
704D bearing blocks; 705D rotating bar;
706 a material blocking switch signal element;
e, a four-roller plate bending machine;
f, cylinder conveying truss manipulator;
1F X shaft system assembly; 2F linear slide rail;
3F slide carriage assembly; 4F Y shaft system assembly;
5F Z shaft lifting arm; 6F servo single-arm gripper mechanism;
601F clamp body assembly; 602F a jaw assembly;
603F clamp screw assembly; 6031F first screw;
6032F intermediate shaft; 6033F second screw;
6034F coupling shaft; 6035F bearing housing assembly;
6036F screw nut supporting seat; 6037F screw rod supporting seat;
6038F synchronous pulley; 6039F jaw mount;
604F a clamp drive assembly; 605F shroud;
7F, overhauling the platform; 8F, upright posts;
9F dust removing mechanism; a 10F cylinder fixing assembly;
an H cylinder body overturning machine;
1H turnover mechanism; a 100H main overturning frame;
101H vertical plates; 102H supporting plates;
a 2H driving mechanism; 3H second connecting shaft;
4H a second flange; 5H first bearing;
6H bearing seats; a 7H support structure;
an 8H hinge mechanism; a 9H base;
10H fence; 11H first connecting shaft;
12H mounting seats; 13H connectors;
i, a barrel welding robot workstation; g transfer trolley assembly;
1I, a roller frame; 11I tilting mechanism;
a 12I chain drive mechanism; 13I roller frame upright posts;
a 14I tow chain mechanism; a 111I guide wheel clamp switching device;
112I flip drive mechanism; 113I conductive means;
114I front roller; 115I rear roller;
116I flat key; 117I connecting shaft;
2I ground rail; 3I welding and cooling systems;
a 4I robotic arm; 5I a robot mounting base;
6I, a welding wire barrel mounting seat; 7I drag chain;
an 8I ground rail assembly; 9I of a cylinder transfer trolley;
a 10I cylinder support; 11I stroke sensing assembly.
Detailed Description
The following detailed description of the embodiments of the invention is provided in connection with the accompanying drawings, it being understood that the embodiments described herein are for purposes of illustration and explanation only, and the scope of the invention is not limited to the following embodiments.
It is to be noted in advance that the terms "disposed," "connected," "mounted," and "provided" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, unless otherwise specifically defined and limited; the connection may be direct, indirect via an intermediate medium, abutting, communication between two elements, or interaction between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In addition, it is to be understood that the directions or positional relationships indicated by the terms "upper", "lower", "front", "rear", "inner", "outer", etc., are based on the directions or positional relationships shown in the drawings, are merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, and thus, features defining "first," "second," or the like, may explicitly or implicitly include one or more of such features.
The basic embodiment of the automatic cylinder processing system of the present invention and the specific embodiments of the functional modules thereof will be described below, and based on this, the dynamic operation of the automatic cylinder processing system of the present invention, which is relatively comprehensive and comprehensive, will be further described.
Referring to fig. 7, the automatic cylinder processing system according to the basic embodiment of the present invention includes: the plate material conveying module is used for conveying the plate material from the set position to a centering station; the plate centering platform mechanism C is arranged on the centering station and is used for centering the received plate; the plate material rolling module is used for receiving the centered plate material and rolling the plate material into a cylinder; the cylinder conveying module is used for conveying the cylinder; a cylinder welding machine workstation I for receiving the cylinder and welding; and the control unit is used for cooperatively controlling the plate carrying module, the plate centering platform mechanism C, the plate rolling module, the cylinder carrying module and the cylinder welding machine workstation I so as to complete the automatic processing of the cylinder.
According to the automatic cylinder processing system of the basic embodiment of the invention, as each functional module device is carefully arranged according to the processing process related to cylinder processing, specifically, a plate material is conveyed from a plate material buffer position to an automatic centering platform mechanism D through a plate material conveying module to automatically center the plate material, the plate material is conveyed to a four-roller plate bending machine E to be coiled and formed after being automatically centered, the position of a joint opening of the cylinder body is fixed into the cylinder body by manual spot welding after the coiling is finished, and then the cylinder body is grabbed to a roller frame of a welding robot workstation I by a cylinder body conveying truss manipulator F to weld a butt weld of the cylinder body. By the automatic cylinder processing system, manual participation is little in the whole cylinder processing process, the automation degree is high, the cylinder processing quality and processing efficiency are high, the cylinder processing deformation can be reduced, the labor intensity of workers is reduced, and the production safety is high.
In order to facilitate a detailed understanding of the technical solution of the present invention, the respective specific structural forms and the respective advantages thereof will be described in detail below with respect to the respective functional module apparatuses of the automatic cylinder processing system of the present invention.
Panel veneer conveying platform A
In a preferred embodiment, the automatic cylinder processing system of the present invention may further include a plate conveying platform a, on which a positioning structure for loading a plate may be disposed and for conveying the plate to the plate buffering position, as shown in fig. 8, where the plate conveying platform a includes a platform structural member 1A, a plurality of rack guide holders 2A disposed on the platform structural member 1A, a guide rail assembly 3A disposed at a lower portion of the platform structural member along a width direction of the platform structural member 1A, and a telescopic assembly 4A disposed at a middle portion of the platform structural member 1A, an upper end surface of each of the rack guide holders 2A is formed as an inclined surface 201A, and each of the inclined surfaces 201A is inclined from an outer circumferential surface of the platform structural member 1A to a central region, and the telescopic assembly 4A is capable of driving the platform structural member 1A to move along the guide rail assembly 3A so as to enter and exit the set position; and the sheet material conveying platform a further comprises a conveying platform position detection device (specifically, for example, a travel switch assembly, a photoelectric switch assembly and the like) which are in communication connection with the control unit, and the conveying platform position detection device and the telescopic assembly 4A are connected with each other.
It should be noted that, in the actual production process, the plate buffering position generally includes a plate material rack B, referring to fig. 9, the plate material rack B includes a plate material rack structural member 1B and a positioning pin 2B disposed along the peripheral edge of the upper plane of the plate material rack structural member 1B, that is, the upper plane of the plate material rack upper structural member 1B is provided with a positioning pin in the length and width directions, so that after the plate material is fed, positioning in the length and width directions can be performed on the plate material rack B. After the plate is positioned on the plate material rack B, the plate materials can be loaded onto the plate material conveying platform A to enter a hollow cylinder processing system, namely an automatic processing production line.
For the sheet material conveying platform a, specifically, a plurality of material frame guide seats 2A are arranged on the upper planes of two ends of the longitudinal direction of the platform structural member 1A of the sheet material conveying platform a, the material frame guide seats 2A arranged at the two ends are symmetrically arranged, inclined planes 201A are formed on the upper end faces of the single material frame guide seats 2A, the inclined planes 201A on the material frame guide seats 2A incline downwards from the periphery to the center, so that the plurality of inclined planes form a funnel shape, and the sheet material frames are abutted against the inclined planes 201A, so that the sheet material frames can be positioned in the longitudinal direction and the width direction of the platform structural member 1A. And, set up each work or material rest guide holder 2A at the both ends of length direction and make the location distance longer, work or material rest B is in the location position that work or material rest guide holder 2A set for work or material rest B's location is more accurate, and this makes the sheet material on the work or material rest B have higher position accuracy, ensures the unloading precision.
After the plate preliminary processing operation is finished, the telescopic component 4A arranged in the middle of the platform structural component 1A drives the platform structural component 1A to move along the guide rail component 3, so that the plate is convenient to grasp by the grasping structure, the plate enters the next procedure, and the four peripheral surfaces of the plate work rest B are all propped against the inclined surface 201A, so that the platform structural component 1A can not displace or incline the plate work rest B in the moving process, and the plate work rest B can also ensure that the plate has higher positioning precision after moving along with the platform structural component 1A.
It is conceivable that the funnel-shaped structure formed by enclosing the inclined planes 201A not only can effectively position the plate material rack B and improve the positioning precision, but also can effectively avoid the displacement or inclination of the plate material rack B in the moving process of the platform structural member 1A, so that the integral positioning precision of the plate material rack B after the movement is ensured, and the structure is simple, the positioning precision is high, and the using effect is good.
As a preferred structural form of the sheet material conveying platform a, the platform structural member 1A may be formed as a rectangular frame structure, the upper surface of which is provided with a plurality of flat plate structures, and the material frame guide holder 2A may be attached to the flat plate structures.
As can be seen from fig. 8, the platform structural member 1A may be a rectangular frame structure formed by welding a plurality of rectangular pipes, a flat plate structure is welded at four corners of the rectangular frame structure, two material frame guide seats 2A are connected to a single flat plate structure, and a plurality of flat plate structures are also arranged at the connection positions of other transverse rectangular pipes and longitudinal rectangular pipes for mounting other parts. In order to enhance the connection strength of the flat plate structure, the lower surface and/or the side surface of the flat plate structure is welded with a triangular or trapezoidal reinforcing rib structure according to the actual use requirement, and the setting positions and the number of the reinforcing rib structures are determined according to the actual use requirement.
Preferably, two material frame guide seats 2A are arranged at the corners of the flat plate structure.
As another preferable structure of the sheet material conveying platform a, each of the material rack guide seats 2A may be evenly distributed at both ends of the platform structural member 1A in the length direction. The plurality of work or material rest guide holders 2A at platform structure 1A's length direction both ends distribute can fix a position plate work or material rest B in length and width direction, and the ascending location distance of length direction extension for plate work or material rest B's positioning accuracy improves, and width direction and length direction homoenergetic are to plate work or material rest B location for plate work or material rest B's positioning accuracy further improves.
It is conceivable that when the length of the sheet material rack B is long, two rack guide holders 2A may be provided in the central area in the length direction of the platform structural member 1A according to actual use requirements, so as to further limit displacement of the sheet material rack B and positioning accuracy of both sides in the length direction of the sheet material rack B.
The inclined surface 201A may be a plane, and an angle between the inclined surface and a vertical plane is 10 ° to 40 °. More preferably, the inclined surface 201A may form an angle of 20 ° with the vertical plane.
As a specific structural form of the plate conveying platform a, the telescopic assembly 4A comprises an oil cylinder 401A, an oil cylinder shield 402A and an oil cylinder tailstock mounting assembly 403A, a piston rod of the oil cylinder 401A is fixedly connected to the lower surface of the platform structural member 1A, and the end part of a cylinder body of the oil cylinder 401A is connected with the oil cylinder tailstock mounting assembly 403A.
The telescopic assembly 4A is mainly used for driving the platform structural member 1A to move along the guide rail assembly 3, and since the cylinder body of the cylinder 401A is fixed on the cylinder tailstock mounting assembly 403A (generally fixed on a workshop foundation base), the end part of the piston rod is fixedly connected to the lower surface of the platform structural member 1A, so that the cylinder 401A can be used for driving the platform structural member 1A to move.
Of course, the telescopic assembly 4A may be an oil cylinder 401A, or may be a cylinder structure, and may also drive the platform structural member 1A.
Typically, the cylinder shroud 402A is formed in a U-shaped configuration in cross-section. The cylinder cover 402A may be formed by bending a steel plate, and is used for protecting the cylinder 401A from falling sundries, parts, etc. damaging the cylinder 401A. Or, the oil cylinder shield 402A can be welded into a frame by adopting angle steel, and a steel wire mesh is welded in a blank area of the frame, so that the whole weight of the oil cylinder shield 402A can be reduced, the use condition of the oil cylinder 401A can be observed, and the use effect is better.
The guide rail assembly 3A includes a guide rail 301A, one end of the guide rail 301A away from the platform structural member 1A may be provided with a travel rail limiting seat 302A, and the travel rail limiting seat 302A may limit the movement position of the platform structural member 1A.
Further, the rail assembly 3A may further include a travel switch assembly 303A and a photoelectric switch assembly 304A. Through the combined action of the walking track limiting seat 302A, the travel switch assembly 303A and the photoelectric switch assembly 304A, the travel position of the plate conveying platform A can be limited, and in-place signals can be timely transmitted.
The guide rail 301A may include a fixed guide rail and a movable guide rail, where the fixed guide rail is fixedly connected to a foundation or a machine base of a workshop, the movable guide rail is fixedly connected to a lower surface of the platform structural member 1A, and the walking rail limiting seat 302A is fixedly connected to the fixed guide rail, where a buffer structure may be disposed at a corresponding position of the platform structural member 1A, and when the telescopic assembly 4A drives the platform structural member 1A to move, the buffer structure may play a role in buffering the platform structural member 1A, so as to avoid the direct collision between the platform structural member 1A and the walking rail limiting seat 302A, and damage is caused to the walking rail limiting seat 302A or the platform structural member 1A. The buffer structure may also be disposed on the travel rail limiting seat 302A, or on both the travel rail limiting seat 302A and the platform structure 1A. Preferably, the buffer structure may be a cushion pad, or may be other structures with a buffer function, which all fall within the protection scope of the present invention.
In addition, the travel rail limiting seat 302A may be formed as an L-shaped flat plate, and reinforcing ribs are provided between the L-shaped flat plates.
The plate conveying platform A has the following advantages: first, sheet material conveying platform A utilizes to set up a plurality of work or material rest guide holders 2A on platform structure 1A, and a plurality of work or material rest guide holders 2A set up at platform structure 1A's length direction's both ends to can lengthen sheet material work or material rest B at length direction's location distance, improve positioning accuracy. Second, the inclined plane 201A at the upper end of the plurality of material rack guide seats 2A is inclined from outside to inside and downward to form a funnel shape, so that the positioning accuracy of the material rack B of the plate material can be further improved. Moreover, the inclined plane 201A can further avoid the change of the positioning precision of the plate material rack of the platform structural member 1A in the moving process, so that the accurate degree of the moving position of the platform structural member 1A is driven by the telescopic assembly 4A, and the plate material conveying platform A can accurately move to the position right below the truss manipulator, thereby being convenient for the next working procedure operation. Third, in the guide rail assembly 3A of the sheet material conveying platform a, the guide rail assembly comprises a guide rail 301A, a travel rail limiting seat 302A, a travel switch assembly 303A and a photoelectric switch assembly 304A, and the movement position of the platform structural member 1A is limited by the combined action of the travel rail limiting seat 302A, the travel switch assembly 303A and the photoelectric switch assembly 304A and can be timely transmitted to an in-place signal.
Truss manipulator C for conveying plate
As for the sheet handling module, it may be a sheet conveying truss manipulator C, as shown in fig. 10 and 11, including a fixed structure 1C, X axis beam 2C, a gripper structure 3C and an X-axis moving structure 4C connected between the X-axis beam 2C and the gripper structure 3C, the X-axis beam 2C is connected with the fixed structure 1C, the gripper structure 3C includes a lifting structure 31C and a gripper assembly 32C connected with the lifting structure 31C, the lifting structure 31C is connected with the X-axis beam 2C through the X-axis moving structure 4C, the gripper assembly 32C includes a gripper bracket 321C and a magnetic attraction mechanism 322C connected with the gripper bracket 321C, and the control unit is connected in communication with the sheet handling module and configured to control the sheet handling module to handle the sheet to the centering station when the sheet is conveyed to the set position.
According to the technical scheme of the invention, the X-axis moving structure 4C and the lifting structure 31C are both in communication connection with the control unit, so that the control unit can control the operation of the X-axis moving structure 4C and the lifting structure 31C respectively. The gripper assembly 32C is also communicatively coupled to the control unit to control operation of the gripper assembly 32C by the control unit. The control unit can be an independent control unit arranged on the sheet material conveying truss manipulator C, and can also be a control unit for integrally and uniformly controlling the sheet material conveying truss manipulator C and other functional modules. The magnetic attraction mechanism 322C may be any structure that attracts materials through a magnetic attraction effect, such as various permanent magnets, and as a specific embodiment of the magnetic attraction mechanism, the magnetic attraction mechanism 322C is an electromagnet. The magnetic attraction mechanism 322C may be provided in one or more, so long as the magnetic attraction force of the magnetic attraction mechanism 322C to the material can be ensured. Preferably, referring to fig. 10 and 11, six magnetic attraction mechanisms 322C may be provided, where the six magnetic attraction mechanisms 322C are divided into two groups, and the two groups of magnetic attraction mechanisms 322C are symmetrically arranged, so that suction force of the gripper assembly 32C can be ensured, and meanwhile, installation of materials in the grabbing process can be facilitated.
When the sheet material conveying truss manipulator C with the structure works, the control unit moves on the X-axis beam 2C according to the positioning control X-axis moving structure 4C to adjust the grabbing position of the gripper assembly 32C in the X direction, the control unit adjusts the position of the gripper assembly 32C in the Z axis according to the positioning control lifting structure 31C, and after the position of the gripper assembly 32C in the X axis and the position of the gripper assembly in the Z axis are fixed, the control unit controls the magnetic attraction mechanism 322C to grab materials.
Through the sheet material conveying truss manipulator C of above-mentioned structure, through carrying out the regulation of X axle direction and Z axle direction to the tongs subassembly 32C, can accurately snatch the material, can snatch the material of different positions and different height moreover, improved the flexibility of snatching. By adopting the magnetic attraction mechanism 322C, materials with different sizes can be grabbed, and the distance between the grippers does not need to be regulated according to the size of the materials, so that the grabbing flexibility is further improved.
The fixing structure 1C may be any structure capable of fixing the X-axis beam 2C and the gripper structure 3C. In one embodiment, as shown in fig. 10, the fixing structure 1C includes a first fixing component 11C and a second fixing component 12C, and one end of the x-axis beam 2C is connected to the first fixing component 11C, and the other end is connected to the second fixing component 12C. The first fixing member 11C and the second fixing member 12C may be a fixing block, a fixing column, or the like, respectively, as long as the X-axis beam 2C can be fixed. As a preferred embodiment, the first fixing assembly 11C includes two first fixing columns 111C and a Y-axis beam 112C connected between the two first fixing columns 111C, one end of the x-axis beam 2C is connected to the Y-axis beam 112C, and the other end is connected to the second fixing assembly 12C, and by the arrangement of the two first fixing columns and the Y-axis beam 112C connected between the two first fixing columns 111C, the fixing stability can be improved by a multi-point fixing manner. More preferably, the second fixing component 12C is a second fixing column, and forms a three-point fixing manner with the two first fixing columns, so that the stability is higher. The second fixed column 12C may be a normal fixed column, and further preferably, the second fixed column 12C may also be a hydraulic telescopic column, and a filtering pressure regulating valve assembly is disposed on the hydraulic telescopic column. The filtering pressure regulating valve assembly can be an air filtering method, the X-axis cross beam 2C can be always in a horizontal state through the adjustment of the hydraulic telescopic column, flexible adjustment is achieved, gas entering the hydraulic telescopic column can be filtered through the arrangement of the filtering pressure regulating valve assembly, and the service life of the hydraulic telescopic column is prolonged.
As a specific embodiment, as shown in fig. 10 and 15, the sheet conveying truss manipulator C may further include a carriage assembly 5C, where the carriage assembly 5C includes a carriage 51C and a Z-axis driving mechanism 52C and an X-axis driving mechanism 53C mounted on the carriage 51C, and the Z-axis driving mechanism 52C is connected to the lifting structure 31C to drive the lifting of the lifting structure 31C, and the X-axis driving mechanism 53C is connected to the X-axis moving structure 4C to drive the operation of the X-axis moving structure 4C. The Z-axis drive mechanism 52C and the X-axis drive mechanism 53C are integrated on the carriage 51C, and can be easily installed. The Z-axis drive mechanism 53C and the Z-axis drive mechanism 52C may be drive motors or other mechanisms capable of providing power.
In one embodiment, as shown in fig. 10 and 15, the carriage 51C is further provided with an X-axis zero pointer assembly 54C for limiting the X-axis initial position, a Z-axis zero pointer assembly 55C for limiting the Z-axis initial position, and a travel switch 56C for limiting the X-axis maximum displacement and the Z-axis maximum displacement. The X-axis initial position and the Z-axis initial position can be restricted by the arrangement of the X-axis zero pointer assembly 54C and the Z-axis zero pointer assembly 55C. By providing the travel switch 56C, the maximum displacement in the X-axis movement and the maximum displacement in the Y-axis movement can be limited.
As a specific embodiment, as shown in fig. 10 and 15, the X-axis driving mechanism 53C is a gear driving structure, and the gear driving structure is connected to a tensioning mechanism, and the tensioning mechanism limits the rotation of the X-axis driving mechanism 53C through a limiting block, so as to adjust the gear gap on the X-axis driving mechanism 53C, further adjust the distance moved in the unit time of the X-axis, and improve the adjustment accuracy.
In another embodiment, as shown in fig. 10 and 15, a drag chain bracket assembly is also connected to the carriage 51C, and the drag chain bracket assembly can be attached to a drag chain to enable a built-in cable, air pipe, oil pipe, etc. to perform traction and protection functions, which are relatively familiar to those skilled in the art, and in particular, the drag chain is placed in a drag chain bracket slot.
The X-axis moving structure 4C may be any structure capable of causing the gripper structure 3C to move in the X-axis. In one embodiment, referring to fig. 10, the X-axis moving structure 4C includes a first X-axis moving member 41C and a second X-axis moving member 42C capable of generating relative movement, one of the first X-axis moving member 41C and the second X-axis moving member 42C being disposed on the X-axis beam 2C, and the other being disposed on the elevating structure 31C. The change in the position of the gripper assembly 32C in the X-axis can be achieved by the relative movement between the first X-axis mover 41C and the second X-axis mover 42C, thereby achieving the movement of the gripper assembly 32C in the X-axis. One of the first X-axis moving member 41C and the second X-axis moving member 42C may be a slide groove, and the other may be a slider adapted to slide in the slide groove; one of the first X-axis moving member 41C and the second X-axis moving member 42C may be a rack, and the other may be a gear adapted to move on the rack by meshing. Typically, the first X-axis moving member 41C is a linear rack, and the linear rack is provided on the X-axis beam 2C. The gear may be connected to the X-axis drive mechanism 53C to drive movement of the gear within the linear rack by the X-axis drive mechanism 53C. The control unit may be connected to the X-axis driving mechanism 53C to control the movement of the gear in the linear rack by controlling the operation of the X-axis driving mechanism 53C. Specifically, the X-axis zero pointer assembly 54C may be an X-axis stopper connected to the carriage 51C or formed on the carriage 51C with one end of the X-axis stopper inserted into the linear rack to define an initial position of the X-axis stroke by abutment of the X-axis stopper and one end of the linear rack.
In one embodiment, the second X-axis displacement member 42C is coupled to the gripper structure 3C via a carriage assembly 5C.
Preferably, at least two sets of linear racks of the X-axis are provided, more preferably, two sets of linear racks of the X-axis are provided on opposite side surfaces of the X-axis beam 2C, for example, when one set of linear racks is provided on the upper side surface of the X-axis beam 2C and the other set of linear racks is provided on the lower side surface of the X-axis beam 2C; when one set of linear racks is provided on the front side of the X-axis beam 2C, the other set of linear racks is provided on the rear side of the X-axis beam 2C.
The lifting structure 31C may be any structure that realizes lifting of the grip structure 3C. In one embodiment, referring to fig. 10, the lifting structure 31C includes a Z-axis beam column 311C and first and second Z-axis displacements capable of producing relative movement, one of which is disposed on the Z-axis beam column 311C and the other of which is disposed on the X-axis displacement structure 4C or on the gripper assembly 32C. One of the first and second Z-axis moving members may be a chute, and the other may be a slider adapted to slide in the chute; one of the first Z-axis mover and the second Z-axis mover may be a rack, and the other may be a gear adapted to move on the rack by meshing.
Specifically, the first Z-axis moving member is a rack, the second Z-axis moving member is a gear, and the rack is disposed on the Z-axis beam column 311C. When one end of the gear is connected with the X-axis moving structure 4C, the other end is connected with the rack. When the gear is connected with the gripper assembly 32C, the gear may be connected with the gripper assembly 32C through a connecting rod disposed inside the Z-axis beam column 311C, or may be connected with the gripper assembly 32C through a connecting rod disposed outside, and the connecting rod may move up and down in the Z-axis beam column 311C or outside the Z-axis beam column 311C along with the gear.
Preferably, a fall protection cylinder is arranged on the Z-axis beam column 311C and is connected with the gripper assembly 32C through the fall protection cylinder, and the fall protection cylinder can prevent the gripper assembly 32C from falling from the Z-axis beam column 311C under the condition of power failure or other special conditions.
In one embodiment, the second Z-axis mover is coupled to the X-axis moving structure 4C by a carriage assembly 5C.
In one embodiment, as shown in fig. 11 and 12, the gripper assembly 32C further includes a shock absorbing mechanism 323C, the shock absorbing mechanism 323C being connected between the gripper bracket 321C and the magnetic attraction mechanism 322C. Through damper 323C's setting, can reach the buffering effect when mechanism 322C adsorbs the material is inhaled to the magnetism, and then improve sheet material and carry truss manipulator C's life and reduce the damage to the material in snatch the in-process. And the setting of damper 323C can make and inhale and form flexonics between mechanism 322C and the tongs support 321C, can make magnetism inhale mechanism 322C and inhale the material after keeping the relative position between tongs support 321C and the magnetism mechanism 322C, guarantees that magnetism mechanism 322C accomplishes the work of adsorbing the material, can prevent the influence of the reaction force of work piece to equipment simultaneously when the material is put down.
The shock absorbing mechanism 323C may be any structure capable of achieving shock absorption, and preferably, referring to fig. 12 and 13, the shock absorbing mechanism 323C includes a shaft 3231C, a first compression member 3232C, a shaft sleeve 3233C, a second compression member 3234C and a spacer 3235C, the first compression member 3232C, the shaft sleeve 3233C, the second compression member 3234C and the spacer 3235C are sequentially connected and all sleeved on the shaft 3231C, and the first compression member 3232C is connected with the magnetic attraction mechanism 322C. During the installation, the sleeve 3233C is coupled to the grip bracket 321C such that the first compression member 3232C and the second compression member 3234C are disposed on the upper and lower sides of the sleeve mounting plate of the grip bracket 321C, respectively. During actual use, the opposing forces through the first compression member 3232C and the second compression member 3234C can be increased to further increase the cushioning effect. The first compression member 3232C and the second compression member 3234C can be any compression structure capable of achieving a cushioning effect, such as various polymeric elastomer materials. As a specific embodiment, each of the first compression member 3232C and the second compression member 3234C is independently a compression spring.
In the actual installation process, each magnetic attraction mechanism 322C and the corresponding gripper bracket 321C are connected through 3-6 damping mechanisms 323C, so that a good buffering effect can be achieved, and the structural stability between the magnetic attraction mechanism 322C and the gripper bracket 321C in the adsorption and desorption processes can be ensured.
In a specific embodiment, as shown in fig. 22, the gripper assembly 32C further includes a sensing switch 324C disposed on the gripper bracket 321C, where the sensing switch 324C and the magnetic attraction mechanism 322C are both communicatively connected to the control unit (may be directly connected if the magnetic attraction mechanism 322C is provided with a separate intermediate control unit), so as to detect whether there is material under the gripper assembly 32C through the sensing switch 324C and control whether the magnetic attraction mechanism 322C works according to the detected material information. The inductive switch 324C may be an infrared inductive switch, a microwave inductive switch, an ultrasonic inductive switch, or other inductive switch that can be implemented. When the inductive switch 324C detects that the material exists below the gripper assembly 32C, the magnetic attraction mechanism 322C can be controlled to work, and when the inductive switch 324C does not detect that the material exists below the gripper assembly 32C, the magnetic attraction mechanism 322C can be controlled to not work.
As a specific embodiment, as shown in fig. 11, the gripper assembly 32C further includes a distance measuring sensor 325C for measuring the distance between the material and the gripper assembly 32C, where the distance measuring sensor 325C and the magnetic attraction mechanism 322C are communicatively connected to the control unit, so as to control whether the magnetic attraction mechanism 322C operates or not according to whether the distance is smaller than a preset distance. The distance measuring sensor 325C may be any sensor capable of measuring distance, such as radar, ultrasonic sensor, and the like. In a specific working process, the preset distance can be determined according to actual conditions. Illustratively, the preset distance is set to 10cm, and when the distance measurement sensor 325C detects that the material is greater than 10cm from the gripper assembly 32C, the gripper assembly 32C continues to be moved until the distance measurement sensor 325C detects that the material is less than or equal to 10cm from the gripper assembly 32C, and the magnetic attraction mechanism 322C operates to attract the material.
As a relatively preferred embodiment, referring to fig. 10 to 15, the slab conveying truss manipulator C of the present invention may include a fixed structure 1C, X shaft beam 2C, a gripper structure 3C, an X-axis moving structure 4C connected between the X-axis beam 2C and the gripper structure 3C, and a carriage assembly 5C, the fixed structure 1C includes a first fixed component 11C and a second fixed component 12C, the first fixed component 11C includes two first fixed columns 111C and a Y-axis beam 112C connected between the two first fixed columns 111C, the second fixed component 12C may be a common fixed column or a hydraulic telescopic column, a pressure regulating valve assembly is disposed on the hydraulic telescopic column, one end of the X-axis beam 2C is connected to the Y-axis beam 112C, and the other end is connected to the hydraulic telescopic column; the gripper structure 3C includes a lifting structure 31C and a gripper assembly 32C connected to the lifting structure 31C, the lifting structure 31C includes a Z-axis beam column 311C, and a first Z-axis moving member and a second Z-axis moving member capable of generating relative movement, the first Z-axis moving member being a linear rack, disposed on the Z-axis beam column 311C, the second Z-axis moving member being a gear, disposed on the gripper assembly 32C, the gear being adapted to move by meshing on the linear rack; the gripper assembly 32C comprises a gripper bracket 321C, a magnetic attraction mechanism 322C, an inductive switch 324C and a ranging sensor 325C which are arranged on the gripper bracket 321C, wherein the gripper bracket 321C and the magnetic attraction mechanism 322C are connected through a damping mechanism 323; the damping mechanism 323C includes a shaft 3231C, a first compression member 3232C, a shaft sleeve 3233C, a second compression member 3234C, and a spacer 3235C, where the first compression member 3232C, the shaft sleeve 3233C, the second compression member 3234C, and the spacer 3235C are sequentially connected and all sleeved on the shaft 3231C, and the first compression member 3232C is connected to the magnetic mechanism 322C; the number of the magnetic attraction mechanisms 322C is 4-8, the number of the 4-6 magnetic attraction mechanisms 322C is equally divided into two groups, the two groups of the magnetic attraction mechanisms 322C are symmetrically arranged, and each magnetic attraction mechanism 322C is connected with the gripper bracket 321C through 3-6 damping mechanisms 323C; the inductive switch 324C and the distance measuring sensor 325C are all in communication connection with the control unit of the magnetic attraction mechanism 322, or the inductive switch 324C, the distance measuring sensor 325C and the magnetic attraction mechanism 322 are in communication connection with the unified control unit of the processing system, so as to control whether the magnetic attraction mechanism 322C works or not according to whether the distance between the material detected by the distance measuring sensor 325C and the gripper assembly 32C is smaller than a preset distance; the X-axis moving structure 4C includes a first X-axis moving member 41C and a second X-axis moving member 42C capable of generating relative movement, the first X-axis moving member 41C being a linear rack, being provided on the X-axis beam 2C, the second X-axis moving member 42C being a gear, being provided on the lifting structure 31C, the gear being adapted to move on the linear rack by meshing; the slide carriage assembly 5C comprises a slide carriage 51C, a Z-axis driving mechanism 52C, X axis driving mechanism 53C, X axis zero pointer assembly 54C, Z axis zero pointer assembly 55C, a travel switch 56C and a tensioning mechanism, wherein the Z-axis driving mechanism 52C, X axis zero pointer assembly 55C is arranged on the slide carriage 51C; the Z-axis driving mechanism 52C is connected with the second Z-axis moving member to drive the first Z-axis moving member and the second Z-axis moving member to generate relative movement; the X-axis driving mechanism 53C is connected to the second X-axis moving member 42C to drive relative movement between the first X-axis moving member 41C and the second X-axis moving member 42C; the X-axis zero pointer assembly 54C is disposed on the first X-axis moving member 41C, the Z-axis zero pointer assembly 55C is disposed on the first Z-axis moving member, and the travel switch 56C can be disposed on either the first X-axis moving member 41C or the first Z-axis moving member, and the tensioning mechanism is connected with the X-axis driving mechanism 53C to limit rotation of the X-axis driving mechanism 53C by a stopper.
In the operation of the sheet conveying truss manipulator C provided in the foregoing relatively comprehensive preferred embodiment, the X-axis driving mechanism 53C drives the gripper assembly 32C to move along the X-axis direction until the inductive switch 324C and/or the ranging sensor 325C detects that the gripper assembly 32C has material below and stops moving along the X-axis direction, and the Z-axis driving mechanism 52C drives the gripper assembly 32C to move along the Z-axis direction until the distance between the material and the gripper assembly 32C is less than the preset distance, and stops moving along the Z-axis direction, and simultaneously controls the magnetic attraction mechanism 322C to operate and suck the material. And then the materials are correspondingly assembled and operated.
According to the plate conveying truss manipulator C provided by the preferred embodiment, the materials can be accurately grabbed by adjusting the X-axis direction and the Z-axis direction of the gripper assembly 32C, and the materials at different positions and different heights can be grabbed, so that the grabbing flexibility is improved. By adopting the magnetic attraction mechanism 322C, materials with different sizes can be grabbed, and the distance between the grippers does not need to be regulated according to the size of the materials, so that the grabbing flexibility is further improved. The inductive switch 324C and the ranging sensor 325C can be arranged to realize the automation of grabbing, and the grabbing flexibility can be further improved.
Plate centering platform mechanism D
As shown in fig. 16 to 27, in the sheet centering platform mechanism D of the present invention for centering and conveying a sheet in the barrel processing system of the present invention, it includes a platform assembly 1D, the platform assembly 1D includes a platform main body 100D, the platform main body 100D is provided with a sheet centering mechanism 101D for centering the sheet, a first driving mechanism 102D for driving the sheet centering mechanism 101D, an electromagnet mechanism 103D for conveying the sheet, and a second driving mechanism 104D connected with the electromagnet mechanism 103D for driving the electromagnet mechanism 103D, the sheet centering mechanism 101D is capable of moving linearly in a width direction of the platform main body 100D by driving the first driving mechanism 102D, thereby centering the sheet, the electromagnet mechanism 103D is capable of adsorbing the sheet and moving in a length direction of the platform main body 100D by driving the second driving mechanism 104D, thereby being capable of moving the sheet to a sheet rounding module, both the first driving mechanism 102D and the second driving mechanism 104D are connected in communication with the control unit, and the control unit is further configured to perform centering of the sheet by controlling the first driving mechanism 102D and then driving the sheet rounding module 104.
In the basic structural type of the plate centering platform mechanism D, the plate centering platform mechanism D is one of important transportation equipment in the cylinder processing system, and has the main effects of replacing the step of manually feeding the plate to the four-roller plate bending machine E for rolling in the prior art, automatically centering the plate, and automatically conveying the plate to the four-roller plate bending machine E after the plate is centered and positioned. Specifically, the plate centering platform mechanism D can be matched with the plate conveying truss manipulator C and the four-roller plate bending machine E of the cylinder processing system for use, and specifically, firstly, the plate conveying truss manipulator C conveys the plate to the plate centering platform mechanism D, then the plate centering platform mechanism D firstly centers the plate, then conveys the plate to the four-roller plate bending machine E, and finally the four-roller plate bending machine E rolls the plate.
As can be seen from fig. 16 to 18, the sheet centering platform mechanism D includes a platform assembly 1D, and the platform assembly 1D includes a platform main body 100D, and a sheet centering mechanism 101D for centering a sheet, a first driving mechanism 102D for driving the sheet centering mechanism 101D, an electromagnet mechanism 103D for conveying the sheet, and a second driving mechanism 104D connected with the electromagnet mechanism 103D for driving the electromagnet mechanism 103D are disposed on the platform main body 100D, so that the sheet can be automatically centered along the width direction of the platform main body 100D under the driving of the sheet centering mechanism 101D, and can be translated and conveyed to a preset position along the length direction of the platform main body 100D under the driving of the electromagnet mechanism 103D. According to the description, the plate centering platform mechanism D can automatically center and convey the plate, and is high in automation degree, so that the operation efficiency is improved.
The application of the plate centering platform mechanism is described above, but it should be noted that in the actual production process of the cylinder body, not only is the centering requirement of the plate material, but also the centering accuracy needs to be maintained in the whole feeding and conveying process, which is very difficult in technical realization. Since the area of the plate material for producing the cylinder body is generally larger, in the process of centering and conveying the plate material, the plate material is ensured to be accurately conveyed to a set position in a centering state, namely, the plate material can be accurately conveyed to the four-roller plate bending machine 8 for rolling, which is an important step in the process of conveying the plate material in a large area.
As a preferred embodiment, the central area of the platform body 100D is provided with a conveying channel 1000D parallel to the length direction of the platform body 100D, and the conveying channel 1000D may be formed as a rectangular through hole (of course, may also be formed as a oblong hole or the like), and the conveying channel 1000D provides a space for the electromagnet mechanism 103D to move linearly. The electromagnetic adsorption surface of the electromagnet mechanism 103D is set to be flush with the plate bearing surface of the platform main body 100D, or the electromagnetic adsorption surface of the electromagnet mechanism 103D is set to protrude from the plate bearing surface and elastically support, so as to be capable of contacting with the bottom surface of the plate to exert the adsorption force in the working process. It should be noted here that the electromagnetic attraction surface is typically an attraction surface of the electromagnet mechanism 103D, and the electromagnetic attraction surface may be generally flush with the sheet bearing surface of the platform main body 100D, or may slightly protrude from the sheet bearing surface through an elastic support. Because the upper surface of the platform main body 100D may be generally provided with auxiliary guides such as universal balls, which are convenient for conveying the plate, the plate bearing surface of the platform main body 100D may be a plate bearing surface formed by a plurality of supporting points.
Further, a plurality of kidney-shaped through holes 1001D parallel to the width direction of the table main body 100D are provided at intervals on both sides of the conveying path 1000D, and these kidney-shaped through holes 1001D can be used in cooperation with the sheet centering mechanism 101D. Specifically, the sheet centering mechanism 101D includes centering bars 1010D disposed on both sides of the conveying path 1000D and parallel to the conveying path 1000D, and guide wheels passing through the kidney-shaped through holes 1001D are provided on the centering bars 1010D. In view of the large area of the plate material for producing the cylinder barrel, in order to ensure the accuracy of the centering and conveying process of the plate material, as can be seen from the description above, the invention is provided with the conveying channel 1000D for the electromagnet mechanism 103D to linearly move and the kidney-shaped through hole 1001D matched with the plate material centering mechanism 101D, the plate material centering mechanism 101D moves along the kidney-shaped through hole 1001D, so that the two sides of the plate material in the length direction are pushed, the plate material is accurately centered, meanwhile, the electromagnet mechanism 103D can synchronously move along the conveying channel 1000D, and the accurate conveying of the plate material is realized, and the plate material centering mechanism 101D is matched with the electromagnet mechanism 103D, so that the plate material centering platform can accurately convey the plate material into the four-roller plate bending machine after centering and conveying the plate material.
Preferably, as shown in fig. 19 and 25, the centering rod 1010D includes a plurality of guide wheel mounting portions 10100D for mounting the guide wheels 10104D, a plurality of linear bearings 10101D, an orifice plate 10103D, and a zero pointer mounting portion 10102D for mounting the zero pointer 10105D, the guide wheels 10104D capable of penetrating through the kidney-shaped holes are provided at the top of the guide wheel mounting portions 10100D, and the first driving mechanism 102D is capable of driving the centering rod 1010D to linearly move along the width direction of the platform body 100D during the plate centering process, so that the plate on the platform body 100D can be pushed to perform automatic centering, that is, the kidney-shaped through holes 1001D are capable of providing a moving path for the guide wheels 10104D, so that the guide wheels 10104D push the plate to perform automatic centering. The principle of the plate centering mechanism 101D of the present invention for centering a plate is described above, and the present invention can further ensure the accuracy of the plate centering mechanism 101D of the present invention for centering a plate by providing a plurality of guide wheel mounting portions 10100D, a plurality of linear bearings 10101D, an orifice plate 10103D, and the like. The embodiment of the invention is different from the mode of conveying the plate by a conveyor belt or a carrier roller which is commonly adopted in the prior art, the plate is absorbed by the electromagnet mechanism 103D at the bottom of the plate, the electromagnet mechanism 103D moves along the linear guide rail 106D, and the accurate positioning of the plate in the feeding process of the four-roller veneer reeling machine is ensured by the guiding deviation correcting function of the guide wheel 10104D. In order to indicate the initial position of the centering rod 1010D, in the preferred embodiment of the centering rod 1010D of the present invention, a zero pointer mounting portion 10102D for mounting the zero pointer 10105D is provided on the centering rod 1010D, and in order to facilitate the observation of a worker, the zero pointer mounting portion 10102D is provided at the same side of the centering rod 1010D as the guide wheel mounting portion 10100D, it is conceivable that a mounting hole for mounting the zero pointer 10105D is provided at the initial position of the centering rod 1010D on the platform body 100D, respectively, and the zero pointer 10105D can pass through the mounting hole, thereby indicating the initial position of the centering rod 1010D.
Preferably, as shown in fig. 24, the first driving mechanism 102D includes a first servomotor 1020D, the first servomotor 1020D is in transmission connection with a synchronous pulley 1022D, the synchronous pulley 1022D is divided into a driving synchronous pulley and a driven synchronous pulley, the synchronous belt 1021D is tensioned on the synchronous pulley 1022D, the driven synchronous pulley can be connected with the ball screw 1023D through a flat key in a power transmission manner, and the ball screw 1023D can be driven to rotate when a driving gear of the first servomotor 1020D rotates. Both sides of the ball screw 1023D are connected with the platform main body 100D through the supporting seat 1024D, and the orifice plate 10103D of the centering rod 1010D is screwed on the ball screw 1023D, so that the centering rod 1010D can be simultaneously driven to linearly move when the ball screw 1023D rotates. Since the principle of the ball screw 1023D converting a rotary motion into a linear motion is a conventional means well known to those skilled in the art, it will not be described in detail herein.
The first servo motor 1020D is connected with the bottom surface of the platform main body 100D through a motor mounting seat, a first servo motor tensioning screw seat 1025D for tensioning the motor mounting seat is arranged on one side of the motor mounting seat, the first servo motor tensioning screw seat 1025D is connected with the bottom surface of the platform main body 100D, and the first servo motor tensioning screw seat 1025D is connected with the motor mounting seat of the first servo motor 1020D through the first servo motor tensioning screw seat 1025D, so that the synchronous pulley 1022D can be tensioned through tensioning the first servo motor 1020D. It should be noted that, the motor mounting seat is connected with the platform main body 100D by using a fastener, when the synchronous belt pulley 1022D is tensioned, the fastener between the motor mounting seat and the platform main body 100D needs to be loosened first, and then the first servo motor tensioning screw seat 1025D is operated, so that the synchronous belt pulley 1022D is tensioned, and slipping is prevented when the synchronous belt 1021D is driven. It is contemplated that in the preferred embodiment, the first drive mechanism 102D is used in conjunction with an electronic control system that initiates an automatic centering procedure to control rotation of the first servo motor 1020D to automatically center the sheet.
More preferably, in order to facilitate the centering rod 1010D to move linearly more smoothly under the driving of the ball screw 1023D, the platform assembly 1D further includes a guide shaft 105D passing through the linear bearing 10101D, the guide shaft 105D being coupled to the bottom surface of the platform body 100D by a guide shaft 105D support, the guide shaft 105D being disposed through the linear bearing 10101D on the centering rod 1010D. By providing the guide shaft 105D, the centering rod 1010D can be guided by the guide shaft 105D when the centering rod 1010D moves. In addition, in order to facilitate the sliding of the electromagnet mechanism 103D along the conveying channel 1000D and ensure that the centered plate does not deviate in the conveying process, two sides of the conveying channel 1000D on the bottom surface of the platform main body 100D are connected with linear guide rails 106D, the linear guide rails 106D are arranged in parallel with the conveying channel 1000D, a limiting stop seat 107D for limiting the electromagnet mechanism 103D is arranged at the starting end of the linear guide rails 106D, a first zero point nameplate 108D is arranged at a position, close to the limiting stop seat 107D, on one side of the conveying channel 1000D, and the first zero point nameplate 108D is arranged on the top surface of the platform main body 100D. It should be noted that, since the sheet material is transported by the electromagnet mechanism 103D, and the electromagnet mechanism 103D moves on the linear guide rail 106D, the start end of the linear guide rail 106D is the end corresponding to the initial position of the sheet material, the limit stop seat 107D at the start end functions as a travel switch, and the initial position of the electromagnet mechanism 103D is indicated by the first zero point nameplate 108D.
As another preferred embodiment, as shown in fig. 26, the electromagnet mechanism 103D includes an electromagnetic propulsion slide 1030D, a slider 1031D adapted to the linear guide 106D and an electromagnet fixing portion 1032D for mounting the electromagnet are provided on the electromagnetic propulsion slide 1030D, the slider 1031D can be clamped in the linear guide 106D so as to be connected to the linear guide 106D, thereby driving the electromagnetic propulsion slide 1030D to slide along the linear guide 106D, the electromagnet fixing portion 1032D includes a bottom plate 10320D connected to the electromagnetic propulsion slide 1030D and an electromagnet fixing plate 10321D for mounting the electromagnet, a spring positioning pin is provided between the electromagnet fixing plate 10321D and the bottom plate 10320D to form an elastic support, a compression spring 10322D is sleeved on the spring positioning pin, the compression spring 10322D is provided to play a role of damping, and the electromagnet fixing plate 10321D and the bottom plate 10320D are fixedly connected by a fastener, typically, a bolt and a nut can be used for connection. The electromagnetic propulsion carriage 1030D may be configured as a plate-like structure, and the electromagnet fixing plate 10321D, the bottom plate 10320D, and the electromagnetic propulsion carriage 1030D may be disposed parallel to each other from the top surface to the bottom surface in order based on the correct mounting position of the electromagnet mechanism 103D on the platform main body 100D. As can be seen from the above description, the electromagnet mechanism 103D is connected to the linear guide rail 106D through the slider 1031D, so that the electromagnet mechanism 103D can slide on the platform main body 100D, the conveying channel 1000D provides a movable space for the electromagnet mechanism 103D, and is convenient for the electromagnet mechanism 103D to adsorb a plate material, and it should be noted that, in the present invention, the electromagnet mechanism 103D may be fixed on the electromagnet fixing plate 1032D, so as to adsorb the plate material by using the electromagnet, so as to transport the plate material, so that, in order to be more beneficial for the electromagnet mechanism 103D to adsorb the plate material to move on the platform main body 100D, and guide and correct the plate material in the advancing direction by using the guide wheel 10104D, the surface of the electromagnetic adsorption surface of the electromagnet contacting the plate material may be set to be flush with the upper surface of the platform main body 100D or slightly higher than the upper surface of the platform main body 100D. In addition, one side of the motor mounting seat is provided with a second servo motor tensioning screw seat 1046D for pulling in the second servo motor 1040D, and it is to be noted that the structure of the second servo motor tensioning screw seat 1046D is basically the same as that of the first servo motor tensioning screw seat 1025D, and the second servo motor tensioning screw seat 1046D is provided for tensioning the chain 1043D to prevent the chain 1043D from slipping during the operation of the second servo motor 1040D.
As a specific structural form, as shown in fig. 23, the second driving mechanism 104D may be a chain transmission mechanism, the chain transmission mechanism includes a second servo motor 1040D, a driving sprocket 1041D connected to the second servo motor 1040D, a driven sprocket 1042D, and a chain 1043D connected to the driving sprocket 1041D and the driven sprocket 1042D, the driven sprocket 1042D is connected to a driven sprocket shaft 1044D by a flat key, both ends of the driven sprocket shaft 1044D are connected to bearings, the bearings are connected to the bottom surface of the platform body 100D by bearing blocks 1045D, the second servo motor 1040D is connected to the bottom surface of the platform body 100D by a motor mount, when the second servo motor 1040D operates, the chain 1043D is driven, one side of the motor mount is provided with a second servo motor tensioning screw seat 1046D for tensioning the second servo motor 1040D, the second servo motor tensioning screw seat 1046D is connected to the bottom surface of the platform body 100D, and the second servo motor tensioning screw seat 1046D may have a structure substantially identical to the first servo motor tensioning screw seat 1025D.
For the second driving mechanism 104D, it may also be a rack and pinion mechanism, specifically, the rack and pinion mechanism includes a third servo motor, a driving gear of the third servo motor may be directly connected to a rack, or may be connected to the rack through another gear, the rack may be connected to the electromagnetic propulsion slide 1030D, the third servo motor may be connected to the bottom surface of the platform main body 100D through a motor mounting seat, and the third servo motor drives the rack to linearly move when driving the gear to rotate, so as to drive the electromagnetic propulsion slide 1030D to linearly move.
As a specific structural form, as can be seen from fig. 26, the electromagnetic propulsion slide 1030D is further provided with a link 1033D, and the link 1033D is used for being connected with a chain 1043D, which is disposed at intervals along the sliding direction of the electromagnetic propulsion slide 1030D, and when the chain 1043D moves, the electromagnetic propulsion slide 1030D can be driven by the link 1033D to move. Be equipped with zero point nameplate 1034D on the bottom plate 10320D, zero point nameplate 1034D is used for installing the second zero point nameplate to the second zero point nameplate can follow electromagnet mechanism 103D and remove, and when second zero point nameplate place position and first zero point nameplate 108D align, electromagnet mechanism 103D is in initial position this moment. The structure of the electromagnet mechanism 103D and the principle of transporting the plate material are described above, the electromagnet mechanism 103D comprises the electromagnetic pushing slide plate 1030D, the electromagnetic pushing slide plate 1030D is provided with the sliding block 1031D and the electromagnet fixing part 1032D, the sliding block 1031D is connected with the linear guide rail 106D, the electromagnet fixing part 1032D comprises the bottom plate 10320D connected with the electromagnetic pushing slide plate 1030D and the electromagnet fixing plate 10321D for installing the electromagnet, a spring positioning pin is arranged between the electromagnet fixing plate 10321D and the bottom plate 10320D, a compression spring is sleeved on the spring positioning pin, the electromagnet fixing plate 10321D is fixedly connected with the bottom plate 10320D, the electromagnetic pushing slide plate 1030D is further provided with the chain joint 3D which is arranged at intervals along the sliding direction of the electromagnetic pushing slide plate 1030D and can be connected with the chain 1043D of the chain transmission mechanism, the zero point plate 1034D for installing the second zero point plate 1034D which can correspond to the first zero point plate 108D, the zero point plate fixing plate 1034D is arranged on the bottom plate 10320D, or the electromagnetic plate material can be driven by the electromagnetic pushing slide plate 103D to move to the rack and the plate material transporting mechanism along the linear guide rail 106, and the accuracy of the plate material transporting process can be further guaranteed.
More specifically, the plate centering platform mechanism further comprises a platform supporting piece 2D connected with the bottom surface of the platform main body 100D and used for supporting the platform main body 100D, a universal ball 3D arranged on the platform main body 100D and used for conveying the plate, a drag chain system 4D connected with the platform main body 100D and used for installing cables and pipelines, a lubrication system 5D arranged on the platform main body 100D, a chain tensioning device 6D connected with the chain transmission mechanism and a material blocking system 7D connected with the platform main body 100D and used for preventing the plate from being conveyed. The universal balls 3D are arranged on the platform main body 100D, can rotate in multiple angles, can form point contact between the plate and the platform main body 100D, and reduce friction force of plate conveying; the drag chain system 4D plays a role in protecting cables, air pipes and oil pipes in the drag chain system; the lubrication system 5D can lubricate the parts to be lubricated on the plate centering platform mechanism D; the chain tensioner 6D is used to adjust the gap of the chain.
As another specific embodiment, as shown in fig. 27, the material blocking system 7D includes an air cylinder 700D and an electromagnetic valve group 701D connected with the air cylinder 700D for driving the air cylinder 700D, the air cylinder 700D is connected with the bottom surface of the platform main body 100D through an installation seat of the air cylinder 700D, a piston rod of the air cylinder 700D is hinged with one end of a connecting rod 702D, the other end of the connecting rod 702D is connected with a rotating shaft 703D, two ends of the rotating shaft 703D are sleeved with bearings, the bearings are installed in a bearing seat 704D, the bearing seat 704D is connected with the side surface of the platform main body 100D, rotating stop rods 705D are arranged on the outer circumferential surfaces of two sides of the rotating shaft 703D, material blocking switch signal elements 706D are arranged on the rotating stop rod 705D, and the material blocking switch signal elements 706D can drive the air cylinder 700D through the electromagnetic valve group 701D, so as to drive the rotating stop rod 705D to rotate through the air cylinder 700D. The stop system 7D determines the final position of plate conveying, the plate can be accurately centered and conveyed to the stop system 7D on the plate centering platform, when the plate touches a stop signal switching element on the stop system 7D, the cylinder 700D stretches out, the pushing connecting rod 702D drives the rotating shaft 703 to rotate, the rotating stop lever 705D on the stop system 7D falls down, and the plate is conveyed to the four-roller plate bending machine E through the stop system 7D.
Four-roller plate bending machine E
The plate material rolling module in the automatic cylinder processing system of the invention can adopt a general plate rolling machine, typically, for example, a four-bar plate rolling machine E shown in fig. 7. The plate bending machine is mainly used for receiving the plate conveyed after the centering of the plate centering platform mechanism D, and rolling the plate to form a cylinder preliminarily. The control unit is in communication connection with the plate material rolling module and is configured to control the plate material rolling module to roll the received plate material into a cylinder body.
Truss manipulator F for conveying cylinder
As shown in fig. 28 to 32, a cylinder conveying truss manipulator F, which is one of the cylinder semicircular module devices of the cylinder automatic processing system of the present invention, comprises an X-axis system assembly 1F, a linear slide rail 2F provided on the X-axis system assembly 1F, a slide carriage assembly 3F slidably connected to the linear slide rail 2F, a Y-axis system assembly 4F connected to the slide carriage assembly 3F, a Z-axis lifting arm 5F connected to an end of the Y-axis system assembly 4F remote from the slide carriage assembly 3F and movable in an up-down direction, and a servo single-arm gripper mechanism 6F connected to a lower end of the Z-axis lifting arm 5F, wherein the servo single-arm gripper mechanism 6F includes a gripper body assembly 601F, a gripper screw assembly 602F provided on the gripper body assembly 601F and a gripper driving assembly 604F connected to the gripper screw assembly 603F, the gripper driving assembly 603F capable of driving the gripper screw assembly 603F to rotate and driving the gripper assembly 602F to be capable of gripping and releasing a cylinder, the control unit being connected to the gripper and configured to a lower grip a cylinder and to a station of the cylinder automatic processing system.
In the cylinder processing system, the cylinder conveying truss manipulator F is mainly used for conveying a cylinder to the welding robot workstation I after a plate material is rolled, clamping the cylinder by using the servo single-arm gripper mechanism 6F of the cylinder conveying truss manipulator F after the cylinder is welded, placing the cylinder on the transfer trolley assembly G, and conveying the cylinder to the cylinder turnover machine workstation through the transfer trolley assembly G for next operation.
As described above, the cylinder conveying truss manipulator F includes the X-axis system assembly 1F, the linear slide rail 2F provided on the X-axis system assembly 1F, and the carriage assembly 3F slidably connected to the linear slide rail 2F. Typically, similar to the carriage assembly described above, the carriage assembly 3F includes a carriage, a carriage drive assembly for driving the carriage to slide along the linear slide rail 2F, a tensioning mechanism assembly, a stopper, and a drag chain support assembly, the tensioning mechanism assembly defining rotation of the carriage drive assembly through the stopper so as to be able to adjust gear clearances in the carriage drive assembly, and elements such as cables, air pipes, and oil pipes may be disposed in the drag chain support assembly so as to perform traction and protection functions, and such carriage assembly may refer to the carriage assembly of the sheet conveying truss manipulator described above, and related structures and detection techniques may be dedicated or directly adopted without contradiction therebetween, which will not be repeated.
Here, moving in the X direction and moving in the Z direction means being capable of reciprocating in the X direction and the Z direction. The Y-axis system assembly 4F is fixedly connected to the carriage assembly 3F, and moves along with the carriage assembly 3F, but generally does not need to move in the Y-direction. The X direction herein means a direction along the longitudinal direction of the X-axis system assembly, the Y direction means a direction along the longitudinal direction of the Y-axis system assembly, and the Z direction means an up-down direction in a horizontal plane or a plane parallel to the horizontal plane and perpendicular to the X direction.
The clamping jaw assembly 602F of the servo single-arm gripper mechanism 6F is driven by the clamp screw assembly 603F to relatively move along the clamp screw assembly 603F, and can be close to or far away from each other, so that the cylinder body can be clamped or released.
As a preferred embodiment, as shown in fig. 31 and 32, the clamp body assembly 601F is formed as a box structure including a plurality of interconnected tie bars and a jaw assembly mounting plate fixedly attached to the tie bars. The box structure not only can meet the installation requirement, but also can reduce the whole weight of the servo single-arm grabbing mechanism 6F to a certain extent, and has simple structure and lower production cost.
As another preferred embodiment, the jaw assembly 602F includes a left jaw and a right jaw, each formed as an L-shaped arm structure with the free ends of the two L-shaped arm structures disposed toward each other.
It is conceivable that in order to prevent damage to the cylinder body when the cylinder body is clamped, and to increase the friction force between the clamping jaw assembly 602F and the cylinder body, an anti-slip structure is provided on the surface of the clamping jaw assembly 602F, which is abutted against the cylinder body, so that the friction force is increased, and at the same time, the surface of the cylinder body is prevented from being scratched.
As still another preferred embodiment, the fixture screw assembly 603F includes a first screw 6031F, an intermediate shaft 6032F and a second screw 6033F, wherein a coupling shaft 6034F is disposed between the first screw 6031F and the intermediate shaft 6032F, and between the second screw 6033F and the intermediate shaft 6032F, bearing seat assemblies 6035F are disposed at both ends of the intermediate shaft 6032F, and a screw support 6037F and a screw nut support 6036F are disposed at one end of the first screw 6031F away from the coupling shaft 6034F and one end of the second screw 6033F away from the coupling shaft 6034F.
As shown in fig. 33, a coupling shaft 6034F is connected between the first screw 6031F and the intermediate shaft 6032F, and a coupling shaft 6034F is also connected between the second screw 6033F and the intermediate shaft 6032F, so that the first screw 6031F, the second screw 6033F and the intermediate shaft 6032F can be connected to each other without affecting the mutual rotation between the three shafts. The ends of the first screw 6031F and the second screw 6033F are provided with screw support seats 6037F and screw nut support seats 6036F for fixing the free end ends of the first screw 6031F and the second screw 6033F.
Preferably, a synchronous pulley 6038F is arranged between one of the bearing seat assemblies 6035F and the coupling shaft 6034F, and a synchronous belt is further connected to the synchronous pulley 6038F. Further preferably, the first screw rod 6031F and the second screw rod 6033F are both in threaded connection with a clamping jaw mounting seat 6039F.
Clamping jaw mounting seat 6039F on first lead screw 6031F and clamping jaw mounting seat 6039F on second lead screw 6033F correspond to left clamping jaw and right clamping jaw of clamping jaw assembly 602F respectively, clamping jaw mounting seat 6039F and first lead screw 6031F and second lead screw 6033F all form threaded connection to can be in the rotation in-process of first lead screw 6031F and second lead screw 6033F, make clamping jaw mounting seat 6039F can be along the central axis rectilinear movement of first lead screw 6031F and second lead screw 6033F, thereby can drive left clamping jaw and right clamping jaw and remove. More preferably, the first screw 6031F is a left-handed screw, and the second screw 6033F is a right-handed screw, so that the left jaw and the right jaw can be made to move relatively, and can advance or retreat toward each other, so that clamping or unclamping of the cylinder body can be satisfied.
As a specific structural form, the servo single arm gripper mechanism 6F further includes a shroud 605F, the clamp driving assembly 604F is disposed at an upper portion of the shroud 605F, the clamping jaw assembly 602F is disposed at a lower portion of the shroud 605F, and the clamp body assembly 601F and the clamp screw assembly 603F are disposed inside the shroud 605F.
As another specific structural form, a cylinder fixing assembly 10F is further arranged between the Z-axis lifting arm 5F and the servo single-arm gripper mechanism 6F. Through the effect of the cylinder fixing assembly 10F, the cylinder body falling caused by sudden reasons in the process of grabbing the cylinder body and moving by the servo single-arm grabbing mechanism 6F can be prevented, and the reliability is higher.
As another specific structural form, one end of the X-axis system assembly 1F is further hinged with a device maintenance platform 7F, the other end of the X-axis system assembly 1F is provided with a dust removing mechanism 9F, and the lower part of the X-axis system assembly 1F is further connected with a plurality of upright posts 8F.
In summary, first, the above-mentioned cylinder conveying truss manipulator F utilizes to set up linear slide rail 2F on the X-axis system assembly 1F, slide carriage assembly 3F and linear slide rail 2F sliding connection, thereby can make slide carriage assembly 3F to do reciprocating motion along linear slide rail 2F, and be equipped with Y-axis system assembly 4F on slide carriage assembly 3F, the end connection of Y-axis system assembly 4F has Z-axis lifting arm 5F, Z-axis lifting arm 5F can reciprocate along the Z direction from top to bottom, and then make servo single-arm tongs mechanism 6F reciprocate along the Z direction, through control clamping jaw subassembly 602F, centre gripping or release the drum body, make cylinder conveying truss manipulator F carry the drum body to next station after the drum body is rolled up or after the welding is accomplished, and is simple in structure, and is simple and convenient to operate, excellent in use effect. And the second, the Z-axis lifting arm 5F is also provided with an air cylinder fixing component 10F, so that the cylinder body is prevented from falling due to sudden reasons in the transportation process of the cylinder body.
More fully, as a cylinder conveying truss manipulator F practically used in a cylinder processing system, it includes an X-axis system assembly 1F, a linear slide rail 2F provided on the X-axis system assembly 1F, a slide plate assembly 3F slidably connected with the linear slide rail 2F, a Y-axis system assembly 4F connected to the slide plate assembly 3F, a Z-axis lifting arm 5F connected to one end of the Y-axis system assembly 4F far from the slide plate assembly 3F and capable of moving in the up-down direction, and a servo single-arm gripper mechanism 6F connected to the lower end of the Z-axis lifting arm 5F, the servo single-arm gripper mechanism 6F includes a gripper body assembly 601F, a gripper body assembly 602F provided with bilateral symmetry, a gripper screw assembly 603F, and a gripper driving assembly 604F connected with the gripper screw assembly 603F, the gripper driving assembly 604F capable of driving the gripper screw assembly 603F to rotate and driving the gripper screw assembly 602F to move so as to be capable of gripping and releasing a cylinder. In addition, the other end of the Y-axis system assembly 4F is provided with a Z-axis lifting arm 5F, the lower end of the Z-axis lifting arm 5F is connected with a servo single-arm gripper mechanism 6F, and a clamping jaw assembly 602F of the servo single-arm gripper mechanism 6F can be contracted or expanded so as to clamp or release the cylinder body, and the slide carriage 301F is driven to reciprocate in the X direction through the X-axis driving mechanism 302F, and the Z-axis lifting arm 5F is driven to reciprocate in the Z direction through the Z-axis driving assembly, so that the operation requirement of carrying the cylinder body by the servo single-arm gripper mechanism 6F is met, and the cylinder body clamping device is simple in structure, convenient to operate and good in use effect.
Barrel welding robot workstation I and transfer trolley assembly G
As shown in fig. 34 to 41, the control unit is communicatively connected to the barrel welding machine station I and configured to control the barrel welding machine station I to weld the received barrel, the barrel welding machine station I including a roller frame 1I for rotating a workpiece and a welding robot for welding the workpiece, the welding robot being located at one side of the roller frame 1I. The cylinder welding robot workstation needs manual spot welding to fix the butt joint position of the plate rolled into the cylinder before the welding robot welds, after the spot welding is fixed, the manual work confirms, the cylinder is grabbed onto the roller frame 1I of the cylinder welding robot workstation I by the cylinder conveying truss manipulator F to perform butt welding seam arc striking and extinguishing plate spot setting, the arc striking and extinguishing plate welding is performed, the arc striking and extinguishing plate is used for polishing a straight groove along the welding seam, under the movement of the roller frame lifting and rotating and the welding robot, the welding robot starts a welding program to perform inner side bottoming on the welding seam, bottoming welding current is 180-200A, welding voltage is 24-26V, refilling cover surface, filling cover surface welding current is 260-300A, voltage is 26-30V, back surface penetration molding is performed, the butt welding seam is turned over to the upper side by the rotation of the roller frame 1I without back chipping of the root of the welding seam, the welding robot performs another face priming filling cover face on the butt welding seam, 260-300A is welded on the priming filling cover face, 26-30V is applied to the voltage, the barrel is transferred to the next station by the barrel conveying truss manipulator F and the transfer trolley assembly G after the barrel is welded, the inner side is 3-5mm inwards when the barrel is formed and sealed, the inner side is welded firstly, the inner side is welded and then is deformed in a shrinkage mode, the outer side is welded, the shrinkage deformation of the outer side and the inner side shrinkage deformation are counteracted, the straight edge of the welded barrel butt joint is small, the welding deformation is small, the roundness correction is not needed, preferably, a photoelectric switch is arranged on the roller frame 1I, and when the photoelectric switch detects a workpiece, the welding robot can be started to work under the action of the control unit.
As shown in fig. 36 to 36, specifically, the roller frame 1I includes a turnover mechanism 11I, a chain driving mechanism 12I and a roller frame upright 13I, the turnover mechanism 11I and the chain driving mechanism 12I are both mounted on the roller frame upright 13I, the chain driving mechanism 12I is connected with the turnover mechanism 11I so as to drive the turnover mechanism 11I to move on a linear guide rail of the roller frame upright 13I, the cylinder is placed on the turnover mechanism 11I, the chain driving mechanism 12I can drive the turnover mechanism 11I to drive the cylinder to move up and down along the linear guide rail on the roller frame upright 13I so as to facilitate welding and placement of the cylinder, the turnover mechanism 11I contacts with a side surface of the cylinder and can rotate the cylinder in an axial direction so as to facilitate welding of the cylinder by the welding robot, and preferably, the chain driving mechanism 12I can control the movement of the turnover mechanism 1I1 using a servo motor to be more accurate and stable.
Preferably, the roller frame upright post 13I is also provided with a drag chain mechanism 14I, one end of the drag chain mechanism 14I is connected with the turnover mechanism 11I, a component which needs to be connected with the turnover mechanism 11I is connected with the turnover mechanism 11I through the drag chain mechanism 14I, the drag chain mechanism 14I can play a role in traction and protection on cables, oil pipes, air pipes, water pipes and the like in the roller frame upright post, and the abrasion resistance and certain corrosion resistance can also be improved.
As shown in fig. 37 to 38, specifically, the turnover mechanism 11I includes a turnover chassis 111I, a turnover driving mechanism 112I, a conductive mechanism 113I, a front roller 114I and a rear roller 115I, the front roller 114I and the rear roller 115I are mounted on the turnover chassis 111I, the front roller 114I and/or the rear roller 115I are mounted with the turnover driving mechanism 112I and the conductive mechanism 113I, preferably, the turnover driving mechanism 112I can be a servo motor, the turnover driving mechanism 112I drives the front roller 114I or the rear roller 115I to rotate forward or backward, and the turnover driving mechanism 112I can drive the front roller 114I and the rear roller 115I to rotate forward or backward simultaneously, so that the workpiece moves forward or backward on the rollers, the turnover mechanism 11I is designed to be basically fit with the shape of the workpiece, the rollers are in contact with the workpiece on the turnover chassis 111I, and friction force generated by contact can be reduced by the design of the rollers, thereby facilitating the rotation of the workpiece on the turnover mechanism 11I.
Preferably, the turnover mechanism 11I further includes a flat key 116I and a connecting shaft 117I, the front roller 114I and the rear roller 115I are two, the connecting shaft 117I is connected between the front rollers 114I through the flat key 116I, the turnover driving mechanism 112I is mounted on one front roller 114I, and the conductive mechanism 113I is mounted on the other front roller 114I. The two front rollers 114I are driving wheels and are connected into a whole through the connecting shaft 117I, synchronization of the two front rollers 114I is guaranteed, the two rear rollers 115I are driven wheels, when the barrel is placed on the turnover mechanism 11I, the front rollers 114I drive the barrel to rotate, the barrel drives the rear rollers 115I to move along with rotation of the front rollers 114I, and the rollers are designed to be in split type for reducing contact friction force, so that flexible support of a workpiece is realized.
Further, as shown in fig. 34, the welding robot includes a ground rail 2I, a welding and cooling system 3I, a robot arm 4I, a robot mount 5I and a wire barrel mount 6I, the robot mount 5I is slidably mounted on the ground rail 2I, the robot arm 4I is mounted on the top surface of the robot mount 5I, the wire barrel mount 6I is mounted on one side of the robot mount 5I, the welding and cooling system 3I is mounted on the other side of the robot mount 5I, the robot mount 5I slides on the ground rail 2I to drive the robot arm 4I to slide to complete welding of the cylinder, the welding and cooling system 3I can control welding and cooling of the robot arm 4I, and the wire barrel is mounted on the wire barrel mount 6I to place a welding wire required during welding.
Preferably, the ground rail 2I is provided with a drag chain 7I, one end of the drag chain 7I is connected with the robot mounting seat 5I, a component which is required to be connected with the welding robot is connected with the welding robot through the drag chain 7I, the drag chain 7I can play a role in traction and protection on cables, oil pipes, air pipes, water pipes and the like in the interior of the component, and the wear resistance and certain corrosion resistance can be improved.
As shown in fig. 39 to 41, further, a transfer cart assembly G for transferring the welded cylinder to the next process is attached to the other side of the roller frame 1I. The transfer trolley assembly G is mainly used for being matched with the cylinder conveying truss manipulator F, belongs to a component part of a cylinder conveying module, can receive a welded cylinder grabbed by the cylinder conveying truss manipulator F, and conveys the welded cylinder to a cylinder overturning machine H through a ground rail for overturning the cylinder.
Specifically, transfer trolley assembly G includes ground rail subassembly 8I, drum transfer trolley 9I and drum support frame 10I, drum transfer trolley 9I slidable mounting is on ground rail subassembly 8I, install drum support frame 10I on the drum transfer trolley 9I, snatch the barrel to drum support frame 10I on the drum transfer trolley 9I through, for example, barrel transport truss manipulator F etc. through transfer trolley along ground rail subassembly 8I motion, realize transferring the barrel to next process, preferably, drum support frame 10I can set up to the shape basic laminating with the barrel, fixed barrel that can be better, avoid taking place to drop at the roll of transfer in-process barrel.
Preferably, the ground rail assembly 8I comprises a trolley ground rail and a travel sensing assembly 11I for determining the position of the cylinder transfer trolley 9I, the travel sensing assembly 11I being mounted on the trolley ground rail and being in communication with the control unit. The travel sensing assembly 11I can determine the position of the cylinder transfer trolley 9I on the trolley ground rail, and the cylinder transfer trolley 9I can be controlled to move to a designated position through the control unit, so that the operation precision is improved, and the automatic operation is realized.
In order to better understand the technical solutions and advantages of the barrel welding robot workstation I and the transfer trolley G employed in the barrel processing system of the present invention, the following description is made in connection with relatively comprehensive technical features.
As shown in fig. 35 to 41, the barrel welding robot workstation comprises a roller frame 1I and a welding robot, the roller frame 1I comprises a turnover mechanism 11I, a chain driving mechanism 12I and a roller frame upright 13I, the turnover mechanism 11I and the chain driving mechanism 12I are both arranged on the roller frame upright 13I, the chain driving mechanism 12I is connected with the turnover mechanism 11I so as to drive the turnover mechanism 11I to move on a linear guide rail of the roller frame upright 13I, a drag chain mechanism 14I is arranged on the roller frame upright 13I, one end of the drag chain mechanism 14I is connected with the turnover mechanism 11I, the turnover mechanism 11I comprises a turnover chassis 111I, a turnover driving mechanism 112I, a conductive mechanism 113I, a front roller 114I, a rear roller 115I, a flat key 116I and a connecting shaft 117I, the front roller 114I and the rear roller 115I are both arranged on the turnover chassis 111I, the front roller 114I and the rear roller 115I are both connected with the connecting shaft 117I through the flat key 116I, a turnover driving mechanism 112I is arranged on one front roller 114I, a conductive mechanism 113I is arranged on the other front roller 114I, the welding robot comprises a ground rail 2I, a welding and cooling system 3I, a robot arm 4I, a robot mounting seat 5I and a welding wire cylinder mounting seat 6I, the robot mounting seat 5I is slidably arranged on the ground rail 2I, the robot arm 4I is arranged on the top surface of the robot mounting seat 5I, the welding wire cylinder mounting seat 6I is arranged on one side of the robot mounting seat 5I, the welding and cooling system 3I is arranged on the other side of the robot mounting seat 5I, a drag chain 7I is arranged on the ground rail 2I, one end of the drag chain 7I is connected with the robot mounting seat 5I, the other side of the roller frame 1I is also provided with a transfer trolley assembly G for transferring a welded cylinder to the next procedure, the transfer trolley assembly G comprises a ground rail assembly 8I, a cylinder transfer trolley 9I and a cylinder support frame 10I, the cylinder transfer trolley 9I is slidably mounted on the ground rail assembly 8I, the cylinder support frame 10I is mounted on the cylinder transfer trolley 9I, the ground rail assembly 8I comprises a trolley ground rail and a travel sensing assembly 11I for determining the position of the cylinder transfer trolley 9I, and the travel sensing assembly 11I is mounted on the trolley ground rail.
When the sheet material rolled into the cylinder body is welded, a mechanical gripper such as a cylinder conveying truss mechanical arm F grabs the cylinder body to the turnover mechanism 11I of the roller frame 1I, the turnover mechanism 11I drives the cylinder body to move to a position convenient for welding of the robot arm 4I on a linear guide rail of the roller frame upright post 13I under the driving of the chain driving mechanism 12I, the two front rollers 114I are driving wheels and are connected into a whole through a connecting shaft 117I to ensure the synchronization of the two front rollers 114I, the two rear rollers 115I are driven wheels, when the cylinder body is placed on the turnover mechanism 11I, the front rollers 114I drive the cylinder body to rotate, the cylinder body drives the rear rollers 115I to move along with the rotation of the front rollers 114I, under the lifting and turning of the turnover mechanism 11I and the movement of the robot arm 4I along the ground rail 2I, the welding robot starts a welding procedure to perform inner side priming on a welding line, priming welding current is 180-200A, welding voltage is 24-26V, a filling cover surface is refilled, filling cover surface welding current is 260-300A, voltage is 26-30V, back penetration molding is carried out, the back of the welding line is not required to be back-ground, the roller frame 1 rotates to rotationally turn the butt welding line of a cylinder body to the upper side, the welding robot performs another side priming filling cover surface on the welding line, priming filling cover surface welding is 260-300A, voltage is 26-30V, a mechanical gripper such as a truss manipulator grabs the cylinder body onto a cylinder support frame 10I on the cylinder transfer trolley 9I after the cylinder body is welded, and the cylinder transfer trolley 9I moves to the next procedure along the ground rail component 8I.
The cylinder welding robot workstation I drives the turnover mechanism 11I through the chain driving mechanism 12I to drive the cylinder to move up and down along the linear guide rail on the roller frame upright post 13I, the grabbing and welding of the cylinder are facilitated, simultaneously, the robot mounting seat 5I slides on the ground rail 2I to drive the robot arm 4I to slide so as to finish the welding of the cylinder, the two front rollers 114I are driving wheels and are connected into a whole through the connecting shaft 117I, the synchronization of the two front rollers 114I is ensured, when the cylinder is placed on the turnover mechanism 11I, the front rollers 114I drive the cylinder to rotate, the cylinder drives the rear rollers 115I to move along with the rotation of the front rollers 114I, the roller rotating efficiency is improved, the front and rear rollers are prevented from rotating out of sync, the rollers are designed into a split mode, the contact friction force is reduced, the flexible support of a workpiece is realized, the welding and cooling system 3I controls the robot arm 4I to weld and cool the cylinder, the drag chain can pull and protect cables, the oil pipes, the air pipes, the water pipes and the like inside the drag chain can play roles of the drag and protection, the transfer can also improve the wear resistance and the certain transfer position and the transfer trolley can realize the transfer of the transfer trolley to a certain wear resistance, the transfer trolley can move to a designated position through the whole trolley 9, the transfer trolley is controlled by the movement of the whole trolley 9, and the transfer trolley is controlled by the movement of the trolley 9, and the movement of the transfer trolley is controlled by the special trolley I, and the movement of the work can be the work and the work station 9.
Barrel body overturning machine H
As shown in fig. 42 to 43, the cylinder tilting machine H includes a tilting mechanism 1H capable of tilting the cylinder from a horizontal state to a vertical state and a driving mechanism 2H for driving the tilting mechanism 1H to tilt, the tilting mechanism 1H includes a main tilting frame 100H for placing the cylinder, a vertical plate 101H vertically connected to an upper surface of the main tilting frame 100H, and support plates 102H connected to both sides of the tilting mechanism 1H and located between the main tilting frame 100H and the vertical plate 101H, one side of the tilting mechanism 1H is connected to the first connecting shaft 11H, the other side of the tilting mechanism 1H is connected to the second connecting shaft 3H, and the first connecting shaft 11H and the second connecting shaft 3H are rotatable about respective center lines of the first connecting shaft 11H and the second connecting shaft 3H by driving of the driving mechanism 2H, thereby being capable of tilting the cylinder from the horizontal state to the vertical state. The control unit is in communication connection with the barrel overturning machine and is configured to control the barrel overturning machine to overturn the received barrel.
In the above embodiment, it should be noted that the supporting plate 102H plays a role of a reinforcing rib for the turnover mechanism 1H, and the cylinder turnover machine H is provided with the turnover mechanism 1H, the driving mechanism 2H, the first connecting shaft 11H and the second connecting shaft 3H, so that the turnover mechanism 1H can turn around the first connecting shaft 11H and the second connecting shaft 3H as rotation fulcrums under the driving of the driving mechanism 2H, and simultaneously, the first connecting shaft 11H and the second connecting shaft 3H rotate around respective central lines, so that the cylinder can be turned from a horizontal state to a vertical state through the turnover of the cylinder turnover machine H itself, the automation degree is high, and the operation efficiency is improved. It should be noted that, the conversion of the horizontal state into the vertical state is mainly achieved through the turnover of the turnover mechanism 1H, specifically, firstly, the cylinder is horizontally placed on the upper surface of the main turnover frame 100H of the turnover mechanism 1H, the end surface of the cylinder needs to be placed towards the front of the vertical plate 101H of the turnover mechanism 1H, so that the cylinder can be in the vertical state after being turned over, then under the driving of the driving mechanism 2H, the turnover mechanism 1H rotates ninety degrees with the first connecting shaft 11H and the second connecting shaft 3H at two sides thereof as rotation fulcrums, drives the cylinder to rotate ninety degrees, thereby converting the horizontal state into the vertical state, and finally the turnover of the cylinder is completed.
As a preferred embodiment, one side of the tilting mechanism 1H is connected to the first connecting shaft 11H by a first flange. The flange is a disc-shaped part with a hole in the middle, and is generally made of metal materials, such as: carbon steel or stainless steel, etc., which is commonly used for the connection between pipes, tubes or equipment. Specifically, firstly, one side of the turnover mechanism 1H and the first connecting shaft 11H may be connected with different flanges respectively, and then the two flanges are connected with each other by using a fastener, and of course, a flange pad may be added between the two flanges, and it should be noted that the flange is the first flange, so that the one side of the turnover mechanism 1H and the first connecting shaft 11H are connected by the first flange to facilitate disassembly, and wear may be reduced.
Preferably, as can be seen from fig. 2, the other side of the tilting mechanism 1H is connected to the second connecting shaft 3H by a second flange 4H, and the connection manner may be referred to as the connection manner between the one side of the tilting mechanism 1H and the first connecting shaft 11H. The first and second connection shafts 11H and 3H may be cylindrical, and when the tilting mechanism 1H rotates, the first and second connection shafts 11H and 3H on both sides thereof simultaneously rotate about respective center lines, that is, the first and second connection shafts 11H and 3H are rotation fulcrums of the tilting mechanism 1H, and when the tilting mechanism 1H rotates, the first and second connection shafts 11H and 3H rotate accordingly.
More preferably, the second connecting shaft 3H is sleeved with a bearing 5H on its outer circumferential surface, the bearing 5H may be a suitable rolling bearing, or a suitable sliding bearing may be used, an inner ring of the bearing 5H is sleeved on the outer circumferential surface of the second connecting shaft 3H, when the second connecting shaft 3H rotates, the inner ring of the bearing 5H rotates, the bearing 5H is connected with a bearing seat 6H, the bearing seat 6H may be fixed on the ground, specifically, an outer ring of the bearing 5H is connected with the bearing seat 6H, and a fastener may be used to connect the bearing 5H and the bearing seat 6H. The bearing seat 6H is mainly used for supporting and fixing the bearing 5H, and the bearing 5H and the bearing seat 6H can be made of metal materials.
As another preferred embodiment, a second bearing is sleeved on the outer peripheral surface of the first connecting shaft 11H, the outer peripheral surface of the second bearing is connected with the mounting base 12H, and the mounting base 12H may be fixed to the ground, which functions as a bearing base.
As still another preferred embodiment, the main overturning frame 100H is provided with supporting structures 7H which can be placed and attached to the cylindrical shell in a dispersed and symmetrical manner, the supporting structures 7H are formed into a plate shape, and each supporting structure comprises two right-angle sides and a cambered side for attaching to the circumferential surface of the cylindrical shell, wherein one right-angle side is connected with the main overturning frame 100H through a connecting piece 13H, the connecting piece 13H can adopt a connecting plate, the supporting structures 7H and the connecting plate can be connected in a welding manner, and the connecting plate and the main overturning frame 100H can be connected by adopting a fastening piece. Since the outer circumferential surface of the cylindrical barrel is arc-shaped, the surface of the support structure 7H contacting the cylindrical barrel is arc-shaped in order to fit the outer circumferential surface of the cylindrical barrel. When the driving mechanism 2H works, the main overturning frame 100H and the vertical plate 101H rotate ninety degrees under the driving of the driving mechanism 2H, after the main overturning frame 100H rotates, the main overturning frame 100H changes from a horizontal state to a vertical state, correspondingly, the vertical plate 101H changes from the vertical state to the horizontal state, and the cylinder body is horizontally placed on the supporting structure 7H due to the supporting structure 7H positioned on the main overturning frame 100H, and the cylinder body changes from the horizontal state to the vertical state after overturning.
As a specific structural form, the driving mechanism 2H may be an oil cylinder, as shown in fig. 43, a piston rod of the oil cylinder may be connected with the support plate 102H on one side of the turnover mechanism 1H, which is close to the first connecting shaft 11H, through the hinge mechanism 8H, and since the oil cylinder and the first connecting shaft 11H are located on the same side of the turnover mechanism 1H, the oil cylinder may be fixed on the mounting base 12H, that is, the mounting base 12H may fix the first connecting shaft 11H and also may fix the oil cylinder, when the oil cylinder operates, the piston rod thereof extends, and drives the hinge mechanism 8H to move, and the hinge mechanism 8H can push the turnover mechanism 1H to rotate.
The driving mechanism 2H may also employ a motor, specifically, a driving pulley of the motor drives the driven pulley to rotate through a belt, the driven pulley is connected with a driven pulley shaft through a flat key, the driven pulley shaft is connected with a support plate 102H on one side of the turnover mechanism 1H close to the first connecting shaft 11H, when the motor operates, the driving pulley and the belt operate, thereby being capable of driving the driven pulley to rotate, and since the driven pulley is connected with the driven pulley shaft through the flat key, the driven pulley can drive the driven pulley shaft to rotate when the driven pulley rotates, and since the driven pulley shaft is connected with one side of the turnover mechanism 1H, the turnover mechanism 1H rotates together in the rotation process of the driven pulley shaft when the driven pulley shaft rotates. Or, a motor may be adopted to cooperate with the sprocket, specifically, the driving sprocket of the motor drives the driven sprocket to rotate through the chain, the driven sprocket is connected with the driven sprocket shaft through the flat key, the driven sprocket shaft is connected with the support plate 102H on one side of the turnover mechanism 1H close to the first connecting shaft 11H, when the motor operates, the driving sprocket drives the chain and the driven sprocket to rotate, and meanwhile, the driven sprocket drives the driven sprocket shaft to rotate through the flat key, and because the driven sprocket shaft is connected with one side of the turnover mechanism 1H, the turnover mechanism 1H can be driven to rotate together when the driven sprocket shaft rotates.
More specifically, the hinge mechanism 8H includes a link, one end of which is connected to an end of the piston rod, and the other end of which is connected to the support plate 102H on the side of the tilting mechanism 1H to which the first connecting shaft 11H is connected, so that when the piston rod is extended, it can be rotated by pushing the tilting mechanism 1H by the link.
As another specific embodiment, the barrel tilter further comprises a base 9H matched with the tilting mechanism and used for damping when the tilting mechanism 1H is put down, and a fence 10H arranged outside the tilting mechanism 1H and close to one side of the vertical plate 101H and used for safety protection, wherein the base 9H can be connected onto the tilting mechanism 1H and can be independently arranged, so long as the tilting mechanism 1H can be in contact with the base 9H when put down, the damping effect is achieved through the base 9H, and the fence 10H is arranged to prevent workers from approaching to the area overturned by the barrel tilter, so that safety protection is carried out.
As for each functional module of the inventive cylinder automatic processing system, as a preferred layout pattern, referring to fig. 44, each functional module of the inventive cylinder automatic processing system may be preferably formed in a transverse island type multi-L-shaped layout pattern, which may be centrally disposed on the same side of the shop channel to be disposed transversely with respect to the shop channel as a whole. In particular, the barrel automated processing system may include a plurality of process placement areas that are functionally independent in a dispersed island arrangement; and combining different process arrangement areas in the plurality of process arrangement areas with each other to form a plurality of L-shaped arrangement structures.
In the special arrangement mode, the invention comprises a plurality of process arrangement areas with independent functions, the process arrangement areas originally adopt a transverse island type L-shaped layout mode, and as the different process arrangement areas are combined with each other according to the production process sequence to form a plurality of L-shaped arrangement structures and are transversely arranged at one side of a workshop passageway, the invention not only greatly saves the production field, but also is convenient for carrying and production, and greatly reduces the complexity and difficulty of hollow cylinder production.
Specifically, referring to fig. 44, the above-mentioned multiple process arrangement areas include a plate material incoming area Q1, a plate material forming area Q2, a barrel transfer area Q3, a barrel welding area Q4 and a barrel overturning area Q5 which are arranged side by side, and a barrel post-welding buffer area Q6, and a truss conveying area Q7 for connecting the plate material forming area Q2 and the barrel welding area Q4 is provided at one side of the barrel automatic processing system, wherein the plate material forming area Q2 and the truss conveying area Q7 are formed into an L-shaped arrangement structure; the barrel welding zone Q4 and the barrel overturning zone Q5 which are arranged side by side are respectively formed into an L-shaped arrangement structure with the barrel transferring zone Q3, and the barrel welding zone Q4 and the barrel overturning zone Q5 which are arranged side by side are respectively formed into an L-shaped arrangement structure with the barrel post-welding buffer zone Q6; and the truss transport zone Q7 and the barrel transfer zone Q7 are arranged in a T-shape to form a double-L-shaped arrangement.
In the multi-L-shaped arrangement structure with the specific layout, the multi-L-shaped arrangement structure flows in sequence according to the process, thereby greatly facilitating the processing and the production of the cylinder body, skillfully utilizing the space, having compact structure and effectively saving the space.
Corresponding process equipment can be arranged in the above-described process arrangement areas, and it should be noted that although within the scope of the technical idea of the present invention, these process arrangement areas can be arranged and integrated with equipment commonly used in the existing process, and also can be arranged with carefully selected preferred equipment of the present invention.
For example, in the preferred form of the invention shown in fig. 44, the sheet material receiving area Q1 may be provided with a sheet material conveying platform a and a sheet material conveying truss manipulator C, the sheet material forming area Q2 may be provided with a sheet material centering platform mechanism D and a four-roller plate bending machine E, the barrel transfer area Q3 and the truss conveying area Q7 may be provided with barrel handling modules (i.e., the barrel transfer area Q3 may be provided with a transfer trolley assembly G, the truss conveying area Q7 may be provided with a barrel conveying truss manipulator F), the barrel welding area Q4 may be provided with a welding robot workstation I, and the barrel inverting area Q5 may be provided with a barrel inverting machine H. The individual process equipment can be purchased from the market in a targeted manner, and in the technical development project to which the application belongs, the related equipment needs to be subjected to certain original improvements or adaptation to the field.
In addition to the multi-L layout structure described above, the multiple process layout areas with independent functions included in the automatic cylinder processing system may be formed in a linear or U-shaped layout.
The above describes in detail the specific structure of each functional module of the automatic cylinder processing system of the present invention, and on the basis of understanding the above specific structure, it will be better to understand the technical solutions of the cylinder processing method and automatic cylinder processing process of the present invention described below. It should be noted that, although the automatic processing system and the automatic processing process of the barrel body have higher automation degree in the processing process, the participation of manpower on local points is not absolutely excluded, and the automatic should not be understood in an absolute sense. In addition, the method for processing the cylinder body of the present invention is not limited to the implementation by the automatic system for processing the cylinder body of the present invention, and those skilled in the art should be able to implement the steps of the method for processing the cylinder body of the present invention by using other devices or apparatuses within the scope of the technical concept of the present invention.
In order to facilitate understanding, the automatic processing process of the actual cylinder is first described in connection with the automatic cylinder processing system of the present invention, as described above, and in a preferred embodiment, referring to fig. 7, the functional module apparatus of the automatic cylinder processing system of the present invention mainly includes a plate conveying platform a, a plate rack B for loading plates, a plate conveying truss manipulator C, a plate automatic centering platform mechanism D, a four-roller plate bending machine E, a cylinder conveying truss manipulator F, a transfer trolley assembly G, a cylinder overturning machine H, and a welding robot workstation I.
The main process of the automatic processing of the cylinder body is as follows: the sheet material conveying truss mechanical arm C grabs the sheet material to the automatic centering platform mechanism D for automatic centering of the sheet material, and then conveys the sheet material to the four-roller plate bending machine E for rolling forming, after rolling, the sheet material conveying truss mechanical arm F grabs the sheet material to the roller frame of the welding robot workstation I for welding butt weld of the sheet material, and the sheet material is manually spot-welded and fixed at the position of the butt joint opening of the sheet material.
More specifically, the cylinder automatic processing technology in the cylinder automatic processing technology of the invention has the following action processes: and the oil cylinder of the plate conveying platform A stretches out, the plate conveying platform A is pushed out of the region of the plate conveying truss mechanical gripper C for feeding, a worker lifts the plate material rack B with the plate material onto the plate conveying platform A, and feeding confirmation is carried out. The plate conveying platform A is retracted through the oil cylinder under the control of the control unit to be pulled back to the position right below the plate conveying truss manipulator C, the plate conveying platform A touches the travel switch assembly after being in place, and the plate conveying truss manipulator C is started to act under the control of the control unit. The middle of the magnetic attraction mechanism 322C on the plate conveying truss manipulator C is provided with a distance measuring sensor, when the distance measuring sensor measures that the distance between the magnetic attraction mechanism 322C and the plate is larger than a set value, the magnetic attraction mechanism 322C of the plate conveying truss manipulator C acts, an electromagnet is electrified to attract the plate and lift the plate to a set height under the action of the Z-axis arm lifting device, the plate is conveyed to the position right above the plate centering platform mechanism D under the movement of the slide carriage assembly 5C of the plate conveying truss manipulator C, the plate is lowered onto the plate centering platform mechanism D under the action of the Z-axis arm lifting device, and the electromagnet is electrified at the same time, so that the magnetic attraction mechanism 322C loosens the plate, and the plate falls in the middle of the plate automatic centering platform mechanism D. Under the control of the control unit, an automatic centering instruction of the automatic plate centering platform mechanism is started, so that the plate is automatically centered under the action of the automatic centering driving mechanism D. Meanwhile, under the action of the electromagnet mechanism 103D, the guidance of the centering guide wheel and the support of the universal ball, the centered plate material is horizontally conveyed to the feeding port of the four-roller plate bending machine E, when the plate material touches a material blocking signal switch assembly arranged on a material blocking system of the automatic centering platform mechanism, the material blocking mechanism falls down, the four-roller plate bending machine is automatically started under the action of the control unit, the four-roller plate bending machine acts, the plate material is conveyed to the driving roller of the four-roller plate bending machine to be automatically coiled, the position of the joint port is fixed by manual work after the rolling cylinder body is coiled, and the work is confirmed by manual work after the point fixing is finished. Under the action of the control unit, the cylinder conveying truss manipulator F is started to grab the cylinder to the station I of the robot welding workstation. The welding robot workstation I is provided with a photoelectric switch, when the photoelectric switch detects that a workpiece exists, the welding robot workstation is started under the action of the control unit, and the welding robot workstation I automatically welds the splicing welding seams of the cylinder body by the welding manipulator under the conditions that the roller frame is lifted and rotated and the robot is installed on the ground rail. After welding, the robot workstation and the transfer trolley assembly G move to the position right below the cylinder conveying truss manipulator F under the action of the control unit, the cylinder conveying truss manipulator F grabs the welded cylinder onto the transfer lower trolley assembly G, the transfer trolley assembly detects a workpiece, the workpiece is started to be conveyed to the side of the cylinder overturning machine H under the action of the control unit, the workpiece is lifted onto the cylinder overturning machine H, the flanging machine is started to act, and the cylinder is overturned to be in an upright state.
Accordingly, in correspondence to the above-described automatic cylinder processing system, referring to fig. 45, the present invention also provides a cylinder processing method including the steps of:
firstly, automatically conveying a plate to be processed from a plate buffer position to a centering station; secondly, centering the plate material in the centering station, and detecting whether the plate material is centered in place or not; thirdly, conveying the centered plate to a plate rolling station for rolling into a cylinder, and spot welding and fixing the joint opening of the rolling cylinder; fourth, the cylinder is conveyed to a welding station, and welding treatment is carried out on the cylinder.
Referring to fig. 46, the barrel detail welding process is as follows:
1) The cylinder is grabbed to a roller frame of a cylinder welding station by a cylinder truss manipulator, butt welding seam arc striking and extinguishing plates are fixed, arc striking and extinguishing plates are welded, and straight grooves are polished on the arc striking and extinguishing plates along welding seams by a grinder;
2) The welding robot starts a welding procedure to perform inner side priming on the welding seam, priming welding current is 180-200A, welding voltage is 24-26V, a cover surface is refilled, the welding current of the cover surface is 260-300A, the voltage is 26-30V, and back penetration molding is performed (without performing back gouging on the root of the welding seam);
3) The cylinder body supporting roller frame rotates to turn the butt welding seam of the cylinder body to the upper side, the welding robot performs another face bottoming filling cover surface on the butt welding seam, and the current and the voltage of the bottoming filling cover surface are the same;
4) After the cylinder is welded, the cylinder is grabbed to a transfer trolley by a truss manipulator and is conveyed to a cylinder flanging machine station.
When the cylinder body is rolled to form a joint, the edges of the plate material at two sides of the joint position of the cylinder body are all preflexed 3-5mm towards the inside of the cylinder body, the inner side is welded firstly during welding, the inner side is welded and then is deformed in a shrinkage mode, the outer side is welded, and the shrinkage deformation of the outer side is counteracted with the shrinkage deformation of the inner side, so that the straight edge of the joint position of the welded cylinder body is small, the welding deformation is small, and the correction of circle is not needed.
In the welding step of the cylinder processing method, when the cylinder is formed and sealed in a rolling mode, the edges of the plate materials at two sides of the butt joint position of the cylinder are all preflexed 3-5mm more towards the inside of the cylinder, and the welding is carried out according to a preset welding sequence when the cylinder is welded, namely, the inner side is welded firstly, the inner side is deformed in a shrinkage mode, the outer side is welded again, and the shrinkage deformation of the outer side and the shrinkage deformation of the inner side are counteracted. The preferable stacking size range is a range obtained by innumerable tests on the basis of the original technical conception of the invention, and in the stacking range, the straight edge at the butt welding line is shortest, the welding deformation is minimum, the one-time rolling forming can be optimized, the subsequent rounding correction is not needed, and the precision is high; and the subsequent barrel butt welding seam can better realize complete dissolution, ultrasonic flaw detection requirements can be met without back chipping, the working environment of workers is good, the working efficiency is improved, and meanwhile, auxiliary materials for back chipping are also saved.
On the basis of the above embodiment, typically, in order to avoid that the welding quality is affected due to temperature non-uniformity during arc starting and arc extinguishing, in the fourth step, before welding the inner side of the cylinder, an arc striking plate may be welded and fixed on the cylinder, and a straight groove is formed on the arc striking plate along the welding line direction, so that at the beginning of welding, welding can be performed from the arc striking plate at one end of the cylinder, and when the welding quality is stable, welding can be performed to the cylinder again, and when arc extinguishing, temperature change during arc extinguishing can be performed on the arc striking plate at the other end, thereby avoiding that the welding quality of the cylinder is affected by temperature change during arc extinguishing.
In the fourth step, the welding of the inner side of the cylinder adopts a multi-layer welding process, and the welding seam is subjected to backing welding, wherein the current intensity of the backing welding is 180-200A, and the welding voltage is 24-26V; and further carrying out filling cover welding, wherein the current intensity of the filling cover welding is 260-300A, and the welding voltage is 26-30V. The back surface of the multi-layer welding process is formed in a penetration way, and back chipping of the root of a welding seam is not needed.
Further, in the fourth step, after the inner side welding is finished, the cylinder body is rotated to enable the welding line at the joint opening to rotate to the upper part, a multi-layer welding process is adopted for welding the outer side of the cylinder body, the welding line is subjected to backing welding, the current intensity of the backing welding is also 180-200A, and the welding voltage is 24-26V; and further carrying out filling cover welding, wherein the current intensity of the filling cover welding is 260-300A, and the welding voltage is 26-30V.
Of course, within the scope of the technical concept of the present invention, the welding method of the present invention may also use other specific welding processes, for example, the butt welding of the cylinder may use a single-sided welding and double-sided forming process, and the welding may be performed using a straight arm welding machine structure with a welding system.
More preferably, in the third step, the sheet is rolled and formed by a four-roll plate bending machine; and in the fourth step, welding is carried out by adopting a welding robot. The four-roller plate bending machine is adopted for rolling, so that the precision is better, and the efficiency is higher. In addition, adopt welding robot to weld, can improve degree of automation, avoid the operation error that manual welding exists.
Typically, the cylinder of the invention can be a hollow cylinder structural member of the pump truck chassis.
On the basis of the automatic cylinder processing system and the automatic cylinder processing method, the invention further provides an automatic cylinder processing technology which adopts the automatic cylinder processing system according to any one of the technical schemes and processes the cylinder according to any one of the technical schemes.
Specifically, the automatic processing process flow of the cylinder body of the invention mainly comprises the following steps: preparing cylinder plate materials, rolling, automatically welding butt welding seams. Specifically, referring to fig. 7 to 46, a plate conveying truss manipulator C grabs a plate from a plate material rack B on a plate conveying platform a to a plate material centering platform mechanism D for centering the plate material, conveys the plate material to a four-roller plate bending machine E for rolling forming, and fixes a butt joint position of a cylinder body into the cylinder body by manual spot welding after rolling. The cylinder conveying truss manipulator F grabs the cylinder onto a roller frame of the welding robot workstation I, welds butt welds of the cylinder, and then conveys the cylinder to the cylinder overturning machine E for overturning through the cylinder conveying truss manipulator F and the transfer trolley assembly.
The cylinder body specifically welding process comprises the following steps: 1) The cylinder is grabbed to a roller frame of a station I of a cylinder welding robot workstation through a cylinder truss manipulator C, butt welding seam arc striking and extinguishing plates are fixed, arc striking and extinguishing plates are welded, and straight grooves are polished on the arc striking and extinguishing plates along welding seams by a grinder; 2) The robot starts welding to perform inner side priming on the welding line, priming welding current is 180-200A, welding voltage is 24-26V, the filling cover surface is filled, the filling cover surface welding current is 260-300A, the voltage is 26-30V, and back penetration molding is performed (without performing back gouging on the root of the welding line); 3) The roller frame of the robot welding workstation I rotates and overturns the butt welding seam of the cylinder body to the upper side, the welding robot carries out another face bottoming filling cover surface on the butt welding seam, and the welding current and the welding voltage of the bottoming filling cover surface are the same; 4) After the welding of the cylinder body is finished, the cylinder body is grabbed to the transfer trolley G by the cylinder body conveying truss manipulator F, and is conveniently conveyed to the cylinder body overturning machine H of the cylinder body overturning zone Q5 for overturning the cylinder body according to the structure of the L-shaped layout.
In the processing process, the inner side is pre-bent for 3-5mm more inwards when the cylinder body is molded and sealed, the inner side is welded firstly during welding, the inner side is welded and then is shrunk and deformed, the outer side is welded, and the shrinkage and deformation of the outer side are counteracted with the shrinkage and deformation of the inner side, so that the straight edge of the butt joint part of the welded cylinder body is small, the welding deformation is small, and the subsequent circle correction procedure in the conventional process is not needed.
In this relatively comprehensive automatic cylinder processing process, as shown in fig. 7, the process equipment disposed in each process arrangement area of the automatic cylinder processing system of the present invention may preferably include: the device comprises a plate conveying platform A, a plate conveying truss manipulator C, a plate centering platform mechanism D, a four-roller plate bending machine E, a cylinder conveying truss manipulator F, a transfer trolley assembly G, a cylinder overturning machine H and a cylinder welding robot workstation I. In the processing process of the cylinder body, the action process of each process equipment is as follows: and the plate conveying platform A is pushed out of the region of the plate conveying truss manipulator C to be fed through the driving of the driving mechanism (such as the extension of an oil cylinder), and a worker lifts the plate material rack B with the plate material onto the plate conveying platform A to be fed. After feeding, the plate conveying platform A is driven to be pulled back to the position right below the plate conveying truss manipulator C through oil cylinder retraction, and after the plate conveying platform A is in place, the plate conveying truss manipulator C is started. And the plate conveying truss manipulator C lifts the plate to a set height, conveys the plate to the position right above the plate centering platform mechanism D, and then descends the plate to the plate centering platform mechanism D so that the plate falls on the plate centering platform mechanism. The sheet centering platform mechanism D is used for centering the sheet, after centering, the sheet centering platform mechanism D is used for carrying out translation and conveying on the centered sheet to the feeding port of the four-roller plate bending machine E under the guidance of the centering guide wheel and the support of the universal ball, when the sheet touches a material blocking signal switch assembly arranged on a material blocking system on the sheet centering platform mechanism D, the material blocking mechanism falls down, the four-roller plate bending machine is started under the action of the control unit, the four-roller plate bending machine acts, the sheet is conveyed to the driving roller of the four-roller plate bending machine for automatic rolling, after a cylinder body is coiled, butt joint is fixed manually, and after the butt joint is fixed, the work is confirmed manually. Under the action of the control unit, the cylinder conveying truss manipulator F is started to grab the cylinder to the station I of the robot welding workstation. The welding robot workstation is generally provided with a photoelectric switch, and when the photoelectric switch detects that a workpiece exists, the welding robot workstation is started under the action of the control unit, and the welding robot workstation ascends and descends and revolves on the roller frame, and a manipulator of the welding robot workstation welds the splicing weld joint of the cylinder body. After welding is completed, the transfer trolley G moves to the position right below the cylinder conveying truss manipulator F, the cylinder conveying truss manipulator F grabs welded workpieces onto the transfer lower trolley G, the transfer trolley G detects the workpieces, and the workpieces are conveyed to the side of the cylinder overturning machine H. And manually lifting the workpiece to a barrel overturning machine, starting the overturning machine to overturn the workpiece, and carrying the workpiece to a barrel post-welding buffer area Q6 for storage after overturning.
As can be seen from the above description of the basic embodiment, the various preferred embodiments and particularly preferred examples of the present invention, the key technical points of the technical concept of the present invention are:
firstly, according to the cylinder automatic processing system, each functional module device is arranged carefully according to the processing process related to cylinder processing, specifically, the plate material is fed to a set position through the plate material conveying platform, the plate material is grabbed to the automatic centering platform mechanism by the plate material conveying truss mechanical arm to be automatically centered, the plate material is conveyed to the four-roller plate bending machine to be rolled up and formed after being automatically centered, the joint opening position of the cylinder body is fixed into the cylinder body by manual spot welding after the rolling is finished, and then the cylinder body is grabbed to the roller frame of the welding robot workstation by the cylinder body conveying truss mechanical arm to be welded by the cylinder body butt welding seam, and the cylinder body is automatically conveyed to the cylinder body overturning machine to be overturned to be in an upright state. By the automatic cylinder processing system, manual participation is little in the whole cylinder processing process, the automation degree is high, the cylinder processing quality and processing efficiency are high, the cylinder processing deformation can be reduced, the labor intensity of workers is reduced, and the production safety is high.
Secondly, the barrel processing method of the invention corresponds to the technological process arrangement of the automatic barrel processing system, and particularly, under the preferred mode, the barrel welding process method is the original method: the cylinder drum is pre-bent inwards for 3-5mm when being formed and sealed, the inner side is welded firstly, the inner side is welded and then is shrunk and deformed, the outer side is welded, and the shrinkage and deformation of the outer side are counteracted with the shrinkage and deformation of the inner side, so that the straight edge at the butt joint of the welded cylinder is small, the welding deformation is small, and the subsequent rounding is not needed;
thirdly, the hollowed-out cylinder is sequentially molded and conveyed according to the optimized layout of the production area, each process layout area is arranged into a plurality of L shapes, and the hollowed-out cylinder consists of plate conveying equipment, molding equipment, cylinder conveying equipment and a welding robot workstation, so that the whole process of feeding plates to discharging cylinders is realized conveniently and efficiently.
In summary, the main advantages of the present invention are as follows:
firstly, the automatic cylinder processing system and the cylinder processing method have the advantages that the labor participation is little in the whole cylinder processing process, the degree of automation is high, the cylinder processing quality and the processing efficiency are high, the cylinder processing deformation can be reduced, the labor intensity of workers is reduced, and the production safety is high.
Secondly, the cylinder automatic processing system optimizes the longitudinal layout mode of the original station process equipment into a transverse island type multi-L layout mode of the equipment, the overall site layout is compact and reasonable, a large number of manufacturing sites are saved, and the site area is saved by about 50%. The cylinder body is manufactured by adopting a one-piece flow process flow unit production mode, the manufacture can be completed in one area, the operation is safe, the efficiency is high, the work piece is completed and is directly conveyed to a production line, and the required space of a buffer area is small.
Thirdly, the cylinder body is pre-bent towards the inner side by 3-5mm when being formed and sealed, the inner side is welded firstly, the inner side is welded and then contracts and deforms, the outer side is welded again, and the contraction and deformation of the outer side and the contraction and deformation of the inner side are counteracted, so that the straight edge of the butt joint of the welded cylinder body is small, the welding deformation is small, and the subsequent roundness correction is not needed. The straight edge of the butt weld joint of the rolling circle is short, the welding deformation is small, the rolling circle is formed at one time, and the precision is high;
fourthly, the butt welding seam of the cylinder body is completely dissolved, ultrasonic flaw detection requirements can be met without back chipping, the working environment of workers is good, the working efficiency is improved, and meanwhile auxiliary materials for back chipping are saved;
fifthly, the butt welding double-sided welding of the cylinder body is performed through the roller frame of the welding robot workstation, so that the labor intensity is reduced, the operation site is saved, and the safe operation is realized.
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the scope of the technical concept of the present invention, and all the simple modifications belong to the protection scope of the present invention.
In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. The various possible combinations of the invention are not described in detail in order to avoid unnecessary repetition.
Moreover, any combination of the various embodiments of the invention can be made without departing from the spirit of the invention, which should also be considered as disclosed herein.

Claims (26)

1. An automatic cylinder processing system, characterized in that the automatic cylinder processing system comprises:
the plate material carrying module is used for carrying the plate material from the plate material caching position to the centering station;
the plate centering platform mechanism (C) is arranged on the centering station and is used for centering the received plate;
the plate material rolling module is used for receiving the centered plate material and rolling the plate material into a cylinder;
the cylinder conveying module is used for conveying the cylinder;
a barrel welding machine workstation (I) for receiving the barrel and performing welding; and
the control unit is used for cooperatively controlling the plate carrying module, the plate centering platform mechanism (C), the plate rolling module, the cylinder carrying module and the cylinder welding machine workstation (I) so as to complete automatic processing of the cylinder.
2. The automatic cylinder processing system according to claim 1, further comprising a plate conveying platform (a), wherein a positioning structure for loading plates is arranged on the plate conveying platform (a) and used for conveying the plates to the plate buffering position, the plate conveying platform (a) comprises a platform structural member (1A), a plurality of material rack guide seats (2A) arranged on the platform structural member (1A), a guide rail assembly (3A) arranged at the lower part of the platform structural member, and a telescopic assembly (4A) used for driving the platform structural member (1A), the upper end of each material rack guide seat (2A) is formed into an inclined surface (201A) serving as the positioning structure, and the telescopic assembly (4A) can drive the platform structural member (1A) to move along the guide rail assembly (3A) so as to enter and exit the set position; and
The sheet material conveying platform (A) further comprises a conveying platform position detection device, and the conveying platform position detection device and the telescopic assembly (4A) are both in communication connection with the control unit.
3. The automatic cylinder processing system according to claim 1, wherein the sheet handling module is a sheet conveying truss manipulator (C), the sheet conveying truss manipulator (C) comprises a fixed structure (1C), an X-axis beam (2C), a gripper structure (3C) and an X-axis moving structure (4C) connected between the X-axis beam (2C) and the gripper structure (3C), the X-axis beam (2C) is connected with the fixed structure (1C), the gripper structure (3C) comprises a lifting structure (31C) and a gripper assembly (32C) connected with the lifting structure (31C), the lifting structure (31C) is connected with the X-axis beam (2C) through the X-axis moving structure (4C), and the gripper assembly (32C) comprises a gripper bracket (321C) and a magnetic attraction mechanism (322C) connected with the gripper bracket (321C); and
the control unit is in communication connection with the sheet material handling module and is configured to control the sheet material handling module to handle the sheet material to the centering station when the sheet material is conveyed to the set position.
4. The automatic cylinder processing system according to claim 3, wherein the plate material conveying truss manipulator (C) further comprises a slide carriage assembly (5C), the slide carriage assembly (5C) comprises a slide carriage (51C), and a Z-axis driving mechanism (52C) and an X-axis driving mechanism (53C) mounted on the slide carriage (51C), the Z-axis driving mechanism (52C) and the lifting structure (31C) are connected to drive lifting of the lifting structure (31C), and the X-axis driving mechanism (53C) and the X-axis moving structure (4C) are connected to drive operation of the X-axis moving structure (4C).
5. The automatic cylinder processing system according to claim 4, wherein the slide carriage (51C) is further provided with an X-axis zero pointer assembly (54C) for restricting an X-axis initial position, a Z-axis zero pointer assembly (55C) for restricting a Z-axis initial position, and a travel switch (56C) for restricting an X-axis maximum displacement and a Z-axis maximum displacement.
6. A system for automatic processing of cylinders according to claim 3, characterized in that said X-axis moving structure (4C) comprises a first X-axis moving member (41C) and a second X-axis moving member (42C) capable of generating a relative movement, one of said first X-axis moving member (41C) and said second X-axis moving member (42C) being arranged on said X-axis beam (2C) and the other on said lifting structure (31C).
7. A cylinder automatic processing system according to claim 3, characterized in that the lifting structure (31C) comprises a Z-axis beam column (311C) and a first Z-axis moving member and a second Z-axis moving member capable of producing relative movements, one of which is provided on the Z-axis beam column (311C) and the other is provided on the X-axis moving structure (4C) or on the gripper assembly (32C).
8. The automatic cylinder processing system according to claim 3, wherein the gripper assembly (32C) further comprises a sensing switch (324C) disposed on the gripper bracket (321C), the sensing switch (324C) and the magnetic attraction mechanism (322C) are both in communication connection with the control unit, so as to detect whether a material exists below the gripper assembly (32C) through the sensing switch (324C) and control whether the magnetic attraction mechanism (322C) operates according to the detected material information.
9. The automated cylinder processing system of claim 8, wherein the gripper assembly (32C) further comprises a ranging sensor (325C) for measuring a distance of the material from the gripper assembly (32C), the ranging sensor (325C) being communicatively coupled to the control unit to control whether the magnetic attraction mechanism (322C) is operational based on whether the distance is less than a preset distance.
10. The automatic cylinder processing system according to claim 1, wherein the plate centering platform mechanism (D) comprises a platform assembly (1D) with a platform main body (100D), the platform main body (100D) is provided with a plate centering mechanism (101D) for centering the plate, a first driving mechanism (102D) for driving the plate centering mechanism (101D), an electromagnet mechanism (103D) for conveying the plate and a second driving mechanism (104D) for driving the electromagnet mechanism (103D), the plate centering mechanism (101D) can linearly move along the width direction of the platform main body (100D) under the driving of the first driving mechanism (102), and the electromagnet mechanism (103D) can absorb the plate and move along the length direction of the platform main body (100D) under the driving of the second driving mechanism (104D) so as to center and convey the plate; and
the first drive mechanism (102D) and the second drive mechanism (104D) are both in communication with the control unit, and the control unit is further configured to center the sheet by controlling the first drive mechanism (102D) and after centering, control the second drive mechanism (104D) to deliver the sheet to the sheet rounding module.
11. The automatic cylinder processing system according to claim 10, wherein a central region of the platform body (100D) is provided with a conveying channel (1000D) parallel to a length direction of the platform body (100D) and for the electromagnet mechanism (103D) to move, wherein an electromagnetic adsorption surface of the electromagnet mechanism (103D) is arranged to be flush with a plate bearing surface of the platform body (100D), or an electromagnetic adsorption surface of the electromagnet mechanism (103D) is arranged to protrude from the plate bearing surface and to be elastically supported so as to be capable of contacting a bottom surface of the plate to exert an adsorption force during operation; the utility model discloses a sheet material centering mechanism, including conveying passageway (1000) both sides interval be equipped with along a plurality of waist shape through-holes (1001D) that width direction of platform main part (100D) arranged, sheet material centering mechanism (101D) are located the bottom surface of platform main part (100D), and including locating conveying passageway (1000D) both sides and along centering pole (1010D) that conveying passageway (1000D) arranged, be equipped with on centering pole (1010D) and pass leading wheel (10104D) of waist shape through-hole (1001D).
12. The automatic cylinder processing system according to claim 11, wherein the centering rod (1010D) includes a plurality of guide wheel mounting portions (10100D) for mounting the guide wheels (10104D), a plurality of linear bearings (10101D), an orifice plate (10103D), and a zero pointer mounting portion (10102D) for mounting a zero pointer (10105D), the guide wheels (10104D) being mounted on top of the guide wheel mounting portions (10100D).
13. The automatic cylinder processing system according to claim 10, wherein the electromagnet mechanism (103D) comprises an electromagnetic propulsion slide carriage (1030D), a slider (1031D) and an electromagnet fixing portion (1032D) are provided on the electromagnetic propulsion slide carriage (1030D), the slider (1031D) is connected with the linear guide (106D), so as to drive the electromagnetic propulsion slide carriage (1030D) to move along the linear guide (106D), the electromagnet fixing portion (1032D) comprises a bottom plate (10320D) connected with the electromagnetic propulsion slide carriage (1030D) and an electromagnet fixing plate (10321D) for mounting an electromagnet, a spring positioning pin is provided between the electromagnet fixing plate (10321D) and the bottom plate (10320D) to form the elastic support, a compression spring (10322D) is sleeved on the spring positioning pin, and the electromagnet fixing plate (10321D) is fixedly connected with the bottom plate (10320D).
14. The automatic cylinder processing system according to claim 10, wherein the plate centering platform mechanism further comprises a universal ball (3D) provided on the platform body (100D) for conveying the plate material and a material blocking system (7D) connected with the platform body (100D) for preventing the plate material from being conveyed.
15. The automatic cylinder processing system according to claim 1, wherein the cylinder handling module comprises a cylinder conveying truss manipulator (F), the cylinder conveying truss manipulator (F) comprises an X-axis system assembly (1F), a linear slide rail (2F) arranged on the X-axis system assembly (1F), a slide carriage assembly (3F) in sliding connection with the linear slide rail (2F), a Y-axis system assembly (4F) connected on the slide carriage assembly (3F), a Z-axis lifting arm (5F) which is connected on one end of the Y-axis system assembly (4F) far from the slide carriage assembly (3F) and can move along an up-down direction, and a servo single-arm gripper mechanism (6F) which is connected on the lower end of the Z-axis lifting arm (5F), the servo single-arm gripper mechanism (6F) comprises a gripper body assembly (601F), a left-right symmetrical gripper assembly (602F), a screw assembly (603) and a gripper assembly (603) and a driving gripper assembly (604) which can drive the gripper assembly (604) and the gripper assembly (602) to move; and
the control unit is in communication connection with the barrel handling module and is configured to control the barrel handling module to grasp and handle the barrel to a next station.
16. The automatic cylinder processing system according to claim 15, wherein the cylinder handling module comprises a transfer trolley assembly (G) cooperating with the cylinder transfer truss manipulator (F), the transfer trolley assembly (G) comprising a ground rail assembly (8F), a cylinder transfer trolley (9F) and a cylinder support frame (10F), the cylinder transfer trolley (9F) being slidably mounted on the ground rail assembly (8F), the cylinder transfer trolley (9F) being mounted with the cylinder support frame (10F), the ground rail assembly (8F) comprising a trolley ground rail and a travel sensing assembly (11F) for determining the position of the cylinder transfer trolley (9F), the travel sensing assembly (11F) being mounted on the trolley ground rail and in communication connection with the control unit.
17. The automatic cylinder processing system according to claim 1, characterized in that the cylinder welding machine workstation (I) comprises a roller frame (1I) for loading and rotating the cylinder and a welding robot for welding the workpiece, the welding robot being located on one side of the roller frame (1I); the welding robot comprises a ground rail (2I), a welding and cooling system (3I), a robot arm (4I), a robot mounting seat (5I) and a welding wire barrel mounting seat (6I), wherein the robot mounting seat (5I) is slidably mounted on the ground rail (2I), the robot arm (4I) is mounted on the robot mounting seat (5I), the welding wire barrel mounting seat (6I) is mounted on one side of the robot mounting seat (5I), and the welding and cooling system (3I) is mounted on the other side of the robot mounting seat (5); and
The control unit is communicatively coupled to the barrel welding machine workstation (I) and configured to control the barrel welding machine workstation (I) to weld the received barrels.
18. The automatic cylinder processing system according to claim 1, further comprising a cylinder tilting machine (H) for receiving the welded cylinder, the cylinder tilting machine comprising a tilting mechanism (1H) and a driving mechanism (2H) for driving the tilting mechanism (1H) to tilt, the tilting mechanism (1H) comprising a main tilting frame (100H) for placing the cylinder, a vertical plate (101H) vertically connected to an upper surface of the main tilting frame (100H), and support plates (102H) connected to both sides of the tilting mechanism (1H) and located between the main tilting frame (100H) and the vertical plate (101H), one side of the tilting mechanism (1H) being connected to a first connecting shaft (11H), the other side of the tilting mechanism (1H) being connected to a second connecting shaft (3H), the first connecting shaft (11H) and the second connecting shaft (3H) being rotatable about the first connecting shaft (11H) and the second connecting shaft (3H) by driving of the driving mechanism (2H) so as to enable respective horizontal cylinder tilting states; and
The control unit is in communication connection with the barrel overturning machine and is configured to control the barrel overturning machine to overturn the received barrel.
19. The automated barrel processing system of any one of claims 1 to 18, comprising a plurality of process placement areas that are functionally independent in a dispersed island arrangement; and combining different process arrangement areas in the plurality of process arrangement areas with each other to form a plurality of L-shaped arrangement structures.
20. The automatic barrel processing system according to claim 19, wherein the plurality of process arrangement areas comprises a plate material incoming area (Q1), a plate material forming area (Q2), a barrel transfer area (Q3), a barrel welding area (Q4) and a barrel overturning area (Q5) which are arranged side by side, and a barrel post-welding buffer area (Q6) which are arranged in sequence, and a truss conveying area (Q7) for connecting the plate material forming area (Q2) and the barrel welding area (Q4) is arranged at one side of the automatic barrel processing system, wherein the plate material forming area (Q2) and the truss conveying area (Q7) are formed into an L-shaped arrangement structure; the barrel welding area (Q4) and the barrel overturning area (Q5) which are arranged side by side are respectively formed into an L-shaped arrangement structure with the barrel transferring area (Q3), and the barrel welding area (Q4) and the barrel overturning area (Q5) which are arranged side by side are respectively formed into an L-shaped arrangement structure with the barrel post-welding buffer area (Q6); and the truss transport zone (Q7) is arranged in a T-shape with the barrel transfer zone (Q7) so as to form a double-L-shaped arrangement.
21. The automatic cylinder processing system according to claim 20, wherein the plate material feeding area (Q1) is provided with a plate material conveying platform (a) and a plate material conveying truss manipulator (C), the plate material forming area (Q2) is provided with the plate material centering platform mechanism (D) and the plate material rolling module, the cylinder transferring area (Q3) and the truss conveying area (Q7) are provided with the cylinder carrying module, the cylinder welding area (Q4) is provided with the welding robot workstation (I), and the cylinder overturning area (Q5) is provided with a cylinder overturning machine (H).
22. The automated cylinder processing system of any one of claims 1 to 18, comprising a plurality of process placement areas that are functionally independent, the plurality of process placement areas being formed in a straight or U-shaped layout pattern.
23. The cylinder processing method is characterized by comprising the following steps of:
firstly, automatically conveying a plate material from a plate material buffer position to a centering station;
secondly, centering the plate material in the centering station, and detecting whether the plate material is centered in place or not;
thirdly, conveying the centered plate to a plate rolling station for rolling into a cylinder, and spot welding and fixing the joint opening of the rolling cylinder;
Fourth, the cylinder is conveyed to a welding station, and welding treatment is carried out on the cylinder.
24. The method of claim 23, wherein the method further comprises the steps of,
in the third step, in the rolling process of the plate, the plate end edges at two sides of the joint position of the cylinder body are pre-bent for 3-5mm more towards the inside of the cylinder body.
25. The method according to claim 23, wherein in the fourth step, a multi-layer welding process is used for the welding of the inner side of the cylinder, and the welding line is first subjected to a backing welding, wherein the current intensity of the backing welding is 180-200A, and the welding voltage is 24-26V; further carrying out filling cover surface welding, wherein the current intensity of the filling cover surface welding is 260-300A, and the welding voltage is 26-30V; after the inner side welding is finished, rotating the cylinder body to enable the welding line at the joint opening to rotate to the upper part, adopting a multi-layer welding process for the welding at the outer side of the cylinder body, and firstly carrying out backing welding on the welding line, wherein the current intensity of the backing welding is 180-200A, and the welding voltage is 24-26V; and further carrying out filling cover welding, wherein the current intensity of the filling cover welding is 260-300A, and the welding voltage is 26-30V.
26. An automatic cylinder processing process characterized by employing the automatic cylinder processing system according to any one of claims 1 to 22 and automatically processing a cylinder according to the cylinder processing method according to any one of claims 23 to 25.
CN202310388792.3A 2023-04-12 2023-04-12 Barrel automatic processing system, barrel processing method and barrel automatic processing technology Pending CN116511835A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310388792.3A CN116511835A (en) 2023-04-12 2023-04-12 Barrel automatic processing system, barrel processing method and barrel automatic processing technology

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310388792.3A CN116511835A (en) 2023-04-12 2023-04-12 Barrel automatic processing system, barrel processing method and barrel automatic processing technology

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117226403A (en) * 2023-11-09 2023-12-15 风通动力环境科技(成都)有限公司 Valve frame welding device
CN117620644A (en) * 2024-01-24 2024-03-01 泉州世珍工程车辆配件有限公司 Track guide wheel assembly line and process
CN118989979A (en) * 2024-08-13 2024-11-22 山东宋新楼机器人有限公司 Intelligent welding production line for acetylene steel cylinders

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117226403A (en) * 2023-11-09 2023-12-15 风通动力环境科技(成都)有限公司 Valve frame welding device
CN117226403B (en) * 2023-11-09 2024-02-06 风通动力环境科技(成都)有限公司 Valve frame welding device
CN117620644A (en) * 2024-01-24 2024-03-01 泉州世珍工程车辆配件有限公司 Track guide wheel assembly line and process
CN117620644B (en) * 2024-01-24 2024-04-26 泉州世珍工程车辆配件有限公司 Track guide wheel assembly line and process
CN118989979A (en) * 2024-08-13 2024-11-22 山东宋新楼机器人有限公司 Intelligent welding production line for acetylene steel cylinders

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