CN222327049U - A cylindrical workpiece grabbing and positioning tool and electron beam welding production line - Google Patents

Abstract

The utility model relates to a grabbing tool for cylindrical workpieces and an electron beam welding production line, relates to the technical field of electron beam welding, and solves the problem that automatic and accurate grabbing of cylindrical workpieces is difficult to complete in the pre-assembly and pretreatment procedures before welding. The utility model provides a snatch location frock of cylindric work piece includes support body, bandage, locking mechanical system and work piece locating piece, has the locating hole of snatching on the snatching pole of support body, through binding cylindric work piece on snatching the location frock, can make the robot claw press from both sides and realize the accurate snatching and rotating cylindric work piece through snatching the location frock to make electron beam welding production line realize leaving the storehouse with the part state, accomplish welded preposition process automatically, improve the treatment effeciency before the welding greatly, improve welding quality, improve electron beam equipment utilization ratio.

Description

Grabbing and positioning tool for cylindrical workpiece and electron beam welding production line

Technical Field

The utility model relates to the technical field of welding, in particular to a grabbing and positioning tool for cylindrical workpieces and an electron beam welding production line.

Background

The electron beam welding technology is mainly applied to the field of products or industries with high quality or productivity requirements, and the electron beam welding is one of the most mature high-energy beam processing methods at present. Because the electron beam welding is subjected to stricter process requirements, the electron beam welding process is complex, and the processes of material transfer, surface cleaning before welding, assembly quality detection, positioning welding, electron beam welding and the like are involved. Particularly, before welding, complex welding technology and equipment are needed to finish the pre-welding assembly and welding dimension of the product, wherein the accurate positioning and grabbing of the workpiece to be welded is a key technical link of the pre-welding assembly. The cylindrical workpiece has the weaknesses of easy deformation and difficult grabbing of the cambered surface, the mounting hole is processed on the surface of the workpiece, the special automatic grabbing tool is installed to solve the problem of grabbing before welding, but the cylindrical workpiece which is thinner in the wall, higher in surface requirement or other reasons and cannot provide the mounting hole on the surface of the workpiece is still manually operated or matched with single machine equipment to finish the assembly before welding and the pretreatment process before welding, the welding quality is seriously dependent on the level of operators, the requirement of mass production can not be met, and the development trend of intelligent and flexible equipment manufacturing is not met.

Disclosure of utility model

In view of the above analysis, the embodiment of the utility model aims to provide a grabbing and positioning tool for a cylindrical workpiece and an electron beam welding production line, which are used for solving the problem that the cylindrical workpiece is difficult to automatically and accurately grab in a pretreatment process before welding so that the whole process of electron beam welding cannot be automatically completed.

The aim of the utility model is mainly realized by the following technical scheme:

On one hand, the embodiment provides a grabbing positioning tool for cylindrical workpieces, which comprises a frame body, binding belts and a locking mechanism, wherein the frame body comprises grabbing rods, positioning rods, a first supporting rod and a second supporting rod, two ends of each grabbing rod are fixedly connected with the centers of the two positioning rods, the two positioning rods are arranged in parallel and opposite, two ends of each first supporting rod and two ends of each second supporting rod are respectively fixed on two opposite end faces of the two positioning rods, one ends of each binding belt are respectively fixed on two end portions of each first supporting rod, the other ends of each binding belt can be respectively locked on the corresponding second supporting rod through the corresponding two locking mechanisms, so that cylindrical workpieces in the frame body are tightly bound, a first grabbing positioning hole and a second grabbing positioning hole which penetrate through are formed in the side faces of each grabbing rod, and the first grabbing positioning hole and the second grabbing positioning hole enable a robot claw to be clamped into the frame body to be clamped.

Further, the first grabbing positioning hole is a circular through hole, and the second grabbing positioning hole is an elliptical through hole.

Further, the grabbing rod further comprises a third grabbing positioning hole, wherein the third grabbing positioning hole is an oval through hole and is located at two sides of the first grabbing positioning hole respectively with the second grabbing positioning hole.

Further, the positioning rods are arc-shaped rods, and the grabbing rods are perpendicular to the plane where the two positioning rods are located.

Further, the intrados of the locating rod is matched with the surface of the cylindrical workpiece.

Further, the lengths of the two positioning rods are different.

Further, the two straps are different in length.

Further, workpiece positioning blocks are respectively arranged on the inner cambered surfaces of the end parts of the two positioning rods.

Further, the surface of the workpiece positioning block is provided with a positioning groove which is opened outwards.

On the other hand, the utility model also provides an electron beam welding production line, which adopts the technical scheme of the grabbing tool for any cylindrical workpiece and further comprises an AGV logistics system laser cleaning unit, an automatic assembly unit, a pre-adjustment and positioning welding unit and an electron beam welding unit.

Compared with the prior art, the utility model has at least one of the following beneficial effects:

(1) According to the utility model, the precise positioning of the relative positions between the workpiece and the positioning tool is realized by adopting a frame structure matched with the surface of the cylindrical workpiece and four workpiece positioning blocks;

(2) The annular binding of the cylindrical workpiece is completed by adopting two flexible binding bands and the locking mechanism, so that the effects of processing a positioning hole on the cylindrical workpiece and firmly mounting an assembly tool on the workpiece are achieved, and the robot can indirectly grasp the cylindrical workpiece through grasping the positioning tool in the subsequent automatic assembly, welding line detection and pre-positioning welding procedures;

(3) The round and oval grabbing through holes are formed in the grabbing rod at the same time, so that the robot can accurately position and butt joint with spherical blocks of the clamping jaws of the assembling robot, stable grabbing is realized, and deviation existing in butt joint can be compensated;

(4) Oval grabbing holes are respectively formed in two sides of the round grabbing holes on the grabbing rod, so that moment formed by the gravity of a workpiece on the robot claw clamp when the robot claw clamp grabs the tool can be reduced, the stress balance of the workpiece is ensured, and actions such as automatic grabbing, moving and rotating of all procedures before welding of automatic welding are more labor-saving, accurate and reliable;

(5) By adopting the grabbing positioning tool provided by the utility model, the accurate requirement of automatic grabbing of each working procedure before welding of cylindrical workpieces is met, so that the electronic beam welding production can be realized to be carried out from a warehouse in a part state, the laser cleaning of welding seams, the automatic assembly of the parts, the quality detection of the welding seams, the positioning welding and other prepositive working procedures can be automatically completed, the processing efficiency before welding is greatly improved, the welding quality is improved, and the utilization rate of electronic beam equipment is improved;

In the utility model, the technical schemes can be mutually combined to realize more preferable combination schemes. Additional features and advantages of the utility model will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the utility model. The objectives and other advantages of the utility model may be realized and attained by the structure particularly pointed out in the written description and drawings.

Drawings

The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the utility model, like reference numerals being used to refer to like parts throughout the several views.

Fig. 1 is a schematic structural diagram of a cylindrical workpiece grabbing and positioning tool in an embodiment;

FIG. 2 is a schematic view of a frame structure according to an embodiment;

FIG. 3 is a schematic view of a gripper bar structure according to an embodiment;

FIG. 4 is a schematic view of a workpiece positioning block according to an embodiment;

Fig. 5 is a schematic view of an end structure of an assembly robot according to embodiment 3;

fig. 6 is a schematic view of an electron beam welding line structure of embodiment 3.

Reference numerals:

1-frame body, 101-grabbing rod, 1011-first grabbing positioning hole, 1012-second grabbing positioning hole, 1013-third grabbing positioning hole, 102-positioning rod, 103-first supporting rod, 104-second supporting rod, 2-binding band, 3-locking mechanism, 301-lock body, 302-locking hook, 4-workpiece positioning block, 401-positioning groove, 5-visual characteristic block, 6-AGV logistics system, 7-laser cleaning unit, 8-automatic assembling unit, 811-robot clamping jaw, 8111-spherical block, 812-visual system, 813-force control system, 9-preset and positioning welding unit and 10-electron beam welding unit.

Detailed Description

The following detailed description of preferred embodiments of the utility model is made in connection with the accompanying drawings, which form a part hereof, and together with the description of the embodiments of the utility model, are used to explain the principles of the utility model and are not intended to limit the scope of the utility model.

Example 1

The utility model discloses a grabbing and positioning tool for cylindrical workpieces, which comprises a frame body 1, a binding belt 2, a locking mechanism 3 and a workpiece positioning block 4, as shown in fig. 1 and 2. The frame body 1 comprises a grabbing rod 101, positioning rods 102, a first supporting rod 103 and a second supporting rod 104, wherein the grabbing rod 101 is a square long rod, the positioning rods 102 are two arc-shaped rods, two ends of the grabbing rod 101 are fixedly connected with the centers of the two positioning rods 102 through bolts, the two positioning rods 102 are symmetrically arranged in parallel, the grabbing rod 101 is perpendicular to a plane where the arcs of the two positioning rods 102 are located, the first supporting rod 103 and the second supporting rod 104 are two long rods, the lengths of the first supporting rod and the second supporting rod are equal to the lengths of the grabbing rod 101, the first supporting rod 103 and the second supporting rod 104 are parallel to the grabbing rod 101, and two ends of the first supporting rod 103 and the second supporting rod 104 are respectively fixed on two opposite end faces of the two different positioning rods 102.

The binding belt 2 is two strip-shaped belts, one ends of the two binding belts 2 are respectively fixed at two ends of the first supporting rod 103, the binding belt 2 is made of wear-resistant and tough materials, the locking mechanism 3 is two adjustable locks, and comprises a lock body 301 and a lock hook 302, the two lock bodies 301 are fixed on the two binding belts 2, the two lock hooks are fixed at two ends of the second supporting rod 104, a handle on the lock body 301 is connected with a hanging ring through a screw, and the locking force of the binding belt 2 and a workpiece can be adjusted through rotation of the screw.

As shown in fig. 4, the workpiece positioning block 4 is four squares, and is fixed on the inner surfaces of the ends of the two positioning rods 102 through positioning pins and screws respectively, the surface of the workpiece positioning block 4 is provided with a positioning groove 401 which is open outwards, and the inner surface of the positioning groove 401 is matched with a positioning boss which is pre-machined on the outer surface of the cylindrical workpiece.

It should be noted that, in order to better attach to the surface of the cylindrical workpiece, the intrados of the positioning rod 102 may be machined into a profiling structure that can attach to each other according to the shape of the workpiece, and the dimensions of the two positioning rods 102 may be different. In addition, the lengths of the two straps 2 may also be different to accommodate irregular shapes and sizes of the lower surface of the cylindrical workpiece.

In implementation, the matching surface of the cylindrical workpiece is firstly attached to the inner surfaces of the two positioning rods 102, then the four positioning grooves 401 are matched with the positioning bosses on the outer surface of the workpiece to finish positioning between the workpiece and the grabbing tool, then the two binding bands 2 are wound on the other surface of the workpiece, the hanging rings on the two lock bodies 301 are respectively hung on the two locking hooks 302 on the same side on the second supporting rod 104, finally the handles on the pushing lock bodies 301 are used for locking the two locking mechanisms 3, and then the locking force between the binding bands 2 and the workpiece is regulated by the screw rods on the rotating lock bodies 301, so that the positioning tool is installed on the cylindrical workpiece.

According to the embodiment, the binding belt type grabbing and positioning tool is arranged on the cylindrical workpiece, on one hand, accurate positioning of the relative position between the workpiece and the positioning tool can be achieved through the frame body 1 and the four workpiece positioning blocks 4 which are matched with the surface of the portion of the cylindrical workpiece, on the other hand, the annular binding of the cylindrical workpiece is achieved through the two flexible binding belts 2 and the locking mechanism 3, the effect that the positioning hole is not machined in the cylindrical workpiece, the assembly tool can be firmly arranged on the workpiece is achieved, and a necessary condition is provided for the robot to indirectly achieve grabbing of the cylindrical workpiece through the grabbing and positioning tool in the follow-up automatic assembly, welding line detection and pre-positioning welding processes.

As shown in fig. 3, the grabbing rod 101 has a first grabbing positioning hole 1011 and a second grabbing positioning hole 1012 thereon, and the first grabbing positioning hole 1011 and the second grabbing positioning hole 1012 are circular through holes located on the side wall of the grabbing rod 101.

Because four spherical blocks 8111 matched with the first grabbing positioning holes 1011 and the second grabbing positioning holes 1012 are arranged on the clamping jaw of the assembly robot, when the robot grabs, the clamping jaw is opened, the spherical blocks 8111 at the fixed end of the gripper are in butt joint with the first grabbing positioning holes 1011 and the second grabbing positioning holes 1012 on the grabbing rod 101, and after the butt joint is completed, the cylinder action of the clamping jaw of the assembly robot enables the spherical blocks 8111 to move and extend into the first grabbing positioning holes 1011 and the second grabbing positioning holes 1012 to achieve clamping. In the follow-up automatic assembly, weld detection and pre-positioning welding process, when the robot grabs the clamp and carries out various rotations through snatching location frock, drive the whole rotation of support body 1 through snatching pole 101, because two locating levers 102 exert the thrust of direction of rotation to the cylindric work piece, and bandage 2 is to the spacing effect of cylindric work piece, thereby drive the stable rotation of cylindric work piece, thereby realized carrying out automatic high accuracy to the frock and snatch and fix a position, for the follow-up accurate butt joint assembly to the work piece, weld pretreatment and positioning welding process provide necessary location condition.

Further, the grabbing and positioning tool further comprises a visual feature block 5, wherein the visual feature block 5 is installed on the outer side wall of one positioning rod 102 and used for identifying and positioning by a robot vision system.

Example 2

As shown in fig. 3, another embodiment of the present utility model is different from embodiment 1 in that the shape of the first grip positioning hole 1011 and the second grip positioning hole 1012 on the grip lever 101 is different, the first grip positioning hole 1011 is a circular through hole located at the middle section of the grip lever 101, and the second grip positioning hole 1012 is an elliptical through hole located at one end section of the grip lever 101.

The first locating hole 1011 that snatchs in circular hole can carry out accurate location butt joint with the spherical piece 8111 of assembly robot clamping jaw, realizes firmly snatching, and the second in oval hole snatchs locating hole 1012 then can still realize snatching smoothly when there is the deviation in the position between spherical piece 8111 and the location guiding hole, has avoided the problem that can't dock snatch because of tiny deviation.

Preferably, the grabbing rod 101 is further provided with a third grabbing position hole 1013, and the third grabbing position hole 1013 is also an oval through hole, and the third grabbing position hole 1013 and the second grabbing position hole 1012 are respectively located at two sides of the first grabbing position hole 1011, or may be located at the other end section of the grabbing rod 101.

The third snatchs position hole 1013's effect lies in, and the robot snatchs when pressing from both sides snatch location frock, can snatch first location hole 1011 and second snatch the location hole 1012 or first location hole 1011 and third snatch position hole 1013 according to the whole focus position selection of work piece after the installation snatchs the location frock to reduce the robot claw and press from both sides when snatch the frock, the moment that the work piece gravity formed to the robot claw clamp, guarantee that the work piece atress is balanced, make the automation of each process before welding of automated welding snatch, remove, rotate action more laborsaving, accurate, reliable.

Example 3

As shown in fig. 6, this embodiment provides an electron beam welding production line using the automated grabbing and positioning tool of embodiment 1 or embodiment 2, which includes an AGV logistics system 6, a laser cleaning unit 7, an automatic assembling unit 8, a pre-adjusting and positioning welding unit 9, and an electron beam welding unit 10.

Further, the AGV logistics system 6 comprises a small AGV for transferring workpieces to be welded, a large AGV for transferring tools, a small AGV transfer tray and a dispatching system.

Specifically, the AGV logistics system 6 completes task planning of the AGV through the scheduling system, and transfers the workpieces to be welded and the automatic assembly tool to corresponding stations.

Further, the laser cleaning unit 7 includes a gantry truss, a cooperative arm robot, a laser cleaning head, a laser cleaning machine, and a work piece placement stage to be welded.

Specifically, the gantry truss comprises an X axis, a Y axis and a Z axis, the tail end of the Z axis is integrated with a cooperative arm robot, the tail end of the cooperative arm robot is integrated with a laser cleaning head, and two workpiece placement tables to be welded are arranged in the coverage area of the gantry truss.

Further, the automatic assembling unit 8 comprises an automatic assembling robot, an automatic assembling tool docking station, a workpiece docking station to be welded and a tool storage table, wherein the tail end of the automatic assembling robot comprises a robot clamping jaw 811, a vision system 812 and a force control system 813, and a spherical block 8111 is arranged on the robot clamping jaw 811.

As shown in fig. 5, in particular, a grip of the robot jaw 811 is provided with a spherical block 8111 having a guiding function in a releasing and clamping structure, and the robot jaw 811 can automatically grip a cylindrical workpiece to which a gripping and positioning tool is attached. Meanwhile, the tail end of the assembly robot is integrated with a vision system 812 and a force control system 813, the vision system can grasp and position the grasping and positioning tool through identifying a vision characteristic block 5 arranged on the grasping and positioning tool, the force control system 813 is provided with a six-dimensional force control sensor system and integrated with the robot system, so that the flexible force control after visual guiding and butt joint is realized, the butt joint angle can be adjusted in real time through a force sensor when a workpiece is grasped and assembled, the common pin hole butt joint, cylindrical spigot butt joint and other states are realized, the flexible butt joint effect is realized, and the problem of workpiece deformation caused by the fact that the robot directly completes butt joint under the common condition is solved. In the automated assembling unit 8, the assembling robot is configured to grasp and butt-fix two or more workpieces to the automated assembling tool, respectively.

Further, the pre-adjusting and positioning welding unit 9 comprises a gantry truss, a cooperative arm robot, a laser 3D camera, a laser positioning welding machine, a tool rotating device and a tool automatic power-on device.

Specifically, the Z axis of the gantry truss is integrated with a cooperative arm robot, and the cooperative arm robot can quickly replace a welding gun of a laser 3D camera or a laser positioning welding machine through a quick-change disc carried at the tail end.

Further, the electron beam welding unit 10 comprises an electron beam welding device, an electron beam automatic feeding and discharging truss robot and a tooling positioning buffer docking station.

Specifically, after the AGV logistics system 6 transfers the automatic assembly tool for completing the tack welding to the electron beam welding station, the automatic electron beam feeding and discharging truss robot places the automatic assembly tool on a platform of the electron beam welding device.

According to the electron beam welding production line, due to the fact that the barrel-shaped grabbing and positioning tool of the embodiment 1 or the embodiment 2 is adopted, the working procedures of automatic assembly, weld joint detection, positioning welding and the like before electron beam welding of barrel-shaped workpieces can be finished with high quality, all working procedures of electron beam welding are automatically integrated through the transportation of an intelligent logistics system, the fact that the electron beam welding production of the barrel-shaped workpieces leaves a warehouse in a part state is achieved, laser cleaning of welding joints is automatically finished, automatic assembly of the parts, weld joint quality detection, positioning welding and other front working procedures are achieved, processing efficiency before welding is greatly improved, welding quality is improved, and utilization rate of electron beam equipment is improved.

Claims (10)

1. The grabbing and positioning tool for the cylindrical workpiece is characterized by comprising a frame body (1), a binding belt (2) and a locking mechanism (3);

The frame body (1) comprises a grabbing rod (101), positioning rods (102), a first supporting rod (103) and a second supporting rod (104), wherein two ends of the grabbing rod (101) are fixedly connected with the centers of the two positioning rods (102), the two positioning rods (102) are oppositely arranged in parallel, and two ends of the first supporting rod (103) and two ends of the second supporting rod (104) are respectively fixed on two opposite end surfaces of the two positioning rods (102);

One ends of the two binding bands (2) are respectively fixed at two ends of the first supporting rod (103), and the other ends of the two binding bands can be respectively locked on the second supporting rod (104) through the two locking mechanisms (3), so that cylindrical workpieces in the frame body (1) are tightly bound;

The side of snatch pole (101) is equipped with first snatch locating hole (1011) and second snatch locating hole (1012) that run through, first snatch locating hole (1011) with second snatch locating hole (1012) can make the robot claw press from both sides and stretch into in order to press from both sides tight support body (1).

2. The grasping and positioning tool for cylindrical workpieces according to claim 1, wherein the first grasping and positioning hole (1011) is a circular through hole, and the second grasping and positioning hole (1012) is an elliptical through hole.

3. The tool for gripping and positioning a cylindrical workpiece according to claim 2, wherein the gripping rod (101) further comprises a third gripping and positioning hole (1013), the third gripping and positioning hole (1013) is an oval through hole and is located on both sides of the first gripping and positioning hole (1011) with the second gripping and positioning hole (1012), respectively.

4. The tool for gripping and positioning cylindrical workpieces according to claim 1, wherein the positioning rods (102) are arc-shaped rods, and the gripping rods (101) are perpendicular to the planes of the two positioning rods (102).

5. The tool for gripping and positioning a cylindrical workpiece according to claim 4, wherein the intrados of the positioning rod (102) is matched with the surface of the cylindrical workpiece.

6. The tool according to claim 4, wherein the two positioning bars (102) are different in length.

7. The tool for gripping and positioning cylindrical workpieces according to claim 1, wherein the lengths of the two binding bands (2) are different.

8. The tool for gripping and positioning cylindrical workpieces according to claim 5, wherein workpiece positioning blocks (4) are respectively mounted on intrados surfaces of the end parts of the two positioning rods (102).

9. The gripping and positioning tool for cylindrical workpieces according to claim 8, wherein the surface of the workpiece positioning block (4) is provided with a positioning groove (401) which is open outwards.

10. An electron beam welding production line using the gripping tool for cylindrical workpieces according to any one of claims 1-9, further comprising an AGV logistics system (6) laser cleaning unit (7), an automatic assembly unit (8), a pre-adjustment and tack welding unit (9) and an electron beam welding unit (10).