CN217433333U - Heat exchanger tube sheet welding equipment - Google Patents
Heat exchanger tube sheet welding equipment Download PDFInfo
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- CN217433333U CN217433333U CN202220301716.5U CN202220301716U CN217433333U CN 217433333 U CN217433333 U CN 217433333U CN 202220301716 U CN202220301716 U CN 202220301716U CN 217433333 U CN217433333 U CN 217433333U
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Abstract
The utility model provides a heat exchanger tube sheet welding equipment, including bond head subassembly, six robots and robot running gear, six robot sliding connection in on the robot running gear, the bond head subassembly install in on the six robots, the bond head subassembly includes collision device and carries out welded laser welder head to the heat exchanger tube sheet, collision device locates the below of laser welder head. The utility model discloses use six robots to weld the heat exchanger tube sheet, increased substantially production efficiency, reduced personnel intensity of labour, improved the production environment, reduced manufacturing cost.
Description
Technical Field
The utility model relates to a heat exchanger tube sheet welding field especially relates to a heat exchanger tube sheet welding equipment.
Background
The traditional sealing welding technology mainly uses argon arc welding, but the welding speed of the argon arc welding is slow, a tungsten electrode and a welding wire need to be replaced, the manufacturing period is long, the manual strength is high, and further development of the industry is restricted. In order to improve the production efficiency of the argon arc welding equipment, an operator needs to operate a plurality of welding machines at the same time, the labor intensity of the operator is increased, certain smoke still exists in a welding area although the welding area is provided with dust removing equipment, and the operator needs to continuously move the position of a welding gun nearby, so that the physical health of the operator is necessarily harmed for a long time.
Therefore, a new heat exchanger tube plate welding device is needed to overcome the above problems.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome the defect of prior art, provide a heat exchanger tube sheet welding equipment, the utility model discloses partial problem among the prior art has been solved at least.
The utility model discloses a realize like this:
the utility model provides a heat exchanger tube sheet welding equipment, including bond head subassembly, six robots and robot running gear, six robot sliding connection in on the robot running gear, the bond head subassembly install in on the six robots, the bond head subassembly includes collision device and carries out welded laser welder head to the heat exchanger tube sheet, collision device locates laser welder head's below.
Further, collision device includes upper cover plate and lower apron, the upper cover plate is equipped with the lower surface of the type of falling V, the apron is equipped with the upper surface with the type of falling V of upper cover plate complex down, it is equipped with a plurality of magnets that are used for attracting the upper cover plate to inlay on the apron down, has still installed capacitive sensor on the apron down, and capacitive sensor locates the tip of apron down, capacitive sensor and the lower surface contact of upper cover plate.
Furthermore, along the emission direction of the laser beam, the welding head assembly is provided with an air-passing disc for blowing shielding gas to the surface of the workpiece, the air-passing disc is communicated with a pipeline for conveying the shielding gas, a cavity for containing the shielding gas is formed in the air-passing disc, a plurality of gas blowing holes are uniformly arranged at one end of the air-passing disc for blowing the air, and the air-passing disc is connected with the upper cover plate through a fixed seat.
Furthermore, along the emitting direction of the laser beam, the welding head assembly is also provided with an air knife for blowing air to the protective lens, and the air knife is connected with the upper cover plate through a fixed seat.
Further, a distance sensor and a visual positioning system are arranged on the laser emitting side of the welding head assembly.
Furthermore, the welding head assembly, the six-axis robot and the robot walking mechanism are all arranged in a safety fence for placing workpieces, and an observation window is arranged on the safety fence.
The utility model discloses following beneficial effect has:
the utility model provides a heat exchanger tube sheet welding equipment has solved present argon arc and has welded inefficiency, artifical intensity of labour is big, the poor problem of production environment, uses six robots to weld the heat exchanger tube sheet, has increased substantially production efficiency, has reduced personnel intensity of labour, has improved the production environment, has reduced manufacturing cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a general assembly view of a heat exchanger tube plate welding device provided by an embodiment of the present invention;
fig. 2 is a welding state diagram provided by the embodiment of the present invention;
fig. 3 is a partial enlarged view of fig. 2 provided in accordance with an embodiment of the present invention;
fig. 4 is a diagram of a welding head assembly provided by an embodiment of the present invention;
fig. 5 is a diagram of an anti-collision device provided in an embodiment of the present invention;
fig. 6 is a structural diagram of a shielding gas disk provided in the embodiment of the present invention;
fig. 7 is a schematic diagram of a weld joint provided by an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
As shown in fig. 1-7, the embodiment of the utility model provides a full-automatic robot laser tube sheet heat exchanger welding equipment, including bond head subassembly 16, six robots 17 and robot running gear 18, six robots 17 sliding connection in on the robot running gear 18, bond head subassembly 16 install in on the six robots 17, bond head subassembly 16 includes collision device 24 and carries out welded laser welding head 19 to the heat exchanger tube sheet, collision device 24 locates the below of laser welding head 19. The anti-collision device 24 comprises an upper cover plate 25 and a lower cover plate 26, wherein the upper cover plate 25 is provided with an inverted-V-shaped lower surface, the lower cover plate 26 is provided with an inverted-V-shaped upper surface matched with the upper cover plate 25, a plurality of magnets 27 used for attracting the upper cover plate 25 are embedded in the lower cover plate 26, a capacitive sensor 28 is further installed on the lower cover plate 26, the capacitive sensor 28 is arranged at the end part of the lower cover plate 26, the capacitive sensor 28 is in contact with the lower surface of the upper cover plate 25, and the lower cover plate 26 is fixed on the welding head assembly 16. Along the emitting direction of the laser beam, the welding head assembly 16 is provided with an air vent disc 32 blowing shielding gas to the surface of the workpiece, the air vent disc 32 is communicated with a pipeline for conveying the shielding gas, a cavity for containing the shielding gas is formed in the air vent disc 32, a plurality of air blowing holes are uniformly arranged at one end of the air jet of the air vent disc 32, and the air vent disc 32 is connected with the upper cover plate 25 through a fixed seat 29. The welding head assembly 16 is further provided with an air knife 30 for blowing air toward the protection lens in the emitting direction of the laser beam, and the air knife 30 is connected to the upper cover plate 25 through a fixing base 29. The welding head assembly 16, the six-axis robot 17 and the robot walking mechanism 18 are all arranged in a safety fence for placing the workpiece 15, and the safety fence is provided with an observation window 1.
Fig. 1 is a partial top view of a general assembly drawing of a heat exchanger tube plate welding device, wherein a robot can perform laser welding on a heat exchanger tube plate in a relatively closed environment, a relatively closed space is enclosed by using a surrounding baffle (a security fence), a wall and the like, a plurality of observation windows 1 are arranged on the surrounding baffle, a display placing area 3 and an operation table 4 are arranged outside the surrounding baffle, a laser room, an air conditioner external unit 7, a power distribution cabinet 8, a refrigeration dryer and an oil-water separator are also arranged outside the surrounding baffle, a laser 5 and an air conditioner internal unit 6 are arranged in the laser room, and the refrigeration dryer and the oil-water separator are used for cleaning gas, cleaning a gas source of a customer, and ensuring that oil and water of the gas in the device (a gas cabinet 11) are within a required range; a water cooler 9, a dust remover 10, a gas holder 11, a robot control cabinet 12, an electric holder 13, a voltage stabilizing source 14, a workpiece 15, a welding head assembly 16, a six-axis robot 17 and a robot walking mechanism 18 are arranged in the enclosure baffle; in fig. 1 there is shown a welding area 2 of a work piece 15 (heat exchanger) and a laser welding head 19 welds the tube plate at the end of the heat exchanger.
Fig. 2 shows a workpiece 15, a welding head assembly 16, a six-axis robot 17, and a robot traveling mechanism 18, wherein the six-axis robot 17 is provided on the robot traveling mechanism 18, and the welding head assembly 16 is provided on the six-axis robot 17. Fig. 3 is a partially enlarged view of fig. 2.
Referring to fig. 4, the welding head assembly 16 includes a laser welding head 19, a vision positioning system 20, a distance sensor (not shown), an X-axis 21, a Y-axis 22, a Z-axis 23, and an anti-collision device 24, wherein the distance sensor and the vision positioning system 20 are disposed on a laser emitting side of the welding head assembly 16, the vision positioning system 20 and the distance sensor are available in the prior art and are directly available, and the vision positioning system 20 employs a 3D camera. The three-axis mechanism of the X-axis 21, the Y-axis 22 and the Z-axis 23 is the prior art and will not be described herein.
As shown in fig. 5, the collision prevention device 24 includes an upper cover plate 25, a lower cover plate 26, a magnet 27, and a capacitive sensor 28; the upper cover plate 25 is provided with an inverted V-shaped lower surface, the lower cover plate 26 is provided with an inverted V-shaped upper surface matched with the upper cover plate 25, a plurality of magnets 27 are embedded on the lower cover plate 26, the magnets 27 are used for attracting the upper cover plate 25, and only half of the upper cover plate 25 is shown in fig. 5; and a capacitive sensor 28 is further arranged on the lower cover plate 26, the capacitive sensor 28 is arranged at the end part of the lower cover plate 26, the capacitive sensor 28 is in contact with the lower surface of the upper cover plate 25, when the welding head assembly collides (the welding head assembly is subjected to right impact force), the upper cover plate 25 moves rightwards, the capacitive sensor 28 is not in contact with the upper cover plate 25 any more, and a signal is transmitted to the controller PLC to stop the operation of the equipment. When an obstacle exists beside the equipment or the equipment is in misoperation, the welding head assembly collides, and the whole equipment can be stopped by the anti-collision device 2.
Adopt the flexible coupling structure between upper cover plate 25 and lower apron 26 promptly magnetism to be connected, lean on magnetism to connect upper and lower apron, and upper and lower apron design V type, play location and quick reset action, the sensor dress is on apron down, with the upper cover plate contact, after upper and lower apron is separately, transmission signal tells equipment for controller PLC and collides the upper and lower apron that leads to separately, thereby make equipment stop motion, after troubleshooting, will two upper and lower apron laminating (the manual work pushes back original position left with upper cover plate 25), the sensor senses the upper cover plate signal and passes to controller PLC, equipment resets and can the removals.
Fig. 6 shows a fixed seat 29, an air knife 30, a shielding gas 31 and a ventilating disc 32; the air knife 30 blows compressed air, mainly to reduce the contamination of the protective lens, and the air knife 30 blows horizontally to the right in fig. 6; the protective gas adopts inert gas, mainly prevents oxygen from generating oxidation reaction with high-temperature iron, in the embodiment, the protective gas is blown to be argon gas, the vent disc is a cavity for containing the protective gas, the vent disc is communicated with a pipeline for conveying the protective gas, a plurality of gas blowing holes are uniformly arranged at the gas injection end of the vent disc, the protective gas is blown outwards through the gas blowing holes, and the gas is guaranteed to be uniformly blown to the surface of a workpiece; the air knife 30 and the vent disc 32 are connected through the fixing seat 29 and the upper cover plate 25 in the anti-collision device.
Fig. 7 shows a plate 33, tubes 34, and a weld 36, and fig. 7 is a schematic view of the welding of one of the tubes 34 to the plate 33 at the end of the heat exchanger of fig. 2.
The utility model discloses by robot base moving mechanism (be used for the big stroke operation of horizontal X axle of robot), six robots (be used for welder location and path planning), laser welding system (laser welder, welder annex), visual positioning system, triaxial slide (be used for when welding to walk circle and facula regulation), dust pelletizing system, monitored control system, safety coefficient etc. and constitute.
The workpiece is conveyed to a designated position through the flat car, after the workpiece condition and safety in a welding room are determined, an operator presses a start button, after a command is sent, the robot drives the 3D camera to automatically detect the inclination of the tube plate, the welding head can be automatically adjusted to be perpendicular to the tube plate according to the inclination, the X/Y plane of the robot welding system is automatically adjusted to be parallel to the workpiece plane, the Z axis of the robot welding system is perpendicular to the workpiece plane, and the perpendicularity deviation of the welding head and the workpiece surface is guaranteed to be not more than 3 degrees. On scanning back work piece and welding subassembly relative position data can be sent operation interface, then the manual input obtains the program processing of whole tube sheet equipment in the current off-line programming software, is prior art above, the utility model relates to a do not relate to the procedure and improve, the utility model relates to an equipment all is present can purchase. After a machining program is started, the robot drives the welding assembly to move to a welding position, at the moment, the positioning camera automatically finds position data through photographing, positioning and correcting a walking path, the laser head automatically and accurately reaches the welding position, in the welding process, the walking track circle is basically coincided with the outer circle of the pipe through a three-axis sliding plate (three axes are XYZ three axes) controlled by a numerical control system, the maximum deviation is not more than 0.1mm, the laser head automatically performs welding after positioning, after welding of each welding opening is completed, the equipment automatically welds the next welding opening according to a set rule, and the process is repeated in a round mode until welding of all pipe plate joints is completed. Equipment can automatic pre-send protective gas, automatic light-emitting, automatic walking and welding, automatic light-closing, automatic delay all welding relevant actions such as supplying gas (sending tail gas) and stopping supplying gas, through protective procedure and closed loop feedback, ensures that each action is accurate, is prior art above, the utility model discloses do not relate to the procedure and improve, the utility model relates to an equip all currently can purchase, above-mentioned relevant function has the function for existing equipment.
The equipment is provided with an anti-collision protection device, a flexible connection structure and a detection sensor are arranged at the bottom of the welding head, the equipment is ensured to stop running after collision occurs, and a welding head assembly and a visual system assembly are protected. The anti-collision device is provided with a positioning function, and can quickly recover the operation of equipment.
The distance measurement function is added, and the field personnel can measure the focal length conveniently.
The protective gas disk structure is optimized, the welding seam protection effect is improved, and the welding protection area is enlarged, so that the appearance of the welded welding seam is improved, and the welding quality of the welding seam is improved.
The welding seam is welded in a swinging mode through the swinging head, the number of welding seam air holes is reduced, and the quality of the welding seam is improved through process optimization.
The equipment is provided with a dust removal system, so that the welding position is sucked in real time, and the pollution of welding smoke dust to a workshop is reduced.
The utility model provides a full-automatic robot laser tube sheet heat exchanger welding equipment mainly equips including six robots, robot walking axle, laser swing soldered connection, visual positioning system, triaxial numerical control module, laser generator, dust pelletizing system, monitored control system, safety coefficient, current off-line programming software (existing in the equipment of purchase), components such as control system, has realized full-automatic laser tube sheet welding, increases substantially production efficiency, reduction personnel intensity of labour, improve the production environment, reduce manufacturing cost.
The utility model provides a full-automatic robot laser welding tube sheet heat exchanger equipment. The welding fixture is applied to welding of pipe ends and pipe plates of products such as nuclear power heat exchangers, chemical heat exchangers, auxiliary machines and the like.
The full-automatic laser sealing welding equipment is the fusion application of robot, mechanical vision and laser welding technology. The technology is successfully researched and developed, dependence on a welder operation technology is eliminated, the problems that welding speed is low and tungsten electrodes and welding wires need to be replaced regularly when argon arc welding is used in traditional seal welding are solved, automatic correction, automatic position finding, automatic positioning, automatic air supply and automatic welding of all seal welding seams of the heat exchanger are achieved, automation and intelligent level of workshop equipment are greatly improved, welding time of a single welding seam is greatly shortened, welding efficiency is improved, labor load is reduced, groove machining is saved, tungsten electrodes are burnt, and expenses caused by welding material consumption are saved.
Details not described in this specification are within the skill of the art that are well known to those skilled in the art.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The utility model provides a heat exchanger tube sheet welding equipment which characterized in that: including bond head subassembly, six robots and robot running gear, six robot sliding connection in on the robot running gear, the bond head subassembly install in on the six robots, the bond head subassembly includes collision device and carries out welded laser welder head to the heat exchanger tube sheet, collision device locates laser welder head's below, collision device includes upper cover plate and lower cover plate, the upper cover plate is equipped with the lower surface of type of falling V, the lower cover plate be equipped with the upper surface of upper cover plate complex type of falling V, inlay on the lower cover plate and be equipped with a plurality of magnets that are used for holding the upper cover plate, still installed capacitive sensor on the lower cover plate, capacitive sensor locates the tip of lower cover plate, capacitive sensor and the lower surface contact of upper cover plate.
2. The heat exchanger tube sheet welding apparatus of claim 1, wherein: the laser welding device comprises a welding head assembly, a laser beam, a fixing seat, an upper cover plate and a welding head, wherein the welding head assembly is provided with an air-passing disc for blowing shielding gas to the surface of a workpiece along the emission direction of the laser beam, the air-passing disc is communicated with a pipeline for conveying the shielding gas, a cavity for containing the shielding gas is formed in the air-passing disc, a plurality of air blowing holes are uniformly arranged at the air-jet end of the air-passing disc, and the air-passing disc is connected with the upper cover plate through the fixing seat.
3. The heat exchanger tube sheet welding apparatus of claim 2, wherein: along the emitting direction of the laser beam, the welding head assembly is also provided with an air knife for blowing air to the protective lens, and the air knife is connected with the upper cover plate through a fixed seat.
4. The heat exchanger tube sheet welding apparatus of claim 1, wherein: and a distance sensor and a visual positioning system are also arranged on one side of the welding head assembly for emitting laser.
5. The heat exchanger tube sheet welding apparatus of claim 1, wherein: the welding head assembly, the six-axis robot and the robot walking mechanism are all arranged in a safety fence for placing workpieces, and an observation window is arranged on the safety fence.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220301716.5U CN217433333U (en) | 2022-02-15 | 2022-02-15 | Heat exchanger tube sheet welding equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220301716.5U CN217433333U (en) | 2022-02-15 | 2022-02-15 | Heat exchanger tube sheet welding equipment |
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| Publication Number | Publication Date |
|---|---|
| CN217433333U true CN217433333U (en) | 2022-09-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202220301716.5U Active CN217433333U (en) | 2022-02-15 | 2022-02-15 | Heat exchanger tube sheet welding equipment |
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| CN (1) | CN217433333U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117921133A (en) * | 2024-03-20 | 2024-04-26 | 山东豪迈机械制造有限公司 | Automatic flexible welding equipment and welding method for silicon carbide heat exchanger tube plates |
-
2022
- 2022-02-15 CN CN202220301716.5U patent/CN217433333U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117921133A (en) * | 2024-03-20 | 2024-04-26 | 山东豪迈机械制造有限公司 | Automatic flexible welding equipment and welding method for silicon carbide heat exchanger tube plates |
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