CN113084383B

CN113084383B - Filter absorber casing duplex position welding set

Info

Publication number: CN113084383B
Application number: CN202110384499.0A
Authority: CN
Inventors: 张社林; 郭亮; 杨明佐; 王�忠; 潘斌; 刘家祥
Original assignee: Sichuan Kezhi Civil Defense Equipment Co ltd
Current assignee: Sichuan Kezhi Civil Defense Equipment Co ltd
Priority date: 2021-04-09
Filing date: 2021-04-09
Publication date: 2022-07-22
Anticipated expiration: 2041-04-09
Also published as: CN113084383A

Abstract

The invention provides a double-station welding device for a filter absorber shell, which relates to the technical field of civil air defense filter absorber processing equipment and comprises a bottom swing mechanism and a bidirectional frame in transmission connection with the bottom swing mechanism, wherein two clamp installation boxes are arranged on the bidirectional frame in a back manner, a shell clamp is installed on the outer side of each clamp installation box in a cantilever beam manner, the shell clamp is in transmission connection with the clamp swing mechanism, and an automatic clamping mechanism is arranged on the shell clamp; a manipulator is arranged on the outer side of one of the shell clamps, a welding gun is fixed on the manipulator, and a welding seam scanning device is arranged at the position adjacent to the welding gun; the welding seam scanning device is used for scanning welding seams and feeding back the welding seams to the master control system, and the master control system is used for controlling the actions of the mechanical arm, the welding gun, the fixture swing mechanism, the bottom swing mechanism and the automatic clamping mechanism. The problem of among the prior art artifical tailor-welded absorber casing inefficiency is solved.

Description

Filter absorber casing duplex position welding set

Technical Field

The invention relates to the technical field of civil air defense filter absorber processing equipment, in particular to a double-station welding device for a filter absorber shell.

Background

A people protection filter absorber is a filter that filters toxic agents, biological warfare agents and radioactive dust from a contaminated air stream. The types of the civil air defense filter absorber which is commonly used at present are RFP-1000 and the like, and the toxic and harmful substances in the air flow are precisely filtered by adopting the vacuum filtration principle. People's air defense gas filtering absorber usually is rectangle box structure, and air inlet and gas outlet set up in the both ends of rectangle case. The case constituting the rectangular box is required to have strength sufficient to withstand atmospheric pressure and excellent sealability, so that the welding quality is required to be high when the filter absorber case is welded.

In the prior art, in the tailor-welding process of the filter absorber shell, all parts of the shell need to be placed at correct positions, manually supported by workers, fixed by electric welding, and then welded with the corner wall plates, and the other side is welded in a turning manner. In the whole assembling and welding process, parts, manual fixation, manual welding and manual turnover are required to be continuously transported, so that the welding time of the shell and the labor intensity of personnel are increased, the welding efficiency is low, and the welding quality is difficult to ensure.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a double-station welding device for a shell of a filter absorber, which solves the problem that the efficiency of manual tailor-welding of the shell of the filter absorber is low in the prior art.

In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows:

the double-station welding device comprises a bottom swing mechanism and a bidirectional frame in transmission connection with the bottom swing mechanism, wherein two clamp installation boxes are arranged on the bidirectional frame in a back mode, a shell clamp is installed on the outer side of each clamp installation box in a cantilever mode, the shell clamp is in transmission connection with the clamp swing mechanism, and an automatic clamping mechanism is arranged on the shell clamp; a manipulator is arranged on the outer side of one of the shell clamps, a welding gun is fixed on the manipulator, and a welding seam scanning device is arranged at the position adjacent to the welding gun; the welding seam scanning device is used for scanning welding seams and feeding back the welding seams to the master control system, and the master control system is used for controlling the actions of the mechanical arm, the welding gun, the fixture swing mechanism, the bottom swing mechanism and the automatic clamping mechanism.

The beneficial effects of the invention are as follows: when the double-station welding device in the scheme is used for welding the filter absorber shell, two shell clamps are arranged on the bidirectional frame, each shell clamp can independently clamp and fix one shell, when the manipulator drives the welding gun to weld one shell, the unwelded shell can be arranged on the other shell clamp, no influence is caused between the two shell clamps, the two shell clamps are driven to exchange stations through the rotation of the bottom swing mechanism, the welding gun can weld the shell on the other station, the welding efficiency can be improved, the relative position between the welding station and the manipulator can be ensured more easily, and the welding quality can be ensured more easily.

Before welding by the welding gun, the welding seam scanning device scans the welding seam once to obtain the actual shape and position parameters of each welding seam, so that the welding parameters of the welding gun can be adjusted according to the actual condition of each welding seam, and the welding quality can be improved.

Drawings

FIG. 1 is a drawing of a duplex position welding set of absorber casing

Fig. 2 is a perspective view of the housing jig of fig. 1.

Fig. 3 is a cross-sectional axial view of the housing clamp of fig. 1.

Wherein, 1, a bottom slewing mechanism; 2. a bidirectional rack; 21. a fixture mounting box; 211. staggering a surface; 3. a housing clamp; 31. a clamp back plate mechanism; 311. a first back plate; 312. a second back plate; 313. a central tubular shaft; 32. an inner support mechanism; 321. a right-angle support frame; 322. an inside weld joint abutting mechanism; 323. a limiting support plate; 33. an upper abutting mechanism; 332. a telescopic hydraulic cylinder; 333. pressing a plate; 334. a guide mechanism; 34. a lower abutting mechanism; 35. a left push mechanism; 351. installing a base; 352. a propulsion hydraulic cylinder; 353. a pusher plate; 354. a guide rail; 36. a right pushing mechanism; 37. positioning a plate; 4. a fixture slewing mechanism; 421. an outer ring; 422. an inner ring; 5. a manipulator; 6. a welding gun; 7. a weld scanning device; 8. a housing; 85. welding; 9. a lubrication system; 10. and (4) a master control system.

Detailed Description

The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined by the appended claims, and all changes that can be made by the invention using the inventive concept are intended to be protected.

As shown in fig. 1 to 3, the double-station welding device for the filter absorber shell comprises a bottom swing mechanism 1 and a bidirectional frame 2 in transmission connection with the bottom swing mechanism 1, wherein two clamp installation boxes 21 are arranged on the bidirectional frame 2 in a back manner, a shell clamp 3 is installed on the outer side of each clamp installation box 21 in a cantilever manner, the shell clamp 3 is in transmission connection with a clamp swing mechanism 4, and an automatic clamping mechanism is arranged on the shell clamp 3; a manipulator 5 is arranged on the outer side of one of the shell clamps 3, a welding gun 6 is fixed on the manipulator 5, and a welding seam scanning device 7 is arranged at the position adjacent to the welding gun 6; the welding seam scanning device 7 is used for scanning welding seams and feeding back the welding seams to the master control system 10, and the master control system 10 is used for controlling the actions of the manipulator 5, the welding gun 6, the fixture swing mechanism 4, the bottom swing mechanism 1 and the automatic clamping mechanism.

The welding object in this scheme is the absorber casing, and this casing 8 is the open rectangle casing in both ends, and for the convenience of welding, downwardly extending after buckling perpendicularly at the both ends of the upper plate of casing 8, the both ends of lower plate are buckled perpendicularly and are extended to the upper reaches, and upper plate and lower extreme that lower plate extend back and left side board and right side board weld respectively, so welding seam 85 of casing 8 is located the upper end and the lower extreme of left side board and right side board.

The middle part of the bidirectional frame 2 is in transmission connection with the bottom swing mechanism 1, the bidirectional frame 2 is of a symmetrical structure, the clamp installation boxes 21 are oppositely arranged relative to the bottom swing mechanism 1, and the bottom swing mechanism 1 is located at the central position of the two clamp installation boxes 21, so that in the process that the bottom swing mechanism 1 drives the bidirectional frame 2 to rotate, the turning radiuses of the clamp installation boxes 21 at the two ends are the same, and the accuracy of the double-station position of the shell 8 is guaranteed. The bottom swing mechanism 1 and the clamp swing mechanism 4 are similar in structure and respectively comprise a driving motor, the driving motor is connected with the bidirectional frame 2 through a gear transmission mechanism, and a driven gear in the gear transmission mechanism is a gear bearing.

The fixture installation boxes 21 are provided with dislocation surfaces 211, the dislocation surfaces 211 are inclined surfaces and are positioned on the opposite surfaces of the two fixture installation boxes 21, so that a larger space is formed between the two fixture installation boxes 21 for maintenance, installation and other purposes, the dislocation surfaces can reduce the distance between the two fixture installation boxes 21 to a certain extent, and the rotating torque of the bottom rotating mechanism 1 for rotating the bidirectional frame 2 is reduced.

The shell clamp 3 comprises a clamp rear plate mechanism 31, an inner side supporting mechanism 32 which is inserted into the shell and abutted to the inner wall of the shell is fixedly connected to the clamp rear plate mechanism 31, an upper abutting mechanism 33 and a lower abutting mechanism 34 which are telescopic are symmetrically installed on the upper side and the lower side of the inner side supporting mechanism 32 respectively, a left pushing mechanism 35 and a right pushing mechanism 36 are arranged on the left side and the right side of the inner side supporting mechanism 32 in a sliding mode respectively, and the inner side supporting mechanism 32, the upper abutting mechanism 33, the lower abutting mechanism 34, the left pushing mechanism 35 and the right pushing mechanism 36 form an automatic clamping mechanism. When the shell 8 is welded, the shell is sleeved on the inner side supporting mechanism 32, the shell 8 is limited and supported through the inner side supporting mechanism 32, and then the shell is clamped by controlling the upper abutting mechanism 33, the lower abutting mechanism 34, the left pushing mechanism 35 and the right pushing mechanism 36 to be close to the inner side supporting mechanism 32 from the corresponding side.

The inner side supporting mechanism 32 is provided with an inner side welding seam abutting mechanism 322, the left pushing mechanism 35 and the right pushing mechanism 36 are provided with an outer side welding seam abutting mechanism, and the inner side welding seam abutting mechanism 322 and the outer side welding seam abutting mechanism are arranged oppositely, so that two plates forming a welding seam are abutted tightly along the length direction of the welding seam 85, the gap of the welding seam is small and even, and the welding quality is guaranteed.

Inboard welding seam butt mechanism 322 includes the oil circuit board that extends along welding seam length direction, installs a plurality of welding seam pneumatic cylinders on the oil circuit board side by side, is fixed with on the piston rod of every welding seam pneumatic cylinder to the head, supports the first preferred material of head and is copper. The oil circuit board is connected with an oil pipe inlet and an oil pipe outlet, and an oil circuit is machined inside the oil circuit board and used for introducing oil into each welding hydraulic cylinder to control the expansion of the piston rod.

The inner support mechanism 32 further includes a casing initial support frame, which includes a right-angle support frame 321 disposed in the middle and supporting the left and right side plates of the casing, and a limit support plate 323 mounted on the inner weld abutting mechanism 322 and used for supporting the upper or lower side plate of the casing. The housing initial support supports and positions the housing 85 before the housing 85 is undamped to ensure the accuracy of the clamping.

The clamp rear plate mechanism 31 includes a first rear plate 311 and a second rear plate 312 detachably connected to both ends of a center pipe shaft 313, the first rear plate 311 is used for mounting the inner side support mechanism 32, and the second rear plate 312 is used for mounting the upper abutting mechanism 33, the lower abutting mechanism 34, the left push mechanism 35, and the right push mechanism 36.

The inner support mechanism 32 is attached to the first rear plate 311, and the upper contact mechanism 33, the lower contact mechanism 34, the left push mechanism 35, and the right push mechanism 36 are attached to the second rear plate 312. The second rear plate 312 is located at the rear end of the housing 8 and has a cross shape, and is used for mounting the upper abutting mechanism 33, the lower abutting mechanism 34, the left pushing mechanism 35 and the right pushing mechanism 36 which are located outside the housing 8; a first rear plate 311 is located within the housing 8 for mounting the inboard support mechanism 32. The clamp rear plate mechanism 31 is used to connect the whole clamp with the clamp rotation mechanism 4, and connect the two separated first rear plate 311 and second rear plate 312 into a whole through the central tubular shaft 313, while leaving enough space for the movement and installation of other components, such as the guide rails 354 and the pushing plate 353 in the left pushing mechanism 35 and the right pushing mechanism 36, to move toward the side close to the housing 8.

The fixture rotating mechanism 4 comprises a driving motor installed in the fixture installation box and a driven gear fixedly connected with the second back plate 312, the driven gear is fixed on an outer ring 421 of a bearing, an inner ring 422 of the bearing is fixed on the fixture installation box 21, and a four-point contact type steel ball is arranged between the outer ring 421 and the inner ring 422. The driven gear is used for being in transmission connection with a driving gear connected to the driving motor, the driving motor drives the driven gear to rotate, the outer ring 421 can rotate relative to the inner ring 422, the four-point contact type steel ball enables the bearing to be a four-point contact ball bearing, friction force between the outer ring 421 and the inner ring 422 can be reduced, transmission efficiency is improved, and meanwhile bidirectional axial load can be borne. The whole fixture is driven to overturn through the rotation of the driving motor so as to realize the overturning of the shell 8, and then the unwelded welding seam is overturned to the welding gun for welding.

The fixture slewing mechanism 4 is used for enabling the shell 8 to rotate, and enabling welding seams at other positions on the shell 8 to enter a welding area. The bottom slewing mechanism 1 is used for enabling the shell 8 to revolve, and enabling the welded shell and the shell which is not welded to exchange stations.

The upper abutting mechanism 33 and the lower abutting mechanism 34 are arranged in a mirror symmetry mode and respectively comprise a suspension fixedly connected with the clamp rear plate mechanism 31, a telescopic hydraulic cylinder 332 facing the shell is mounted on the suspension, a pressing plate 333 is fixed at one end, facing the shell, of the telescopic hydraulic cylinder 332, and guide mechanisms 334 are arranged on two sides of the telescopic hydraulic cylinder 332. The guide mechanism 334 comprises a guide post fixed on the pressure plate 333 and a guide sleeve fixed on the suspension, the telescopic hydraulic cylinder 332 only can move along the axial direction of the guide sleeve in the process of driving the pressure plate 333 to move up and down, the pressure plate 333 can not deviate in the moving process through the guide function of the guide mechanism 334, the pressure plate is accurately pressed on the shell 8, and the machining precision of the shell 8 is ensured.

After the upper and lower side plates of the housing 8 are fixed by the upper and lower abutting

mechanisms

33, 34, the left and right side plates are abutted by the left and right pushing

mechanisms

35, 36 from the left and right sides.

The left pushing mechanism 35 and the right pushing mechanism 36 are arranged in mirror symmetry and each include an installation base 351 fixedly connected with the clamp rear plate mechanism 31, a pushing hydraulic cylinder 352 is installed on the installation base 351, a pushing plate 353 is fixed at one end, far away from the installation base 351, of the pushing hydraulic cylinder 352, and the pushing plate 353 is connected with the clamp rear plate mechanism 31 through a guide rail 354. Two guide rails 354 are installed up and down on both the left and right sides for stably guiding the movement of the thrust plate 353 while reducing sliding friction. The guide rail 354 is a straddle type structure, the slide block straddles on the slide rail, the pushing plate 353 is fixed on the slide block, and the slide block and the slide rail are connected by the upper side and the lower side in a sliding manner.

The upper side and the lower side of the pushing plate 353 of the left pushing mechanism 35 are respectively provided with a positioning plate 37, one end of the positioning plate is adjustably mounted on the fixture rear plate mechanism 31, and is specifically mounted on the second rear plate 312 of the fixture rear plate mechanism 31, and the initial positioning is realized when the left side plate and the right side plate of the shell 8 are mounted on the fixture through the positioning plate 37 before welding, so as to facilitate operation. The upper portion and the lower portion of the propulsion plate 353 are both fixed with copper cushion blocks, the copper cushion blocks can be abutted to the shell, and the copper cushion blocks are arranged opposite to the abutting heads in the inner-side welding seam abutting mechanism 322.

The weld scanning device 7 comprises a swing scanning device and a laser weld sensor, and the laser weld sensor comprises a CCD camera and a semiconductor laser. The welding seam scanning device 7 is used for collecting welding data of the welding seam 85, the master control system sends a driving signal to the welding gun driving motor according to the obtained welding data, and the welding gun driving motor drives the welding gun 6 to move along the welding seam 85 according to the received driving signal so as to weld.

In the application, an automatic welding machine is formed by a manipulator 5, a welding seam scanning device 7, a welding gun 6 and a master control system 10, a shell 8 to be welded is clamped by a shell clamp 3 and is moved to a station to be welded by a bottom slewing mechanism 1, a welding seam scanning detection device 7 arranged in front of the welding gun 6 scans and detects the welding seam, the welding seam scanning detection device 7 transmits the collected welding data of the transverse distance data and the longitudinal distance data to a master control system 10, the main control system 10 sends specific driving signals of the transverse stepping data and the longitudinal stepping data of the welding gun to the welding gun driving motor after processing, and the welding gun driving motor drives the welding gun to perform welding work of transverse stepping motion and longitudinal stepping motion on the welding seam of the workpiece according to the driving signals, so that intelligent automatic welding is realized; after welding and forming one welding seam, the clamp rotating mechanism 4 turns the shell 8 to enable the welding seam 85 at the upper part and the lower part of the shell 8 to enter a welding area, the automatic welding machine continuously repeats the welding process, after welding of one shell is completed, the bottom rotating mechanism 1 rotates to exchange the positions of the two shell clamps 3, and then the welding process is repeated. Compared with the prior art, the double-station welding device for the filter absorber shell can save a large amount of labor by welding, avoids the occurrence of welding errors, unattractive welding seam formation and other conditions caused by human factors such as fatigue, inattention and the like in manual welding, not only improves the welding work quality, but also improves the welding efficiency and the productivity.

Claims

1. The double-station welding device for the shell of the filter absorber is characterized by comprising a bottom swing mechanism (1) and a bidirectional frame (2) in transmission connection with the bottom swing mechanism (1), wherein two clamp installation boxes (21) are arranged on the bidirectional frame (2) in a back manner, a shell clamp (3) is installed on the outer side of each clamp installation box (21) in a cantilever manner, the shell clamp (3) is in transmission connection with a clamp swing mechanism (4), and an automatic clamping mechanism is arranged on the shell clamp (3); a manipulator (5) is arranged on the outer side of one of the shell clamps (3), a welding gun (6) is fixed on the manipulator (5), and a welding seam scanning device (7) is arranged at a position adjacent to the welding gun (6); the welding seam scanning device (7) is used for scanning a welding seam and feeding back the welding seam to a master control system, and the master control system is used for controlling the actions of the manipulator (5), the welding gun (6), the fixture swing mechanism (4), the bottom swing mechanism (1) and the automatic clamping mechanism;

the middle part of the bidirectional frame (2) is in transmission connection with the bottom swing mechanism (1), the clamp installation box (21) is arranged opposite to the bottom swing mechanism (1), and a shifting surface (211) is arranged on the clamp installation box (21);

the shell clamp (3) comprises a clamp rear plate mechanism (31), an inner side supporting mechanism (32) which is inserted into the shell and abutted to the inner wall of the shell is fixedly connected to the clamp rear plate mechanism (31), a telescopic upper abutting mechanism (33) and a telescopic lower abutting mechanism (34) are symmetrically arranged on the upper side and the lower side of the inner side supporting mechanism (32) respectively, a left pushing mechanism (35) and a right pushing mechanism (36) are arranged on the left side and the right side of the inner side supporting mechanism (32) respectively in a sliding mode, and the inner side supporting mechanism (32), the upper abutting mechanism (33), the lower abutting mechanism (34), the left pushing mechanism (35) and the right pushing mechanism (36) form the automatic clamping mechanism;

the welding seam welding mechanism is characterized in that an inner side welding seam abutting mechanism (322) is arranged on the inner side supporting mechanism (32), outer side welding seam abutting mechanisms are arranged on the left pushing mechanism (35) and the right pushing mechanism (36), and the inner side welding seam abutting mechanism (322) is opposite to the outer side welding seam abutting mechanism;

the inner side supporting mechanism (32) further comprises a shell initial supporting frame, and the shell initial supporting frame comprises a right-angle supporting frame (321) which is arranged in the middle and supports the left side plate and the right side plate of the shell and a limiting supporting plate (323) which is arranged on the inner side welding seam abutting mechanism (322) and is used for supporting the upper side plate or the lower side plate of the shell;

the clamp rear plate mechanism (31) comprises a first rear plate (311) and a second rear plate (312) which are detachably connected to two ends of a central pipe shaft (313), the first rear plate (311) is used for installing the inner side supporting mechanism (32), and the second rear plate (312) is used for installing the upper abutting mechanism (33), the lower abutting mechanism (34), the left pushing mechanism (35) and the right pushing mechanism (36).

2. The double-station welding device for the filter absorber shell according to claim 1, wherein the fixture rotating mechanism (4) comprises a driving motor installed in the fixture installation box (21), a driving gear is installed on the driving motor and meshed with a driven gear, the driven gear is fixed on an outer ring (421) of a bearing, an inner ring (422) of the bearing is fixed on the fixture installation box (21), and a four-point contact type steel ball is arranged between the outer ring (421) and the inner ring (422).

3. Double-station welding device according to claim 1, characterised in that the weld scanning device (7) comprises a swing scanning device and a laser weld sensor comprising a CCD camera and a semiconductor laser.