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

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

Automatic cylinder processing system, cylinder processing method and cylinder automatic processing technology

technical field

The invention relates to a barrel production system, in particular to an automatic barrel processing system. In addition, the invention also relates to a barrel processing method and an automatic barrel processing process.

Background technique

In production practice, due to the universality of the cylinder body (hereinafter referred to as "the cylinder body"), the processing of the cylinder body is often involved. Typically, as shown in Figures 1 to 3, the cylinder body 1a of the pump truck chassis is a notched, For cylinder structures with round holes, waist-shaped holes, etc., the butt welds of the cylinder are double-sided groove welds, and the gaps, round holes, and waist-shaped holes on the cylinder need to be cut out after the cylinder is formed. The above-mentioned cylinder 1a is generally The sheet material is rolled into a circle, and the sheet material 2a is unfolded as shown in FIG. 4 .

In the production process of various cylinders, the transfer between the various processes in the prior art is carried out by manual operation of the crane for lifting and manual loading of the plate rolling machine. The degree of automation is low, and the product quality depends on the experience of the workers. Unstable, its main production and processing methods are as follows: the first step is to manually cut the plate according to the needs; the second step is to manually transport the cylinder plate 2a through a three-roller plate rolling machine and roll it into a circle, and manually close the cylinder Point solid, hoist the crane out of the plate rolling machine to get the coiled cylinder; the third step is to weld the coiled cylinder on one side, manually push it over on the flat ground, clean and polish the other side, and then weld the other side Weld seam 3a, weld the inner and outer weld seams 3a on the coiled cylinder (the weld seam structure is shown in the enlarged view of Figure 3), and obtain the cylinder body. The fourth step is to manually put the cylinder on the plate rolling machine again to correct the circle, and obtain the formed part of the cylinder

That is to say, the production equipment and production process of the above-mentioned prior art are basically scattered processing equipment, which need to be transported back and forth by workers, welding operations, turning the cylinder, etc., the degree of automation is not high, the work is heavy, and the processing efficiency is extremely low. The processing quality is not high, and due to the heaviness of the cylinder, production accidents are prone to occur.

Generally speaking, there is following shortcoming in the barrel production process of prior art:

First, the technological process and equipment configuration are relatively conventional, mainly relying on manual handling and operation by workers, with low work efficiency, poor processing quality, high labor intensity, and safety risks;

Second, manual welding is used, and the welding deformation is large. The existing technology cannot be rolled into a circle at one time, and needs to be corrected after welding, and the efficiency of manual work is low;

In view of this, it is necessary to provide a new type of barrel processing equipment to solve one or more of the above-mentioned shortcomings in the above-mentioned prior art.

Contents of the invention

The technical problem to be solved by the present invention is to provide an automatic cylinder processing system welding, which has a high degree of automation, high processing efficiency and high processing quality, which can reduce the processing deformation of the cylinder and reduce the labor intensity of workers. High production safety.

In addition, the technical problem to be solved by the present invention is to provide a barrel processing method, which has high processing efficiency and high processing quality, can reduce the processing deformation of the barrel, simplify the process, and reduce the complexity and difficulty of barrel production .

Furthermore, the technical problem to be solved by the present invention is to provide an automatic processing technology for cylinders, which has a higher degree of processing automation, high processing quality, can reduce the deformation of cylinders during processing, simplify the process, and reduce the complexity of cylinder production and difficulty.

In order to solve the above technical problems, the present invention provides an automatic cylinder processing system, which includes: a sheet material handling module for transferring the sheet material from the sheet material buffer position to the centering station; a sheet material centering platform mechanism , arranged on the centering station, and used for centering the received sheet; the sheet rolling module, used for receiving the centered sheet, and rolling the sheet cylinder body; a cylinder body handling module, used to transport the cylinder body; a cylinder body welding machine workstation, used to receive the cylinder body and perform welding; and a control unit, used to coordinately control the sheet material handling module, the The sheet material centering platform mechanism, the sheet material rolling module, the cylinder body handling module and the cylinder body welding machine workstation are used to complete the automatic processing of the cylinder body.

As a specific structural form, the cylinder automatic processing system also includes a sheet material conveying platform, and the sheet material conveying platform is provided with a positioning structure for loading the sheet material and is used to transport the sheet material to the plate The material buffer position, the sheet material conveying platform includes a platform structure, a plurality of rack guide seats arranged on the platform structure, a guide rail assembly located at the bottom of the platform structure, and a guide rail assembly for driving the platform structure The telescopic assembly, the upper end surface of each rack guide seat is formed as an inclined surface used as the positioning structure, the telescopic assembly can drive the platform structure to move along the guide rail assembly to enter and exit the device fixed position; and the plate conveying platform further includes a conveying platform position detecting device, and the conveying platform position detecting device and the telescopic assembly are both in communication connection with the control unit.

Typically, the panel handling module is a panel conveying truss manipulator, and the panel conveying truss manipulator includes a fixed structure, an X-axis crossbeam, a gripper structure, and a structure connected between the X-axis crossbeam and the gripper structure X-axis moving structure, the X-axis beam is connected to the fixed structure, the gripper structure includes a lifting structure and a gripper assembly connected to the lifting structure, and the lifting structure is connected to the X-axis moving structure through the X-axis moving structure The X-axis crossbeam is connected, the gripper assembly includes a gripper bracket and a magnetic attraction mechanism connected to the gripper bracket; and the control unit is communicatively connected with the sheet material handling module, and is configured to When the blank is transported to the set position, the blank transport module is controlled to transport the blank to the centering station.

More specifically, the plate conveying truss manipulator also includes a slide plate assembly, the slide plate assembly includes a slide plate and a Z-axis drive mechanism and an X-axis drive mechanism installed on the slide plate, the Z-axis The driving mechanism is connected to the lifting structure to drive the lifting structure, and the X-axis driving mechanism is connected to the X-axis moving structure to drive the X-axis moving structure to work.

Preferably, 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 maximum displacement of the X-axis and a Z-axis Travel switch with maximum displacement.

Further, the X-axis moving structure includes a first X-axis moving part and a second X-axis moving part capable of relative movement, one of the first X-axis moving part and the second X-axis moving part One is set on the X-axis beam, and the other is set on the lifting structure.

Further, the lifting structure includes a Z-axis beam column and a first Z-axis moving part and a second Z-axis moving part capable of relative movement, the first Z-axis moving part and the second Z-axis moving part One of them is set on the Z-axis beam column, and the other is set on the X-axis moving structure or on the gripper assembly.

Especially preferably, the gripper assembly further includes an induction switch arranged on the gripper bracket, the induction switch and the magnetic attraction mechanism are both communicatively connected with the control unit, so as to detect the Whether there is material under the gripper assembly and control whether the magnetic attraction mechanism works according to the detected material information.

More preferably, the gripper assembly further includes a distance measuring sensor for measuring the distance between the material and the gripper assembly, and the distance measuring sensor communicates with the control unit to Set the distance to control whether the magnetic suction mechanism works.

As a preferred structural form, the plate centering platform mechanism includes a platform assembly with a platform body, and the plate body is provided with a plate centering mechanism for centering the plate, and is used to drive the plate The first drive mechanism of the centering mechanism, the electromagnet mechanism for conveying the sheet material and the second drive mechanism for driving the electromagnet mechanism, the sheet material centering mechanism is driven by the first drive mechanism The bottom can move linearly along the width direction of the platform main body, the electromagnet mechanism can absorb the sheet material and move along the length direction of the platform main body driven by the second driving mechanism, so as to be able to performing centering and conveying of the plate; and both the first drive mechanism and the second drive mechanism are communicatively connected to the control unit, and the control unit is also configured to control the first drive mechanism to the plate center the material, and control the second driving mechanism to transport the plate to the plate rolling module after centering.

Preferably, the central area of the platform body is provided with a conveying channel parallel to the length direction of the platform body and for the movement of the electromagnet mechanism, wherein the electromagnetic adsorption surface of the electromagnet mechanism is set to be aligned with the platform body. The sheet material bearing surface is flush, or the electromagnetic adsorption surface of the electromagnet mechanism is set to protrude from the sheet material bearing surface and elastically supported, so as to be able to contact the bottom surface of the sheet material during the working process to apply the adsorption force; Both sides of the conveying channel are provided with a plurality of waist-shaped through holes arranged along the width direction of the platform main body at intervals. The sheet centering mechanism is arranged on the bottom surface of the platform main body, and includes a Centering rods arranged on both sides of the channel and along the conveying channel, the centering rods are provided with guide wheels passing through the waist-shaped through hole.

More preferably, the centering rod includes a plurality of guide wheel installation parts for installing the guide wheel, a plurality of linear bearings, an orifice plate and a zero pointer installation part for installation of the zero pointer, and the guide wheel Installed on the top of the guide wheel installation part.

Preferably, the electromagnet mechanism includes an electromagnetic propulsion slide plate, on which a slider and an electromagnet fixing part are arranged, and the slider is connected with the linear guide rail, so as to drive the electromagnetic propulsion slide The plate slides along the linear guide rail, the electromagnet fixing part includes a bottom plate connected with the electromagnetic propulsion slide plate and an electromagnet fixing plate for installing the electromagnet, and the electromagnet fixing plate and the bottom plate A spring positioning pin is provided to form the elastic support, a compression spring is sheathed on the spring positioning pin, and the electromagnet fixing plate is fixedly connected to the bottom plate.

More preferably, the plate centering platform mechanism further includes a universal ball arranged on the platform body for conveying the plate and a blocking system connected with the platform body for preventing the plate from being conveyed.

As a specific structural form, the cylinder handling module includes a cylinder conveying truss manipulator, and the cylinder conveying truss manipulator includes an X-axis system assembly, a linear slide rail arranged on the X-axis system assembly, and the The slide assembly connected by sliding with the linear slide rail, the Y-axis system assembly connected to the slide assembly, and the end of the Y-axis system assembly away from the slide assembly can be connected along the The Z-axis lifting arm moving up and down and the servo single-arm gripper mechanism connected to the lower end of the Z-axis lifting arm, the servo single-arm gripper mechanism includes a clamp body assembly, and the clamp body assembly is equipped with left and right a symmetrical jaw assembly, a clamp screw assembly, and a clamp drive assembly connected to the clamp screw assembly, the clamp drive assembly can drive the clamp screw assembly to rotate, and drive the clamp jaw assembly to move, to be able to clamp and release the cylinder; and the control unit is communicatively connected with the cylinder conveying module, and is configured to control the cylinder conveying module to grasp and convey the cylinder to the next station.

Preferably, the cylinder handling module includes a transfer trolley assembly that cooperates with the cylinder conveying truss manipulator, and the transfer trolley assembly includes a ground rail assembly, a cylinder transfer trolley and a cylinder support frame, and the cylinder The transfer trolley is slidably installed on the ground rail assembly, the cylinder support frame is installed on the cylinder transfer trolley, and the ground rail assembly includes a trolley ground rail and a stroke for determining the position of the cylinder transfer trolley A sensing component, the stroke sensing component is installed on the ground rail of the trolley and communicated with the control unit.

As a typical optional structure, the cylinder welding machine workstation includes a roller frame for loading and rotating the cylinder and a welding robot for welding the workpiece, and the welding robot is located on the roller frame One side; the welding robot includes a ground rail, a welding and cooling system, a robot arm, a robot mount and a welding wire drum mount, the robot mount is slidably mounted on the ground rail, and the robot arm is mounted on the On the robot mounting base, the welding wire cylinder mounting base is installed on one side of the robot mounting base, and the welding and cooling system is installed on the other side of the robot mounting base; and the control unit and the cylinder The welding machine workstation is communicatively connected and configured to control the cylinder welding machine workstation to weld the received cylinder.

As an optional specific structure, the cylinder automatic processing system also includes a cylinder turning machine for receiving the welded cylinder, and the cylinder turning machine includes a turning mechanism and a drive for driving the turning mechanism to turn over mechanism, the turning mechanism includes a main turning frame for placing the cylinder, a vertical plate connected vertically to the upper surface of the main turning frame, and a vertical plate connected to both sides of the turning mechanism and located between the main turning frame and The support plate between the vertical plates, one side of the turning mechanism is connected with the first connecting shaft, the other side of the turning mechanism is connected with the second connecting shaft, the first connecting shaft and the second connecting shaft Driven by the driving mechanism, the connecting shaft can rotate around the respective centerlines of the first connecting shaft and the second connecting shaft, so that the cylindrical body can be turned from a horizontal state to a vertical state; And the control unit is communicatively connected with the cylinder turning machine, and is configured to control the cylinder turning machine to turn over the received cylinder.

As a preferred layout of processing equipment, the cylinder automatic processing system includes multiple process layout areas with independent functions in a dispersed island arrangement; and different process layout areas in the multiple process layout areas are combined with each other Formed into a plurality of L-shaped arrangements.

Preferably, the plurality of process layout areas include a sheet material incoming area, a sheet forming area, a cylinder transfer area, a cylinder welding area and a cylinder turning area arranged side by side, and a cylinder post-welding buffer area arranged in sequence , and on one side of the cylinder automatic processing system, there is a truss conveying area for connecting the plate forming area and the cylinder welding area, wherein the plate forming area and the truss conveying area are formed as L Arrangement structure; cylinder welding zone and cylinder turning zone arranged side by side each form an L-shaped arrangement structure with the cylinder transfer zone, and the cylinder welding zone and cylinder turning zone arranged side by side are respectively connected to the cylinder The post-weld buffer zone is formed into an L-shaped layout structure; and the truss delivery zone and the cylinder transfer zone are arranged in a T-shaped layout to form a double L-shaped layout structure.

Specifically, the sheet material incoming area is provided with a sheet material conveying platform and a sheet material conveying truss manipulator, and the sheet material forming area is provided with the sheet material centering platform mechanism and the sheet material rolling module. The cylinder transfer area and the truss conveying area are provided with the cylinder handling module, the cylinder welding area is provided with the welding robot workstation, and the cylinder turning area is provided with a cylinder turning machine.

Preferably in parallel, the cylinder automatic processing system includes a plurality of process layout areas with independent functions, and the multiple process layout areas are formed in a line or U-shape layout.

Corresponding to the above-mentioned cylinder automatic processing system of the present invention, the present invention also provides a cylinder processing method, which includes the following steps: first, automatically transport the blank from the blank buffer position to the centering station ; Second, center the sheet at the centering station, and detect whether the sheet is centered in place; third, transport the centered sheet to the sheet coil The round station winds the cylinder into a cylinder, and fixes the butt joint position of the coiled cylinder by spot welding; fourth, transports the cylinder to the welding station, and performs welding on the cylinder.

Preferably, in the third step, during the rounding process of the sheet material, the edges of the sheet material ends on both sides of the joint of the cylinder body are all pre-bent toward the inside of the cylinder body by 3- 5mm.

More specifically, in the fourth step, a multi-layer welding process is used for the welding on the inner side of the cylinder, and the welding seam is firstly subjected to back welding, and the current intensity of the back welding is 180-200A , the welding voltage is 24-26V; and then the filling cover welding is carried out, the current intensity of the filling cover welding is 260-300A, and the welding voltage is 26-30V; after the inner welding is completed, the cylinder is rotated so that the The welding seam at the position of the butt joint is rotated to the upper part, and the welding on the outer side of the cylinder adopts a multi-layer welding process, and the welding seam is firstly grounded, and the current intensity of the grounding welding is 180-200A , the welding voltage is 24-26V; and then the filling cover welding is carried out, the current intensity of the filling cover welding is 260-300A, and the welding voltage is 26-30V.

In addition, the present invention also provides an automatic barrel processing process with a higher degree of automation. The automatic barrel processing process adopts the automatic barrel processing system according to any of the above technical solutions, and according to any of the above technical solutions, The cylinder processing method automatically processes the cylinder.

Through the above-mentioned technical scheme of the present invention, the cylinder automatic processing system of the present invention carefully arranges each functional module equipment according to the processing process involved in the cylinder processing, specifically, the sheet material is transferred from the sheet material buffer position through the sheet material handling module Transfer to the automatic centering platform mechanism for automatic centering of the sheet metal, and then transport it to the sheet metal rolling module for rolling forming. After the rolling is completed, manually spot-weld the position of the joint of the cylinder body to fix it into a cylinder body , and then the cylinder body handling module grabs the cylinder body to the roller frame of the welding robot workstation for butt weld welding of the cylinder body. Through the cylinder automatic processing system of the present invention, there is very little manual participation in the entire processing process of the cylinder, the degree of automation is high, the processing quality and processing efficiency of the cylinder are high, it can reduce the deformation of the cylinder during processing, reduce the labor intensity of workers, and ensure production safety high sex.

In the preferred mode of the cylinder body processing method of the present invention, when forming the joint into a round shape, the edges of the sheet metal on both sides of the cylinder body at the joint position are all pre-bent towards the inside of the cylinder body to an appropriate size, and when welding, the inside is welded first. , the inner side shrinks and deforms after welding, and then welds the outer side. The shrinking deformation of the outer side and the shrinking deformation of the inner side cancel each other out. Subsequent round calibration, which further improves the processing quality of the cylinder and reduces the work intensity. The butt weld of the cylinder body is fully dissolved, and can meet the requirements of ultrasonic flaw detection without root cleaning. The workers have a good working environment, and the work efficiency is improved. At the same time, auxiliary materials for root cleaning are also saved; the double-sided welding of the cylinder butt welding is carried out by welding robots The roller frame of the workstation is turned over to reduce labor intensity, save work space and work safely.

In addition, the cylinder automatic processing system of the present invention, in a preferred mode, includes a plurality of process layout areas with independent functions. The sequence is combined with each other to form a plurality of L-shaped arrangement structures, and the concentrated area is arranged horizontally, which not only greatly saves the production space, but also facilitates handling and production, which greatly reduces the complexity and difficulty of cylinder production.

Other features and advantages of the present invention will be described in detail in the following detailed description.

Description of drawings

The following drawings are used to provide a further understanding of the present invention, and constitute a part of the description, which are used together with the following specific embodiments to explain the present invention, but the scope of protection of the present invention is not limited to the following drawings and specific implementation Way. In the attached picture:

Fig. 1 is a front view structural schematic diagram of a commonly used pump truck underframe cylinder structure in the prior art;

Fig. 2 is a top view structural diagram of the cylinder structure of the underframe of the pump truck shown in Fig. 1;

Fig. 3 is the partial enlarged view of part I in Fig. 2, has shown the welding seam that welding method welding of prior art forms in the figure;

Fig. 4 is a drawing of the unfolded sheet of the hollowed-out cylindrical structural part of the pump truck chassis shown in Fig. 1 before rolling and forming, wherein the bottom gap of the hollowed-out cylindrical structural part of the pump truck chassis shown in Fig. 1 has been processed through other processing procedures Processing and forming;

Fig. 5 is a schematic diagram of an intermediate semi-finished product formed into a cylinder by rolling the unfolded sheet material shown in Fig. 4;

Fig. 6 is a schematic layout diagram of a typical cylinder body production area in the prior art;

7 is a schematic diagram of the overall three-dimensional structure of the cylinder automatic processing system according to the specific embodiment of the present invention;

Fig. 8 is a structural schematic diagram of a specific embodiment of the plate conveying platform in the automatic cylinder processing system of the present invention;

Fig. 9 is a schematic structural view of a sheet material rack for sheet material feeding used in conjunction with the cylinder automatic processing system of the present invention;

Fig. 10 is a structural schematic diagram of a sheet material conveying truss manipulator in a specific embodiment;

Fig. 11 is a schematic structural view of the gripper assembly in Fig. 10;

Fig. 12 is an enlarged schematic view of the V2 part in Fig. 11;

Fig. 13 is a structural schematic diagram of the shock absorbing mechanism in the plate conveying truss manipulator shown in Fig. 10;

Fig. 14 is a schematic diagram of the enlarged structure of the V1 part in Fig. 10;

Fig. 15 is a schematic structural view of the slide plate assembly in the plate conveying truss manipulator shown in Fig. 10;

Fig. 16 is a schematic diagram of the installation position of the plate centering platform mechanism according to the specific embodiment of the present invention;

Fig. 17 is a side view of the plate centering platform mechanism in Fig. 2;

Fig. 18 is a schematic structural view of a specific embodiment of the plate centering platform mechanism of the present invention;

Fig. 19 is a top view of the plate centering platform mechanism in Fig. 18;

Fig. 20 is a structural schematic diagram of a specific embodiment of the platform assembly in the plate centering platform mechanism of the present invention;

Figure 21 is a front view of the platform assembly shown in Figure 20;

Figure 22 is a top view of the platform assembly shown in Figure 20;

Fig. 23 is a structural schematic diagram of a specific embodiment of the second driving mechanism in the plate centering platform mechanism of the present invention;

Fig. 24 is a structural schematic diagram of a specific embodiment of the first driving mechanism in the plate centering platform mechanism of the present invention;

Fig. 25 is a schematic structural view of a specific embodiment of the sheet centering mechanism in the sheet centering platform mechanism of the present invention;

Fig. 26 is a structural schematic diagram of a specific embodiment of the electromagnet mechanism in the plate centering platform mechanism of the present invention;

Fig. 27 is a structural schematic diagram of a specific embodiment of the retaining system in the plate centering platform mechanism of the present invention;

Fig. 28 is a structural schematic diagram of a specific embodiment of the cylinder conveying truss manipulator of the present invention;

Fig. 29 is a top view of the cylinder conveying truss manipulator shown in Fig. 28;

Fig. 30 is a left view of the cylinder conveying truss manipulator shown in Fig. 28;

Fig. 31 is a structural schematic diagram of a specific embodiment of the servo single-arm gripper mechanism in the cylinder conveying 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 structural schematic diagram of a specific embodiment of the clamp screw assembly in the manipulator of the cylinder conveying truss of the present invention;

Fig. 34 is a perspective view of a specific embodiment of the cylinder welding robot workstation in the present invention, wherein the cylinder is placed on the roller frame;

Fig. 35 is a side view of the roller frame in the cylinder welding robot workstation shown in Fig. 34;

Fig. 36 is a perspective view of the roller frame in the cylinder welding robot workstation shown in Fig. 34;

Fig. 37 is a perspective view of the turning mechanism in the cylinder welding robot workstation shown in Fig. 34;

Fig. 38 is a cross-sectional view of the turning mechanism in the cylinder welding robot workstation shown in Fig. 34;

Fig. 39 is a perspective view of the transfer trolley assembly in the cylinder welding robot workstation shown in Fig. 34;

Fig. 40 is a side view of the transfer trolley assembly in the cylinder welding robot workstation shown in Fig. 34;

Fig. 41 is a front view of the transfer trolley assembly in the cylinder welding robot workstation shown in Fig. 34;

Fig. 42 is one of the perspective views of a specific embodiment of the cylinder turning machine of the present invention;

Fig. 43 is one of the perspective views of a specific embodiment of the cylinder turning machine of the present invention;

Fig. 44 is a schematic diagram of the layout structure of the cylinder automatic processing system in the preferred embodiment of the present invention;

Fig. 45 is a block diagram of the steps of the barrel processing method according to the specific embodiment of the present invention;

Fig. 46 is a block diagram of a welding step in the barrel processing method of the present invention.

Explanation of reference numerals of the present invention:

Q1 sheet material incoming area; Q2 sheet material forming area;

Q3 barrel transfer area; Q4 barrel welding area;

Q5 barrel turning area; Q6 barrel post-welding buffer area;

Q7 truss conveying area; Q8 workshop passage;

A plate conveying platform;

1A platform structural parts; 2A material rack guide seat;

201A inclined surface; 3A guide rail assembly;

301A guide rail; 302A travel track limit seat;

303A travel switch assembly; 304A photoelectric switch assembly;

4A telescopic assembly; 401A oil cylinder;

402A oil cylinder shield; 403A oil cylinder tailstock mounting assembly;

B sheet material rack;

1B sheet frame structure; 2B positioning pin;

C sheet material conveying truss manipulator;

1C fixed structure; 2C X-axis beam;

3C gripper structure; 4C X-axis moving structure;

5C slide plate assembly; 11C first fixed component;

12C second fixing component; 111C first fixing column;

112C Y-axis beam; 31C lifting structure;

32C gripper assembly; 311C Z-axis beam column;

321C grip bracket; 322C magnetic mechanism;

323C shock absorbing mechanism; 324C induction switch;

325C ranging sensor; 3231C axis;

3232C first compression part; 3233C shaft sleeve;

3234C second compression part; 3235C gasket;

41C first X-axis moving part; 42C second X-axis moving part;

51C sliding plate; 52C Z-axis drive mechanism;

53C X-axis drive mechanism; 54C X-axis zero pointer assembly;

55C Z-axis zero pointer assembly;

D sheet centering platform mechanism;

1D platform components; 100D platform main body;

1000D conveying channel; 1001D waist-shaped through hole;

101D sheet centering mechanism; 1010D centering rod;

10100D guide wheel installation part; 10101D linear bearing;

10102D zero pointer installation part; 10103D orifice plate;

10104D guide wheel; 10105D zero pointer;

102D first driving mechanism; 1020D first servo motor;

1021D synchronous belt; 1022D synchronous pulley;

1023D ball screw; 1024D support seat;

1025D first servo motor tension screw seat; 103D electromagnet mechanism;

1030D electromagnetic propulsion slide plate; 1031D slider;

1032D electromagnet fixing part; 10320D bottom plate;

10321D electromagnet fixed plate; 10322D compression spring;

1033D link head; 1034D zero point nameplate fixing plate;

104D second driving mechanism; 1040D second servo motor;

1041D driving sprocket; 1042D driven sprocket;

1043D chain; 1044D driven sprocket shaft;

1045D bearing seat; 1046D second servo motor tensioning screw seat;

105D guide shaft; 106D linear guide rail;

107D limit block; 108D first zero nameplate;

2D platform support; 3D universal ball;

4D drag chain system; 5D lubrication system;

6D chain tensioning device; 7D stop material system;

700D cylinder; 701D solenoid valve group;

702D connecting rod; 703D rotating shaft;

704D bearing seat; 705D rotating stop lever;

706 stop material switch signal element;

E four-roll plate rolling machine;

F cylinder conveying truss manipulator;

1F X-axis system assembly; 2F Linear slide rail;

3F slide plate assembly; 4F Y-axis system assembly;

5F Z-axis lifting arm; 6F Servo single-arm gripper mechanism;

601F clamp body assembly; 602F clamp jaw assembly;

603F clamp screw assembly; 6031F first screw rod;

6032F intermediate shaft; 6033F second screw;

6034F coupling shaft; 6035F bearing seat assembly;

6036F screw nut support seat; 6037F screw support seat;

6038F synchronous pulley; 6039F jaw mount;

604F fixture drive assembly; 605F shield;

7F maintenance platform; 8F column;

9F Dust removal mechanism; 10F Cylinder fixing components;

H cylinder turning machine;

1H turning mechanism; 100H main turning frame;

101H vertical plate; 102H support plate;

2H drive mechanism; 3H second connecting shaft;

4H second flange; 5H first bearing;

6H bearing seat; 7H support structure;

8H hinge mechanism; 9H base;

10H fence; 11H first connecting shaft;

12H mount; 13H connector;

I Cylindrical welding robot workstation; G transfer trolley assembly;

1I roller frame; 11I turning mechanism;

12I chain drive mechanism; 13I roller frame column;

14I drag chain mechanism; 111I guide wheel fixture adapter device;

112I overturn drive mechanism; 113I conductive mechanism;

114I front roller; 115I rear roller;

116I flat key; 117I connecting shaft;

2I ground rail; 3I welding and cooling system;

4I robot arm; 5I robot mount;

6I welding wire barrel mount; 7I drag chain;

8I ground rail assembly; 9I cylinder transfer trolley;

10I cylinder support frame; 11I stroke sensing components.

Detailed ways

The following specific embodiments of the present invention will be described in detail in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present invention, and the scope of protection of the present invention is not limited to the following specific embodiments. .

It is stated in advance that unless otherwise clearly stipulated and limited, the terms "installation", "connection", "installation" and "installation" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, Or an integral connection; it may be a direct connection or an indirect connection through an intermediary, it may be a butting, it may be the internal communication of two elements or the interaction relationship between two elements. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In addition, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "inner", "outer" etc. is based on the direction or positional relationship shown in the drawings, It is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. In addition, the terms "first" and "second" are only used for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, the terms "first", "second" are limited to A "second" feature may explicitly or implicitly include one or more of said features.

The following first describes the basic implementation of the automatic barrel processing system of the present invention and the specific implementation of each functional module therein. On this basis, the dynamic working process of the relatively comprehensive and comprehensive automatic barrel processing system of the present invention will be further described.

Referring to Fig. 7, the cylinder automatic processing system according to the basic embodiment of the present invention includes: a sheet material handling module, which is used to transport the sheet material from the set position to the centering station; a sheet material centering platform Mechanism C is set on the centering station and is used to center the received sheet material; the sheet material rolling module is used to receive the centered sheet material and place the sheet material The cylinder is rolled into a cylinder; the cylinder handling module is used to transport the cylinder; the cylinder welding machine workstation 1 is used to receive the cylinder and perform welding; and the control unit is used to coordinate the control of the sheet material handling module, the sheet material centering platform mechanism C, the sheet material rolling module, the cylinder body handling module and the cylinder body welding machine workstation I to complete the automatic processing of the cylinder body.

Through the cylinder automatic processing system of the above-mentioned basic embodiment of the present invention, since each functional module equipment is carefully arranged according to the processing process involved in cylinder processing, specifically, the blank is transported from the blank buffer position to the The automatic centering platform mechanism D performs automatic centering of the sheet metal, and after automatic centering, it is transported to the four-roller plate rolling machine E for round forming. After the rolling is completed, the position of the joint of the cylinder body is manually spot-welded to fix the cylinder body , and then the cylinder conveying truss manipulator F grabs the cylinder to the welding robot workstation I roller frame for butt weld welding of the cylinder. Through the cylinder automatic processing system of the present invention, there is very little manual participation in the entire processing process of the cylinder, the degree of automation is high, the processing quality and processing efficiency of the cylinder are high, it can reduce the deformation of the cylinder during processing, reduce the labor intensity of workers, and ensure production safety high sex.

In order to facilitate a detailed understanding of the technical solution of the present invention, as far as the functional module equipment of the automatic barrel processing system of the present invention is concerned, their respective specific structural forms and respective advantages are described in detail below.

Sheet conveying platform A

In a preferred embodiment, the cylinder automatic processing system of the present invention may also include a plate conveying platform A, which may be provided with a positioning structure for loading the plate and used to transport the plate to the plate Buffering position, as shown in Figure 8, the above-mentioned sheet material conveying platform A includes a platform structure 1A, a plurality of material rack guide seats 2A arranged on the platform structure 1A, arranged on the platform structure along the width direction of the platform structure 1A The guide rail assembly 3A at the bottom of the part, and the telescopic assembly 4A located in the middle of the platform structure 1A, the upper end surface of each of the rack guide seats 2A is formed as an inclined surface 201A, and each of the inclined surfaces 201A is formed by the platform. The outer circumference of the structural member 1A is inclined towards the central area, and the telescopic assembly 4A can drive the platform structural member 1A to move along the guide rail assembly 3A to enter and exit the set position; and the plate conveying platform A also includes a conveying platform The position detection device (specifically, such as the following travel switch assembly and photoelectric switch assembly, etc.), the conveying platform position detection device and the telescopic assembly 4A are all communicatively connected to the control unit.

What needs to be added here is that, in the actual production process, the blank buffer position generally includes the blank rack B. Referring to FIG. 9, the blank rack B includes the blank rack structure 1B and the The positioning pin 2B provided on the periphery of the upper plane of 1B, that is, the positioning pins in the length and width directions are arranged on the upper plane of the structural member 1B on the sheet material frame, so that after the sheet material is loaded, it can be placed on the sheet material frame B. Perform positioning in the length and width directions. After the sheets are positioned on the sheet material rack B, they can be loaded together onto the sheet material conveying platform A of the present invention to enter the hollow cylinder processing system, that is, enter the automatic processing production line.

As far as the sheet material conveying platform A is concerned, specifically, a plurality of rack guide seats 2A are arranged on the planes at both ends of the platform structure 1A in the length direction of the sheet material transfer platform A, and the rack guide seats at both ends 2A is symmetrically arranged, and the upper end surface of a single shelf guide seat 2A is formed with an inclined surface 201A, and the inclined surface 201A on each shelf guide seat 2A is inclined downward from the surroundings to the center, so that why the multiple inclined surfaces are funnel-shaped, plate The material rack abuts against the inclined surface 201A, so that the plate material rack can be positioned in the length and width directions of the platform structure 1A. Moreover, each material rack guide seat 2A arranged at both ends of the length direction makes the positioning distance longer, and the sheet material rack B is within the positioning position set by the material rack guide seat 2A, so that the positioning of the sheet material rack B is more accurate , which makes the blanks on the blank rack B have higher position accuracy and ensure the blanking accuracy.

After the preliminary processing of the plate is completed, the telescopic assembly 4A arranged in the middle of the platform structure 1A drives the platform structure 1A to move along the guide rail assembly 3, which is convenient for the grabbing structure to grab the plate, so that the plate enters the next process , because the surrounding surfaces of the sheet material rack B are all against the inclined surface 201A, so that the platform structure 1A will not cause displacement or inclination of the sheet material rack B during the movement process, and the sheet material rack B follows the platform After the structural part 1A is moved, it can also ensure that the plate has a high positioning accuracy.

It is conceivable that the funnel shape surrounded by a plurality of inclined surfaces 201A can not only effectively position the sheet material rack B, improve the positioning accuracy, but also effectively prevent the sheet material from being damaged during the movement of the platform structure 1A. The rack B is displaced or tilted to ensure the overall positioning accuracy of the sheet material rack B after the movement. It has a simple structure, high positioning accuracy, and good use effect.

As a preferred structural form of the plate conveying platform A, the platform structure 1A can be formed as a rectangular frame structure, and the upper surface of the rectangular frame structure is provided with a plurality of plate structures, and the rack guide seat 2A can be connected to the plate structures.

It can be seen from Fig. 8 that the platform structure 1A can be a rectangular frame structure welded by a plurality of rectangular tubes, flat plate structures are welded at the four corners of the rectangular frame structure, and two flat plate structures are connected to each other. The material rack guide seat 2A, and other horizontal rectangular tubes and vertical rectangular tubes are also provided with several flat structures at the joints for installing other components. In order to enhance the connection strength of the plate structure, according to the actual use requirements, a triangular or trapezoidal rib structure is welded on the lower surface and/or side of the plate structure. The location and quantity of the rib structure are determined according to the actual use requirements.

Preferably, two rack guide seats 2A are provided at the corners of the flat plate structure.

As another preferred structure of the board conveying platform A, each of the rack guide seats 2A can be evenly distributed at both ends of the platform structure 1A in the length direction. A plurality of material rack guide seats 2A distributed at both ends of the length direction of the platform structure 1A can position the sheet material rack B in the length and width direction, and the positioning distance in the length direction is lengthened, so that the positioning of the sheet material rack B The accuracy is improved, and the sheet material rack B can be positioned in both the width direction and the length direction, so that the positioning accuracy of the sheet material rack B is further improved.

It is conceivable that when the length of the sheet material rack B is relatively long, two rack guide seats 2A can be set in the central area of the platform structure 1A in the length direction according to actual use requirements, so as to further limit the length of the sheet material rack B. The displacement of B, and the positioning accuracy of both sides of the length direction of the sheet material rack B.

The above-mentioned inclined surface 201A may be a plane, and the included angle with the vertical plane is 10-40°. More preferably, the included angle between the inclined surface 201A and the vertical plane may be 20°.

As a specific structural form of the plate conveying platform A, the telescopic assembly 4A includes an oil cylinder 401A, an oil cylinder shield 402A, and an oil cylinder tailstock mounting assembly 403A. The piston rod of the oil cylinder 401A is fixedly connected to the lower surface of the platform structure 1A, and the oil cylinder The end of the cylinder body of 401A is connected with the oil cylinder tailstock mounting assembly 403A.

The telescopic assembly 4A is mainly used to drive the platform structure 1A to move along the guide rail assembly 3. Since the cylinder body of the oil cylinder 401A is fixed on the oil cylinder tailstock installation assembly 403A (generally fixed on the base of the workshop foundation), the end of the piston rod is fixed It is connected to the lower surface of the platform structure 1A, so that the platform structure 1A can be driven to move by the oil cylinder 401A.

Of course, the telescopic component 4A can also adopt an air cylinder structure in addition to the oil cylinder 401A, and can also realize the driving of the platform structure 1A.

Typically, the cross section of the oil cylinder guard 402A is formed into a U-shaped structure. The oil cylinder guard 402A can be formed by bending a steel plate, and is used to protect the oil cylinder 401A, so as to prevent the oil cylinder 401A from being damaged by falling sundries and parts. Alternatively, the oil cylinder guard 402A can also be welded into a frame with angle steel, and steel wire mesh is welded in the blank area of the frame, which can not only reduce the overall weight of the oil cylinder guard 402A, but also help to observe the use of the oil cylinder 401A, and the use effect is better.

The guide rail assembly 3A includes a guide rail 301A, and the end of the guide rail 301A away from the platform structure 1A can be provided with a walking track limiting seat 302A, which can limit the moving position of the platform structure 1A.

Further, the guide rail assembly 3A may further include a travel switch assembly 303A and a photoelectric switch assembly 304A. Through the combined action of the travel track limit seat 302A, the travel switch assembly 303A and the photoelectric switch assembly 304A, it can limit the travel position of the sheet material conveying platform A, and can transmit the in-position signal in time.

The guide rail 301A may include a fixed guide rail bar and a movable guide rail bar. The fixed guide rail bar is fixedly connected to the foundation or machine base of the workshop, the movable guide rail bar is fixedly connected to the lower surface of the platform structure 1A, and the travel track limit seat 302A is fixedly connected to On the fixed guide rail, a buffer structure can be set at the corresponding position of the platform structure 1A. When the telescopic assembly 4A drives the platform structure 1A to move, the buffer structure can play a certain buffering role on the platform structure 1A, preventing the platform structure 1A from colliding with the platform structure 1A. The traveling track limiting seat 302A directly collides, causing damage to the traveling track limiting seat 302A or the platform structural member 1A. The buffer structure can also be arranged on the limit seat 302A of the walking track, or on the limit seat 302A of the walking track and the platform structure 1A at the same time. Preferably, the buffer structure may be a buffer pad, or other structures with a buffer function, all of which belong to the protection scope of the present invention.

In addition, the travel track limiting seat 302A can be formed as an L-shaped flat plate, and reinforcing ribs are provided between the L-shaped flat plates.

The above-mentioned sheet material conveying platform A of the present invention has the following advantages: First, the sheet material conveying platform A utilizes the multiple material rack guide seats 2A arranged on the platform structure 1A, and the multiple material rack guide seats 2A are arranged on the platform structure The two ends of the length direction of 1A can lengthen the positioning distance of the sheet material rack B in the length direction and improve the positioning accuracy. Second, the inclined surfaces 201A at the upper ends of the plurality of rack guide seats 2A are inclined downward from the outside to the inside, forming a funnel shape, thereby further improving the positioning accuracy of the sheet rack B. Moreover, the inclined surface 201A can further avoid the change of the positioning accuracy of the sheet material rack during the movement of the platform structure 1A, so that the accuracy of the moving position of the platform structure 1A under the drive of the telescopic assembly 4A makes the sheet material The conveying platform A can be accurately moved directly under the truss manipulator, which is convenient for the next step of the process. Thirdly, in the guide rail assembly 3A of the plate conveying platform A, it includes the guide rail 301A, the travel limit seat 302A, the travel switch assembly 303A and the photoelectric switch assembly 304A. The combined action of the switch components 304A limits the moving position of the platform structure 1A and can transmit the in-position signal in time.

Sheet metal conveying truss manipulator C

As far as the panel handling module is concerned, it can be a panel conveying truss manipulator C, as shown in Figures 10 and 11, including a fixed structure 1C, an X-axis beam 2C, a gripper structure 3C, and a gripper structure 3C connected to the X-axis beam 2C and the gripper. The X-axis moving structure 4C between the hand structures 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 to the lifting structure 31C, and the lifting structure 31C moves through the X-axis The structure 4C is connected to the X-axis crossbeam 2C, the gripper assembly 32C includes a gripper bracket 321C and a magnetic attraction mechanism 322C connected to the gripper bracket 321C, the above-mentioned control unit communicates with the sheet material handling module, and is configured to When the blank is transported to the set position, the blank transport module is controlled to transport the blank to the centering station.

According to the technical solution of the present invention, both the X-axis moving structure 4C and the lifting structure 31C are connected in communication with the control unit, so as to respectively control the operation of the X-axis moving structure 4C and the lifting structure 31C through the control unit. The handle assembly 32C is also communicatively connected with the control unit, so as to control the operation of the handle assembly 32C through the control unit. The control unit can be an independent control unit arranged on the panel conveying truss manipulator C, or it can be a control unit that controls the panel material conveying truss manipulator C and other functional modules in a unified manner in the present invention. The magnetic attraction mechanism 322C can be any structure that absorbs materials through the magnetic attraction effect, such as various permanent magnets. As a specific embodiment of the magnetic attraction mechanism, the magnetic attraction mechanism 322C is an electromagnet. There can be one magnetic attraction mechanism 322C, or multiple, as long as the magnetic attraction force of the magnetic attraction mechanism 322C on the material can be ensured. Preferably, referring to FIG. 10 and FIG. 11 , six magnetic attraction mechanisms 322C can be provided, and the six magnetic attraction mechanisms 322C are divided into two groups. At the same time, it can also facilitate the installation of materials during the grabbing process.

When the sheet material conveying truss manipulator C with the above structure is working, when it is necessary to grab materials, the control unit controls the X-axis moving structure 4C to move on the X-axis beam 2C according to the positioning, so as to adjust the grabbing of the gripper assembly 32C in the X direction Position, adjust the position of the gripper assembly 32C on the Z axis through the control unit according to the positioning control lifting structure 31C, after the position on the X axis and the position on the Z axis are fixed, then control the magnetic attraction mechanism 322C to grab the material through the control unit .

Through the sheet material conveying truss manipulator C with the above structure, by adjusting the gripper assembly 32C in the X-axis direction and the Z-axis direction, it can accurately grasp materials, and can grasp materials at different positions and heights, which improves the quality of grasping. flexibility. Using the magnetic suction mechanism 322C can grab materials of different sizes, and there is no need to adjust the distance between the grippers according to the size of the materials, thereby further improving the flexibility of grabbing.

The fixing structure 1C can be any structure capable of fixing the X-axis beam 2C and the handle structure 3C. In a specific embodiment, as shown in FIG. 10 , the fixed structure 1C includes a first fixed component 11C and a second fixed component 12C, one end of the X-axis beam 2C is connected to the first fixed component 11C, and the other end is connected to the second fixed component 12C connection. The first fixing component 11C and the second fixing component 12C may be respectively a fixing block, a fixing column, etc., 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, The other end is connected to the second fixing component 12C, through the setting of the two first fixing columns and the Y-axis beam 112C connected between the two first fixing columns 111C, the stability of the fixing can be improved by means of multi-point fixing . More preferably, the second fixing component 12C is a second fixing column, which forms a three-point fixing manner with the two first fixing columns, and has higher stability. The second fixed column 12C may be a common fixed column, and further preferably, the second fixed column 12C may also be a hydraulically telescopic column on which a filter pressure regulating valve assembly is arranged. The filter pressure regulating valve assembly can be an air filtration method. The adjustment of the hydraulic telescopic column can make the X-axis beam 2C always in a horizontal state, realizing flexible adjustment. The setting of the filter pressure regulating valve assembly can control the gas entering the hydraulic telescopic column. Filter to prolong the service life of the hydraulic telescopic column.

As a specific embodiment, as shown in Fig. 10 and Fig. 15 , the plate conveying truss manipulator C may also include a slide assembly 5C, which includes a slide 51C and a Z-axis drive mounted on the slide 51C. The mechanism 52C is connected to the X-axis driving mechanism 53C, the Z-axis driving mechanism 52C is connected to the lifting structure 31C to drive the lifting structure 31C, and the X-axis driving mechanism 53C is connected to the X-axis moving structure 4C to drive the work of the X-axis moving structure 4C. The Z-axis driving mechanism 52C and the X-axis driving mechanism 53C are integrated on the sliding plate 51C, which can facilitate installation. The Z-axis driving mechanism 53C and the Z-axis driving mechanism 52C may be driving motors or other mechanisms capable of providing power.

In a specific embodiment, as shown in Figure 10 and Figure 15, the slide plate 51C is also provided with an X-axis zero pointer assembly 54C for limiting the initial position of the X-axis, and a Z-axis zero pointer assembly for limiting the initial position of the Z-axis. Assembly 55C and travel switch 56C for limiting the maximum displacement of the X axis and the maximum displacement of the Z axis. The initial position of the X-axis and the initial position of the Z-axis can be limited by setting the X-axis zero pointer assembly 54C and the Z-axis zero pointer assembly 55C. By setting the limit switch 56C, the maximum displacement of the X-axis movement and the maximum displacement of the Y-axis movement can be limited.

As a specific embodiment, as shown in Figure 10 and Figure 15, the X-axis drive mechanism 53C is a gear drive structure, the gear drive structure is connected with the tension mechanism, and the tension mechanism limits the rotation of the X-axis drive mechanism 53C through a limit block , so as to adjust the gear gap on the X-axis driving mechanism 53C, and then adjust the moving distance of the X-axis per unit time to improve the adjustment accuracy.

In another specific embodiment, as shown in Fig. 10 and Fig. 15, a drag chain bracket assembly is also connected to the slide plate 51C, and the drag chain bracket assembly can be equipped with a drag chain so that the built-in cables, air pipes, oil pipes, etc. It plays the role of traction and protection, which is relatively familiar to those skilled in the art. Specifically, the drag chain is placed in the slot of the drag chain bracket.

The X-axis moving structure 4C can be any structure that can make the gripper structure 3C move on the X-axis. In a specific embodiment, referring to FIG. 10 , the X-axis moving structure 4C includes a first X-axis moving part 41C and a second X-axis moving part 42C capable of relative movement, and the first X-axis moving part 41C and the second X-axis moving part 41C One of the moving parts 42C is arranged on the X-axis beam 2C, and the other is arranged on the lifting structure 31C. The relative movement between the first X-axis moving part 41C and the second X-axis moving part 42C can change the position of the gripper assembly 32C on the X-axis, and then realize the movement of the gripper assembly 32C on the X-axis. One of the first X-axis moving part 41C and the second X-axis moving part 42C can be a chute, and the other can be a slider suitable for sliding in the chute; the first X-axis moving part 41C and the second X-axis moving part 41C One of the two X-axis moving members 42C may also be a rack, and the other may be a gear adapted to move by meshing with the rack. Typically, the first X-axis moving member 41C is a linear rack, and the linear rack is arranged on the X-axis beam 2C. The gear can be connected with the X-axis driving mechanism 53C, so that the movement of the gear in the linear rack can be driven by the X-axis driving mechanism 53C. The control unit can be connected with 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 can be an X-axis limit block, which is connected to or formed on the slide plate 51C, and one end of the X-axis limit block is inserted into the line In the linear rack, the initial position of the X-axis stroke is defined by the abutment of the X-axis limit block and one end of the linear rack.

In a specific embodiment, the second X-axis moving member 42C is connected to the handle structure 3C through a slide assembly 5C.

Preferably, there are at least two sets of linear racks for the X-axis, more preferably, two sets of linear racks for the X-axis, and the two sets of linear racks are set on opposite sides of the X-axis beam 2C, for example, when When one set of linear racks is set on the upper side of the X-axis beam 2C, the other set of linear racks is set on the lower side of the X-axis beam 2C; when one set of linear racks is set on the front side of the X-axis beam 2C , another set of linear racks is arranged on the rear side of the X-axis beam 2C.

The lifting structure 31C can be any structure that realizes lifting of the handle structure 3C. In a specific embodiment, referring to FIG. 10 , the lifting structure 31C includes a Z-axis beam column 311C and a first Z-axis moving part and a second Z-axis moving part capable of relative movement, and the first Z-axis moving part and the second Z-axis moving part One of the axis moving parts is arranged on the Z-axis beam column 311C, and the other is arranged on the X-axis moving structure 4C or on the gripper assembly 32C. One of the first Z-axis moving part and the second Z-axis moving part can be a chute, and the other can be a slider suitable for sliding in the chute; the first Z-axis moving part and the second Z-axis One of the moving parts may also be a rack, and the other is a gear adapted to move by meshing on the rack.

Specifically, the first Z-axis moving part is a rack, the second Z-axis moving part is a gear, and the rack is arranged on the Z-axis beam 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 to the gripper assembly 32C, the gear can be connected to the gripper assembly 32C through a connecting rod arranged inside the Z-axis beam column 311C, or can be connected to the gripper assembly 32C through an external connecting rod. The connecting rod can As the gear moves up and down inside the Z-axis beam column 311C or outside the Z-axis beam column 311C.

Preferably, an anti-fall cylinder is provided on the Z-axis beam column 311C, and is connected with the gripper assembly 32C through the anti-fall cylinder. The anti-fall cylinder can prevent the gripper assembly 32C from Z Axle beam column 311C fell.

In a specific embodiment, the second Z-axis moving part is connected with the X-axis moving structure 4C through a slide plate assembly 5C.

In a specific embodiment, as shown in FIG. 11 and FIG. 12 , the handle assembly 32C further includes a shock absorbing mechanism 323C, and the shock absorbing mechanism 323C is connected between the handle support 321C and the magnetic attraction mechanism 322C. Through the setting of the shock-absorbing mechanism 323C, the buffering effect can be achieved when the magnetic attraction mechanism 322C absorbs the material, thereby improving the service life of the plate conveying truss manipulator C and reducing damage to the material during the grabbing process. And the setting of shock-absorbing mechanism 323C can make between gripper support 321C and magnetic attraction mechanism 322C form flexible connection, can make magnetic attraction mechanism 322C keep the relative position between gripper support 321C and magnetic attraction mechanism 322C after sucking material, guarantee The magnetic attraction mechanism 322C completes the work of absorbing the material, and can prevent the reaction force of the workpiece from affecting the equipment when the material is put down.

The shock absorbing mechanism 323C can be any structure that can achieve shock absorbing. Preferably, referring to FIG. 12 and FIG. The washer 3235C, the first compression part 3232C, the shaft sleeve 3233C, the second compression part 3234C and the spacer 3235C are sequentially connected and all sleeved on the shaft 3231C, and the first compression part 3232C is connected with the magnetic attraction mechanism 322C. During the installation process, the shaft sleeve 3233C is connected with the handle bracket 321C, and the first compression part 3232C and the second compression part 3234C are respectively placed on the upper and lower sides of the shaft sleeve installation plate of the handle bracket 321C. In actual use, it is possible to increase the reverse force of the first compression member 3232C and the second compression member 3234C to further improve the cushioning effect. The first compression part 3232C and the second compression part 3234C can be any compression structure capable of achieving a cushioning effect, such as various polymer elastomer materials. As a specific implementation manner, the first compression member 3232C and the second compression member 3234C are each independently a compression spring.

In the actual installation process, each magnetic attraction mechanism 322C is connected to the handle bracket 321C through 3-6 shock absorbing mechanisms 323C, which can not only achieve a good buffer effect, but also ensure the magnetic attraction during the adsorption and desorption process. The structure between the mechanism 322C and the handle bracket 321C is stable.

In a specific embodiment, as shown in FIG. 22 , the handle assembly 32C further includes an inductive switch 324C disposed on the handle bracket 321C, and the inductive switch 324C and the magnetic attraction mechanism 322C are both communicated with the control unit (in the magnetic attraction mechanism 322C itself is provided with an independent intermediate control unit, which can be directly connected), to detect whether there is material under the gripper assembly 32C through the sensor switch 324C and to control whether the magnetic attraction mechanism 322C works or not according to the detected material information. The sensing switch 324C may be an infrared sensing switch, a microwave sensing switch, an ultrasonic sensing switch or other possible sensing switches. When the sensor switch 324C detects that there is material under the handle assembly 32C, it can control the magnetic mechanism 322C to work; when the sensor switch 324C does not detect that there is material under the handle component 32C, it can control the magnetic mechanism 322C to not work.

As a specific embodiment, as shown in FIG. 11 , the handle assembly 32C also includes a distance measuring sensor 325C for measuring the distance between the material and the handle assembly 32C, and the distance measuring sensor 325C and the magnetic attraction mechanism 322C are both communicated with the above-mentioned control unit , so as to control whether the magnetic attraction mechanism 322C works or not according to whether the distance is smaller than the preset distance. The ranging sensor 325C may be any sensor capable of measuring distance, such as a radar, an ultrasonic sensor, and the like. In the specific working process, the preset distance can be determined according to the actual situation. Exemplarily, the preset distance is set to 10cm. When the distance measuring sensor 325C detects that the distance between the material and the gripper assembly 32C is greater than 10cm, continue to move the gripper assembly 32C until the distance measuring sensor 325C detects that the distance between the material and the gripper assembly 32C The distance is less than or equal to 10cm, and the magnetic suction mechanism 322C works to suck the material.

As a relatively preferred specific embodiment, referring to Fig. 10 to Fig. 15, the plate conveying truss manipulator C of the present invention may include a fixed structure 1C, an X-axis crossbeam 2C, a gripper structure 3C, and a structure connected between the X-axis crossbeam 2C and the gripper The X-axis moving structure 4C and the slide plate assembly 5C between the structures 3C, the fixed structure 1C includes a first fixed assembly 11C and a second fixed assembly 12C, the first fixed assembly 11C includes two first fixed columns 111C and is connected between the two The Y-axis beam 112C between the first fixed columns 111C, the second fixed component 12C can be a common fixed column, or a hydraulic telescopic column, and the hydraulic telescopic column is provided with a filter pressure regulating valve assembly, and the X-axis beam 2C One end 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, and the lifting structure 31C includes a Z-axis beam column 311C and The first Z-axis moving part and the second Z-axis moving part capable of relative movement, the first Z-axis moving part is a linear rack, set on the Z-axis beam column 311C, and the second Z-axis moving part is a gear, set on On the handle assembly 32C, the gear is adapted to move through engagement on the linear rack; the handle assembly 32C includes a handle bracket 321C, a magnetic attraction mechanism 322C, an induction switch 324C and a distance measuring sensor 325C arranged on the handle bracket 321C , the grip bracket 321C and the magnetic attraction mechanism 322C are connected by a shock absorbing mechanism 323; the shock absorbing mechanism 323C includes a shaft 3231C, a first compression part 3232C, a shaft sleeve 3233C, a second compression part 3234C and a gasket 3235C, and the first compression part 3232C , the shaft sleeve 3233C, the second compression member 3234C and the spacer 3235C are sequentially connected and all set on the shaft 3231C, the first compression member 3232C is connected with the magnetic attraction mechanism 322C; there are 4-8 magnetic attraction mechanisms 322C, and 4 - The 6 magnetic suction mechanisms 322C are divided into two groups on average, and the two groups of magnetic suction mechanisms 322C are symmetrically arranged, and each magnetic suction mechanism 322C is connected to the handle bracket 321C through 3-6 shock absorbing mechanisms 323C; the induction switch 324C and The distance measuring sensors 325C are all communicatively connected 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 communicatively connected with the unified control unit of the processing system, so as to detect the material according to the distance measuring sensor 325C. Whether the distance from the gripper assembly 32C is less than the preset distance controls the operation of the magnetic attraction mechanism 322C; the X-axis moving structure 4C includes a first X-axis moving part 41C and a second X-axis moving part 42C that can generate relative movement, and One X-axis moving part 41C is a linear rack, which is arranged on the X-axis beam 2C, and the second X-axis moving part 42C is a gear, which is arranged on the lifting structure 31C, and the gear is suitable for moving through meshing on the linear rack; The assembly 5C includes a slide plate 51C and a Z-axis drive mechanism 52C, an X-axis drive mechanism 53C, an X-axis zero pointer assembly 54C, a Z-axis zero pointer assembly 55C, a travel switch 56C and a tensioning mechanism arranged on the slide plate 51C. The Z-axis driving mechanism 52C is connected with the second Z-axis moving part to drive relative movement between the first Z-axis moving part and the second Z-axis moving part; the X-axis driving mechanism 53C is connected with the second X-axis moving part 42C to Drive the relative movement between the first X-axis moving part 41C and the second X-axis moving part 42C; the X-axis zero pointer assembly 54C is arranged on the first X-axis moving part 41C, and the Z-axis zero pointer assembly 55C is arranged on On the first Z-axis moving part, the limit switch 56C can be set on the first X-axis moving part 41C, and can also be set on the first Z-axis moving part, and the tensioning mechanism is connected with the X-axis driving mechanism 53C to pass through the limit The blocks define the rotation of the X-axis drive mechanism 53C.

When the sheet material conveying truss manipulator C provided in the above-mentioned relatively comprehensive preferred embodiment is working, the gripper assembly 32C is driven to move along the X-axis direction through the X-axis drive mechanism 53C until the sensor switch 324C and/or the distance measuring sensor 325C detect the gripper There is material under the component 32C and the movement in the X-axis direction is stopped. The Z-axis drive mechanism 52C drives the gripper component 32C to move in the Z-axis direction until the distance between the material and the gripper component 32C is less than the preset distance, and the movement in the Z-axis direction is stopped. At the same time, it controls the work of the magnetic attraction mechanism 322C to absorb materials. Then assemble and operate the material accordingly.

The plate conveying truss manipulator C provided in the above-mentioned preferred embodiment can accurately grasp materials by adjusting the gripper assembly 32C in the X-axis direction and the Z-axis direction, and can grasp materials at different positions and heights, which improves the Crawling flexibility. Using the magnetic suction mechanism 322C can grab materials of different sizes, and there is no need to adjust the distance between the grippers according to the size of the materials, thereby further improving the flexibility of grabbing. The setting of the inductive switch 324C and the distance measuring sensor 325C can realize the automation of grasping, and can further improve the flexibility of grasping.

Sheet metal centering platform mechanism D

As shown in Figures 16 to 27, as far as the plate centering platform mechanism D of the present invention is concerned, it is used for centering and conveying the plate in the cylinder processing system of the present invention, which includes a platform assembly 1D, The platform assembly 1D includes a platform main body 100D, which is provided with a sheet centering mechanism 101D for centering the sheet, a first driving mechanism 102D for driving the sheet centering mechanism 101D, and an electromagnetic mechanism for conveying the sheet. The iron mechanism 103D and the second driving mechanism 104D connected with the electromagnet mechanism 103D for driving the electromagnet mechanism 103D, the plate centering mechanism 101D can move linearly along the width direction of the platform main body 100D under the drive of the first driving mechanism 102D , so as to center the sheet material, the electromagnet mechanism 103D can absorb the sheet material and move along the length direction of the platform main body 100D under the drive of the second driving mechanism 104D, so that the sheet material can be moved to the following sheet material rolling 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 also configured to center the sheet by controlling the first driving mechanism 102D, and in the centering Then control the second driving mechanism 104D to transport the sheet to the sheet rolling module.

In the basic structure of the above-mentioned plate centering platform mechanism D, the plate centering platform mechanism D is one of the important transportation equipment in the cylinder processing system of the present invention, and its main function is to replace the manual loading to four stages in the prior art. The rounding step on the roll plate rolling machine E can automatically center the plate, and the plate is automatically transported to the four-roll plate roll E after the centering and positioning is completed. Specifically, the plate centering platform mechanism D can be used in conjunction with the plate conveying truss manipulator C and the four-roller plate rolling machine E of the cylinder processing system. Specifically, firstly, the plate conveying truss manipulator C transports the plate to the plate On the material centering platform mechanism D, then the sheet material centering platform mechanism D first centers the sheet material, and then transports the sheet material to the four-roller plate rolling machine E, and finally the four-roller plate rolling machine E rolls the plate material into a circle .

The plate centering platform mechanism D includes a platform assembly 1D. As can be seen from FIGS. In driving the first driving mechanism 102D of the sheet material centering mechanism 101D, the electromagnet mechanism 103D used to convey the sheet material, and the second drive mechanism 104D connected with the electromagnet mechanism 103D for driving the electromagnet mechanism 103D, so that the sheet material Driven by the plate centering mechanism 101D, it can be automatically centered along the width direction of the platform body 100D, and driven by the electromagnet mechanism 103D, it can be translated and transported to a preset position along the length direction of the platform body 100D. It can be known from the above description that the plate centering platform mechanism D can automatically center and convey the plate, with a high degree of automation, thereby improving the working efficiency.

The above describes the application occasions of the plate centering platform mechanism, but it should be noted that in the actual production process of the cylinder, not only the centering requirements of the plate, but also the entire feeding and conveying process Maintaining the accuracy of alignment is very difficult in terms of technical implementation. Since the area of the sheet material for the production of the cylinder is usually large, in the process of centering and conveying the sheet material, it is ensured that the sheet material can be accurately transported to the predetermined position in the centered state, that is, the sheet material can be precisely It is sent to the four-roller plate bending machine 8 for rolling, which is a very important step in the process of large-area sheet metal transportation.

As a preferred embodiment, the central area of the platform main body 100D is provided with a delivery channel 1000D parallel to the length direction of the platform main body 100D, and the delivery channel 1000D can be formed as a rectangular through hole (of course, it can also be formed as an oblong hole, etc.). 1000D is the moving channel of the electromagnet mechanism 103D, which provides a space for the electromagnet mechanism 103D to move in a straight line. Wherein, the electromagnetic adsorption surface of the electromagnet mechanism 103D is set to be flush with the sheet material bearing surface of the platform main body 100D, or the electromagnetic adsorption surface of the electromagnet mechanism 103D is set to protrude from the sheet material bearing surface and elastically supported, so as to be able to During the working process, it contacts with the bottom surface of the board to apply adsorption force. It should be noted here that the above-mentioned electromagnetic adsorption surface is generally the adsorption surface of the electromagnet of the electromagnet mechanism 103D, and the electromagnetic adsorption surface can generally be flush with the plate bearing surface of the platform main body 100D, or can be slightly protruded by elastic support. on the bearing surface of the sheet. Since the upper surface of the platform main body 100D can generally be provided with auxiliary guides such as universal balls to facilitate sheet material transportation, the sheet material bearing surface of the platform main body 100D can be a sheet material bearing surface formed by multiple support points.

In addition, a plurality of waist-shaped through-holes 1001D parallel to the width direction of the platform main body 100D are provided at intervals on both sides of the conveying channel 1000D, and these waist-shaped through-holes 1001D can be used in cooperation with the sheet centering mechanism 101D. Specifically, the plate centering mechanism 101D includes centering rods 1010D arranged on both sides of the conveying channel 1000D and parallel to the conveying channel 1000D. The centering rod 1010D is provided with guide wheels passing through the waist-shaped through hole 1001D. In view of the large area of the production cylinder plate, in order to ensure the centering of the plate and the accuracy of the conveying process, it can be known from the above description that the present invention is provided with the conveying channel 1000D for the linear movement of the electromagnet mechanism 103D and the conveying channel 1000D that is connected with the plate. The waist-shaped through hole 1001D matched with the centering mechanism 101D, the sheet metal centering mechanism 101D moves along the waist-shaped through hole 1001D, thereby pushing both sides of the length direction of the sheet material to achieve precise centering of the sheet material, and at the same time the electromagnet mechanism 103D can move synchronously along the conveying channel 1000D, so as to realize the precise conveying of the sheet material, and the sheet material centering mechanism 101D cooperates with the electromagnet mechanism 103D, thereby ensuring that the sheet material centering platform of the present invention can center and transport the sheet material Finally, it can be accurately sent into the four-roll plate rolling machine.

Preferably, as shown in Fig. 19 and Fig. 25, the centering rod 1010D includes a plurality of guide wheel installation parts 10100D for installing the guide wheel 10104D, a plurality of linear bearings 10101D, an orifice plate 10103D and a guide wheel for installing the zero pointer 10105D. The zero pointer installation part 10102D, the top of the guide wheel installation part 10100D is provided with a guide wheel 10104D that can pass through the waist-shaped hole. During the sheet metal centering process, the first driving mechanism 102D can drive the centering rod 1010D along the platform The width direction of the main body 100D moves linearly so as to push the sheets on the platform main body 100D to be automatically centered. Alignment. The principle of centering the sheet metal by the sheet centering mechanism 101D in the present invention has been described above, and the present invention can further ensure that the present invention The plate centering mechanism 101D in the centering accuracy of the plate. The embodiment of the present invention is different from the conveyor belt or idler roller conveying method commonly used in the prior art, and adopts the original method of absorbing the sheet through the electromagnet mechanism 103D at the bottom of the sheet, and makes the electromagnet mechanism 103D move along the linear guide rail 106D moves, and then through the guiding and correcting function of the guide wheel 10104D, the precise positioning of the sheet metal in the process of feeding the four-roller plate bending machine is ensured. 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, the centering rod 1010D is provided with a zero pointer installation part 10102D for installing the zero pointer 10105D, in order to facilitate workers' observation The setting position of the zero pointer installation part 10102D is on the same side as the centering rod 1010D with the guide wheel installation part 10100D. It is conceivable that the initial position of the centering rod 1010D on the platform main body 100D is correspondingly provided with a zero pointer 10105D The zero pointer 10105D can pass through the mounting hole to indicate the initial position of the centering rod 1010D.

Preferably, as shown in FIG. 24 , the first drive mechanism 102D includes a first servo motor 1020D, and the first servo motor 1020D is drivingly connected with a synchronous pulley 1022D, and 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, and the driven synchronous pulley can be connected to the ball screw 1023D through power transmission through the flat key. When the driving gear of the first servo motor 1020D rotates, the ball screw 1023D can be driven to rotate. Both sides of the ball screw 1023D are connected to the platform main body 100D through the support seat 1024D, and the orifice plate 10103D of the centering rod 1010D is threadedly connected to the ball screw 1023D, so that the ball screw 1023D can simultaneously drive the centering rod 1010D to make a straight line when the ball screw 1023D rotates. move. Because the principle of the ball screw 1023D converting rotary motion into linear motion is a conventional means well known to those skilled in the art, it will not be described in detail here.

The first servo motor 1020D is connected to the bottom surface of the platform main body 100D through the motor mounting seat. One side of the motor mounting seat is provided with a first servo motor tensioning screw seat 1025D for tightening the motor mounting seat. The first servo motor tensioning screw seat 1025D It is connected with the bottom surface of the platform main body 100D. By setting the first servo motor tensioning screw seat 1025D, the first servo motor tensioning screw seat 1025D is connected with the motor mounting seat of the first servo motor 1020D, so that the first servo motor 1020D can be tensioned. The timing pulley 1022D is tensioned. It should be noted that the motor mounting seat and the platform main body 100D are connected by fasteners. When tensioning the synchronous pulley 1022D, the fasteners between the motor mounting seat and the platform main body 100D need to be loosened before operating The first servo motor tensions the screw seat 1025D, thereby tensioning the synchronous pulley 1022D, preventing the synchronous belt 1021D from slipping during transmission. It is conceivable that in the preferred embodiment, the first driving mechanism 102D is used in conjunction with the electronic control system. When performing automatic centering of the sheet metal, the electronic control system starts the automatic centering program, thereby being able to control the rotation of the first servo motor 1020D, so as to This will automatically center the blanks.

More preferably, in order to facilitate the linear movement of the centering rod 1010D more smoothly driven by the ball screw 1023D, the platform assembly 1D further includes a guide shaft 105D passing through the linear bearing 10101D, and the guide shaft 105D is supported by the guide shaft 105D. The seat is connected with the bottom surface of the platform main body 100D, and the guide shaft 105D is set 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 electromagnet mechanism 103D to slide along the conveying channel 1000D and ensure that the centered sheets do not deviate during the conveying process, linear guide rails 106D are connected to both sides of the conveying channel 1000D on the bottom surface of the platform main body 100D. The guide rail 106D is arranged in parallel with the conveying channel 1000D, and the starting end of the linear guide rail 106D is provided with a limit stop 107D for limiting the electromagnet mechanism 103D, and the side of the conveying channel 1000D is provided with a position near the limit stop 107D. A zero-point nameplate 108D and a first zero-point nameplate 108D are 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 starting end of the linear guide rail 106D refers to the end corresponding to the initial position of the sheet material, and the starting end The limit block 107D acts 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 Figure 26, the electromagnet mechanism 103D includes an electromagnetic propulsion slide 1030D, and the electromagnetic propulsion slide 1030D is provided with a slider 1031D that is compatible with the linear guide rail 106D and is used to install the electromagnet. The electromagnet fixing part 1032D and the slider 1031D can be clamped in the linear guide rail 106D so as to be connected with the linear guide rail 106D, so that the electromagnetic propulsion slide plate 1030D can be driven to slide along the linear guide rail 106D. The bottom plate 10320D connected to the 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 to form an elastic support, and a compression spring 10322D is sleeved on the spring positioning pin, The compression spring 10322D is set to play the role of shock absorption, and the electromagnet fixing plate 10321D and the bottom plate 10320D are fixedly connected by fasteners, typically, bolts and nuts can be used for connection. The electromagnetic propulsion slide 1030D can be set as a plate structure, based on the correct installation position of the electromagnet mechanism 103D on the platform main body 100D, between the electromagnet fixing plate 10321D, the bottom plate 10320D and the electromagnetic propulsion slide 1030D can be arranged in order by the top surface parallel to each other at the bottom. It can be seen from the above description that the electromagnet mechanism 103D is connected to the linear guide rail 106D through the slider 1031D, so that it can slide on the platform main body 100D. The iron mechanism 103D adsorbs the sheet material. It should be noted that the electromagnet mechanism 103D in the present invention can absorb the sheet material through the electromagnet by fixing the electromagnet on the electromagnet fixing plate 1032D, so as to absorb the sheet material. For transportation, in order to be more conducive to the electromagnet structure 103D to absorb the sheet while moving on the platform main body 100D, the guide wheel 10104D is used to guide and correct the sheet in the direction of travel, and the electromagnetic adsorption surface of the electromagnet is in contact with the sheet. It 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 base is provided with a second servo motor tensioning screw seat 1046D for pulling closer to the second servo motor 1040D. It should be noted that the structure of the second servo motor tensioning screw seat 1046D is similar to that of the first servo motor. The structure of the tensioning screw base 1025D is basically the same, and the second servo motor tensioning screw base 1046D is provided for tensioning the chain 1043D to prevent the chain 1043D from slipping when the second servo motor 1040D is running.

As a specific structural form, as shown in Figure 23, the second driving mechanism 104D can be a chain transmission mechanism, and the chain transmission mechanism includes a second servo motor 1040D, a driving sprocket 1041D connected with the second servo motor 1040D, a driven sprocket 1042D and the chain 1043D connected with the driving sprocket 1041D and the driven sprocket 1042D, the driven sprocket 1042D is connected with the driven sprocket shaft 1044D through a flat key, the two ends of the driven sprocket shaft 1044D are connected with bearings, and the bearings pass through the bearing seat 1045D is connected to the bottom surface of the platform main body 100D, and the second servo motor 1040D is connected to the bottom surface of the platform main body 100D through the motor mounting seat. When the second servo motor 1040D operates, it drives the chain 1043D to operate. The second servo motor tensioning screw seat 1046D of the second servo motor 1040D, the second servo motor tensioning screw seat 1046D is connected with the bottom surface of the platform main body 100D, the second servo motor tensioning screw seat 1046D can tension the chain 1043D, the second servo motor The structure of the motor tension screw seat 1046D may be substantially the same as that of the first servo motor tension screw seat 1025D.

For the second driving mechanism 104D, it can also be a rack and pinion mechanism. Specifically, the rack and pinion mechanism includes a third servo motor, and the driving gear of the third servo motor can be directly connected to the rack, or can be connected to the rack through other gears. The rack is connected with the electromagnetic propulsion slide 1030D, the third servo motor can be connected with the bottom surface of the platform main body 100D through the motor mounting seat, and the third servo motor drives the rack to move linearly when the driving gear rotates, thereby driving the electromagnetic propulsion The slide 1030D moves linearly.

As a specific structural form, it can be seen from Fig. 26 that the electromagnetic propulsion slide 1030D is also provided with a link head 1033D, and the link head 1033D is used to connect with the chain 1043D, which are arranged at intervals along the sliding direction of the electromagnetic propulsion slide 1030D. When the chain 1043D moves, the link head 1033D can drive the electromagnetic propulsion slide 1030D to move. The base plate 10320D is provided with a zero point nameplate fixing plate 1034D, and the zero point nameplate fixing plate 1034D is used for installing the second zero point nameplate, so that the second zero point nameplate can follow the electromagnet mechanism 103D to move, when the position of the second zero point nameplate is the same as that of the first zero point nameplate When the zero nameplate 108D is aligned, the electromagnet mechanism 103D is at the initial position. The above has described the structure of the electromagnet mechanism 103D and the principle of transporting the sheet metal. The present invention is provided with the electromagnet mechanism 103D. The electromagnet mechanism 103D includes an electromagnetic propulsion slide 1030D, and the electromagnetic propulsion slide 1030D is provided with a slide block 1031D and The electromagnet fixing part 1032D, the slide block 1031D is connected with the linear guide rail 106D, the electromagnet fixing part 1032D includes the bottom plate 10320D connected with the electromagnetic propulsion slide plate 1030D and the electromagnet fixing plate 10321D for installing the electromagnet, the electromagnet fixing plate 10321D and Spring positioning pins are arranged between the base plates 10320D, and compression springs are sleeved on the spring positioning pins, and the electromagnet fixing plate 10321D is fixedly connected with the base plate 10320D, and the electromagnetic propulsion slide plate 1030D is also provided with On the sliding direction, the link head 1033D that is arranged at intervals and can be connected with the chain 1043D of the chain transmission mechanism and is used to install the zero point nameplate fixing plate 1034D of the second zero point nameplate that can correspond to the first zero point nameplate 108D, and the zero point nameplate fixing plate 1034D Set on the bottom plate 10320D, or the electromagnetic propulsion slide 1030D is connected with the rack of the rack-and-pinion mechanism, so that the electromagnet mechanism 103D can drive the sheet to move along the linear guide rail 106D, and then accurately transport the sheet to the four rollers The plate rolling machine further ensures the accuracy of the process of transporting the plate by the plate centering platform of the present invention.

More specifically, the plate centering platform mechanism also includes a platform support 2D connected to the bottom surface of the platform main body 100D for supporting the platform main body 100D, a universal ball 3D arranged on the platform main body 100D for conveying the plate, and a The drag chain system 4D connected to the platform main body 100D for installing cables and pipelines, the lubrication system 5D provided on the platform main body 100D, the chain tensioning device 6D connected with the chain transmission mechanism, and the chain tensioner 6D connected with the platform main body 100D for preventing Blocking system 7D for sheet material conveying. Among them, a plurality of universal balls 3D are set on the platform main body 100D, which can rotate at multiple angles, and can form a point contact between the sheet material and the platform main body 100D, reducing the friction force of sheet material transportation; the towline system 4D is for its The internal cables, air pipes and oil pipes play a protective role; the lubricating system 5D can lubricate the parts that need to be lubricated on the plate centering platform mechanism D; the chain tensioning device 6D is used to adjust the gap of the chain.

As another specific embodiment, as shown in FIG. 27 , the retaining system 7D includes a cylinder 700D and a solenoid valve group 701D connected to the cylinder 700D for driving the cylinder 700D, and the cylinder 700D is connected to the bottom surface of the platform main body 100D through the mounting seat of the cylinder 700D , the piston rod of the cylinder 700D is hinged with one end of the connecting rod 702D, the other end of the connecting rod 702D is connected with the rotating shaft 703D, the two ends of the rotating shaft 703D are socketed with the bearing, the bearing is installed in the bearing seat 704D, and the bearing seat 704D is connected with the platform The side of the main body 100D is connected, and the outer peripheral surface on both sides of the rotating shaft 703D is provided with a rotating stopper rod 705D, and the rotating stopper rod 705D is provided with a stopper switch signal element 706D, and the stopper switch signal element 706D can drive the cylinder through the solenoid valve group 701D 700D, so that the rotating gear rod 705D is driven to rotate by the cylinder 700D. The stopper system 7D determines the final position of the sheet material conveying. The sheet material can be accurately centered on the sheet material centering platform of the present invention and transported to the stopper system 7D. When the sheet material touches the stopper system 7D When the stopper signal switch element on the top, the cylinder 700D stretches out, pushes the connecting rod 702D to drive the rotating shaft 703 to rotate, the rotating stopper 705D on the stopper system 7D falls down, and the sheet is transported to the four-roller coil through the stopper system 7D Machine E.

Four-roll plate rolling machine E

The plate rolling module in the cylinder automatic processing system of the present invention can use a common plate rolling machine, typically, for example, the four-roll plate rolling machine E shown in FIG. 7 . The plate rolling machine is mainly used to receive the plate material transported after being centered by the plate centering platform mechanism D, and roll the plate material to form a cylinder initially. The control unit is communicatively connected with the sheet material rolling module, and is configured to control the sheet material rolling module to roll the received sheet material into a cylinder.

Cylinder conveying truss manipulator F

As shown in Fig. 28 to Fig. 32, as one of the cylinder half-circle module equipment of the cylinder automatic processing system of the present invention, the cylinder conveying truss manipulator F includes the X-axis system assembly 1F, and the X-axis system assembly 1F. Linear slide rail 2F, slide assembly 3F slidingly connected with linear slide rail 2F, Y-axis system assembly 4F connected to slide assembly 3F, remote slide assembly 3F connected to Y-axis system assembly 4F One end of the Z-axis lifting arm 5F that can move in the up and down direction and the 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 the clamp body assembly 601F, the clamp body assembly 601F is provided with left and right symmetrical jaw assembly 602F, clamp screw assembly 603F and clamp drive assembly 604F connected with clamp screw assembly 603F. The clamp drive assembly 604F can drive clamp screw assembly 603F to rotate and drive the clamp jaws The component 602F moves to be able to clamp and release the cylinder, the control unit communicates with the cylinder conveying module, and is configured to control the cylinder conveying module to grasp and convey the cylinder to the next station .

In the barrel processing system of the present invention, the barrel conveying truss manipulator F is mainly used to transport the barrel to the welding robot workstation I after the plate is rolled, and after the barrel welding is completed, the barrel conveying truss manipulator F The servo single-arm gripper mechanism 6F clamps the cylinder, and places the cylinder on the transfer trolley assembly G, and transports it to the cylinder turning machine station via the transfer trolley assembly G for the next step.

As mentioned above, the cylinder conveying truss manipulator F includes an X-axis system assembly 1F, a linear slide rail 2F arranged on the X-axis system assembly 1F, and a slide plate assembly 3F slidingly connected to the linear slide rail 2F. Typically, similar to the slider assembly described above, the slider assembly 3F includes a slider, a slider drive assembly that drives the slider to slide along the linear slide rail 2F, a tensioning mechanism assembly, a limit block, and a puller. The chain bracket assembly and the tensioning mechanism component limit the rotation of the slide drive assembly through the limit block, so as to be able to adjust the gear clearance in the slide drive assembly. Cables, air pipes, oil pipes and other components can be installed in the drag chain support assembly , can play the role of traction and protection. This kind of slide assembly can refer to the slide assembly of the above-mentioned plate conveying truss manipulator. In the case of no contradiction, the relevant structure and detection technology can be used exclusively or directly. For this No longer.

It should be noted here that moving in the X direction and moving in the Z direction refers to being able to reciprocate in the X direction and the Z direction. The above-mentioned Y-axis system assembly 4F is fixedly connected to the slide assembly 3F, and moves with the slide assembly 3F, but generally does not need to move in the Y direction. In addition, the X direction here refers to the direction along the length direction of the X-axis system assembly, and the Y direction refers to the direction along the length direction of the Y-axis system assembly, on a horizontal plane or a plane parallel to the horizontal plane Up is the direction perpendicular to the X direction, and the Z direction refers to the up and down direction.

The jaw assembly 602F of the servo single-arm gripper mechanism 6F is driven by the clamp screw assembly 603F, and moves relatively along the clamp screw assembly 603F, and can move closer or farther away from each other, so that the cylindrical body can be clamped or released. Cylindrical body.

As a preferred embodiment, as shown in FIG. 31 and FIG. 32 , the clip body assembly 601F is formed as a box structure, including a plurality of interconnected connecting rods and a jaw assembly mounting plate fixedly connected to the connecting rods. The box structure can not only meet the installation requirements, but also reduce the overall weight of the servo single-arm gripper mechanism 6F to a certain extent, and has a simple structure and low production cost.

As another preferred embodiment, the jaw assembly 602F includes a left jaw and a right jaw, both of the left jaw and the right jaw are formed into an L-shaped arm structure, and the free ends of the two L-shaped arm structures face each other set up.

It is conceivable that, in order not to cause damage to the cylindrical body when clamping the cylindrical body, and to increase the friction force between the jaw assembly 602F and the cylindrical body, the gripper assembly 602F and the cylinder An anti-slip structure is provided on the surface against which the cylinder is attached, which increases friction and avoids scratching the surface of the cylinder.

As yet another preferred embodiment, the fixture screw assembly 603F includes a first screw 6031F, an intermediate shaft 6032F and a second screw 6033F, between the first screw 6031F and the intermediate shaft 6032F, between the second screw 6033F and the middle A coupling shaft 6034F is provided between the shafts 6032F, and a bearing block assembly 6035F is provided at both ends of the intermediate shaft 6032F. A screw support seat 6037F and a screw nut support seat 6036F are provided.

As shown in Figure 33, a connecting shaft 6034F is connected between the first screw rod 6031F and the intermediate shaft 6032F, and a connecting shaft 6034F is also connected between the second screw rod 6033F and the intermediate shaft 6032F, which can connect the first screw rod 6031F, The second screw rod 6033F and the intermediate shaft 6032F are connected to each other and do not affect the mutual rotation of the three shafts. The ends of the first screw 6031F and the second screw 6033F are provided with a screw support 6037F and a screw nut support 6036F for fixing the free ends of the first screw 6031F and the second screw 6033F.

Preferably, a synchronous pulley 6038F is provided between one bearing seat assembly 6035F and the coupling shaft 6034F, and a synchronous belt is also connected to the synchronous pulley 6038F. Further preferably, both the first threaded rod 6031F and the second threaded rod 6033F are threadedly connected with a clamping jaw mounting seat 6039F.

The jaw mounting seat 6039F on the first screw mandrel 6031F and the jaw mounting seat 6039F on the second screw mandrel 6033F correspond to the left jaw and the right jaw of the jaw assembly 602F respectively, and the jaw mounting seat 6039F is connected to the first Both the screw mandrel 6031F and the second screw mandrel 6033F are threadedly connected, so that during the rotation process of the first screw mandrel 6031F and the second screw mandrel 6033F, the jaw mounting seat 6039F can move along the first screw mandrel 6031F and the second screw mandrel 6031F. The central axis of the screw rod 6033F moves linearly, thereby driving the left and right jaws to move. More preferably, the first screw rod 6031F is a left-handed screw rod, and the second screw rod 6033F is a right-handed screw rod, so that the left jaw and the right jaw can be formed to move relative to each other, and can move forward or backward toward each other, so as to meet the clamping requirements. Hold the cylinder or release the cylinder.

As a specific structural form, the servo single-arm gripper mechanism 6F also includes a shield 605F, the clamp drive assembly 604F is arranged on the upper part of the shield 605F, the jaw assembly 602F is arranged on the lower part of the shield 605F, the clamp body assembly 601F and the clamp The screw assembly 603F is disposed inside the shield 605F.

As another specific structural form, a cylinder fixing assembly 10F is also provided between the Z-axis lifting arm 5F and the servo single-arm gripper mechanism 6F. Through the action of the cylinder fixing component 10F, it can prevent the cylinder body from falling due to unexpected reasons during the process of the servo single-arm gripper mechanism 6F grabbing and moving the cylinder body, and the reliability is higher.

As yet another specific structure, one end of the X-axis system assembly 1F is hinged to an equipment maintenance platform 7F, and the other end is provided with a dust removal mechanism 9F, and the lower part of the X-axis system assembly 1F is also connected to a plurality of columns 8F.

To sum up, firstly, the above-mentioned cylinder conveying truss manipulator F uses the linear slide rail 2F set on the X-axis system assembly 1F, and the slide plate assembly 3F is slidingly connected with the linear slide rail 2F, so that the slide plate assembly 3F can It can reciprocate along the linear slide rail 2F, and the slide plate assembly 3F is provided with a Y-axis system assembly 4F, and the end of the Y-axis system assembly 4F is connected with a Z-axis lifting arm 5F, and the Z-axis lifting arm 5F can Reciprocate up and down along the Z direction, and then make the servo single-arm gripper mechanism 6F reciprocate up and down along the Z direction, by controlling the jaw assembly 602F, clamp or release the cylinder, so that the cylinder conveying truss manipulator F is in the After the cylindrical body is rolled or welded, the cylindrical body can be conveniently transported to the next station for the next step. It has a simple structure, convenient operation and good use effect. Second, the Z-axis lifting arm 5F is also provided with a cylinder fixing assembly 10F to ensure that the cylinder body is prevented from falling due to unexpected reasons during the transportation of the cylinder body.

More comprehensively and specifically, as the cylinder conveying truss manipulator F actually used in the cylinder processing system, it includes an X-axis system assembly 1F, a linear slide rail 2F arranged on the X-axis system assembly 1F, and all The slide assembly 3F slidably connected to the linear slide rail 2F, the Y-axis system assembly 4F connected to the slide assembly 3F, the end of the Y-axis system assembly 4F away from the slide assembly 3F and The Z-axis lift arm 5F that can move up and down and the servo single-arm gripper mechanism 6F connected to the lower end of the Z-axis lift arm 5F. The servo single-arm gripper mechanism 6F includes a clamp body assembly 601F, and the clamp body assembly 601F is provided with There are left-right symmetrical jaw assembly 602F, clamp screw assembly 603F and clamp drive assembly 604F connected with clamp screw assembly 603F. The clamp drive assembly 604F can drive clamp screw assembly 603F to rotate and drive clamp assembly 602F to move , to be able to clamp and release the cylinder. In addition, the other end of the Y-axis system assembly 4F is provided with a Z-axis elevating arm 5F, and the lower end of the Z-axis elevating arm 5F is fixedly connected with a servo single-arm gripper mechanism 6F, and the jaw assembly 602F of the servo single-arm gripper mechanism 6F can shrink Tighten or open, so that the cylinder can be clamped or released, and the slide plate 301F is driven to reciprocate in the X direction through the X-axis drive mechanism 302F, and the Z-axis lifting arm 5F is driven to reciprocate in the Z direction through the Z-axis drive assembly Movement, and then meet the operation requirements of the servo single-arm gripper mechanism 6F to carry the cylinder, the structure is simple, the operation is convenient, and the use effect is good.

Cylinder welding robot workstation I and transfer trolley assembly G

As shown in FIGS. 34 to 41 , the control unit is communicatively connected with the cylinder welding machine workstation 1, and is configured to control the cylinder welding machine workstation 1 to weld the received cylinder, and the cylinder welding robot The workstation 1 includes a roller frame 1I for rotating workpieces and a welding robot for welding the workpieces, and the welding robot is located on one side of the roller frame 1I. In the cylinder welding robot workstation mentioned above, before the welding robot performs welding, it is necessary to manually spot-weld and fix the butt joint position of the sheets rolled into the cylinder to form the cylinder. The body conveying truss manipulator F grabs the cylinder and places it on the roller frame 1I of the cylinder welding robot workstation I to point the arc-extinguishing plate for the butt joint and weld the arc-extinguishing plate. The grinder grinds the straight groove. Under the lifting and rotating of the roller frame and the movement of the welding robot, the welding robot starts the welding process to make an inner primer on the weld seam. The welding current for the primer is 180-200A, the welding voltage is 24-26V, and then the cover is filled. , filling cover surface welding current 260-300A, voltage 26-30V, back penetration forming, no need to clean the root of the weld seam, the roller frame 1I rotates to turn the butt weld of the cylinder to the top, and the welding robot performs another operation on the weld seam Bottom filling and cover surface on one side, bottom filling and cover surface welding 260-300A, voltage 26-30V, after the cylinder is welded, the cylinder is transferred to the next station by the cylinder transport truss manipulator F and the transfer trolley assembly G, When the cylinder is formed and closed, it is 3-5 mm inward. When welding, the inner side is welded first, and the inner side shrinks and deforms after welding, and then the outer side is welded. The shrinking deformation of the outer side and the shrinking deformation of the inner side are offset, so that the straight edge of the butt joint of the welded cylinder is small, and Welding deformation is small, and no round calibration is required. Preferably, a photoelectric switch can be set on the roller frame 1I. When the photoelectric switch detects that there is a workpiece, the welding robot can be started to work under the action of the control unit.

As shown in Figures 36 to 36, specifically, the roller frame 1I includes an overturning mechanism 11I, a chain driving mechanism 12I and a roller frame column 13I, and the overturning mechanism 11I and the chain driving mechanism 12I are all installed on the roller frame column 13I, and the chain driving mechanism 12I is connected with the overturning mechanism 11I to drive the overturning mechanism 11I to move on the linear guide rail of the roller frame column 13I, the cylinder is placed on the overturning mechanism 11I, and the chain drive mechanism 12I can drive the overturning mechanism 11I to drive the cylinder along the roller frame column The linear guide rail on 13I moves up and down to facilitate the welding and placement of the cylinder. The turning mechanism 11I is in contact with the side of the cylinder and can rotate the cylinder axially so that the welding robot can weld the cylinder. Preferably, The chain drive mechanism 12I can use a servo motor to control the movement of the turning mechanism 1I1, which is more accurate and stable.

Preferably, a drag chain mechanism 14I is also installed on the roller frame column 13I, and one end of the drag chain mechanism 14I is connected with the turning mechanism 11I, and the components that need to be connected with the turning mechanism 11I are connected with the turning mechanism 11I through the drag chain mechanism 14I, and the drag chain mechanism 14I can play the role of traction and protection for its internal cables, oil pipes, air pipes, water pipes, etc., and can also improve wear resistance and certain corrosion resistance.

As shown in Figures 37 to 38, specifically, the turning mechanism 11I includes a turning bottom frame 111I, a turning driving mechanism 112I, a conductive mechanism 113I, a front roller 114I and a rear roller 115I, and both the front roller 114I and the rear roller 115I are installed on the turning bottom. On the frame 111I, an overturning drive mechanism 112I and a conductive mechanism 113I are installed on the front roller 114I and/or the rear roller 115I. Preferably, the overturning drive mechanism 112I can be a servo motor, and the overturning drive mechanism 112I drives the front roller 114I or the rear roller 115I to positively rotate. Rotate to or reversely, also can drive front roller 114I and back roller 115I to rotate positively or reversely at the same time by turning over driving mechanism 112I, make the workpiece make positive or reverse rotation motion on the roller, turning mechanism 11I is designed to be with workpiece The shapes basically fit together, and the rollers protrude on the turning chassis 111I to contact the workpiece. The design of the rollers can reduce the friction generated by the contact, which is beneficial to the rotation of the workpiece on the turning mechanism 11I.

Preferably, the turning mechanism 11I also includes a flat key 116I and a connecting shaft 117I. There are two front rollers 114I and rear rollers 115I. The driving mechanism 112I, and the conductive mechanism 113I is installed on the other front roller 114I. The two front rollers 114I are driving wheels, which are connected as a whole through the connecting shaft 117I to ensure the synchronization of the two front rollers 114I, and the two rear rollers 115I are driven wheels. When the cylinder is placed on the turning mechanism 11I, the front rollers 114I The cylinder is driven to rotate, and the cylinder drives the rear roller 115I to move along with the rotation of the front roller 114I. In order to reduce contact friction, the roller is designed in a split form, which realizes the flexible support of the workpiece.

Further, as shown in Figure 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 welding wire drum mount 6I, the robot mount 5I is slidably installed on the ground rail 2I, and the robot The arm 4I is installed on the top surface of the robot mounting base 5I, the welding wire cylinder mounting base 6I is installed on one side of the robot mounting base 5I, the welding and cooling system 3I is installed on the other side of the robot mounting base 5I, and the robot mounting base 5I is on the ground rail. 2I slides up to drive the robot arm 4I to slide to complete the welding of the cylinder. The welding and cooling system 3I can control the welding and cooling of the robot arm 4I. The welding wire cylinder is installed on the welding wire cylinder mounting base 6I to place the welding wire required for welding .

Preferably, a drag chain 7I is installed on the ground rail 2I, and one end of the drag chain 7I is connected to the robot mount 5I. The components that need to be connected to the welding robot are connected to the welding robot through the drag chain 7I, and the drag chain 7I can connect the cables inside it. , oil pipes, air pipes, water pipes, etc. play the role of traction and protection, and can also improve wear resistance and certain corrosion resistance.

As shown in Fig. 39 to Fig. 41, what needs to be additionally explained here is that further, the other side of the roller frame 1I is also equipped with a transfer trolley assembly G for transferring the welded cylinder to the next process. The transfer trolley assembly G is mainly used to cooperate with the above-mentioned cylinder conveying truss manipulator F, which is an integral part of the cylinder handling module. It can receive the welded cylinder grasped by the cylinder conveying truss manipulator F, and pass the welded cylinder through The ground rail is transported to the cylinder turning machine H, and the cylinder is turned over.

Specifically, the transfer trolley assembly G includes a ground rail assembly 8I, a cylinder transfer trolley 9I, and a cylinder support frame 10I. The cylinder transfer trolley 9I is slidably installed on the ground rail assembly 8I, and a cylinder The support frame 10I grabs the cylinder body to the cylinder support frame 10I on the cylinder transfer trolley 9I by, for example, the cylinder conveying truss manipulator F, etc., and the transfer trolley moves along the ground rail assembly 8I to realize the transfer of the cylinder body to the next process , preferably, the cylinder support frame 10I can be set to basically conform to the shape of the cylinder, which can better fix the cylinder and prevent the cylinder from rolling and falling during the transfer process.

Preferably, the ground rail assembly 8I includes a trolley ground rail and a stroke sensing component 11I for determining the position of the cylinder transfer trolley 9I. The stroke sensing component 11I is installed on the trolley ground rail and communicated with the control unit. The stroke sensing component 11I can determine the position of the cylinder transfer trolley 9I on the ground rail of the trolley, and can control the cylinder transfer trolley 9I to move to a designated position through the control unit, so as to improve the operation accuracy and realize automatic operation.

In order to better understand the technical solutions and advantages of the cylinder welding robot workstation I and the transfer trolley G adopted in the cylinder body processing system of the present invention, the following will be described in conjunction with relatively comprehensive technical features.

As shown in Figures 35 to 41, the cylinder welding robot workstation includes a roller frame 1I and a welding robot. The roller frame 1I includes a turning mechanism 11I, a chain driving mechanism 12I and a roller frame column 13I. Both the turning mechanism 11I and the chain driving mechanism 12I are installed on On the roller frame column 13I, the chain driving mechanism 12I is connected with the turning mechanism 11I, so as to drive the turning mechanism 11I to move on the linear guide rail of the roller frame column 13I. The drag chain mechanism 14I is installed on the roller frame column 13I, and the drag chain mechanism 14I One end is connected with the turning mechanism 11I, which includes turning chassis 111I, turning driving mechanism 112I, conductive mechanism 113I, front roller 114I, rear roller 115I, flat key 116I and connecting shaft 117I, both front roller 114I and rear roller 115I are installed On the flip chassis 111I, there are two front rollers 114I and rear rollers 115I. The front rollers 114I are connected to the connecting shaft 117I through a flat key 116I. One front roller 114I is equipped with a flip drive mechanism 112I, and the other front roller Conductive mechanism 113I is installed on 114I. The welding robot includes ground rail 2I, welding and cooling system 3I, robot arm 4I, robot mounting base 5I and welding wire drum mounting base 6I. Robot mounting base 5I is slidably installed on ground rail 2I. Robot arm 4I is installed on the top surface of the robot mounting base 5I, the welding wire drum mounting base 6I is installed on one side of the robot mounting base 5I, the welding and cooling system 3I is installed on the other side of the robot mounting base 5I, and the drag chain is installed on the ground rail 2I 7I, one end of the towline 7I is connected to the robot mounting base 5I, and the other side of the roller frame 1I is also installed with a transfer trolley assembly G for transferring the welded cylinder to the next process. The transfer trolley assembly G includes ground Rail assembly 8I, cylinder transfer trolley 9I and cylinder support frame 10I, cylinder transfer trolley 9I is slidably installed on ground rail assembly 8I, cylinder support frame 10I is installed on cylinder transfer trolley 9I, ground rail assembly 8I includes trolley The ground rail and the stroke sensing assembly 11I used to determine the position of the cylinder transfer trolley 9I, the stroke sensing assembly 11I is installed on the trolley ground rail.

When welding the sheet material rolled into a cylinder, the cylinder is grabbed by a mechanical gripper such as the cylinder conveying truss manipulator F to the turning mechanism 11I of the roller frame 1I, and the turning mechanism 11I is on the chain drive mechanism 12I Drive the cylinder to move on the linear guide rail of the roller frame column 13I to a position that is convenient for the robot arm 4I to weld. The two front rollers 114I are driving wheels and are connected as a whole through the connecting shaft 117I to ensure the synchronization of the two front rollers 114I. , the two rear rollers 115I are driven wheels. When the cylinder is placed on the turning mechanism 11I, the front roller 114I drives the cylinder to rotate, and the cylinder drives the rear roller 115I to move with the rotation of the front roller 114I, and the turning mechanism 11I lifts With the rotation and the movement of the robot arm 4I along the ground rail 2I, the welding robot starts the welding program to make an inner primer on the weld seam, the primer welding current is 180-200A, the welding voltage is 24-26V, and then fill the cover surface and fill the cover surface welding The current is 260-300A, the voltage is 26-30V, the back is penetrated and formed, no need to clean the root of the weld, the roller frame 1 rotates to turn the butt weld of the cylinder to the top, and the welding robot performs the other side of the weld to fill the cover Surface, bottom filling and cover welding 260-300A, voltage 26-30V, after the welding of the cylinder is completed, the cylinder is grabbed by a mechanical gripper such as a truss manipulator and placed on the cylinder support frame 10I on the cylinder transfer trolley 9I. The drum transfer trolley 9I moves to the next process along the ground rail assembly 8I.

Cylinder welding robot workstation I drives the turning mechanism 11I through the chain drive mechanism 12I to drive the cylinder body to move up and down along the linear guide rail on the roller frame column 13I, which is convenient for grabbing and welding the cylinder body. At the same time, the robot mounting seat 5I is on the ground rail 2I Slide to drive the robot arm 4I to slide to complete the welding of the cylinder. The two front rollers 114I are used as driving wheels and connected as a whole through the connecting shaft 117I to ensure the synchronization of the two front rollers 114I. When the cylinder is placed on the turning mechanism When the 11I is on, the front roller 114I drives the cylinder to rotate, and the cylinder drives the rear roller 115I to move with the rotation of the front roller 114I, improving the efficiency of the roller rotation and avoiding the asynchronous rotation of the front and rear rollers, and the rollers are designed in a split form to reduce contact The friction force realizes the flexible support of the workpiece. The welding and cooling of the robot arm 4I is controlled by the welding and cooling system 3I to realize the automation of the welding of the cylinder. The drag chain can play a role in the internal cables, oil pipes, air pipes, water pipes, etc. The role of traction and protection can also improve the wear resistance and certain corrosion resistance. The transfer trolley assembly determines the position of the cylinder transfer trolley 9I on the ground rail of the trolley through the stroke sensing component 11I, and the cylinder transfer can be controlled by the control unit. The trolley 9I moves to the designated position to improve the running accuracy and realize automatic operation.

Cylinder Turning Machine H

As shown in Figures 42 to 43, the cylinder turning machine H includes a turning mechanism 1H capable of turning the cylindrical body from a horizontal state to a vertical state and a driving mechanism 2H for driving the turning mechanism 1H to turn over. The turning mechanism 1H It includes a main turning frame 100H for placing the cylinder, a vertical plate 101H vertically connected to the upper surface of the main turning frame 100H, and a support connected to both sides of the turning mechanism 1H and between the main turning frame 100H and the vertical plate 101H Plate 102H, one side of the turning mechanism 1H is connected to the first connecting shaft 11H, and the other side of the turning mechanism 1H is connected to the second connecting shaft 3H, and the first connecting shaft 11H and the second connecting shaft 3H are driven by the driving mechanism 2H It can rotate around the center lines of the first connecting shaft 11H and the second connecting shaft 3H, so that the cylindrical body can be turned from a horizontal state to a vertical state. The control unit is connected in communication with the cylinder turning machine, and is configured to control the cylinder turning machine to turn over the received cylinder.

In the above embodiment, it should be noted that the support plate 102H acts as a reinforcing rib for the turning mechanism 1H, and the cylinder turning machine H is equipped with the turning mechanism 1H, the driving mechanism 2H, the first connecting shaft 11H and the second connecting shaft 3H, so that the turning mechanism 1H can turn over with the first connecting shaft 11H and the second connecting shaft 3H as the fulcrum under the drive of the driving mechanism 2H, and at the same time make the first connecting shaft 11H and the second connecting shaft 3H rotate around their respective centerlines , so that the cylinder body can be turned from a horizontal state to a vertical state through its own inversion, and the degree of automation is high, thereby improving the working efficiency. It should be noted that the transformation of the cylindrical body from the horizontal state to the vertical state is mainly realized by the turning over of the turning mechanism 1H. Specifically, first, the cylindrical body is placed on the upper surface of the main turning frame 100H of the turning mechanism 1H , the end face of the cylindrical body needs to be placed towards the front of the vertical plate 101H of the turning mechanism 1H, so that the cylindrical body can be in a vertical state after being turned over, and then driven by the driving mechanism 2H, the turning mechanism 1H will be placed on its two sides The first connecting shaft 11H and the second connecting shaft 3H are the fulcrums of rotation and rotate 90 degrees, driving the cylinder body to rotate 90 degrees, thereby turning the cylinder body from a horizontal state to a vertical state, and finally the cylinder body Body flip is complete.

As a preferred embodiment, one side of the turning mechanism 1H is connected to the first connecting shaft 11H through a first flange. Flange is a disc-shaped part with a hole in the middle. It is generally made of metal materials, such as carbon steel or stainless steel. It is often used for the connection between pipes, pipe fittings or equipment. Specifically, firstly, one side of the turning mechanism 1H and the first connecting shaft 11H can be connected to different flanges respectively, and then the two flanges can be connected with fasteners. Flange pads can also be added between them. It should be noted that the above-mentioned flange is the first flange, and it is easy to disassemble by connecting one side of the turning mechanism 1H to the first connecting shaft 11H through the first flange. Can reduce wear and tear.

Preferably, it can be seen from FIG. 2 that the other side of the turning mechanism 1H is connected to the second connecting shaft 3H through a second flange 4H, and the connection method can refer to one side of the turning mechanism 1H and the first connecting shaft 11H. connection between. The first connecting shaft 11H and the second connecting shaft 3H can be cylindrical. When the turning mechanism 1H rotates, the first connecting shaft 11H and the second connecting shaft 3H on both sides of the turning mechanism rotate around their respective centerlines at the same time, that is to say, The first connecting shaft 11H and the second connecting shaft 3H are the rotation fulcrums of the turning mechanism 1H. When the turning mechanism 1H rotates, the first connecting shaft 11H and the second connecting shaft 3H rotate accordingly.

More preferably, a bearing 5H is sleeved on the outer peripheral surface of the second connecting shaft 3H, and the bearing 5H can adopt a suitable rolling bearing, of course, a suitable sliding bearing can also be used, and the inner ring of the bearing 5H is sleeved on the outer circumference of the second connecting shaft 3H On the surface, when the second connecting shaft 3H rotates, the inner ring of the bearing 5H rotates accordingly, the bearing 5H is connected with the bearing seat 6H, and the bearing seat 6H can be fixed on the ground, specifically, the outer ring of the bearing 5H is connected with the bearing seat 6H, Fasteners can be used to connect the bearing 5H and the bearing seat 6H. The main function of the bearing seat 6H is to support and fix the bearing 5H, and both the bearing 5H and the bearing seat 6H can be made of metal materials.

As another preferred embodiment, the outer peripheral surface of the first connecting shaft 11H is sleeved with a second bearing, and the outer peripheral surface of the second bearing is connected to the mounting seat 12H, and the mounting seat 12H can be fixed on the ground, which acts as a bearing seat .

As yet another preferred embodiment, the main overturning frame 100H is distributed and symmetrically provided with a support structure 7H that can be placed and attached to the cylindrical body. The support structure 7H is formed in a plate shape, which includes two right-angled sides and a One of the right-angled sides is connected to the main overturning frame 100H through the connecting piece 13H, and the connecting piece 13H can be connected with a connecting plate, and the supporting structure 7H and the connecting plate can be connected by welding. Fasteners can be used for connection with the main overturning frame 100H. Since the outer peripheral surface of the cylindrical body is arc-shaped, in order to fit the outer peripheral surface of the cylindrical body, the side of the support structure 7H that is in contact with the cylindrical body is arc-shaped. When the driving mechanism 2H is working, the main turning frame 100H and the vertical plate 101H are rotated by 90 degrees under the drive of the driving mechanism 2H. After the rotation, the main turning frame 100H is changed from a horizontal state to a vertical state. The vertical state is turned into a horizontal state. Since the support structure 7H is located on the main flip frame 100H, the cylinder body is placed on the support structure 7H, and the cylinder body will be turned from a horizontal state to a vertical state after being turned over.

As a specific structural form, the driving mechanism 2H can be an oil cylinder, as shown in Figure 43, the piston rod of the oil cylinder can be connected with the support plate 102H on the side of the turning mechanism 1H close to the first connecting shaft 11H through the hinge mechanism 8H, because the oil cylinder and The first connecting shaft 11H is located on the same side of the turning mechanism 1H, and the oil cylinder can be fixed on the mounting seat 12H, that is to say, the mounting seat 12H can not only fix the first connecting shaft 11H, but also fix the oil cylinder. When the oil cylinder operates, its piston rod Stretch out, and drive the hinge mechanism 8H to move at the same time, and the movement of the hinge mechanism 8H can push the turning mechanism 1H to rotate.

The driving mechanism 2H can also use a motor. Specifically, the driving pulley of the motor drives the driven pulley to rotate through a belt, and the driven pulley is connected to the driven pulley shaft through a flat key. The support plate 102H on one side of the connection shaft 11H is connected. When the motor operates, the driving pulley and the belt operate, thereby driving the driven pulley to rotate. Since the driven pulley is connected to the driven pulley shaft through a flat key, therefore, When the driven pulley rotates, it can drive the driven pulley shaft to rotate. Since the driven pulley shaft is connected to one side of the overturning mechanism 1H, when the driven pulley shaft rotates, the overturning mechanism 1H will simultaneously rotate during the rotation of the driven pulley shaft. rotate. Alternatively, the motor and the sprocket can be used to cooperate. Specifically, the driving sprocket of the motor drives the driven sprocket to rotate through the chain, the driven sprocket is connected to the driven sprocket shaft through a flat key, and the driven sprocket shaft is connected to the turning mechanism 1H The support plate 102H on the side close to the first connecting shaft 11H is connected. When the motor operates, the driving sprocket drives the chain and the driven sprocket to rotate, and the driven sprocket drives the driven sprocket shaft to rotate through the flat key. The sprocket shaft is connected to one side of the turning mechanism 1H, and can drive the turning mechanism 1H to rotate together when the driven sprocket shaft rotates.

More specifically, the hinge mechanism 8H includes a connecting rod, one end of the connecting rod is connected to the end of the piston rod, and the other end of the connecting rod is connected to the supporting plate 102H on the side of the turning mechanism 1H connected to the first connecting shaft 11H, so that when the piston When the rod is stretched out, it can push the turning mechanism 1H to rotate through the connecting rod.

As another specific embodiment, the cylinder turning machine also includes a base 9H that cooperates with the turning mechanism and is used for shock absorption when the turning mechanism 1H is put down, and a safety pad that is provided on the side of the turning mechanism 1H near the vertical plate 101H. For the protective fence 10H, it should be noted that the base 9H can be connected to the overturning mechanism 1H, or can be set independently, as long as the overturning mechanism 1H can be in contact with the base 9H when it is put down, so that the base 9H can play a role of shock absorption. The fence 10H can prevent the staff from getting close to the area where the barrel turning machine turns, so as to provide safety protection.

With regard to each functional module of the automatic barrel processing system of the present invention, as a preferred layout type, see Figure 44, each functional module of the automatic barrel processing system of the present invention can preferably be formed into a horizontal island type multi-L layout type , which can be centrally arranged on the same side of the workshop passage, and arranged transversely with respect to the workshop passage as a whole. Specifically, the cylinder automatic processing system may include multiple process layout areas with independent functions in a dispersed island arrangement; and different process layout areas in the multiple process layout areas are combined with each other to form a plurality of L-shaped layout structures .

In this specially set layout pattern of the present invention, it includes a plurality of process layout areas with independent functions, and these process layout areas ingeniously adopt a horizontal island L-shaped layout pattern, because different process layout areas are combined with each other according to the production process sequence The structure is arranged in multiple L shapes and arranged horizontally on one side of the workshop aisle, which not only greatly saves the production space, but also facilitates handling and production, which greatly reduces the complexity and difficulty of hollow cylinder production.

Specifically, referring to Fig. 44, the above-mentioned multiple process layout areas include the sheet material incoming area Q1, the sheet material forming area Q2, the cylinder transfer area Q3, the cylinder welding area Q4 and the cylinder turning area Q5 arranged side by side. , and the post-welding buffer area Q6 of the cylinder, and a truss conveying area Q7 for connecting the sheet metal forming area Q2 and the cylinder welding area Q4 is provided on one side of the cylinder automatic processing system, wherein the sheet material forming area Q2 and the truss conveying Zone Q7 is formed into an L-shaped layout structure; the cylinder welding zone Q4 and cylinder turning zone Q5 arranged side by side form an L-shaped layout structure with the cylinder transfer zone Q3, and the cylinder welding zone Q4 and cylinder turning zone arranged side by side Each of the areas Q5 and the cylinder post-welding buffer area Q6 forms an L-shaped arrangement structure; and the truss conveying area Q7 and the cylinder transfer area Q7 form a T-shaped arrangement to form a double L-shaped arrangement structure.

In the multi-L-shaped layout structure of this specific layout, it flows sequentially according to the process, which greatly facilitates the processing and production of the cylinder, and it uses the space skillfully, and the structure is compact, which effectively saves space.

Corresponding process equipment can be arranged in each of the above-mentioned process layout areas. It should be noted that although within the scope of the technical concept of the present invention, these process layout areas can arrange and integrate commonly used equipment in existing processes, and can also arrange the present invention. Carefully selected preferred equipment.

For example, in the preferred mode shown in FIG. 44 of the present invention, the sheet material incoming area Q1 can be provided with a sheet material conveying platform A and a sheet material conveying truss manipulator C, and the sheet material forming area Q2 can be provided with a sheet material centering platform mechanism D and the four-roll plate rolling machine E, the cylinder transfer area Q3 and the truss conveying area Q7 can be equipped with a cylinder handling module (that is, the cylinder transfer area Q3 can be equipped with a transfer trolley assembly G, and the truss conveying area Q7 can be equipped with a cylinder Body conveying truss manipulator F), cylinder body welding area Q4 can be provided with welding robot workstation I, cylinder body turnover area Q5 is provided with cylinder body turning machine H,. Some of these process equipment can be purchased from the market in a targeted manner. In the technical development project to which this application belongs, the relevant equipment needs to be improved to a certain extent or adapted to the site.

In addition to the above-mentioned multiple L-shaped layout structure, the functionally independent multiple process layout areas included in the cylinder automatic processing system can also be formed in a straight or U-shaped layout.

The specific structure of each functional module of the automatic barrel processing system of the present invention has been described in detail above. On the basis of understanding the above-mentioned specific structure, it will be more helpful to understand the barrel processing method and the barrel automatic processing technology of the present invention described below. Technical solutions. What needs to be explained here is that although the cylinder automatic processing system and automatic processing technology of the present invention have a high degree of automation in the processing process, they do not absolutely exclude manual participation in local points, and should not be used for "automatic". Absolute understanding. In addition, the barrel processing method of the present invention is not limited to the implementation of the above-mentioned barrel automatic processing system of the present invention. Within the scope of the technical concept of the present invention, those skilled in the art can use other equipment or devices to realize Each step of the barrel processing method of the present invention shall belong to the protection scope of the present invention.

In order to facilitate understanding, first describe the automatic processing process of the actual cylinder in combination with the above-mentioned automatic processing system for the cylinder of the present invention. As mentioned above, in a preferred embodiment, see FIG. 7, the functional modules of the automatic processing system for the cylinder of the present invention The equipment mainly includes sheet material conveying platform A, sheet material rack B for loading sheet materials, sheet material conveying truss manipulator C, sheet material automatic centering platform mechanism D, four-roller plate rolling machine E, cylinder conveying truss manipulator F, Transfer trolley assembly G, cylinder turning machine H and welding robot workstation I.

The main process of the automatic processing of the cylinder is as follows: the sheet material conveying truss manipulator C grabs the sheet material to the automatic centering platform mechanism D for automatic centering of the sheet material, and after automatic centering, it is transported to the four-roller plate rolling machine E for rolling After forming and rolling, manually spot-weld the joints of the cylinder body to fix it into a cylinder body, and then the cylinder conveying truss manipulator F grabs the cylinder body to the welding robot workstation I roller frame for butt welding of the cylinder body.

More specifically, the action process of the cylinder automatic processing technology in the cylinder automatic processing technology of the present invention is as follows: the oil cylinder of the sheet material conveying platform A is extended, and the sheet material conveying platform A is pushed out of the area of the mechanical gripper C of the sheet material conveying truss For loading, the worker hangs the sheet material rack B with the sheet onto the sheet conveying platform A, and confirms the loading. Under the control of the control unit, the sheet material conveying platform A is retracted through the oil cylinder to pull the sheet material conveying platform A back directly under the sheet material conveying truss manipulator C. After the sheet material conveying platform A is in place, it touches the travel switch assembly. Start sheet material conveying truss manipulator C action. A distance measuring sensor is arranged in the middle of the magnetic attraction mechanism 322C on the sheet material conveying truss manipulator C. When the distance measuring sensor determines that the distance between the magnetic attraction mechanism 322C and the sheet material is greater than the set value, the magnetic attraction mechanism 322C of the sheet material conveying truss manipulator C Action, the electromagnet is energized to pick up the sheet and under the action of the Z-axis arm lifting device, the sheet is lifted to the set height, and the sheet is conveyed under the movement of the slide plate assembly 5C of the sheet conveying truss manipulator C Right above the plate centering platform mechanism D, under the action of the Z-axis arm lifting device, the plate descends to the plate centering platform mechanism D, and at the same time energizes the electromagnet, the magnetic suction mechanism 322C releases the plate, and the plate The material falls in the middle of the plate automatic centering platform mechanism D. Under the control of the control unit, the automatic centering command of the plate automatic centering platform mechanism is started, so that the plate is automatically centered under the action of the automatic centering drive mechanism D. At the same time, under the action of the electromagnet mechanism 103D, the guidance of the centering guide wheel and the support of the universal ball, the centered sheet will be transported to the feed port of the four-roller plate rolling machine E in translation. When the sheet touches When the stopper signal switch assembly installed on the stopper system of the automatic centering platform mechanism is reached, the stopper mechanism falls down, and the four-roller plate bending machine is automatically started under the action of the control unit, the four-roller plate roller moves, and the sheet material is conveyed Roll to the driving roller of the four-roller plate rolling machine for automatic rounding. After rolling into a cylinder, manually point the position of the butt joint. After the point is fixed, manually confirm the work. Under the action of the control unit, start the cylinder conveying truss manipulator F to grab the cylinder to the robot welding workstation I station. The robot welding workstation I is equipped with a photoelectric switch. When the photoelectric switch detects that there is a workpiece, the welding robot workstation will be started under the action of the control unit. Automatic welding of barrel splice welds. After the welding is completed, the robot workstation and the transfer trolley assembly G are under the action of the control unit, and the transfer trolley assembly G moves to the right below the cylinder conveying truss manipulator F, and the cylinder conveying truss manipulator F grabs the welded cylinder to the On the transfer and unloading assembly G, the transfer trolley assembly detects workpieces, and starts under the action of the control unit to transport the workpieces to the side of the cylinder turning machine H, hoist the workpieces to the cylinder turning machine H and start the flanging machine action to turn the cylinder upright.

Therefore, corresponding to the above automatic barrel processing system, referring to Figure 45, the present invention also provides a barrel processing method, which includes the following steps:

Firstly, the sheet to be processed is automatically transported from the sheet buffer position to the centering station; secondly, the sheet is centered at the centering station, and the sheet is detected Whether the material is centered in place; thirdly, the centered sheet is transported to the sheet metal rolling station to be rolled into a cylinder, and the butt joint position of the rolled cylinder is fixed by spot welding; Fourth, the cylinder is transported to a welding station, and the cylinder is welded.

Referring to Figure 46, the detailed welding process of the cylinder is as follows:

1) The cylinder is grabbed by the cylinder truss manipulator to the roller frame of the cylinder welding station to spot the arc-extinguishing plate of the butt weld seam, and weld the arc-extinguishing plate, and use a grinding wheel along the weld seam on the arc-extinguishing plate machine grinding straight groove;

2) The welding robot starts the welding program to make a primer on the inside of the weld, the welding current of the primer is 180-200A, the welding voltage is 24-26V, and then fill the cover surface, the welding current of the filling cover surface is 260-300A, the voltage is 26-30V, and the back Penetration forming (no need for root cleaning of weld seam);

3) Rotate the support roller frame of the cylinder to turn the butt welding seam of the cylinder to the top, and the welding robot will fill the other side of the welding seam and fill the cover surface. The welding current and voltage of the bottom filling and cover surface are the same as above;

4) After the welding of the cylinder is completed, the truss manipulator grabs it to the transfer trolley, and transports it to the cylinder flanging machine station.

When the cylinder is rounded and formed to close the joint, the edge of the sheet material on both sides of the cylinder butt joint is pre-bent 3-5mm toward the inside of the cylinder. When welding, the inner side is welded first, and the inner side shrinks and deforms after welding, and then welded Outside, the shrinkage deformation of the outside and the shrinkage deformation of the inside are offset, so that the straight edge of the butt joint of the welded cylinder is small, and the welding deformation is small, and there is no need for round calibration.

In the welding step of the barrel processing method of the present invention, since the edge of the sheet material on both sides of the barrel butt joint is pre-bent 3-5mm more toward the inside of the barrel when the roll is formed and closed, the welding Welding is carried out according to the preset welding sequence, that is, the inner side is welded first, the inner side is welded and then shrinks and deformed, and then the outer side is welded. The shrinking deformation of the outer side and the shrinking deformation of the inner side are offset. The straight edge at the body butt joint is small, and the welding deformation is small, so there is no need for subsequent round calibration in the conventional production process. 3-5mm more pre-bending to the inside of the cylinder, this preferred lamination size range is the range obtained through countless tests on the basis of the original technical concept of the present invention, within this lamination range, the butt weld is directly The shortest side and the smallest welding deformation can optimize one-time round forming without subsequent round calibration, and the precision is high; and the subsequent butt weld of the cylinder can achieve full penetration, and can meet the requirements of ultrasonic flaw detection without root cleaning. The working environment is good, the working efficiency is improved, and the auxiliary materials for root cleaning are also saved.

On the basis of the above embodiments, typically, in order to avoid the influence of uneven temperature on the welding quality during arc initiation and arc extinguishing, in the fourth step above, before welding the inner side of the cylinder, a fixed lead can be welded on the cylinder. arc extinguishing plate, and form a straight groove along the direction of the welding seam on the arc extinguishing plate, so that at the beginning of welding, welding can be started from the arc striking plate at one end of the cylinder, and then welded to the cylinder after the welding quality is stable When extinguishing the arc, it can be carried out on the arc extinguishing plate at the other end, so as to avoid the temperature change of the arc extinguishing from affecting the welding quality of the cylinder.

Unlike conventional butt welds that require root cleaning, preferably, the welding method of the hollowed-out cylinder of the present invention adopts a multi-layer welding process ingeniously, specifically, in the fourth step, a multi-layer welding process is used for welding the inside of the cylinder Welding process, firstly perform back welding on the weld seam, the current intensity of the back welding is 180-200A, and the welding voltage is 24-26V; then perform filling cover welding, the current intensity of the filling cover welding is 260-300A, The welding voltage is 26-30V. This multi-layer welding process has back penetration forming, eliminating the need for root cleaning of weld seams.

Further, in the fourth step, after the inner welding is completed, the cylinder is rotated so that the weld seam at the joint position is rotated to the upper part, and a multi-layer welding process is adopted for the welding on the outside of the cylinder body, and the weld seam is firstly welded. Bottom welding, the current intensity of the bottom welding is also 180-200A, and the welding voltage is 24-26V; and then the filling cover welding is performed, 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 can also adopt other specific welding processes, for example, the butt weld of the cylinder can adopt the single-sided welding and double-sided forming process, and adopt the straight arm welding with welding system The machine structure is welded.

More preferably, in the third step above, a four-roller plate rolling machine is used to roll the sheet into a circle; in the fourth step, a welding robot is used for welding. Among them, a four-roller plate rolling machine is used for rolling, which has better precision and higher efficiency. In addition, the use of welding robots for welding can improve the degree of automation and avoid operational errors in manual welding.

Typically, the cylinder body of the present invention may be a hollowed out cylinder body structural part of the underframe of the pump truck.

On the basis of the above-mentioned cylinder automatic processing system and cylinder processing method of the present invention, the present invention further provides a cylinder automatic processing technology, which adopts the cylinder automatic processing system described in any of the above technical solutions, and according to any of the above A cylinder body processing method of a technical solution processes a cylinder body.

Specifically, the automatic barrel processing process of the present invention mainly includes: stock sheet material preparation for the barrel—rolling processing—automatic welding of butt welds. Specifically, referring to Fig. 7 to Fig. 46, the panel conveying truss manipulator C grabs the panel from the panel frame B on the panel conveying platform A to the panel centering platform mechanism D to center the panel After centering, it is transported to the four-roller plate rolling machine E for round forming. After the rolling is completed, the butt joint position of the cylinder is manually spot-welded and fixed into a cylinder. The barrel conveying truss manipulator F grabs the barrel onto the roller frame of the welding robot workstation I, welds the butt weld of the barrel, and then transports the barrel to the barrel turning machine E through the barrel conveying truss manipulator F and the transfer trolley assembly to flip.

The specific welding process of the cylinder includes: 1) The cylinder is grasped by the cylinder truss manipulator C to the roller frame of the cylinder welding robot workstation I station, and the butt welding seam is ignited and extinguished. , use a grinder to grind the straight groove along the weld seam on the extinguishing arc plate; 2) The robot starts welding to make an inner primer on the weld seam, the primer welding current is 180-200A, the welding voltage is 24-26V, and then fill the cover surface, Welding current of filling cover is 260-300A, voltage 26-30V, back penetration forming (no need to clean the root of the weld); 3) The roller frame of the robot welding workstation I rotates the butt weld of the cylinder to the top, and the welding The robot performs bottoming and filling on the other side of the weld seam, and the welding current and voltage are the same as above; 4) After the welding of the cylinder is completed, the cylinder conveying truss manipulator F grabs it to the transfer trolley G, and lays it out in an L shape The structure is more conveniently transported to the barrel turning machine H in the barrel turning area Q5 for barrel turning.

In the above processing process, when the cylinder is formed and closed, it is pre-bent 3-5mm toward the inner side. When welding, the inner side is welded first, and the inner side shrinks and deforms after welding, and then the outer side is welded. The straight edge at the butt joint of the cylinder is small, and the welding deformation is small, so there is no need for the subsequent rounding process in the conventional process.

As shown in Fig. 7, in the relatively comprehensive automatic barrel processing process, the process equipment arranged in each process layout area of the automatic barrel processing system of the present invention may preferably include: a sheet material conveying platform A, a sheet material conveying truss Manipulator C, plate centering platform mechanism D, four-roller plate rolling machine E, cylinder conveying truss manipulator F, transfer trolley assembly G, cylinder turning machine H, and cylinder welding robot workstation I. During the processing of the cylinder, the action process of each process equipment is as follows: through the drive of the driving mechanism (such as the extension of the oil cylinder), the sheet material conveying platform A is pushed out of the area of the sheet material conveying truss manipulator C for loading, and the workers will bring the sheet metal The sheet material rack B is hung on the sheet material conveying platform A for loading. After loading, the sheet material conveying platform A is driven back to the right below the sheet material conveying truss manipulator C through the retraction of the oil cylinder. After the sheet material conveying platform A is in place, the sheet material conveying truss manipulator C is started. The sheet material conveying truss manipulator C lifts the sheet material to the set height, and transports the sheet material to the top of the sheet material centering platform mechanism D, and then lowers the sheet material to the sheet material centering platform mechanism D, so that the sheet material Fall on the plate centering platform mechanism. The sheet centering platform mechanism D centers the sheet, and after centering, the sheet centering platform D, under the guidance of the centering guide wheel and the support of the universal ball, translates and transports the centered sheet At the material inlet of the four-roller plate bending machine E, when the sheet material touches the material stop signal switch assembly on the material stop system installed on the plate centering platform mechanism D, the material stop mechanism falls down, and the control unit Start the four-roller plate rolling machine under the action, the four-roller plate rolling machine moves, and the sheet material is conveyed to the driving roller of the four-roller plate rolling machine for automatic rolling. After being rolled into a cylinder, the butt joint is manually fixed. After the point is fixed, Work confirmation is done manually. Under the action of the control unit, start the cylinder conveying truss manipulator F to grab the cylinder to the robot welding workstation I station. The welding robot workstation is generally equipped with a photoelectric switch. When the photoelectric switch detects a workpiece, the welding robot workstation is started under the action of the control unit. The welding robot workstation lifts and turns on the roller frame. seam for welding. After the welding is completed, the transfer trolley G moves to the right below the cylinder conveying truss manipulator F, and the cylinder conveying truss manipulator F grabs the welded workpiece to the transfer vehicle G, and the transfer trolley G detects that there is a workpiece and conveys the workpiece Go to the cylinder turning machine H. Manually lift the workpiece to the cylinder turning machine and start the turning machine to turn the workpiece, and then transport it to the cylinder post-welding buffer area Q6 for storage.

It can be seen from the above description of the basic implementation mode, each preferred implementation mode, and especially the preferred embodiment of the present invention that the key technical points of the technical concept of the present invention are:

First, the cylinder automatic processing system of the present invention carefully arranges each functional module equipment according to the processing process involved in cylinder processing. The truss manipulator grabs the sheet to the automatic centering platform mechanism for automatic centering of the sheet, and after automatic centering, it is transported to the four-roller plate rolling machine for rolling and forming. The cylinder is fixed by spot welding, and then the cylinder conveying truss manipulator grabs the cylinder to the roller frame of the welding robot workstation for butt weld welding of the cylinder, and automatically transports it to the cylinder turning machine to turn it into an upright state. Through the cylinder automatic processing system of the present invention, there is very little manual participation in the entire processing process of the cylinder, the degree of automation is high, the processing quality and processing efficiency of the cylinder are high, it can reduce the deformation of the cylinder during processing, reduce the labor intensity of workers, and ensure production safety high sex.

Second, the cylinder body processing method of the present invention corresponds to the above-mentioned cylinder body automatic processing system for process flow arrangement, especially in the preferred mode, the original welding process method of the cylinder body: when the cylinder body reel is formed and closed, it is more pre-bent towards the inside 3-5mm, when welding, the inner side is welded first, and the inner side shrinks and deforms after welding, and then the outer side is welded. The shrinking deformation of the outer side is offset by the shrinking deformation of the inner side, so that the straight edge of the butt joint of the welded cylinder is small, and the welding deformation is small, and no subsequent calibration is required. round;

Thirdly, the hollow cylinders are formed and transported sequentially according to the optimized layout of the production area, and each process layout area is arranged in multiple L shapes, which are composed of sheet material conveying equipment, forming equipment, cylinder conveying equipment and welding robot workstations to realize plate The whole process of production is convenient and efficient from material loading to cylinder unloading.

In summary, the main advantages of the present invention are as follows:

First, the automatic barrel processing system and the barrel processing method of the present invention have very little manual participation in the entire barrel processing process, high degree of automation, high barrel processing quality and processing efficiency, which can reduce barrel processing deformation, The labor intensity of workers is reduced, and the production safety is high.

Second, the cylinder automatic processing system optimizes the longitudinal layout mode of the original station process equipment into a horizontal island-type multi-L-shaped layout mode of equipment. The overall site layout is compact and reasonable, saving a lot of manufacturing space, saving about 50% of the site area. Cylinder manufacturing adopts a one-piece flow process flow unit production mode, which can be completed in one area, with safe operation and high efficiency, and the completed workpieces are directly transported to the production line, and the space required for the buffer area is small.

Thirdly, when the cylinder reel is formed and closed, it is pre-bent 3-5mm toward the inside. When welding, the inside is first welded, and the inside shrinks and deforms after welding, and then the outside is welded. The shrinkage deformation of the outside and the shrinkage deformation of the inside offset, so that the welded cylinder The straight edge at the butt joint is small, and the welding deformation is small, so there is no need for subsequent round calibration. The straight edge of the rounded butt weld is short, the welding deformation is small, and the rounding is formed at one time, with high precision;

Fourth, the butt weld of the cylinder body is fully dissolved, and the requirements of ultrasonic flaw detection can be met without root cleaning. The working environment for workers is good, the work efficiency is improved, and the auxiliary materials for root cleaning are also saved;

Fifth, the double-sided welding of the butt welding of the cylinder is turned over by the roller frame of the welding robot workstation, which reduces labor intensity, saves the work site, and works safely.

The preferred embodiment of the present invention has been described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the specific details of the above embodiment, within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, These simple modifications all belong to the protection scope of the present invention.

In addition, it should be noted that the various specific technical features described in the above specific implementation manners may be combined in any suitable manner if there is no contradiction. In order to avoid unnecessary repetition, various possible combinations are not further described in the present invention.

In addition, various combinations of different embodiments of the present invention can also be combined arbitrarily, as long as they do not violate the idea of the present invention, they should also be regarded as the disclosed content of the present invention.

Claims (26)

1. A cylindrical body automatic processing system is characterized in that the cylindrical body automatic processing system comprises: The sheet material handling module is used to transfer the sheet material from the sheet material buffer position to the centering station; A plate centering platform mechanism (C), which is arranged on the centering station and used for centering the received plate; The sheet metal rolling module is used to receive the centered sheet and roll the sheet into a cylinder; a barrel handling module, used to transport the barrel; cylinder welding machine workstation (I), for receiving said cylinder and performing welding; and A control unit for cooperatively controlling the sheet material handling module, the sheet material centering platform mechanism (C), the sheet material rolling module, the cylinder body handling module and the cylinder body welding machine workstation (I ), to complete the automated processing of the cylinder. 2. The cylindrical body automatic processing system according to claim 1, characterized in that, it also includes a sheet material delivery platform (A), and the sheet material delivery platform (A) is provided with a positioning structure for loading sheet materials and used When the sheet material is transported to the sheet material buffer position, the sheet material conveying platform (A) includes a platform structure (1A), a plurality of rack guide seats arranged on the platform structure (1A) (2A), the guide rail assembly (3A) that is located at the bottom of the platform structure and the telescopic assembly (4A) for driving the platform structure (1A), the upper end surface of each of the rack guide seats ( 2A) forms In order to serve as the inclined surface (201A) of the positioning structure, the telescopic assembly (4A) can drive the platform structure (1A) to move along the guide rail assembly (3A) to enter and exit the set position; as well as The plate conveying platform (A) also includes a conveying platform position detection device, and the conveying platform position detecting device and the telescopic assembly (4A) are both in communication connection with the control unit. 3. The barrel automatic processing system according to claim 1, wherein the sheet material handling module is a sheet material conveying truss manipulator (C), and the plate material conveying truss manipulator (C) includes a fixed structure (1C) , an X-axis crossbeam (2C), a gripper structure (3C) and an X-axis moving structure (4C) connected between the X-axis crossbeam (2C) and the gripper structure (3C), the X-axis crossbeam (2C) connected with the fixed structure (1C), the handle structure (3C) includes a lift structure (31C) and a handle assembly (32C) connected to the lift structure (31C), the lift structure (31C) is connected to the X-axis beam (2C) through the X-axis moving structure (4C), and the gripper assembly (32C) includes a gripper bracket (321C) and is connected to the gripper bracket (321C) The magnetic attraction mechanism (322C) on the The control unit is communicatively connected with the board material handling module, and is configured to control the board material handling module to transport the board material to the pair when the board material is transported to the set position. middle station. 4. The cylinder automatic processing system according to claim 3, characterized in that, the sheet material conveying truss manipulator (C) also includes a slide plate assembly (5C), and the slide plate assembly (5C) includes a slide plate assembly (5C) plate (51C) and the Z-axis driving mechanism (52C) and X-axis driving mechanism (53C) installed on the slide plate (51C), the Z-axis driving mechanism (52C) is connected with the lifting structure (31C) The X-axis driving mechanism (53C) is connected to the X-axis moving structure (4C) to drive the lifting structure (31C) to work. 5. The barrel automatic processing system according to claim 4, characterized in that, the slide plate (51C) is also provided with an X-axis zero pointer assembly (54C) for limiting the initial position of the X-axis, for limiting The Z-axis zero point pointer assembly (55C) of the Z-axis initial position and the travel switch (56C) for limiting the maximum displacement of the X-axis and the maximum displacement of the Z-axis. 6. The cylinder automatic processing system according to claim 3, characterized in that, the X-axis moving structure (4C) includes a first X-axis moving part (41C) and a second X-axis moving part capable of relative movement (42C), one of the first X-axis moving part (41C) and the second X-axis moving part (42C) is set on the X-axis beam (2C), and the other is set on the On the lifting structure (31C). 7. The barrel automatic processing system according to claim 3, characterized in that, the lifting structure (31C) includes a Z-axis beam column (311C) and a first Z-axis moving part and a second Z-axis moving part capable of relative movement. Axis moving parts, one of the first Z-axis moving part and the second Z-axis moving part is arranged on the Z-axis beam column (311C), and the other is arranged on the X-axis moving structure ( 4C) or set on the gripper assembly (32C). 8. The cylinder automatic processing system according to claim 3, characterized in that, the gripper assembly (32C) further comprises an induction switch (324C) arranged on the gripper support (321C), and the induction switch (324C) Both the switch (324C) and the magnetic attraction mechanism (322C) are connected in communication with the control unit, so as to detect whether there is material under the gripper assembly (32C) through the induction switch (324C), and according to the detected material The information controls whether the magnetic attraction mechanism (322C) works. 9. The cylinder automatic processing system according to claim 8, characterized in that, the gripper assembly (32C) further comprises a distance measuring sensor ( 325C), the distance measuring sensor (325C) is communicatively connected with the control unit, so as to control whether the magnetic attraction mechanism (322C) works according to whether the distance is less than a preset distance. 10. The barrel automatic processing system according to claim 1, characterized in that, the plate centering platform mechanism (D) comprises a platform assembly (1D) having a platform main body (100D), and the platform main body (100D ) is provided with a sheet centering mechanism (101D) for centering the sheet, a first drive mechanism (102D) for driving the sheet centering mechanism (101D), a mechanism for conveying the sheet An electromagnet mechanism (103D) and a second drive mechanism (104D) for driving the electromagnet mechanism (103D), the sheet centering mechanism (101D) can be driven by the first drive mechanism (102) Moving linearly along the width direction of the platform main body (100D), the electromagnet mechanism (103D) can absorb the sheet material and move along the platform main body (100D) under the drive of the second driving mechanism (104D) movement along the length of the to enable centering and conveying of said panels; and Both the first drive mechanism (102D) and the second drive mechanism (104D) are communicatively connected to the control unit, and the control unit is further configured to control the plate by controlling the first drive mechanism (102D) center the material, and control the second driving mechanism (104D) to transport the plate to the plate rolling module after centering. 11. The cylindrical body automatic processing system according to claim 10, characterized in that, the central area of the platform main body (100D) is provided with parallel to the length direction of the platform main body (100D) and provided for the electromagnet mechanism ( 103D) a moving conveying channel (1000D), wherein 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 electromagnet mechanism (103D) The electromagnetic adsorption surface is set to protrude from the sheet material bearing surface and elastically supported, so as to be able to contact the bottom surface of the sheet material during the working process to apply adsorption force; the two sides of the conveying channel (1000) are provided with A plurality of waist-shaped through holes (1001D) arranged along the width direction of the platform main body (100D), the sheet material centering mechanism (101D) is provided on the bottom surface of the platform main body (100D), and includes Centering rods (1010D) arranged on both sides of the conveying channel (1000D) and along the conveying channel (1000D), the centering rods (1010D) are provided with guides passing through the waist-shaped through holes (1001D) Wheel (10104D). 12. The cylinder automatic processing system according to claim 11, characterized in that, the centering rod (1010D) comprises a plurality of guide wheel mounting parts (10100D) for installing the guide wheels (10104D), multiple a linear bearing (10101D), an orifice plate (10103D) and a zero pointer installation part (10102D) for installing a zero pointer (10105D), the guide wheel (10104D) is installed on the guide wheel installation part (10100D) the top of. 13. The cylinder automatic processing system according to claim 10, characterized in that, the electromagnet mechanism (103D) includes an electromagnetic propulsion slide (1030D), and a slider is provided on the electromagnetic propulsion slide (1030D) (1031D) and the electromagnet fixing part (1032D), the slider (1031D) is connected with the linear guide rail (106D), so as to drive the electromagnetic propulsion slide (1030D) along the linear guide rail (106D) To move, the electromagnet fixing part (1032D) includes a base plate (10320D) connected to the electromagnetic propulsion slide (1030D) and an electromagnet fixing plate (10321D) for installing an electromagnet, and the electromagnet fixing plate ( 10321D) and the bottom plate (10320D) are provided with a spring positioning pin to form the elastic support, a compression spring (10322D) is sleeved on the spring positioning pin, and the electromagnet fixing plate (10321D) and the Fixed connection between the base plate (10320D). 14. The barrel automatic processing system according to claim 10, characterized in that, the plate centering platform mechanism also includes a universal ball (3D) arranged on the platform body (100D) for conveying plates ) and a retaining system (7D) connected to the platform body (100D) for preventing sheet material from being conveyed. 15. The cylinder automatic processing system according to claim 1, wherein the cylinder handling module includes a cylinder conveying truss manipulator (F), and the cylinder conveying truss manipulator (F) includes an X-axis system assembly (1F), a linear slide rail (2F) arranged on the X-axis system assembly (1F), a slide plate assembly (3F) slidingly connected to the linear slide rail (2F), connected to the slide The Y-axis system assembly (4F) on the plate assembly (3F), connected to the end of the Y-axis system assembly (4F) away from the slide plate assembly (3F) and capable of moving in the up and down direction The Z-axis lift arm (5F) and the servo single-arm gripper mechanism (6F) connected to the lower end of the Z-axis lift arm (5F), the servo single-arm gripper mechanism (6F) includes a clamp body assembly (601F) , the clamp body assembly (601F) is provided with a left-right symmetrical jaw assembly (602F), a clamp screw assembly (603F) and a clamp drive assembly (604F) connected to the clamp screw assembly (603F), The clamp driving assembly (604F) can drive the clamp screw assembly (603F) to rotate, and drive the jaw assembly (602F) to move, so as to be able to clamp and release the barrel; and The control unit is communicatively connected with the cylinder conveying module, and is configured to control the cylinder conveying module to grasp and convey the cylinder to the next station. 16. The cylinder automatic processing system according to claim 15, characterized in that, the cylinder handling module includes a transfer trolley assembly (G) that cooperates with the cylinder conveying truss manipulator (F), and the transfer The trolley assembly (G) includes a ground rail assembly (8F), a cylinder transfer trolley (9F) and a cylinder support frame (10F), and the cylinder transfer trolley (9F) is slidably installed on the ground rail assembly (8F) Above, the cylinder support frame (10F) is installed on the cylinder transfer trolley (9F), the ground rail assembly (8F) includes trolley ground rails and is used to determine the position of the cylinder transfer trolley (9F) The stroke sensing component (11F) is installed on the ground rail of the trolley and communicated with the control unit. 17. The barrel automatic processing system according to claim 1, characterized in that, the barrel welding machine workstation (1) includes a roller stand (1I) for loading and rotating the barrel and for A welding robot for welding the workpiece, the welding robot is located on one side of the roller frame (1I); the welding robot includes a ground rail (2I), a welding and cooling system (3I), a robot arm (4I), a robot The mounting base (5I) and the welding wire cylinder mounting base (6I), the robot mounting base (5I) is slidably installed on the ground rail (2I), and the robot arm (4I) is installed on the robot mounting base ( 5I ), the welding wire drum mounting base (6I) is installed on one side of the robot mounting base (5I), and the welding and cooling system (3I) is installed on the other side of the robot mounting base (5); as well as The control unit is communicatively connected with the cylinder welding machine workstation (I), and is configured to control the cylinder welding machine workstation (I) to weld the received cylinder. 18. The barrel automatic processing system according to claim 1, characterized in that it also includes a barrel turning machine (H) for receiving the welded barrel, the barrel turning machine includes a turning mechanism (1H) and A drive mechanism (2H) for driving the overturning mechanism (1H) to overturn, the overturning mechanism (1H) includes a main overturning frame (100H) for placing the cylinder, and the main overturning frame (100H) The vertical plate (101H) vertically connected to the upper surface of the upper surface and the support plate (102H) connected to both sides of the turning mechanism (1H) and between the main turning frame (100H) and the vertical plate (101H), One side of the turning mechanism (1H) is connected to the first connecting shaft (11H), the other side of the turning mechanism (1H) is connected to the second connecting shaft (3H), and the first connecting shaft (11H) and the second connecting shaft (3H) can rotate around the respective centerlines of the first connecting shaft (11H) and the second connecting shaft (3H) driven by the drive mechanism (2H), so that turning the cylindrical body from a horizontal state to a vertical state; and The control unit is connected in communication with the cylinder turning machine, and is configured to control the cylinder turning machine to turn over the received cylinder. 19. The automatic barrel processing system according to any one of claims 1 to 18, characterized in that the automatic barrel processing system includes a plurality of process layout areas with independent functions in a dispersed island arrangement; and Different process layout areas in the plurality of process layout areas are combined with each other to form a plurality of L-shaped layout structures. 20. The cylinder automatic processing system according to claim 19, characterized in that, the plurality of process layout areas include sheet material incoming area (Q1), sheet material forming area (Q2), cylinder transfer zone (Q3), cylinder welding zone (Q4) and cylinder turning zone (Q5) arranged side by side, and cylinder post-welding buffer zone (Q6), and on the side of the cylinder automatic processing system, there is a The sheet material forming area (Q2) and the truss delivery area (Q7) of the cylinder welding area (Q4), wherein the sheet material forming area (Q2) and the truss delivery area (Q7) form an L type arrangement structure; the barrel welding area (Q4) and barrel turning area (Q5) arranged side by side form an L-shaped arrangement structure with the barrel transfer area (Q3), and the barrel welding area (Q4) arranged side by side ) and the barrel turning area (Q5) form an L-shaped layout structure with the barrel post-welding buffer area (Q6); and the truss delivery area (Q7) and the barrel transfer area (Q7) form a T type arrangement thus forming a double L-shaped arrangement structure. 21. The cylinder automatic processing system according to claim 20, characterized in that, the sheet material incoming area (Q1) is provided with a sheet material conveying platform (A) and a sheet material conveying truss manipulator (C), the The sheet material forming area (Q2) is equipped with the sheet material centering platform mechanism (D) and the sheet material rolling module, and the cylinder transfer area (Q3) and the truss delivery area (Q7) are equipped with the The cylinder body handling module, the cylinder body welding area (Q4) is provided with the welding robot workstation (I), and the cylinder body turning area (Q5) is provided with a cylinder body turning machine (H). 22. The barrel automatic processing system according to any one of claims 1 to 18, characterized in that, the barrel automatic processing system comprises a plurality of process layout areas with independent functions, and the multiple process layout areas are formed as One-line or U-shaped layout. 23. A barrel processing method, characterized in that it comprises the following steps: First, the sheet is automatically transported from the sheet buffer position to the centering station; Second, centering the sheet material at the centering station, and detecting whether the sheet material is centered in place; Thirdly, the centered sheet is transported to the sheet rolling station to be rolled into a cylinder, and the position of the butt joint of the rolled cylinder is fixed by spot welding; Fourth, the cylinder is transported to a welding station, and the cylinder is welded. 24. The barrel processing method according to claim 23, characterized in that, In the third step, during the rounding process of the sheet material, the edges of the sheet material on both sides of the butt joint of the cylinder body are pre-bent 3-5 mm more toward the inside of the cylinder body. 25. The cylinder body processing method according to claim 23, characterized in that, in the fourth step, a multi-layer welding process is used for the welding on the inside of the cylinder body, and the welding seam is firstly welded. Bottom welding, the current intensity of the bottom welding is 180-200A, and the welding voltage is 24-26V; and then the filling cover welding is performed, the current intensity of the filling cover welding is 260-300A, and the welding voltage is 26-30V; After the inner side welding is completed, the cylinder is rotated so that the welding seam at the position of the butt joint is rotated to the upper part, and the welding on the outer side of the cylinder body adopts a multi-layer welding process, and the welding seam is firstly punched Bottom welding, the current intensity of the bottom welding is 180-200A, and the welding voltage is 24-26V; and then the filling cover welding is performed, the current intensity of the filling cover welding is 260-300A, and the welding voltage is 26-30V. 26. An automatic barrel processing process, characterized in that the barrel automatic processing system according to any one of claims 1 to 22 is used, and the barrel body according to any one of claims 23 to 25 is used The body processing method automatically processes the cylinder.