TWI673129B - Equipment and method for automatic welding of combined stainless steel elbow joints along the circumference - Google Patents

Equipment and method for automatic welding of combined stainless steel elbow joints along the circumference Download PDF

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Publication number
TWI673129B
TWI673129B TW107135845A TW107135845A TWI673129B TW I673129 B TWI673129 B TW I673129B TW 107135845 A TW107135845 A TW 107135845A TW 107135845 A TW107135845 A TW 107135845A TW I673129 B TWI673129 B TW I673129B
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Taiwan
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welding
control machine
embryo
positioning
stainless steel
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TW107135845A
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Chinese (zh)
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TW202014267A (en
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吳國鉦
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宏瑞制程工業股份有限公司
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/02Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0252Steering means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/0426Fixtures for other work
    • B23K37/0435Clamps
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/047Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2103/00Materials to be soldered, welded or cut
    • B23K2103/02Iron or ferrous alloys
    • B23K2103/04Steel or steel alloys
    • B23K2103/05Stainless steel

Abstract

本發明係一種能沿圓周向自動焊接組合不銹鋼彎管接頭的設備及工法,該工法令作業人員僅需先將上游加工廠沖壓製成的複數節不銹鋼彎管接頭半成品,逐一焊接組合,以形成一不銹鋼彎管接頭成品的初胚,嗣,將該初胚一端的彎管通道,垂直地套設至一控制機台之一承載座頂面所設之一定位模具後,啟動該控制機台,該控制機台即會驅動該定位模具上的複數個定位模塊,令各該定位模塊能抵靠至該初胚一端彎管通道的內緣,又,該控制機台會根據一攝像元件所擷取之初胚影像,判讀出各該銜接縫之精確座標位置,並透過一雷射定位元件以雷射光標定各該銜接縫之精確座標位置後,即會驅動一機械手臂循著該初胚的圓周向,對銜接縫執行焊接組合的動作,以將該初胚加工成為一大尺寸不銹鋼彎管接頭成品。 The invention relates to a device and a method capable of automatically welding combined stainless steel elbow joints along the circumference. The method requires an operator to first weld a plurality of semi-finished stainless steel elbow joints made by an upstream processing plant and weld them one by one to form A stainless steel elbow joint finished product preform, 嗣, the curved channel at one end of the preform is vertically sleeved to a positioning mold set on the top surface of a control seat of a control machine, the control machine is started , The control machine will drive a plurality of positioning modules on the positioning mold, so that each of the positioning modules can abut the inner edge of the curved channel at one end of the primary embryo, and the control machine will After capturing the image of the primary embryo, determine the precise coordinate position of each joint, and use a laser positioning element to determine the precise coordinate position of each joint with a laser cursor, and then drive a robotic arm to follow the primary embryo. In the circumferential direction, welding operations are performed on the joint seam to process the primary embryo into a large-size stainless steel elbow joint.

Description

能沿圓周向自動焊接組合不銹鋼彎管接頭的設備及工法 Equipment and method capable of automatically welding combined stainless steel elbow joints in circumferential direction
本發明係一種能沿圓周向自動焊接組合不銹鋼彎管接頭的設備及工法,尤指作業人員僅需先將上游加工廠沖壓製成且橫斷面呈圓形之複數節不銹鋼彎管接頭半成品,逐一銜接,且對相鄰的該等不銹鋼彎管接頭半成品間之銜接縫,以點焊方式,予以間隔地焊接組合,而形成一不銹鋼彎管接頭之初胚;嗣,將該初胚一端的彎管通道,垂直地套設至一控制機台之一承載座頂面所設之一定位模具後,啟動該控制機台,該控制機台即會驅動該定位模具上複數個沿圓周向排列之定位模塊,令各該定位模塊沿徑向向外位移,以使各該定位模塊的外周緣能牢固地抵靠至該初胚一端彎管通道的內緣,從而使該初胚能被穩固且精準地定位在該承載座的頂面上;嗣,該控制機台會驅動該承載座,令該承載座連同定位其上的該初胚一起旋轉,以使該初胚的彎管通道軸線呈水平狀排列;此時,該控制機台尚會驅動一機械手臂,令該機械手臂前端所設之一焊槍朝該初胚上之各該銜接縫方向位移,且會驅動該承載座,令該初胚沿著其彎管通道的軸線旋轉,該機械手臂前端尚包括一攝像元件及一雷射定位元件,該控制機台能根據該攝像元件所擷取之該初胚影像,精準地判讀出各該銜接縫之精確座標位置,再透過該雷射定位元件以雷射光標定各該銜接縫之精確座標位置後,即會驅動該機械手臂,根據該控制機台內一雷射循跡電腦的指示, 令該焊槍能在該初胚的外緣循著該初胚的圓周向分別對位在該等精確座標位置之各該銜接縫執行焊接組合的動作,以迅速且精準地沿著該彎管接頭的圓周向分別在各該銜接縫上形成美觀且氣密的焊道,從而自動、迅速且氣密地將該初胚加工成為一不銹鋼彎管接頭成品。 The invention relates to a device and a method capable of automatically welding combined stainless steel elbow joints along a circumferential direction, in particular, an operator only needs to first punch a plurality of sections of stainless steel elbow joints made by an upstream processing plant and has a circular cross section. They are connected one by one, and the joint seams between the semi-finished products of the adjacent stainless steel elbow joints are welded and spaced by spot welding to form a primary embryo of a stainless steel elbow joint; The elbow channel is set vertically to a positioning mold set on the top surface of a bearing seat of a control machine, and then the control machine is started, and the control machine drives a plurality of circumferentially arranged positioning tools on the positioning machine. Positioning module, so that each positioning module is displaced radially outward, so that the outer periphery of each positioning module can firmly abut the inner edge of the curved channel at one end of the primary embryo, so that the primary embryo can be stabilized And accurately positioned on the top surface of the bearing base; 嗣, the control machine will drive the bearing base to rotate the bearing base together with the primary embryo positioned thereon, so that the axis of the curved channel of the primary embryo Water At this time, the control machine will still drive a robotic arm to displace a welding torch set at the front end of the robotic arm toward each of the joint seams on the primary embryo, and will drive the bearing seat to make the initial The embryo rotates along the axis of its elbow channel. The front end of the robot arm also includes a camera element and a laser positioning element. The control machine can accurately judge and read each image based on the image of the original embryo captured by the camera element. After the precise coordinate position of the joint seam is determined by the laser cursor through the laser positioning element, the precise coordinate position of each joint seam will be driven by the robot arm according to the instructions of a laser tracking computer in the control machine. , So that the welding torch can perform welding operation on the outer edge of the primary embryo along the circumferential direction of the primary embryo, respectively, at the joints at the precise coordinate positions, so as to quickly and accurately follow the elbow joint In the circumferential direction, beautiful and air-tight welding beads are formed on each of the joints respectively, so that the preform is automatically, quickly and air-tightly processed into a finished product of a stainless steel elbow joint.
按,各式半導體元件已是目前各種電子產品中不可或缺的基本零件,因此其品質的良窳將直接影響著各該電子產品的效能,故又被稱為「電子產業之原油」,其重要性自是不言可喻,尤其是,近二、三十年來,隨著各式工業技術日新月異地進步,半導體產業的製程及步驟亦隨之不斷地改良,但是,無論是最初的濕式製程,或後續研發出的氣體乾式製程或化合物半導體製程...等,這些製程技術仍必須大量地使用到各種酸鹼溶液、有機溶劑及特殊氣體...等製程原料來協助製程反應(例如:作為光阻劑、顯影劑或清洗用的有機溶劑),而該等製程原料對於人體或其它生物體而言,皆具有一定的毒性,故,一般言,半導體業者均必須在其製程室中設置至少一套廢氣排放系統,以透過其中之排氣調節裝置,將這些製程原料所產生的廢氣集中排放至一集氣槽,統一地進行回收處理。 According to the fact, various semiconductor components are already indispensable basic parts in various electronic products. Therefore, the good and bad of its quality will directly affect the performance of each electronic product, so it is also called "crude oil of the electronics industry". The importance is self-evident, especially in the past two or three decades, with the advancement of various industrial technologies, the processes and steps of the semiconductor industry have continued to improve. However, whether the initial wet Process, or the subsequent development of gas dry processes or compound semiconductor processes ... etc., these process technologies must still use a large number of acid and alkali solutions, organic solvents and special gases ... and other process materials to assist the process reaction (such as : As photoresist, developer or organic solvent for cleaning), and these process materials are toxic to human body or other organisms, so in general, semiconductor industry must be in their process room Set up at least one exhaust gas emission system to exhaust the exhaust gas generated by these process raw materials to a gas collection tank through the exhaust gas regulating device. Perform recycling.
查,在現今各式半導體元件或電子元件的製程室中,除了前述廢氣排放系統之排放廢氣外,各該製程室中溫度、潔淨度、室內壓力、氣流速度與氣流分佈等製程參數亦必須藉由該廢氣排放系統中之該排氣調節裝置,而分別被穩定地控制在一理想範圍內,始能確保各該半導體元件或電子元件的製程能被正確地執行及完成,從而確保各式半導體元件或電子元件的生產良率均能穩定地維持在一理想範圍內,據此,各該排氣調節 裝置中均必須裝設一「調節風門」,以令業者能據以調校及控制廢氣的排放速率與流量。茲僅以目前已被廣泛使用於業界之一種習知排氣調節裝置4為例,請參閱第1及2圖所示,詳細說明如下: Check, in today's process chambers of various types of semiconductor or electronic components, in addition to the exhaust gases emitted by the aforementioned exhaust gas discharge system, process parameters such as temperature, cleanliness, indoor pressure, air velocity and air distribution in the process chambers must also be borrowed. The exhaust gas regulating device in the exhaust gas emission system is stably controlled within an ideal range to ensure that the processes of the semiconductor elements or electronic components can be correctly performed and completed, thereby ensuring various types of semiconductors. The production yield of components or electronic components can be stably maintained within an ideal range. An "adjustment damper" must be installed in the device, so that the operator can adjust and control the emission rate and flow of exhaust gas accordingly. Here is an example of a conventional exhaust gas regulating device 4 which has been widely used in the industry as an example. Please refer to the figures 1 and 2 for details, as follows:
復請參閱第2圖所示,該習知排氣調節裝置4內設有一排氣管道41及至少一調節風門43,其中,該排氣管道41之一端係透過一系列逐一串聯的不銹鋼排氣管,連接至一製程室(如:半導體或光電產品製程室...等),該排氣管道41之另一端則係透過另一系列逐一串聯的不銹鋼排氣管,連接至一集氣槽(如:廢氣回收槽...等,圖中未示),以將自該製程室所收集到之各式有毒廢氣排放至該集氣槽,該調節風門43係設在該排氣管道41內,而該習知排氣調節裝置4之排氣量係受一習知風門調節機構3的控制,茲以目前被廣泛使用在許多廢氣排放系統中之一習知風門調節機構3為例,請參閱第1圖所示,說明該習知風門調節機構3之結構及運作方式如下: Please refer to FIG. 2 again, the conventional exhaust gas regulating device 4 is provided with an exhaust pipe 41 and at least one regulating damper 43, wherein one end of the exhaust pipe 41 is exhausted through a series of stainless steel exhausted one by one Pipe, connected to a process chamber (such as semiconductor or optoelectronic product process chamber, etc.), the other end of the exhaust pipe 41 is connected to a gas collection tank through another series of stainless steel exhaust pipes connected in series one by one (Such as: exhaust gas recovery tanks, etc., not shown in the figure) to discharge various types of toxic exhaust gas collected from the process chamber to the gas collection tank, the regulating damper 43 is provided in the exhaust pipe 41 The exhaust volume of the conventional exhaust gas regulating device 4 is controlled by a conventional damper regulating mechanism 3, and a conventional damper regulating mechanism 3, which is currently widely used in many exhaust emission systems, is taken as an example. Please refer to FIG. 1 to illustrate the structure and operation mode of the conventional damper adjusting mechanism 3 as follows:
查,復請參閱第1圖所示,該習知風門調節機構3包括一基座31、一按壓把手32及一連動桿39;其中,該基座31上設有一調節溝槽33,該調節溝槽33中設有複數個調節刻度331;該按壓把手32係透過一樞軸30樞接至該基座31,其上在鄰近一端320且對應於該調節溝槽33之位置處凸設有一嵌卡構件321,該嵌卡構件321能嵌卡且鎖定至其中之一調節刻度331中,且在作業人員壓按該按壓把手32鄰近另一端322位置處的情況下,該嵌卡構件321始能離開該調節刻度331,令作業人員能以該樞軸30為中心,而沿著該調節溝槽33來回地轉動該按壓把手32;反之,在作業人員放開該按壓把手32鄰近另一端322位置處的情況下,該嵌卡構件321即會嵌卡且鎖定至當前所對應之該調節刻度331中。 Please refer to FIG. 1 for reference. The conventional damper adjusting mechanism 3 includes a base 31, a pressing handle 32, and a link 39. Among them, an adjusting groove 33 is provided on the base 31, and the adjusting A plurality of adjustment scales 331 are provided in the groove 33; the pressing handle 32 is pivotally connected to the base 31 through a pivot shaft 30, and a protrusion is protruded at a position adjacent to one end 320 and corresponding to the adjustment groove 33. The card insertion member 321 is capable of card insertion and locking into one of the adjustment scales 331, and the card insertion member 321 starts when an operator presses the pressing handle 32 near the other end 322. Being able to leave the adjustment scale 331 enables the operator to turn the pressing handle 32 back and forth along the adjusting groove 33 centered on the pivot 30; conversely, when the operator releases the pressing handle 32 adjacent to the other end 322 In the case of the position, the card-embedding member 321 is card-embedded and locked into the corresponding corresponding adjustment scale 331.
復請參閱第1及2圖所示,該連動桿39係樞設至該習知排氣調節裝置4,並橫跨該排氣管道41,且其上固設有該調節風門43,以令該按壓把手32能透過該連動桿39,帶動該調節風門43旋轉,進而開啟或封閉該排氣管道41,該連動桿39之一端係露出在該排氣管道41外,並透過該樞軸30,與該按壓把手32相連接,使得該連動桿39連同其上固設之該調節風門43,能隨著該按壓把手32轉動。如此,作業人員即能透過該習知風門調節機構3,調校及控制該習知排氣調節裝置4內該排氣管道41之排氣量及排氣速率。 Please refer to FIG. 1 and FIG. 2 again, the linkage rod 39 is pivotally connected to the conventional exhaust gas regulating device 4 and spans the exhaust duct 41, and the regulating damper 43 is fixedly arranged thereon so that The pressing handle 32 can drive the adjusting damper 43 to rotate through the linkage lever 39 to open or close the exhaust duct 41. One end of the linkage lever 39 is exposed outside the exhaust duct 41 and passes through the pivot shaft 30. Is connected to the pressing handle 32, so that the linkage lever 39 together with the adjusting damper 43 fixed thereon can rotate with the pressing handle 32. In this way, the operator can adjust and control the exhaust volume and exhaust rate of the exhaust duct 41 in the conventional exhaust adjusting device 4 through the conventional damper adjusting mechanism 3.
此外,為了提升半導體或光電產品的製造品質,業者尚均會在其製程室內裝設一高靈敏度的偵測儀器,用以監測各該製程室內有毒廢氣濃度的高低,以確保各該製程室內有毒廢氣的濃度能被有效地控制且始終維持在一標準範圍內,因此,復請參閱第2圖所示,該習知排氣調節裝置4之排氣量及排氣速率即必須被精準地調校至一理想設定值且能持續且穩定地保持在該理想設定值,以避免該高靈敏度偵測儀器產生錯誤的監測結果,繼而引發錯誤的示警動作。復請參閱第2圖所示,由於,在該習知排氣調節裝置4上,作業人員均係藉轉動該按壓把手32,令其上之該嵌卡構件321能嵌卡且鎖定至對應之該調節刻度331,以調校其排氣量至一理想設定值,因此,當該嵌卡構件321被調校至對應於二調節刻度331間之位置時,該習知風門調節機構3即無法被穩固定地定位,而令該習知排氣調節裝置4處於一無法微幅且精準地調校該調節風門43啟閉程度之瑕疵狀態,意即,在該瑕疵狀態下,因該習知風門調節機構3無法精準地令該製程室內有毒廢氣之濃度維持在一標準範圍內,極易導致該高靈敏度偵測儀器產生誤動作,造成作業人員因需進行錯誤排除,而必須令整個製程及生產線停止運作...等問題,從而對半導體或光電產品的生產效率造成極嚴重的負面影響。此外,復請參閱第1及2圖所示,由於該按壓把手32的另一端322係凸露在該基座31外,尚極易因作業人員的不慎誤觸或碰撞,而令該調節風門43輕易地偏離原先設定的理想啟閉狀態,從而導致該高靈敏度偵測儀器產生誤動作及衍生後續製程及生產線停止運作的問題。 In addition, in order to improve the manufacturing quality of semiconductor or optoelectronic products, manufacturers will still install a high-sensitivity detection instrument in their process rooms to monitor the concentration of toxic exhaust gases in each process room to ensure that each process room is toxic The concentration of the exhaust gas can be effectively controlled and always maintained within a standard range. Therefore, please refer to FIG. 2 again, the exhaust volume and exhaust rate of the conventional exhaust gas regulating device 4 must be accurately adjusted. It can be adjusted to an ideal set value and can be maintained at the ideal set value continuously and steadily, so as to avoid that the high-sensitivity detection instrument produces an incorrect monitoring result, and then triggers an incorrect warning action. Please refer to FIG. 2 again, because on the conventional exhaust gas regulating device 4, the operator rotates the pressing handle 32 so that the card insertion member 321 can be inserted and locked to the corresponding one. The adjustment scale 331 is used to adjust the exhaust gas volume to an ideal set value. Therefore, when the card insertion member 321 is adjusted to a position corresponding to the two adjustment scales 331, the conventional damper adjustment mechanism 3 cannot be used. It is firmly positioned so that the conventional exhaust gas regulating device 4 is in a flawed state in which it is impossible to finely and accurately adjust the opening and closing degree of the regulating damper 43, that is, in the flawed state, due to the knowledge The damper adjusting mechanism 3 cannot accurately maintain the concentration of the toxic exhaust gas in the process chamber within a standard range, which can easily cause the high-sensitivity detection instrument to malfunction, causing the operator to make an error exclusion and must make the entire process and production line Stop operations ... and so on, which has a very serious negative impact on the production efficiency of semiconductor or optoelectronic products. In addition, please refer to FIG. 1 and FIG. 2 again, since the other end 322 of the pressing handle 32 is exposed outside the base 31, it is very easy to make adjustment due to accidental touching or collision by the operator. The damper 43 easily deviates from the originally set ideal opening and closing state, thereby causing the high-sensitivity detection instrument to malfunction and cause problems in subsequent processes and production lines to stop operating.
誠如前述,由於在前述半導體或光電製程室中,該習知排氣調節裝置4與對應之集氣槽及各該製程室間,均係分別透過一系列逐一串聯的不銹鋼排氣管,予以連通,始能將各該製程室中所產生的各種有毒廢氣完全地排放至該集氣槽內,因此,為了確保有毒廢氣的排放過程安全且順利,業者對於該等不銹鋼排氣管本身的製作品質,及其在各該製程室內串聯組成整個廢氣排放系統的施工品質,均要求極為嚴格,尤其是,請參閱第3圖所示,該等被組裝在各該製程室內死角或彎角處,用以銜接二相鄰不銹鋼排氣管的彎管接頭5,由於各該彎管接頭5均係被組裝至各該製程室內死角或彎角處,其管材常會因所處狹窄空間的侷限,而在完成組裝後必須承受著較大的應力,此時,若各該彎管接頭5本身在製作及組裝過程中因作業不當而存在焊孔或接縫,則該等焊孔或接縫極可能因所承受前述的大應力或各該製程室內熱脹冷縮的溫度變化或環境震動,而日趨變大,從而導致原本應被排放至該集氣槽的各種有毒廢氣,反而發生滲漏回各該製程室的問題,不僅令相關製程無法維持正常運作,甚至可能造成嚴重危及製程室內作業人員身體健康及安全的不良結果。 As mentioned above, in the aforementioned semiconductor or optoelectronic process room, the conventional exhaust gas regulating device 4 and the corresponding gas collecting tank and each of the process rooms are respectively passed through a series of stainless steel exhaust pipes connected in series one by one. Connected, all kinds of toxic exhaust gas generated in each process room can be completely discharged into the gas collection tank. Therefore, in order to ensure the safe and smooth discharge process of toxic exhaust gas, the industry has made such stainless steel exhaust pipes themselves. The quality, and the construction quality of the entire exhaust emission system in series in each of the process chambers, are extremely strict. In particular, please refer to Figure 3, these are assembled in the dead corners or corners of each process chamber. The elbow joints 5 used to connect two adjacent stainless steel exhaust pipes, because each of the elbow joints 5 are assembled to the dead corners or corners in each of the process chambers, and their pipes are often limited by the narrow space in which they are located. After the assembly is completed, it must bear a large amount of stress. At this time, if each elbow joint 5 itself has welding holes or seams due to improper operation during the manufacturing and assembly process, the welding holes or The seam is likely to become larger due to the aforementioned large stress or the temperature change of the thermal expansion and contraction in the process room or the environmental vibration, which will cause the various toxic exhaust gases that should have been discharged to the gas collection tank to leak. Failure to return to each of these process rooms not only prevents the relevant processes from maintaining normal operation, but may also cause adverse results that seriously endanger the health and safety of workers in the process room.
查,在各式不銹鋼彎管接頭中,請參閱第4圖所示,尤以大尺寸(如:彎管直徑在20公分以上者)不銹鋼彎管接頭成品50,在設計、製造、 施工及組裝上存在最多問題,加上其本身因具有較大的尺寸,也等同於具有較大的重量,因此,當該等大尺寸不銹鋼彎管接頭成品50被組裝在各該製程室內死角或彎角處,用以銜接二相鄰之大尺寸不銹鋼彎管接頭成品50時,由於各該大尺寸不銹鋼彎管接頭成品50均係被組裝至各該製程室內死角或彎角處,其管材更會因所處狹窄空間的侷限及其本身較大的重量,而必須承受更大的應力。此外,由於各該大尺寸不銹鋼彎管接頭成品50的體積較大,導致其難能以一體沖壓成型的方式製成,據此,復請參閱第4圖所示,目前製作各該大尺寸不銹鋼彎管接頭成品50的業者,均係針對各該大尺寸不銹鋼彎管接頭成品50的尺寸及規格(如:彎管直徑及彎曲弧度),而將其分解成複數節橫斷面呈圓形之不銹鋼彎管接頭半成品501、502、503、504及505,且委託上游加工廠根據所設計之半成品尺寸及規格,沖壓成型製作出該等不銹鋼彎管接頭之不銹鋼彎管接頭半成品501、502、503、504及505,俟業者接獲上游加工廠製成的該等不銹鋼彎管接頭半成品501、502、503、504及505後,請參閱第5圖所示,再由焊接作業人員以人工方式,藉助治具,將該等不銹鋼彎管接頭半成品501、502、503、504及505逐一銜接,且以焊槍對該等相鄰不銹鋼彎管接頭半成品501、502、503、504及505間之銜接縫51,予以焊接組合,而令該等不銹鋼彎管接頭半成品501、502、503、504及505被焊接組合成一大尺寸不銹鋼彎管接頭成品50。查,復請參閱第5圖所示,在各該大尺寸不銹鋼彎管接頭成品50之前述傳統製程中,由於焊接作業人員必需手持焊槍,仔細且精確地沿著圓周向針對相鄰不銹鋼彎管接頭半成品501、502、503、504及505間之該等銜接縫51分別執行焊接組合的動作,始能令該等不銹鋼彎管接頭半成品501、502、503、504及505正確且 氣密地接合成一大尺寸不銹鋼彎管接頭成品50。但是,由於在整個傳統製程的銜接及焊接組合過程中,必需耗費焊接作業人員相當多的工時與精力,始能令任二相鄰不銹鋼彎管接頭半成品501、502、503、504及505間對接形成精準對接之各該銜接縫51,從而才能令焊接作業人員對各該銜接縫51執行正確且氣密的焊接,因此,整個傳統製程不僅製造效率低落,無法有效實現量產的目標,其製造品質亦因每位焊接作業人員均必需長時間持續且聚精會神地專注在銜接及焊接組合工作的情形下,難免會因精神疲勞或體力不支而造成作業疏失或疏忽,導致所製成的大尺寸不銹鋼彎管接頭成品50經常會因其上存在焊孔及銜接縫,而成為無法氣密地排放有毒廢氣的瑕疵不良品,從而遭到全數退貨或廢棄,造成資源的極大浪費,實殊為可惜,且有亟待改善的必要。 Check, among various types of stainless steel elbow joints, please refer to Figure 4, especially for large-size stainless steel elbow joints (such as those with a diameter of more than 20 cm). There are the most problems in construction and assembly. In addition, because of its larger size, it is also equivalent to having a larger weight. Therefore, when these large-size stainless steel elbow joints 50 are assembled in dead ends or The corners are used to connect two adjacent large-sized stainless steel elbow joint joint products 50, because each of the large-size stainless steel elbow joint joint products 50 are assembled to the dead corners or bends in each of the process chambers. Due to the limitations of the narrow space and its large weight, it must bear more stress. In addition, due to the large volume of each of the large-size stainless steel elbow joints 50, it is difficult to make it by integral stamping. Based on this, please refer to FIG. 4 to make the large-size stainless steel. The manufacturers of elbow joint products 50 are all based on the size and specifications of the large-size stainless steel elbow joint products 50 (such as the diameter of the elbow and the bending arc), and they are broken down into a plurality of sections with a circular cross-section. Semi-finished products of stainless steel elbow joints 501, 502, 503, 504 and 505, and entrusted upstream processing plants to press-mold to produce these stainless steel elbow joints semi-finished products 501, 502, 503 according to the designed semi-finished product size and specifications. , 504 and 505, after receiving the semi-finished products of stainless steel elbow joints 501, 502, 503, 504 and 505 made by the upstream processing plant, please refer to Figure 5, and then the welding operator manually, With the help of fixtures, the semi-finished products of stainless steel elbow joints 501, 502, 503, 504, and 505 are connected one by one, and the adjacent semi-finished products of stainless steel elbow joints 501, 502, 503, 504, and 505 are welded with a welding torch. The seam 51 is welded and assembled, so that the semi-finished products of stainless steel elbow joints 501, 502, 503, 504, and 505 are welded and assembled into a large-size stainless steel elbow joint 50. Check, please refer to Figure 5. In the aforementioned traditional manufacturing process of each large-size stainless steel elbow joint 50, since the welding operator must hold the welding torch carefully and precisely along the circumference to the adjacent stainless steel elbow The joints 51 between the semi-finished products 501, 502, 503, 504, and 505 respectively perform the welding combination action, so that the semi-finished products 501, 502, 503, 504, and 505 of the stainless steel elbow joints can be made correct and Airtightly assembled into a large size stainless steel elbow joint 50. However, due to the connection and welding process of the entire traditional process, considerable manpower hours and energy of the welding operators must be consumed, and only half of the semi-finished products 501, 502, 503, 504, and 505 of any two adjacent stainless steel elbow joints can be made. The butt joints form precise butt joints 51 so that the welding operator can perform correct and airtight welding on each of the joints 51. Therefore, the entire traditional process not only has low manufacturing efficiency but cannot effectively achieve the goal of mass production. Manufacturing quality is also due to the fact that each welding operator must continuously and intently focus on the connection and welding combination work, which will inevitably result in negligence or negligence of the work due to mental fatigue or physical weakness, resulting in large sizes. The finished stainless steel elbow joint 50 is often a defective product that cannot leak toxic exhaust gas in an airtight manner due to the existence of welding holes and joints on it. It is therefore completely returned or discarded, causing a great waste of resources. This is a pity. , And there is a need for urgent improvement.
有鑒於此,如何改善大尺寸不銹鋼彎管接頭成品50,在設計、製造、施工及組裝上存在的前述問題,以令該等大尺寸不銹鋼彎管接頭成品50不僅能有效實現量產製造的目標,且能大幅減少製造過程中人為的作業疏失或疏忽,從而確保該等大尺寸不銹鋼彎管接頭成品50的製造品質,令所製作完成的該等大尺寸不銹鋼彎管接頭成品50上不存在任何焊孔及銜接縫,而足堪勝任用以氣密地排放各式有毒廢氣的重責大任,即成為本發明在後續欲深入探討及突破的一重要課題。 In view of this, how to improve the above-mentioned problems in the design, manufacturing, construction and assembly of large-size stainless steel elbow joints 50, so that these large-size stainless steel elbow joints 50 can not only effectively achieve the goal of mass production and manufacturing , And can greatly reduce human oversight or negligence in the manufacturing process, thereby ensuring the manufacturing quality of these large-size stainless steel elbow joints 50, so that there are no existing large-scale stainless steel elbow joints 50 Welding holes and joints, which are adequately responsible for the airtight discharge of various types of toxic exhaust gas, have become an important subject of the present invention for further discussion and breakthrough.
有鑑於前述大尺寸不銹鋼彎管接頭在設計上及在實際加工製作上存在的諸多問題及缺點,發明人根據過去二、三十年來積極投入相關產業研發、設計、製造及施工的專業實務經驗,透過細心觀察與研發, 並經過多次調整設計與效能評估後,終於開發設計出本發明之能沿圓周向自動焊接組合彎管接頭的設備及工法,以期能藉本發明一舉克服前述問題及缺點,而令本發明之設備成為一真正自動化且能精準焊接組合大尺寸不銹鋼彎管接頭的焊接設備。 In view of the many problems and shortcomings in the design and actual processing of the large-size stainless steel elbow joints mentioned above, the inventor has actively invested in relevant industry R & D, design, manufacturing and construction professional practice experience in the past two or three decades. Through careful observation and research and development, After several adjustments to the design and performance evaluation, the device and method for automatically welding combined elbow joints along the circumference of the present invention have been developed and designed, so that the present invention can overcome the aforementioned problems and disadvantages in one fell swoop and make the present invention The equipment becomes a truly automatic welding equipment that can accurately weld large-size stainless steel elbow joints.
本發明之主要目的,係在提供一種能沿圓周向自動焊接組合不銹鋼彎管接頭的設備及工法,該工法令作業人員僅需先將上游加工廠沖壓製成且橫斷面呈圓形之複數節不銹鋼彎管接頭半成品,逐一銜接,且對該等相鄰不銹鋼彎管接頭半成品間之銜接縫,以點焊方式,予以間隔地焊接組合,而形成一不銹鋼彎管接頭成品的初胚;嗣,將該初胚一端的彎管通道,垂直地套設至一控制機台之一承載座頂面所設之一定位模具後,啟動該控制機台,該控制機台即會驅動該定位模具上複數個沿圓周向排列之定位模塊,令各該定位模塊分別沿徑向向外位移,以使各該定位模塊的外周緣能牢固地抵靠至該初胚一端彎管通道的內緣,從而使該初胚能被穩固且精準地定位在該定位模具上;嗣,該控制機台會驅動該承載座,令該承載座連同定位其上的該初胚一起旋轉以使該初胚的彎管通道軸線呈水平狀排列;此時,該控制機台尚會驅動一機械手臂,令該機械手臂前端所設之一焊槍朝該初胚上之各該銜接縫方向位移,該機械手臂前端尚包括一攝像元件及一雷射定位元件,該控制機台能根據該攝像元件所擷取之初胚影像,精準地判讀出各該銜接縫之精確座標位置,再透過該雷射定位元件以雷射光標定各該銜接縫之精確座標位置後,即會根據該控制機台內一雷射循跡電腦的指示,驅動該機械手臂,令其前端之該焊槍能在該初胚的外緣,循著該初胚的圓周向,分別對位在該等精確座標位置之各該銜接縫執行焊 接組合的動作,以迅速且精準地沿著該初胚的圓周向分別在各該銜接縫上形成美觀且氣密的焊道,從而自動、迅速且氣密地將該初胚加工成為一大尺寸不銹鋼彎管接頭成品。 The main object of the present invention is to provide a device and a method capable of automatically welding a combined stainless steel elbow joint along the circumference. The method requires the operator to first punch the upstream processing plant and make the cross-section plural. The semi-finished products of stainless steel elbow joints are connected one by one, and the joints between the adjacent semi-finished products of stainless steel elbow joints are spot welded to form a preliminary embryo of the finished stainless steel elbow joint; After the curved channel at one end of the primary embryo is vertically set to a positioning mold set on the top surface of a bearing seat of a control machine, the control machine is started, and the control machine drives the positioning die A plurality of positioning modules arranged in a circumferential direction, so that each of the positioning modules is displaced radially outward, so that the outer peripheral edge of each positioning module can firmly abut the inner edge of the curved channel at one end of the primary embryo, Therefore, the primary embryo can be stably and accurately positioned on the positioning mold; 嗣, the control machine drives the bearing base, so that the bearing base rotates together with the primary embryo positioned thereon, so that the The axis of the curved channel of the embryo is arranged horizontally; at this time, the control machine will still drive a robotic arm to cause a welding gun set at the front end of the robotic arm to move toward each of the joints on the primary embryo. The front end of the arm still includes a camera element and a laser positioning element. The control machine can accurately determine and read the precise coordinate positions of the joints based on the initial embryo image captured by the camera element, and then locate through the laser. After the component sets the precise coordinate position of each joint with a laser cursor, it will drive the robot arm according to the instructions of a laser tracking computer in the control machine, so that the welding gun at the front end can be outside the original embryo. Edge, along the circumferential direction of the original embryo, perform welding on each of the joints located at the precise coordinate positions The combination of movements quickly and accurately forms beautiful and air-tight bead on each joint seam along the circumference of the primary embryo, so that the primary embryo is automatically, quickly and air-tightly processed into a large one. Finished stainless steel elbow joint.
本發明之另一目的,係在該焊槍分別對各該銜接縫進行焊接時,該控制機台會驅動該定位模具,令該初胚能沿著其彎管通道的軸線旋轉,以大幅減少該焊槍分別對各該銜接縫進行焊接時的位移幅度及範圍,從而能有效提升對各該銜接縫進行焊接的效率及精準度。 Another object of the present invention is that when the welding torch welds each of the joints separately, the control machine will drive the positioning mold so that the primary embryo can rotate along the axis of its curved pipe channel, so as to greatly reduce the The displacement range and range of the welding torch when welding each of the joint seams can effectively improve the efficiency and accuracy of welding of each of the joint seams.
本發明之又一目的,係在提供一種能沿圓周向自動焊接組合彎管接頭的設備,該設備包括一控制機台、一承載座、一定位模具、一第一旋轉機構、一焊接機台、一操控顯示器及一機械手臂;其中,該控制機台底部係被固定至一平面上;該承載座係被固定至該控制機台上鄰近前側的位置,該定位模具係沿垂直向凸設在該承載座之頂側,以令作業人員能將一不銹鋼彎管接頭成品的初胚一端之彎管通道,垂直地套設至該定位模具上,其中,該初胚係由上游加工廠沖壓製成且橫斷面呈圓形之複數節不銹鋼彎管接頭半成品,經逐一銜接,且對該等相鄰不銹鋼彎管接頭半成品間之銜接縫,以點焊方式,予以間隔地焊接組合而成;該定位模具則包括複數個定位模塊,各該定位模塊係沿圓周向排列在該承載座之頂側,且能在該控制機台之操控下,分別沿徑向向外或向內位移,以使各該定位模塊的外周緣能牢固地抵靠至該初胚一端彎管通道的內緣,從而使該初胚能被穩固且精準地定位在該定位模具上,或使各該定位模塊的外周緣能脫離抵靠至該初胚一端彎管通道內緣的狀態,從而使該初胚能自該定位模具上被卸下;該第一旋轉機構係裝設在該控制機台內鄰近該承載座之位置,且與 該承載座相連接,而能在該控制機台之操控下,帶動該承載座旋轉;該焊接機台係被安裝在控制機台的一側位置,且與該控制機台相電氣連接,以在該控制機台之操控下,執行焊接工作;該操控顯示器係被安裝在控制機台的另一側位置,且與該控制機台相電氣連接,以供作業人員輸入該初胚之尺寸及規格,以使該控制機台能據以操控該定位模具、該第一旋轉機構、該焊接機台及該機械手臂,分別執行對應之動作;該機械手臂係被安裝在該控制機台上鄰近頂側的位置,且與該控制機台相電氣連接,以在該控制機台之操控下,令該機械手臂的前端能位移至預定之位置,該機械手臂的前端分別裝設有一焊槍、一攝像元件及一雷射定位元件,其中,該焊槍係與該焊接機台相電氣連接,以在該焊接機台之驅動下,執行焊接工作,該控制機台尚能根據該攝像元件所擷取之初胚影像,精準地判讀出其上各該銜接縫之精確座標位置,再透過該雷射定位元件以雷射光標定各該銜接縫之精確座標位置後,該控制機台即會根據其內一雷射循跡電腦的指示,驅動該機械手臂,令其前端之該焊槍能在該初胚的外緣,循著該初胚的圓周向,分別對位在該等精確座標位置之各該銜接縫執行焊接組合的動作,以迅速且精準地沿著該初胚的圓周向分別在各該銜接縫上形成美觀且氣密的焊道,從而自動、迅速且氣密地將該初胚加工成為一大尺寸不銹鋼彎管接頭成品。 Another object of the present invention is to provide a device capable of automatically welding combined elbow joints along a circumferential direction. The device includes a control machine, a bearing seat, a positioning die, a first rotating mechanism, and a welding machine. A control display and a robot arm; wherein, the bottom of the control machine is fixed to a plane; the bearing seat is fixed to a position near the front side of the control machine, and the positioning mold is convexly arranged in a vertical direction On the top side of the bearing seat, so that the operator can vertically set the curved channel of one end of the original embryo of a stainless steel elbow joint to the positioning mold, wherein the primary embryo is punched by an upstream processing plant A plurality of semi-finished stainless steel elbow joint semi-finished products made with a circular cross-section are connected one by one, and the joints between the adjacent semi-finished stainless steel elbow joint semi-finished products are welded by spot welding. ; The positioning mold includes a plurality of positioning modules, each of which is arranged along the circumference on the top side of the bearing seat, and can be controlled by the control machine to radially outward or Internal displacement so that the outer periphery of each positioning module can firmly abut against the inner edge of the curved channel at one end of the primary embryo, so that the primary embryo can be firmly and accurately positioned on the positioning mold, or each The outer peripheral edge of the positioning module can be separated from the state of abutting against the inner edge of the curved channel at one end of the primary embryo, so that the primary embryo can be removed from the positioning mold; the first rotating mechanism is installed on the control machine. The position of the platform adjacent to the bearing seat, and The bearing base is connected to drive the bearing base to rotate under the control of the control machine; the welding machine is installed at one side of the control machine and is electrically connected to the control machine to Welding work is performed under the control of the control machine; the control display is installed on the other side of the control machine and is electrically connected to the control machine for the operator to enter the size and Specifications so that the control machine can control the positioning mold, the first rotating mechanism, the welding machine and the robot arm to perform corresponding actions respectively; the robot arm is installed adjacent to the control machine The top side is electrically connected to the control machine so that the front end of the robot arm can be moved to a predetermined position under the control of the control machine. The front end of the robot arm is equipped with a welding gun, a A camera element and a laser positioning element, wherein the welding torch is electrically connected to the welding machine to perform welding work under the driving of the welding machine, and the control machine can still be based on the camera element. The captured embryo images accurately determine and read the precise coordinate positions of the joints, and then use the laser positioning element to determine the precise coordinate positions of the joints with the laser cursor, and the control machine will According to the instructions of a laser tracking computer, the robot arm is driven, so that the welding gun at the front end can be aligned at the precise coordinates on the outer edge of the original embryo along the circumferential direction of the original embryo. Each of the joints performs a welding combination action to quickly and accurately form beautiful and air-tight welds on the joints along the circumference of the primary embryo, thereby automatically, quickly and air-tightly welding the joints. The initial embryo is processed into a large size stainless steel elbow joint.
本發明之又另一目的,該承載座內尚裝設有一第二旋轉機構,該第二旋轉機構係與該定位模具相連接,能在該控制機台之操控下,帶動該定位模具旋轉,如此,在該機械手臂前端之該焊槍在該初胚的外緣,循著該初胚的圓周向,分別對位在該等精確座標位置之各該銜接縫執行焊 接組合動作的情形下,該控制機台能驅動該定位模具旋轉,令定位其上之該初胚沿著其彎管通道之軸向旋轉,以大幅減少該焊槍分別對各該銜接縫進行焊接時的位移幅度及範圍,從而能有效提升對各該銜接縫進行焊接的效率及精準度。 According to still another object of the present invention, a second rotation mechanism is still installed in the bearing seat, and the second rotation mechanism is connected with the positioning mold and can drive the positioning mold to rotate under the control of the control machine. In this way, the welding torch at the front end of the robotic arm performs welding on the joint seams at the precise coordinate positions along the circumference of the original embryo along the circumference of the original embryo. In the case of joint operation, the control machine can drive the positioning mold to rotate, so that the primary embryo positioned thereon rotates along the axial direction of its curved channel, so as to greatly reduce the welding of the joints to the joints respectively. The magnitude and range of the displacement can effectively improve the efficiency and accuracy of welding each joint.
為便 貴審查委員能對本發明之組裝方式、結構特徵、功效及其目的,做更進一步之認識與瞭解,茲舉實施例配合圖式,詳細說明如下: In order that the review committee can further understand and understand the assembling mode, structural features, functions and purposes of the present invention, the embodiments are described in detail with the drawings as follows:
〔習知〕 [Learning]
3‧‧‧習知風門調節機構 3‧‧‧Learn the damper adjustment mechanism
30‧‧‧樞軸 30‧‧‧ Pivot
31‧‧‧基座 31‧‧‧ base
32‧‧‧按壓把手 32‧‧‧Press the handle
320‧‧‧一端 320‧‧‧ one end
321‧‧‧嵌卡構件 321‧‧‧Embedded card component
322‧‧‧另一端 322‧‧‧ the other end
33‧‧‧調節溝槽 33‧‧‧Adjust the groove
331‧‧‧調節刻度 331‧‧‧Adjust the scale
39‧‧‧連動桿 39‧‧‧Linking lever
4‧‧‧習知排氣調節裝置 4‧‧‧Exhaust adjustment device
41‧‧‧排氣管道 41‧‧‧Exhaust duct
43‧‧‧調節風門 43‧‧‧Adjust the damper
5‧‧‧彎管接頭 5‧‧‧ elbow joint
50‧‧‧大尺寸不銹鋼彎管接頭成品 50‧‧‧Large size stainless steel elbow joint finished product
50’‧‧‧初胚 50’‧‧‧ embryo
501、502、503、504、505‧‧‧不銹鋼彎管接頭半成品 501, 502, 503, 504, 505‧‧‧Semi-finished products of stainless steel elbow joints
51‧‧‧銜接縫 51‧‧‧Joint seams
S‧‧‧焊接點 S‧‧‧welding point
〔本發明〕 〔this invention〕
60‧‧‧控制機台 60‧‧‧Control Machine
61‧‧‧承載座 61‧‧‧bearing seat
610‧‧‧定位模具 610‧‧‧Positioning mold
611、612、613‧‧‧定位模塊 611, 612, 613‧‧‧ positioning module
63‧‧‧機械手臂 63‧‧‧ robotic arm
630‧‧‧焊槍 630‧‧‧ welding torch
631‧‧‧攝像元件 631‧‧‧ camera element
632‧‧‧雷射定位元件 632‧‧‧laser positioning element
64‧‧‧焊接機台 64‧‧‧welding machine
65‧‧‧操控顯示器 65‧‧‧Control display
66‧‧‧雷射循跡電腦 66‧‧‧Laser Tracking Computer
67‧‧‧啟動踏板 67‧‧‧Start pedal
68‧‧‧焊料轉盤 68‧‧‧Solder Turntable
70‧‧‧第一旋轉機構 70‧‧‧first rotation mechanism
71‧‧‧第二旋轉機構 71‧‧‧Second rotation mechanism
701~703‧‧‧步驟 701 ~ 703‧‧‧step
L‧‧‧焊料 L‧‧‧Solder
R1、R2‧‧‧旋轉 R1, R2‧‧‧rotation
第1圖係習知風門調節機構之示意圖;第2圖係習知排氣調節裝置之示意圖;第3圖係習知不銹鋼彎管接頭之示意圖;第4圖係係習知大尺寸不銹鋼彎管接頭之分解示意圖;第5圖係習知大尺寸不銹鋼彎管接頭之組立示意圖;第6圖係本發明之一較佳實施例的自動焊接設備之外觀示意圖;第7圖係本發明之另一較佳實施例的工法流程示意圖;及第8圖係本發明之又一較佳實施例的自動焊接設備之外觀示意圖。 Figure 1 is a schematic diagram of a conventional damper adjusting mechanism; Figure 2 is a schematic diagram of a conventional exhaust gas regulating device; Figure 3 is a schematic diagram of a conventional stainless steel elbow joint; Figure 4 is a conventional large-size stainless steel elbow Exploded schematic diagram of the joint; Figure 5 is an assembly schematic diagram of a conventional large-size stainless steel elbow joint; Figure 6 is an external schematic diagram of an automatic welding equipment of a preferred embodiment of the present invention; Figure 7 is another aspect of the present invention A schematic diagram of the working method flow of the preferred embodiment; and FIG. 8 is a schematic diagram of the appearance of the automatic welding equipment according to another preferred embodiment of the present invention.
本發明係在提供一種能沿圓周向自動焊接組合彎管接頭的工法,復請參閱第4及5圖所示,該工法係令作業人員僅需先將上游加工廠沖壓製成且橫斷面呈圓形之複數節不銹鋼彎管接頭半成品501、502、503、504及505,逐一銜接,且對該等相鄰不銹鋼彎管接頭半成品501、502、503、 504及505間之銜接縫51,以點焊方式,予以間隔地點焊焊接點S組合,而形成一不銹鋼彎管接頭成品的初胚50’;復請參閱第5圖所示,該工法係用以將初胚50’上相鄰不銹鋼彎管接頭半成品501、502、503、504及505間之銜接縫51,尤其是,相鄰不銹鋼彎管接頭半成品501、502、503、504及505間位在任二點焊接點S間之銜接縫51,自動焊接組合在一起,而令該等不銹鋼彎管接頭半成品501、502、503、504及505被氣密地焊接組合成為一大尺寸不銹鋼彎管接頭成品50,請參閱第6圖所示,該工法係在作業人員將該初胚50’一端的彎管通道,垂直地套設至一控制機台60之一承載座61頂面所設之一定位模具610後,啟動該控制機台60,請參閱第7圖所示:該控制機台60即會依序執行下列步驟:(701)復請參閱第6圖所示,驅動該定位模具610上複數個沿圓周向排列之定位模塊611、612、613,令各該定位模塊611、612、613分別沿徑向向外位移(如第6圖上各該雙向直線箭頭所示),以使各該定位模塊611、612、613的外周緣能牢固地抵靠至該初胚50’一端彎管通道的內緣,從而使該初胚50’能被穩固且精準地定位在該定位模具610上;(702)嗣,復請參閱第6圖所示:驅動該控制機台60內之一第一旋轉機構70,使得該第一旋轉機構70能帶動該承載座61連同定位其上之初胚50’一起旋轉R1(如第6圖上各該雙向弧線箭頭所示),以令該初胚50’彎管通道的軸線能根據焊接位置的需要,而動態地保持在水平狀態;(703)請參閱第8圖所示,驅動一樞設在該控制機台60上鄰近頂側位置之一機械手臂63,令該機械手臂63前端所設之一焊槍630朝該初胚50’上各該銜接縫51之方向位移,該機械手臂63前端尚包括一攝像元件631 及一雷射定位元件632,該控制機台60能根據該攝像元件631所擷取之初胚50’的影像,精準地判讀出各該銜接縫51的精確座標位置,再透過該雷射定位元件632以雷射光標定各該銜接縫51之精確座標位置後,即會根據該控制機台60內一雷射循跡電腦66的指示,驅動該機械手臂63,令其前端之該焊槍630能在該初胚50’的外緣,循著該初胚50’的圓周向,分別對位在精確座標位置之各該銜接縫51執行焊接組合的動作,以迅速且精準地沿著該初胚50’的圓周向分別在各該銜接縫51上形成美觀且氣密的焊道,從而自動、迅速且氣密地將該初胚50’加工成為一大尺寸不銹鋼彎管接頭成品50。 The present invention is to provide a method capable of automatically welding combined elbow joints along the circumference. Please refer to Figs. 4 and 5 for reference. This method allows the operator to first press the upstream processing plant to make a cross section. A plurality of semi-finished stainless steel elbow joint semi-finished products 501, 502, 503, 504, and 505 are circularly connected one by one, and the adjacent semi-finished stainless steel elbow joint semi-finished products 501, 502, 503, The joint seam 51 between 504 and 505 is spot welded, and the welding point S is welded at intervals to form a preform 50 'of a finished stainless steel elbow joint. Please refer to Figure 5 again. This method is used The joint seam 51 between the semi-finished stainless steel elbow joint semi-finished products 501, 502, 503, 504, and 505 on the primary embryo 50 ', in particular, the semi-finished stainless steel elbow joint semi-finished products between 501, 502, 503, 504, and 505 The joints 51 between any two welding points S are automatically welded together, so that the semi-finished products of stainless steel elbow joints 501, 502, 503, 504 and 505 are hermetically welded to form a large-size stainless steel elbow joint. The finished product 50, as shown in FIG. 6, is a method in which an operator bends a curved channel at one end of the primary embryo 50 'vertically to one of the top surfaces of one of the supporting bases 61 of a control machine 60. After positioning the mold 610, start the control machine 60, please refer to Figure 7: the control machine 60 will perform the following steps in sequence: (701) Please refer to Figure 6 to drive the positioning mold 610 A plurality of positioning modules 611, 612, and 613 arranged in a circumferential direction The position modules 611, 612, and 613 are respectively displaced outward in the radial direction (as shown by the two-way straight arrows in FIG. 6), so that the outer peripheral edges of the positioning modules 611, 612, and 613 can firmly abut against the positioning modules. The inner edge of the tube passage of the primary embryo 50 'is bent at one end, so that the primary embryo 50' can be firmly and accurately positioned on the positioning mold 610; (702) 嗣, please refer to FIG. 6 again: drive the control A first rotating mechanism 70 in the machine 60, so that the first rotating mechanism 70 can drive the bearing base 61 to rotate R1 together with the primary embryo 50 'positioned thereon (as shown by the two-way arc arrows in FIG. 6) ), So that the axis of the 50 'elbow channel of the preform can be dynamically maintained in a horizontal state according to the needs of the welding position; (703) Please refer to FIG. 8 and drive a pivot on the control machine 60 A robot arm 63 near the top side of the robot arm 63 causes a welding torch 630 provided at the front end of the robot arm 63 to be displaced in the direction of each of the joints 51 on the primary embryo 50 '. The front end of the robot arm 63 further includes a camera element 631 And a laser positioning element 632, the control machine 60 can accurately determine and read out the precise coordinate position of each of the joints 51 based on the image of the original embryo 50 'captured by the camera element 631, and then locate through the laser After the element 632 uses the laser cursor to determine the precise coordinate position of each of the joints 51, it will drive the robot arm 63 according to an instruction of a laser tracking computer 66 in the control machine 60, so that the welding gun 630 at the front end can At the outer edge of the primary embryo 50 ', along the circumferential direction of the primary embryo 50', a welding combination is performed on each of the joints 51 positioned at precise coordinates to quickly and accurately follow the primary embryo. A circumferential direction of 50 ′ forms beautiful and air-tight bead on each of the joint seams 51, so that the primary embryo 50 ′ is automatically, quickly and air-tightly processed into a large-size stainless steel elbow joint 50.
按,以上所述僅係本發明之一最佳實施例的工法,但本發明在實際施作時,並不挶限於此,尚能視實際的需要增加或減少前述步驟內的相關動作,據此,凡相關技術領域人士在參酌本發明之前述步驟及相關動作後,所能輕易思及之其它等效變化,均應不脫離本發明之保護範疇,茲謹以本發明之另一較佳實施例的工法為例,扼要說明如下: According to the above, the above is only a working method of one of the preferred embodiments of the present invention, but the actual implementation of the present invention is not limited to this, and the related actions in the foregoing steps can be increased or decreased according to actual needs. Therefore, all other equivalent changes that can be easily considered by those skilled in the relevant art after considering the foregoing steps and related actions of the present invention should not depart from the protection scope of the present invention, and hereby take another preferred of the present invention. The working method of the embodiment is taken as an example, and the brief description is as follows:
在本發明之另一較佳實施例的工法中,復請參閱第5、6及8圖所示,為了大幅簡化該焊槍630分別對各該銜接縫51進行焊接時位移的幅度及範圍,本發明在該機械手臂63前端之焊槍630分別對各該銜接縫51進行焊接組合時,能使該等定位模具610及定位其上之該初胚50’沿著該初胚50’彎管通道的軸線旋轉R2(如第8圖上雙向弧線箭頭所示),如此,該焊槍630即能在一定點位置,自動地沿著該初胚50’的圓周向分別對各該銜接縫51進行焊接組合,以能大幅減少該焊槍630分別對各該銜接縫51進行焊接時的位移幅度及範圍,從而能有效提升對各該銜接縫51進行焊接組合的效率及精準度,以迅速且氣密地將該等不銹鋼彎管接頭半成品501、502、503、 504及505焊接組合成為該大尺寸不銹鋼彎管接頭成品50。 In the construction method of another preferred embodiment of the present invention, please refer to FIGS. 5, 6 and 8 again. In order to greatly simplify the range and range of displacement of the welding torch 630 when welding each of the joints 51, the present invention It is invented that when the welding torch 630 at the front end of the robot arm 63 welds each of the joint seams 51 separately, the positioning mold 610 and the primary embryo 50 'positioned thereon can be guided along the curved channel of the primary embryo 50'. The axis rotates R2 (as shown by the bi-directional arc arrow on Fig. 8). In this way, the welding torch 630 can automatically weld the joint seams 51 along the circumference of the original embryo 50 'at a certain position. In order to greatly reduce the displacement range and range of the welding torch 630 when welding each of the joint seams 51, the efficiency and accuracy of the welding combination of each of the joint seams 51 can be effectively improved, so as to quickly and air-tightly These stainless steel elbow joints semi-finished products 501, 502, 503, 504 and 505 are welded together to form the finished product 50 of the large-size stainless steel elbow joint.
本發明之又一較佳實施例,復請參閱第6圖所示,係在提供一種能沿圓周向自動焊接組合彎管接頭的設備,該設備包括一控制機台60、一承載座61、一定位模具610、一第一旋轉機構70、一焊接機台64、一操控顯示器65及一機械手臂63、一第二旋轉機構71;其中,復請參閱第6圖所示,該控制機台60底部係被固定至一平面(如:地面)上;該承載座61係被固定至該控制機台60上鄰近前側的位置,該定位模具610係沿垂直向凸設在該承載座61之頂側,以令作業人員能將一不銹鋼彎管接頭成品的初胚50’一端之彎管通道,垂直地套設至該定位模具610上,其中,復請參閱第5圖所示,該初胚50’係由上游加工廠沖壓製成且橫斷面呈圓形之複數節不銹鋼彎管接頭半成品501、502、503、504及505,經逐一銜接,且對相鄰的該等不銹鋼彎管接頭半成品501、502、503、504及505間之銜接縫51,以點焊方式,予以間隔地點焊焊接點S接合而成;該定位模具610則包括複數個定位模塊611、612及613,各該定位模塊611、612及613係沿圓周向排列在該承載座61之頂側,且能在該控制機台60之操控下,分別沿徑向向外或向內位移(如第6圖上雙向直線箭頭所示),以使各該定位模塊611、612及613的外周緣能牢固地抵靠至該初胚50’一端彎管通道的內緣,從而使該初胚50’能被穩固且精準地定位在該定位模具610上,或使各該定位模塊611、612及613的外周緣能脫離抵靠至該初胚50’一端彎管通道內緣的狀態,從而使該初胚50’能自該定位模具610上被卸下;復請參閱第6及8圖所示,該第一旋轉機構70係裝設在該控制機台60內鄰近該承載座61之位置,且與該承載座61相連接,而能在該控制機台60之操控下,帶動該承載座61連同定位其上之該初胚50’一 起旋轉R1(如第6及8圖上各該雙向弧線箭頭所示),以令該初胚50’彎管通道的軸線能根據焊接位置的需要,動態地保持在水平狀態;該焊接機台64係被安裝在控制機台60的一側位置,且與該控制機台60相電氣連接,以在該控制機台60之操控下,執行焊接工作;該操控顯示器65係被安裝在控制機台60的另一側位置,且與該控制機台60相電氣連接,以供作業人員輸入該初胚50’之尺寸及規格,以使該控制機台60能據以操控該定位模具610、該第一旋轉機構70、該焊接機台64及該機械手臂63,分別執行對應之動作;該機械手臂63係被安裝在控制機台60上鄰近頂側的位置,且與該控制機台60相電氣連接,以在該控制機台60之操控下,令該機械手臂63的前端位移至預定之位置,該機械手臂63的前端分別裝設有一焊槍630、一攝像元件631及一雷射定位元件632,其中,該焊槍630係與該焊接機台64相電氣連接,以在該焊接機台64之驅動下,執行焊接工作,該控制機台60尚能根據該攝像元件631所擷取之初胚50’影像,精準地判讀出其上各該銜接縫51之精確座標位置,再透過該雷射定位元件632以雷射光標定各該銜接縫51之精確座標位置後,該控制機台60即會根據其內一雷射循跡電腦66的指示,驅動該機械手臂63,令其前端之該焊槍630能在該初胚50’的外緣,循著該初胚50’的圓周向,分別對位在該等精確座標位置之各該銜接縫51執行焊接組合的動作,以迅速且精準地沿著該初胚50’的圓周向分別在各該銜接縫51上形成美觀且氣密的焊道,從而自動、迅速且氣密地將該初胚加工成為一大尺寸不銹鋼彎管接頭成品50。 Another preferred embodiment of the present invention, as shown in FIG. 6, is to provide a device capable of automatically welding a combined elbow joint in a circumferential direction. The device includes a control machine 60, a bearing base 61, A positioning mold 610, a first rotating mechanism 70, a welding machine 64, a control display 65, a robot arm 63, and a second rotating mechanism 71; among them, please refer to FIG. 6, the control machine The bottom of 60 is fixed to a flat surface (such as the ground); the bearing base 61 is fixed to a position near the front side on the control machine 60, and the positioning mold 610 is convexly arranged on the bearing base 61 in a vertical direction. The top side, so that the operator can set a curved channel of the end of the 50 'end of the original embryo of a stainless steel elbow joint to the positioning mold 610 vertically. Please refer to Figure 5 for details. The embryo 50 'is a semi-finished stainless steel elbow joint semi-finished product 501, 502, 503, 504, and 505 made by the upstream processing plant and punched in a circular cross-section, and connected one by one, and the adjacent stainless steel elbow Joints 51 between semi-finished products 501, 502, 503, 504 and 505, The spot welding method is formed by welding the welding points S at spaced intervals. The positioning mold 610 includes a plurality of positioning modules 611, 612, and 613, and each of the positioning modules 611, 612, and 613 is arranged circumferentially on the bearing base 61. The top side, and can be moved radially outward or inward respectively under the control of the control machine 60 (as shown by the two-way straight arrow on FIG. 6), so that each of the positioning modules 611, 612, and 613 The outer peripheral edge can firmly abut against the inner edge of the curved channel of one end of the primary embryo 50 ', so that the primary embryo 50' can be firmly and accurately positioned on the positioning mold 610, or each of the positioning modules 611 The outer peripheral edges of 612, 613 and 613 can be disengaged from the state abutting to the inner edge of the curved channel at one end of the primary embryo 50 ', so that the primary embryo 50' can be removed from the positioning mold 610; please refer to sections 6 and 6 again. As shown in FIG. 8, the first rotating mechanism 70 is installed in the control machine 60 adjacent to the bearing base 61 and is connected to the bearing base 61 so that it can be controlled by the control machine 60. Drive the carrier 61 together with the primary embryo 50 'located thereon. R1 (as shown by the bi-directional arc arrows in Figures 6 and 8), so that the axis of the 50 'elbow channel of the primary embryo can be dynamically maintained in a horizontal state according to the needs of the welding position; the welding machine The 64 series is installed on one side of the control machine 60 and is electrically connected to the control machine 60 to perform welding work under the control of the control machine 60. The control display 65 is installed on the control machine The other side of the platform 60 is electrically connected to the control machine 60 for the operator to input the size and specifications of the initial embryo 50 ', so that the control machine 60 can control the positioning mold 610, The first rotating mechanism 70, the welding machine 64 and the robot arm 63 respectively perform corresponding actions; the robot arm 63 is installed on the control machine 60 near the top side, and is connected to the control machine 60 Phase electrical connection to move the front end of the robot arm 63 to a predetermined position under the control of the control machine 60. The front end of the robot arm 63 is respectively equipped with a welding gun 630, a camera element 631 and a laser positioning Element 632, wherein the welding torch 630 is connected with The welding machine 64 is electrically connected to perform welding work under the driving of the welding machine 64. The control machine 60 can accurately judge and read out the original embryo 50 'image captured by the camera element 631. After the precise coordinate position of each of the joints 51 is set, and then the precise coordinate position of each of the joints 51 is determined by a laser cursor through the laser positioning element 632, the control machine 60 will be based on a laser tracking computer therein. 66, the robot arm 63 is driven, so that the welding gun 630 at the front end can be aligned with each of the precise coordinates at the outer edge of the original embryo 50 'in the circumferential direction of the original embryo 50'. The joint seam 51 performs a welding combination action to quickly and accurately form beautiful and air-tight weld beads on each of the joint seams 51 along the circumference of the primary embryo 50 ', thereby automatically, quickly and air-tightly. The preform is processed into a large-size stainless steel elbow joint finished product 50.
按,以上所述僅係本發明設備之一最佳實施例,但本發明在實際施作時,並不挶限於此,尚能視實際的需要增加或減少前述的相關元 件及機構,據此,凡相關技術領域人士在參酌本發明之前述結構後,所能輕易思及之等效變化,均應不脫離本發明之保護範疇,茲謹以本發明之又另一較佳實施例的設備為例,扼要說明如下: According to the above, the above is only one of the preferred embodiments of the device of the present invention, but the actual implementation of the present invention is not limited to this, and the aforementioned related elements can be increased or decreased according to actual needs. According to this, all equivalent changes that can be easily considered by those skilled in the relevant technical field after considering the foregoing structure of the present invention should not depart from the protection scope of the present invention. The device of the preferred embodiment is taken as an example, and the brief description is as follows:
在本發明之又另一較佳實施例的設備中,復請參閱第5、6及8圖所示,為了大幅簡化該焊槍630分別對各該銜接縫51進行焊接時位移的幅度及範圍,該定位模具610係被樞設在該承載座61上鄰近頂部的位置,且能被該承載座61內所設之一第二旋轉機構71帶動而旋轉R2,從而使得該等定位模具610及定位其上之該初胚50’能沿著該初胚50’彎管通道的軸線旋轉R2(如第6及8圖上雙向弧線箭頭所示),以大幅減少該焊槍630分別對各該銜接縫51進行焊接組合時的位移幅度及範圍,從而能有效提升對各該銜接縫51進行焊接組合的效率及精準度,以迅速且氣密地將該等不銹鋼彎管接頭半成品501、502焊接組合成為該大尺寸不銹鋼彎管接頭成品50。 In another preferred embodiment of the device of the present invention, please refer to FIGS. 5, 6, and 8 again. In order to greatly simplify the range and range of displacement of the welding torch 630 when welding each of the joints 51, The positioning die 610 is pivoted on a position near the top of the supporting base 61 and can be driven to rotate R2 by a second rotating mechanism 71 provided in the supporting base 61, so that the positioning die 610 and the positioning The primary embryo 50 'can rotate R2 along the axis of the curved channel of the primary embryo 50' (as shown by the double-headed arc arrow in Figures 6 and 8) to greatly reduce the welding torch 630 to each of the joints. The displacement amplitude and range of the 51 welding combination can effectively improve the efficiency and accuracy of the welding combination of each of the joints 51, so as to quickly and air-tightly weld the stainless steel elbow joint semi-finished products 501 and 502 into a welding combination. The large-size stainless steel elbow joint finished product 50.
此外,在本發明之其它實施例的設備中,復請參閱第5、6及8圖所示,該設備尚包括一啟動踏板67及一焊料轉盤68,其中,該啟動踏板67係與該控制機台60相電氣連接,供作業人員以腳踩踏,以啟動該控制機台60;該焊料轉盤68則係樞設該控制機台60之頂側鄰近該機械手臂63的位置,且其上捲繞有焊料L,該焊料L係提供該機械手臂63前端之該焊槍630執行焊接動作時所需之焊接原料。 In addition, in the device of other embodiments of the present invention, please refer to FIGS. 5, 6 and 8 again. The device further includes a start pedal 67 and a solder turntable 68, wherein the start pedal 67 is related to the control. The machine 60 is electrically connected to allow the operator to step on the foot to start the control machine 60; the solder turntable 68 is pivotally located on the top side of the control machine 60 adjacent to the robot arm 63, and is rolled up The solder L is wound, and the solder L is used to provide the welding material required when the welding gun 630 at the front end of the robot arm 63 performs a welding operation.
以上所述,僅為本發明之若干較佳實施例,惟,本發明之技術特徵並不侷限於此,凡相關技術領域之人士在參酌本發明之技術內容後,所能輕易思及之等效變化,均應不脫離本發明之保護範疇。 The above are only a few preferred embodiments of the present invention. However, the technical features of the present invention are not limited to this. Those skilled in the related art can easily think about it after considering the technical content of the present invention. Effective changes should not depart from the protection scope of the present invention.

Claims (6)

  1. 一種能沿圓周向自動焊接組合彎管接頭的工法,其中,一初胚係由上游加工廠沖壓製成且橫斷面呈圓形之複數節不銹鋼彎管接頭半成品,經逐一銜接,且對相鄰的該等不銹鋼彎管接頭半成品間之銜接縫,以點焊方式,予以間隔地焊接組合而成,該工法係將該初胚一端的彎管通道,垂直地套設至一控制機台之一承載座頂面所設之一定位模具後,啟動該控制機台執行下列步驟:驅動該定位模具上複數個沿圓周向排列之定位模塊,且令各該定位模塊分別沿徑向向外位移,以使各該定位模塊的外周緣能牢固地抵靠至該初胚一端彎管通道的內緣,從而使該初胚能被穩固且精準地定位在該定位模具上;驅動該承載座,使該承載座連同定位其上的該初胚一起旋轉,從而使該初胚彎管通道的軸線呈水平狀排列;及驅動該控制機台上之一機械手臂,使該機械手臂前端所設之一焊槍能朝該初胚上之各該銜接縫方向位移,其中,該機械手臂前端尚包括一攝像元件及一雷射定位元件,該控制機台能根據該攝像元件所擷取之初胚影像,精準地判讀出各該銜接縫之精確座標位置,俟該雷射定位元件以雷射光標定各該銜接縫之精確座標位置後,該控制機台即會根據其內所設之一雷射循跡電腦的指示,驅動該機械手臂,令其前端之該焊槍能在該初胚的外緣,循著該初胚的圓周向,分別對位在該等精確座標位置之各該銜接縫執行焊接組合的動作,以迅速且精準地沿著該初胚的圓周向分別在各該銜接縫上形成美觀且氣密的焊道,從而自動、迅速且氣密地將該初胚加工成為一大尺寸不銹鋼彎管接頭成品。 A method capable of automatically welding combined elbow joints along the circumference, wherein a primary embryo is a semi-finished product of a plurality of stainless steel elbow joints punched by an upstream processing plant and having a circular cross section, which are connected one by one and are opposite to each other. The joint seams between the semi-finished products of the adjacent stainless steel elbow joints are welded and assembled at intervals by spot welding. The method is to vertically set the elbow channel at one end of the primary embryo to a control machine. After a positioning mold set on the top surface of a bearing seat, the control machine is started to perform the following steps: driving a plurality of positioning modules arranged in a circumferential direction on the positioning mold and causing each of the positioning modules to be displaced outward in the radial direction respectively So that the outer periphery of each positioning module can firmly abut against the inner edge of the curved channel at one end of the primary embryo, so that the primary embryo can be firmly and accurately positioned on the positioning mold; driving the bearing seat, Rotating the bearing base together with the primary embryo positioned thereon, so that the axis of the primary embryo bend channel is arranged horizontally; and driving a mechanical arm on the control machine so that the front end of the mechanical arm It is assumed that a welding torch can be displaced in the direction of each of the joint seams on the primary embryo, wherein the front end of the robot arm further includes a camera element and a laser positioning element, and the control machine can according to the initial position captured by the camera element. The image of the embryo accurately judges and reads the precise coordinate position of each joint. After the laser positioning element uses the laser cursor to determine the precise coordinate position of each joint, the control machine will then Follow the instructions of the tracking computer to drive the robotic arm so that the welding gun at the front end can align the joints at the precise coordinate positions along the circumference of the initial embryo along the circumference of the original embryo. The welding combination is performed to quickly and accurately form beautiful and air-tight bead on each joint seam along the circumference of the primary embryo, so as to automatically, quickly and air-tightly process the primary embryo into one. Large size stainless steel elbow joint finished product.
  2. 如請求項1所述之工法,其中,在該機械手臂前端之該焊槍分別對各該 銜接縫進行焊接時,該控制機台尚會執行下列步驟:驅動該定位模具,令該初胚能沿著其彎管通道的軸線旋轉,以大幅減少該焊槍分別對各該銜接縫進行焊接時的位移幅度及範圍,從而能有效提升對各該銜接縫進行焊接的效率及精準度。 The method according to claim 1, wherein the welding torch at the front end of the robot arm When welding the joints, the control machine still performs the following steps: the positioning mold is driven so that the primary embryo can rotate along the axis of its curved channel, so as to greatly reduce the welding torch when welding each joint separately. The range and range of displacement can effectively improve the efficiency and accuracy of welding each joint.
  3. 一種能沿圓周向自動焊接組合彎管接頭的設備,包括:一控制機台,其底部係被固定至一平面上;一承載座,係被固定至該控制機台上鄰近前側的位置;一定位模具,係沿垂直向凸設在該承載座之頂側,以能使一不銹鋼彎管接頭成品的初胚一端之彎管通道,垂直地套設至該定位模具上,其中,該初胚係由上游加工廠沖壓製成且橫斷面呈圓形之複數節不銹鋼彎管接頭半成品,經逐一銜接,且對相鄰的該等不銹鋼彎管接頭半成品間之銜接縫,以點焊方式,予以間隔地焊接組合而成;該定位模具包括複數個定位模塊,各該定位模塊係沿圓周向排列在該承載座之頂側,且能在該控制機台之操控下,分別沿徑向向外或向內位移,以使各該定位模塊的外周緣能牢固地抵靠至該初胚一端彎管通道的內緣,從而使該初胚能被穩固且精準地定位在該定位模具上,或使各該定位模塊的外周緣能脫離抵靠至該初胚一端彎管通道內緣的狀態,從而使該初胚能自該定位模具上被卸下;一第一旋轉機構,係裝設在該控制機台內鄰近該承載座之位置,且與該承載座相連接,而能在該控制機台之操控下,帶動該承載座連同定位其上的該初胚一起旋轉,從而使該初胚彎管通道的軸線呈水平狀排列;一焊接機台,係被安裝在控制機台的一側位置,且與該控制機台相電氣連接,以在該控制機台之操控下,驅動一焊槍執行焊接工作;一機械手臂,係被安裝在控制機台上鄰近頂側的位置,且與該控制機台 相電氣連接,以在該控制機台之操控下,令該機械手臂的前端能位移至指定之位置,該機械手臂的前端分別裝設有一焊槍、一攝像元件及一雷射定位元件,其中,該焊槍係與該焊接機台相電氣連接,以在該焊接機台之驅動下,執行焊接工作,該控制機台尚能根據該攝像元件所擷取之初胚影像,精準地判讀出各該銜接縫之精確座標位置,再透過該雷射定位元件以雷射光標定各該銜接縫之精確座標位置後,該控制機台即會根據其內一雷射循跡電腦的指示,驅動該機械手臂,令其前端之該焊槍能在該初胚的外緣,循著該初胚的圓周向,分別對位在該等精確座標位置之各該銜接縫執行焊接組合的動作,以迅速且精準地沿著初胚的圓周向分別在各該銜接縫上形成美觀且氣密的焊道,從而自動、迅速且氣密地將該初胚加工成為一大尺寸不銹鋼彎管接頭成品;及一操控顯示器,係被安裝在控制機台的另一側位置,且與該控制機台相電氣連接,以使該控制機台能根據被輸入之該初胚的尺寸及規格,操控該定位模具、該第一旋轉機構、該焊接機台及該機械手臂,分別執行對應之動作。 A device capable of automatically welding combined elbow joints along the circumference, comprising: a control machine whose bottom is fixed to a plane; a bearing base which is fixed to a position near the front side of the control machine; The positioning mold is vertically arranged on the top side of the bearing seat so as to enable a curved channel at one end of the primary embryo of a stainless steel elbow joint to be vertically sleeved on the positioning mold, wherein the primary embryo It is a semi-finished stainless steel elbow joint semi-finished product made by an upstream processing plant and circular in cross section. It is connected one by one, and the joints between adjacent semi-finished stainless steel elbow joints are spot welded. It is welded and assembled at intervals; the positioning mold includes a plurality of positioning modules, each of which is arranged on the top side of the bearing seat in a circumferential direction, and can be controlled in a radial direction by the control machine. Displace externally or inwardly, so that the outer periphery of each positioning module can firmly abut the inner edge of the curved channel at one end of the primary embryo, so that the primary embryo can be firmly and accurately positioned on the positioning mold, Or make The outer peripheral edge of the positioning module can be disengaged from the state of abutting against the inner edge of the curved channel at one end of the primary embryo, so that the primary embryo can be removed from the positioning mold; a first rotation mechanism is installed on the control The position inside the machine is adjacent to the bearing base and is connected to the bearing base. Under the control of the control machine, the bearing base can be driven to rotate together with the primary embryo positioned on it, thereby bending the primary embryo. The axis of the tube channel is arranged horizontally; a welding machine is installed at one side of the control machine and is electrically connected to the control machine to drive a welding gun to execute under the control of the control machine Welding work; a robotic arm is installed on the control machine near the top side and is connected to the control machine Phase electrical connection, so that the front end of the robot arm can be moved to a specified position under the control of the control machine. The front end of the robot arm is respectively equipped with a welding gun, a camera element and a laser positioning element, of which, The welding torch is electrically connected to the welding machine to perform welding work under the driving of the welding machine. The control machine can accurately judge and read out each of the original embryo images captured by the camera element. After the precise coordinate position of the joint seam is determined by the laser positioning element with the laser cursor, the control machine will drive the robot arm according to the instructions of a laser tracking computer inside So that the welding gun at the front end can perform welding operation on the outer edge of the primary embryo along the circumferential direction of the primary embryo, and perform welding operations on the joints located at the precise coordinate positions, so as to quickly and accurately Form beautiful and air-tight welds on each of the joints along the circumference of the original embryo, so as to automatically, quickly and air-tightly process the original embryo into a large-size stainless steel elbow joint; and The control display is installed on the other side of the control machine and is electrically connected to the control machine, so that the control machine can control the positioning mold according to the size and specifications of the initial embryo being input, The first rotating mechanism, the welding machine and the robot arm respectively perform corresponding actions.
  4. 如請求項3所述之設備,其中,該承載座內尚裝設有一第二旋轉機構,該第二旋轉機構係與該定位模具相連接,能在該控制機台之操控下,帶動該定位模具,令定位其上之該初胚能沿著其彎管通道的軸線旋轉,該機械手臂前端之該焊槍能在該初胚的外緣,循著該初胚的圓周向,分別對位在該等精確座標位置之各該銜接縫執行焊接組合動作。 The device according to claim 3, wherein a second rotation mechanism is still installed in the bearing seat, and the second rotation mechanism is connected with the positioning mold, and can drive the positioning under the control of the control machine. The mold allows the primary embryo positioned on it to rotate along the axis of the curved channel. The welding gun at the front end of the robot arm can be positioned at the outer edge of the primary embryo along the circumferential direction of the primary embryo. Each of the joints at the precise coordinate positions performs a welding combination action.
  5. 如請求項4所述之設備,其中,該承載座內尚包括一啟動踏板,該啟動踏板係與該控制機台相電氣連接,供作業人員以腳踩踏,以啟動該控制機台。 The device according to claim 4, wherein the supporting base further includes a starter pedal, which is electrically connected to the control machine so that an operator can step on it to start the control machine.
  6. 如請求項4所述之設備,其中,該承載座內尚包括一焊料轉盤,該焊料 轉盤係樞設該控制機台之頂側鄰近該機械手臂的位置,且其上捲繞有焊料,該焊料係提供該機械手臂前端之該焊槍執行焊接動作時所需之焊接原料。 The device according to claim 4, wherein the carrier further includes a solder turntable, the solder The turntable is pivotally located on the top side of the control machine adjacent to the robot arm, and solder is wound thereon, and the solder is provided with the welding raw materials required by the welding gun at the front end of the robot arm to perform welding operations.
TW107135845A 2018-10-11 2018-10-11 Equipment and method for automatic welding of combined stainless steel elbow joints along the circumference TWI673129B (en)

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US6371359B1 (en) * 1999-04-02 2002-04-16 Nippon Sanso Corporation Stainless steel pipe and joining method thereof
CN101798845A (en) * 2010-03-15 2010-08-11 谢家明 Thin-walled stainless steel elbow structure for drainage and processing method thereof
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US4314861A (en) * 1979-06-05 1982-02-09 Kubota Ltd. Manufacturing method of elbows made of cast stainless steel
US6371359B1 (en) * 1999-04-02 2002-04-16 Nippon Sanso Corporation Stainless steel pipe and joining method thereof
CN101798845A (en) * 2010-03-15 2010-08-11 谢家明 Thin-walled stainless steel elbow structure for drainage and processing method thereof
CN105202299A (en) * 2015-08-08 2015-12-30 周朝辉 Auto-fill two-layer in-half wear resistant elbow of concrete pump truck and manufacturing method of wear resistant elbow
CN206816983U (en) * 2017-06-09 2017-12-29 江苏恒阳冶金科技有限公司 A kind of stainless steel spun cast pipe and elbow attachment structure
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