阅读说明：本技术 机器人焊接换热片的焊接方法与焊接机器人 (Welding method for robot welding heat exchange fin and welding robot ) 是由 杭涛 于 2021-06-08 设计创作，主要内容包括：本发明公开了一种包括焊接机器人,焊接机器人包括环体；环体的内径大于环形换热片的外径；环体上安装有呈圆周阵列分布的第一环绕行走单元、第二环绕行走单元和第三环绕行走单元；本发明的结构简单,只需人工焊接一片环形换热片即可,其他的所有换热片均由机器人自动化焊接,而且机器人会自动攀爬,不用人工操作,极大降低了人工成本,而且焊接的一致性也高。(The invention discloses a welding robot, which comprises a ring body; the inner diameter of the ring body is larger than the outer diameter of the annular heat exchange plate; the ring body is provided with a first surrounding walking unit, a second surrounding walking unit and a third surrounding walking unit which are distributed in a circumferential array; the automatic welding robot is simple in structure, only one annular heat exchange plate needs to be welded manually, all other heat exchange plates are welded automatically by the robot, the robot can climb automatically without manual operation, labor cost is greatly reduced, and welding consistency is high.)

1. The welding method of the heat exchange fin of the robot welding machine comprises the following steps: comprises a linear heat exchange tube (2), a plurality of annular heat exchange fins (3) and a welding robot (1); the method is characterized in that: the method comprises the following steps:

firstly, sleeving a first annular heat exchange fin (3.1) at one end of a linear heat exchange tube (2);

manually welding the inner ring (4) of the first annular heat exchange fin (3.1) with the outer wall of the linear heat exchange tube (2);

step three, assembling the welding robot (1) on a first annular heat exchange fin (3.1) which is manually welded on the linear heat exchange tube (2);

step four, the linear heat exchange tube (2) is vertically arranged, and one end of the first annular heat exchange fin (3.1) which is manually welded faces downwards; then fixing the lower end of the linear heat exchange tube (2) by a fixer (7);

step five, sleeving a second annular heat exchange fin (3.2) at the upper end of the linear heat exchange tube (2), and then downwards sliding the second annular heat exchange fin (3.2) sleeved at the upper end of the linear heat exchange tube (2) along the linear heat exchange tube (2) under the action of gravity until the second annular heat exchange fin (3.2) descends to be upwards supported by the welding robot (1), wherein the second annular heat exchange fin (3.2) and the first annular heat exchange fin (3.1) keep a preset distance; and at the moment, the tail end of a welding gun (17) of the welding robot (1) just points to the lower contour (4.1) of the inner ring (4) of the second annular heat exchange plate (3.2);

step six, the welding robot (1) circularly walks for a circle along the outer ring (003) of the first annular heat exchange plate (3.1), so that the welding gun (17) completely sweeps the lower contour (4.1) of the inner ring (4) of the second annular heat exchange plate (3.2) along a circular path in the process of continuously spray-welding the lower contour (4.1) of the inner ring (4) of the second annular heat exchange plate (3.2); so that the inner ring (4) of the second annular heat exchange fin (3.2) is welded on the linear heat exchange tube (2);

step seven, the welding robot (1) climbs upwards from the first annular heat exchange fin (3.1) and is assembled on a second annular heat exchange fin (3.2) welded on the linear heat exchange tube (2);

step eight, welding a third annular heat exchange fin (3.3) on the linear heat exchange tube (2) according to the step five and the step six, and then continuing climbing the welding robot (1) upwards to the third annular heat exchange fin (3.3) welded on the linear heat exchange tube (2) according to the step seven; and the step is circulated, finally, N annular heat exchange fins (3) are sleeved on the outer wall of the linear heat exchange tube (2) at equal intervals and coaxially, and the inner ring (4) of each annular heat exchange fin (3) is welded with the outer wall of the linear heat exchange tube (2), so that the heat exchange fin array (2) at equal intervals is formed.

2. A special welding robot for welding heat exchanger fin, its characterized in that: comprises a welding robot (1), wherein the welding robot (1) comprises a ring body (9); the inner diameter of the ring body (9) is larger than the outer diameter of the annular heat exchange plate (3); the ring body (9) is provided with a first surrounding walking unit (10.1), a second surrounding walking unit (10.2) and a third surrounding walking unit (10.3) which are distributed in a circumferential array; the first circulating walking unit (10.1), the second circulating walking unit (10.2) and the third circulating walking unit (10.3) have the same structure.

3. The specialized welding robot for welding heat exchanger plates of claim 2, wherein: any one of the first encircling traveling unit (10.1), the second encircling traveling unit (10.2) and the third encircling traveling unit (10.3) is fixedly provided with a welding mechanism (16), and a welding gun (17) of the welding mechanism (16) is arranged obliquely upwards.

4. The specialized welding robot for welding heat exchanger plates of claim 3, wherein: the first encircling walking unit (10.1), the second encircling walking unit (10.2) and the third encircling walking unit (10.3) respectively comprise a vertical rotating shaft (18), a rotary seat (23), a roller support (26), a roller (6), a motor support (24), a motor (25), a riding wheel (15), a tug wheel support (14), a brake type motor (20), a motor output shaft (21) and an output gear (22);

the shell of the brake type motor (20) is fixed on the ring body (9), and the tail end of a motor output shaft (21) of the brake type motor (20) is coaxially connected with an output gear (22); a transmission gear (19) is coaxially and integrally connected to the rotating shaft (18), the output gear (22) is meshed with the transmission gear (19), and the upper end of the rotating shaft (18) is in running fit with a bearing hole in the ring body (9) through a bearing; the lower end of the rotating shaft (18) is fixedly connected with a rotary seat (23), a transverse roller bracket (26) is fixedly mounted on the lower side of the rotary seat (23), a surrounding walking roller (6) is rotatably arranged on the roller bracket (26), and the axis of the surrounding walking roller (6) is vertical; a motor support (24) is fixedly arranged on the lower side of the roller support (26), a vertical motor (25) is fixedly arranged on the motor support (24), and the motor (25) is coaxially connected with the surrounding walking roller (6) in a driving manner; an annular clamping groove (6.1) is formed in the outer ring of the circulating walking roller (6), and the groove width of the annular clamping groove (6.1) is larger than the thickness of the annular heat exchange sheet (3); the axis of the riding wheel (15) is horizontal, the riding wheel (15) is rotatably arranged on the riding wheel bracket (14), and the other end of the riding wheel bracket (14) is fixed on the rotating shaft (18); the welding mechanism (16) is fixed on any one rotary seat (23);

three linear retractors (5) with lower ends inclined inwards are arranged above the ring body (9) in a circumferential array, and the three linear retractors (5) are fixedly installed on the ring body (9) through upper retractor supports (8) respectively; the tail end of an oblique telescopic rod (11) at the lower end of each linear expansion device (5) is fixedly connected with a supporting wheel bracket (13), each supporting wheel bracket (13) is rotatably provided with a supporting wheel (13), and the axis of each supporting wheel (13) is horizontal;

when the welding robot (1) is assembled on a first annular heat exchange sheet (3.1) which is manually welded on the linear heat exchange tube (2), the outer edge (003) of the first annular heat exchange sheet (3.1) is horizontally clamped into three annular clamping grooves (6.1) surrounding the walking roller (6), and the outer edge (003) of the first annular heat exchange sheet (3.1) is in rolling fit with the groove bottom of each annular clamping groove (6.1); the axes of the three supporting wheels (15) are intersected with the axis of the first annular heat exchange fin (3.1), and the three supporting wheels (15) upwards support the lower surface of the second annular heat exchange fin (3.2) sleeved on the linear heat exchange tube (2); the tail end of the welding gun (17) just points to the lower contour (4.1) of the inner ring (4) of the second annular heat exchange plate (3.2);

when the inclined telescopic rods (11) of the three linear retractors (5) are in a fully retracted state, three supporting wheels (13) distributed in a circumferential array are arranged outside the outline of the second annular heat exchange plate (3.2) in a top view; the inclined telescopic rods (11) of the three linear expanders (5) simultaneously extend outwards, so that the three supporting wheels (13) distributed in a circumferential array can obliquely move downwards to be matched with the upper surface of the second annular heat exchange plate (3.2) in a rolling manner, and the rolling friction directions of the supporting wheels (13) on the upper surface of the second annular heat exchange plate (3.2) are the radial directions of the second annular heat exchange plate (3.2); the rotating shafts (18) rotate simultaneously, so that the annular clamping grooves (6.1) surrounding the walking rollers (6) can be separated from the outer edge (003) of the first annular heat exchange fin (3.1).

5. The specialized welding robot for welding heat exchanger plates of claim 4, wherein: the supporting wheel (13) is made of rubber antiskid materials, and antiskid patterns are arranged on the wheel surface of the supporting wheel (13).

6. The welding method of the heat exchange plate of the robot welder as claimed in claim 1, characterized in that:

the specific process of the step three is as follows:

firstly, a ring body (9) of a welding robot (1) is coaxially sleeved outside a linear heat exchange tube (2), three surrounding walking rollers (6) of the welding robot (1) are positioned around a first annular heat exchange sheet (3.1), and at the moment, the three surrounding walking rollers (6) are positioned on the periphery of the first annular heat exchange sheet (3.1) along an axis visual angle; at the moment, three braking motors (20) are simultaneously controlled, and then three rotating shafts (18) are simultaneously rotated, so that a first surrounding walking unit (10.1), a second surrounding walking unit (10.2) and a third surrounding walking unit (10.3) respectively rotate around the three rotating shafts (18), and accordingly three surrounding walking rollers (6) respectively rotate around the axes of the three rotating shafts (18), until the three annular clamping grooves (6.1) surrounding the walking rollers (6) all move to be clamped to the outer edge (003) of the first annular heat exchange sheet (3.1), the outer edge (003) of the first annular heat exchange sheet (3.1) is in rolling fit with the groove bottom of the annular clamping groove (6.1), and at the moment, the three braking motors (20) are simultaneously braked; thereby, the welding robot (1) is assembled on the first annular heat exchange fin (3.1) which is manually welded on the linear heat exchange tube (2).

7. The welding method of the heat exchange plate of the robot welder as claimed in claim 1, characterized in that:

the specific process that the second annular heat exchange plate (3.2) descends to be supported upwards by the welding robot (1) in the step five is as follows:

in the initial state, the inclined telescopic rods (11) of the three linear retractors (5) are all in a fully retracted state, and in the overlooking view, the three supporting wheels (13) distributed in a circumferential array are arranged outside the outline of the second annular heat exchange plate (3.2); so that the second annular heat exchange plate (3.2) does not touch three supporting wheels (13) distributed in a circumferential array in the descending process; when the second annular heat exchange fin (3.2) descends to three riding wheels (15), the lower surface of the second annular heat exchange fin (3.2) sleeved on the linear heat exchange tube (2) is upwards supported; thereby realizing the supporting process of the second annular heat exchange plate (3.2).

8. The welding method of the heat exchange plate of the robot welder as claimed in claim 1, characterized in that:

the specific process of the step six is as follows: meanwhile, the three driving motors (25) enable the circulating walking rollers (6) to rotate along the axis of the circulating walking rollers (6), so that the three circulating walking rollers (6) actively roll along the outer edge (003) of the first annular heat exchange plate (3.1), the three circulating walking rollers (6) perform circulating motion around the first annular heat exchange plate (3.1), and the ring body (9) rotates along the axis of the circulating walking rollers, so that the welding robot (1) integrally performs circulating walking for one circle along the outer ring (003) of the first annular heat exchange plate (3.1), and the welding gun (17) can completely sweep the lower contour (4.1) of the inner ring (4) of the second annular heat exchange plate (3.2) along a circular path in the process of continuously spray-welding the lower contour (4.1) of the inner ring (4) of the second annular heat exchange plate (3.2); so that the inner ring (4) of the second annular heat exchange fin (3.2) is welded on the linear heat exchange tube (2).

9. The welding method of the heat exchange plate of the robot welder as claimed in claim 1, characterized in that:

the specific process of the step seven is as follows:

the oblique telescopic rods (11) of the three linear retractors (5) are controlled to simultaneously extend outwards until the three supporting wheels (13) distributed in a circumferential array obliquely downwards move to downwards press and roll to match with the upper surface of the outline edge of the second annular heat exchange plate (3.2), so that the whole weight of the welding robot (1) is supported by the upper surface of the second annular heat exchange plate (3.2); at the moment, according to the position and geometric relation of the three supporting wheels (13), as long as the three supporting wheels (13) do not slide with the upper surface of the second annular heat exchange sheet (3.2), the three supporting wheels (13) do not roll; therefore, on the basis of no enough external force, the ring body (9) can not horizontally displace under the combined action of the three supporting wheels (13); at the moment, three braking motors (20) are simultaneously controlled, so that three rotating shafts (18) rotate simultaneously, three surrounding walking rollers (6) rotate around the axes of the three rotating shafts (18) respectively, the three surrounding walking rollers (6) move to be separated from the outer edge (003) of the first annular heat exchange sheet (3.1), and along with the continuous respective rotation of the three rotating shafts (18), the first surrounding walking unit (10.1), the second surrounding walking unit (10.2) and the third surrounding walking unit (10.3) integrally rotate around the three rotating shafts (18) respectively until the first surrounding walking unit (10.1), the second surrounding walking unit (10.2) and the third surrounding walking unit (10.3) reach the outer part of the outline of the first annular heat exchange sheet (3.1) in a overlooking view; at the moment, the inclined telescopic rods (11) of the three linear retractors (5) are continuously controlled to simultaneously extend downwards in an inclined way, the three supporting wheels (13) roll on the upper surface of the second annular heat exchange plate (3.2) along the radial direction of the second annular heat exchange plate (3.2) and gradually approach each other, since the height of the upper surface of the welded second annular heat exchange plate (3.2) can not be changed, therefore, the three oblique telescopic rods (11) simultaneously extend downwards in an oblique way to enable the three linear retractors (5) to do ascending motion, so that the ring body (9), the first surrounding walking unit (10.1), the second surrounding walking unit (10.2) and the third surrounding walking unit (10.3) rise along with the ring body until the annular clamping grooves (6.1) of the surrounding walking rollers (6) on the first surrounding walking unit (10.1), the second surrounding walking unit (10.2) and the third surrounding walking unit (10.3) are as high as the second annular heat exchange plate (3.2); then, three braking motors (20) are simultaneously controlled, and then three rotating shafts (18) are simultaneously rotated, so that a first surrounding walking unit (10.1), a second surrounding walking unit (10.2) and a third surrounding walking unit (10.3) respectively rotate around the three rotating shafts (18), and accordingly three surrounding walking rollers (6) respectively rotate around the axes of the three rotating shafts (18), until the three annular clamping grooves (6.1) surrounding the walking rollers (6) all move to be clamped to the outer edge (003) of the second annular heat exchange plate (3.2), the outer edge (003) of the second annular heat exchange plate (3.2) is in rolling fit with the groove bottoms of the annular clamping grooves (6.1), and at the same time, the three braking motors (20) are simultaneously braked; thereby realizing that the welding robot (1) is assembled on the second annular heat exchange fin (3.2) which is manually welded on the linear heat exchange tube (2); then, the oblique telescopic rods (11) of the three linear retractors (5) are simultaneously controlled to be simultaneously and completely retracted; therefore, the welding robot (1) can climb upwards from the first annular heat exchange fin (3.1) and is assembled on the second annular heat exchange fin (3.2) welded on the linear heat exchange tube (2).

Technical Field

The invention relates to the field of welding robots.

Background

In order to increase the heat exchange efficiency of the linear heat exchange tube, N heat exchange fins need to be welded on the outer wall of the linear heat exchange metal tube at equal intervals to form an equally-spaced heat exchange fin array, so that the heat exchange efficiency of the heat exchange tube can be greatly increased;

because the number of the heat exchange fins on a single heat exchange tube is large, the workload of manual welding one by one is very large, and the problem of low welding consistency exists.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides an efficient welding method for welding a heat exchange plate by a robot and the welding robot.

The technical scheme is as follows: in order to achieve the purpose, the welding method of the heat exchange plate of the robot welding machine comprises the following steps: the welding robot comprises a linear heat exchange tube, a plurality of annular heat exchange fins and a welding robot; the method comprises the following steps:

sleeving a first annular heat exchange fin at one end of a linear heat exchange tube;

manually welding the inner ring of the first annular heat exchange fin with the outer wall of the linear heat exchange tube;

assembling the welding robot to a first annular heat exchange plate which is manually welded on the linear heat exchange tube;

step four, vertically arranging the linear heat exchange tube, wherein one end of the linear heat exchange tube, which is manually welded with the first annular heat exchange sheet, faces downwards; then fixing the lower end of the linear heat exchange tube by using a fixer;

step five, sleeving a second annular heat exchange fin at the upper end of the linear heat exchange tube, and then sliding the second annular heat exchange fin sleeved at the upper end of the linear heat exchange tube downwards along the linear heat exchange tube under the action of gravity until the second annular heat exchange fin descends to be supported upwards by a welding robot, wherein the second annular heat exchange fin and the first annular heat exchange fin keep a preset distance; and the tail end of a welding gun of the welding robot just points to the lower contour of the inner ring of the second annular heat exchange sheet;

step six, the welding robot moves around for a circle along the outer ring of the first annular heat exchange sheet, so that in the process that the welding gun continuously performs spray welding to the lower contour of the inner ring of the second annular heat exchange sheet, the welding gun also completely scans the lower contour of the inner ring of the second annular heat exchange sheet along a circular path; so that the inner ring of the second annular heat exchange plate is welded on the linear heat exchange tube;

step seven, the welding robot climbs upwards from the first annular heat exchange plate and assembles the first annular heat exchange plate to the second annular heat exchange plate welded on the linear heat exchange tube;

step eight, welding a third annular heat exchange plate on the linear heat exchange tube according to the step five and the step six, and then climbing upwards to the third annular heat exchange plate welded on the linear heat exchange tube by the welding robot according to the step seven; and circulating the step, and finally sleeving the N annular heat exchange fins on the outer wall of the linear heat exchange tube at equal intervals and the same axle center, and welding the inner ring of each annular heat exchange fin with the outer wall of the linear heat exchange tube to form an equally-spaced heat exchange fin array.

The special welding robot for welding the heat exchange plates comprises a welding robot, wherein the welding robot comprises a ring body; the inner diameter of the ring body is larger than the outer diameter of the annular heat exchange plate; the ring body is provided with a first surrounding walking unit, a second surrounding walking unit and a third surrounding walking unit which are distributed in a circumferential array; the first surrounding walking unit, the second surrounding walking unit and the third surrounding walking unit have the same structure.

Furthermore, any one of the first surrounding walking unit, the second surrounding walking unit and the third surrounding walking unit is fixedly provided with a welding mechanism, and a welding gun of the welding mechanism is arranged obliquely upwards.

Furthermore, the first surrounding walking unit, the second surrounding walking unit and the third surrounding walking unit respectively comprise a vertical rotating shaft, a rotary seat, a roller support, a roller, a motor support, a motor, a riding wheel, a tug wheel support, a brake type motor, a motor output shaft and an output gear;

the shell of the brake type motor is fixed on the ring body, and the tail end of the motor output shaft of the brake type motor is coaxially connected with an output gear; a transmission gear is integrally connected with the rotating shaft coaxially, the output gear is meshed with the transmission gear, and the upper end of the rotating shaft is in rotating fit with a bearing hole in the ring body through a bearing; the lower end of the rotating shaft is fixedly connected with a rotary seat, a transverse roller wheel bracket is fixedly installed on the lower side of the rotary seat, a surrounding walking roller wheel is rotatably arranged on the roller wheel bracket, and the axis of the surrounding walking roller wheel is vertical; a motor bracket is fixedly arranged on the lower side of the roller bracket, a vertical motor is fixedly arranged on the motor bracket, and the motor is coaxially and drivingly connected with the surrounding walking rollers; an annular clamping groove is formed in the outer ring of the circulating walking roller, and the groove width of the annular clamping groove is larger than the thickness of the annular heat exchange sheet; the axis of the riding wheel is horizontal, the riding wheel is rotatably arranged on the riding wheel bracket, and the other end of the riding wheel bracket is fixed on the rotating shaft; the welding mechanism is fixed on any one rotary seat;

three linear retractors with lower ends obliquely inward are arranged above the ring body in a circumferential array, and the three linear retractors are fixedly installed on the ring body through upper retractor brackets respectively; the tail end of an oblique telescopic rod at the lower end of each linear expansion device is fixedly connected with a supporting wheel bracket, each supporting wheel bracket is rotatably provided with a supporting wheel, and the axis of each supporting wheel is horizontal;

when the welding robot is assembled on a first annular heat exchange fin which is manually welded on the linear heat exchange tube, the outer edge of the first annular heat exchange fin is horizontally clamped into the three annular clamping grooves surrounding the walking roller wheel, and the outer edge of the first annular heat exchange fin is in rolling fit with the groove bottom of the annular clamping groove; the axes of the three supporting wheels are intersected with the axis of the first annular heat exchange fin, and the three supporting wheels upwards support the lower surface of a second annular heat exchange fin sleeved on the linear heat exchange tube; the tail end of the welding gun just points to the lower contour of the inner ring of the second annular heat exchange sheet;

when the inclined telescopic rods of the three linear retractors are in a fully retracted state, three supporting wheels distributed in a circumferential array are arranged outside the outline of the second annular heat exchange plate in a top view; the inclined telescopic rods of the three linear retractors extend outwards simultaneously, so that the three supporting wheels distributed in a circumferential array can move downwards in an inclined mode to be matched with the upper surface of the second annular heat exchange plate in a rolling mode, and the rolling friction directions of the supporting wheels on the upper surface of the second annular heat exchange plate are the radial directions of the second annular heat exchange plate; and the rotating shafts rotate simultaneously to enable the annular clamping grooves surrounding the walking rollers to be separated from the outer edge of the first annular heat exchange sheet.

Furthermore, the supporting wheel is made of rubber antiskid materials, and antiskid patterns are arranged on the wheel surface of the supporting wheel.

Further, the welding method of the heat exchange plate of the robot welding machine comprises the following steps:

the specific process of the step three is as follows:

firstly, a ring body of a welding robot is coaxially sleeved outside a linear heat exchange tube, three surrounding walking rollers of the welding robot are positioned around a first annular heat exchange plate, and at the moment, the three surrounding walking rollers are positioned on the periphery of the first annular heat exchange plate along an axis visual angle; at the moment, the three brake type motors are controlled simultaneously, so that the three rotating shafts rotate simultaneously, the first encircling walking unit, the second encircling walking unit and the third encircling walking unit rotate around the three rotating shafts respectively, the three encircling walking rollers rotate around the axes of the three rotating shafts respectively until the annular clamping grooves of the three encircling walking rollers move to be clamped to the outer edge of the first annular heat exchange sheet, the outer edge of the first annular heat exchange sheet is matched with the groove bottom of the annular clamping groove in a rolling manner, and the three brake type motors are braked simultaneously; therefore, the welding robot is assembled on the first annular heat exchange plate which is manually welded on the linear heat exchange tube;

further, the specific process of descending the second annular heat exchange plate to be supported upwards by the welding robot in the step five is as follows:

in the initial state, the inclined telescopic rods of the three linear retractors are all in a fully retracted state, and in the overlooking view, the three support wheels distributed in a circumferential array are arranged outside the outline of the second annular heat exchange plate; so that the second annular heat exchange plate does not touch three support wheels distributed in a circumferential array in the descending process; when the second annular heat exchange fin descends to the three supporting wheels, the lower surface of the second annular heat exchange fin sleeved on the linear heat exchange tube is upwards supported; thereby realizing the supporting process of the second annular heat exchange plate;

further, the specific process of the step six is as follows: meanwhile, the three driving motors enable each encircling walking roller to rotate along the axis of the self, so that the three encircling walking rollers actively roll along the outer edge of the first annular heat exchange sheet, the three encircling walking rollers do encircling movement around the first annular heat exchange sheet, and the ring body rotates along the axis of the self, so that the whole welding robot does encircling walking circle along the outer ring of the first annular heat exchange sheet, and the welding gun can completely sweep the lower contour of the inner ring of the second annular heat exchange sheet along a circular path in the process of continuously spraying and welding the welding gun to the lower contour of the inner ring of the second annular heat exchange sheet; so that the inner ring of the second annular heat exchange plate is welded on the linear heat exchange tube;

further, the specific process of the step seven is as follows:

controlling the inclined telescopic rods of the three linear retractors to simultaneously extend outwards until the three supporting wheels distributed in a circumferential array move downwards in an inclined mode to downwards press and roll and match the upper surface of the outline edge of the second annular heat exchange plate, so that the whole weight of the welding robot is supported by the upper surface of the second annular heat exchange plate; at the moment, according to the positions and geometric relations of the three supporting wheels, as long as the three supporting wheels do not slide with the upper surface of the second annular heat exchange sheet, the three supporting wheels do not roll; therefore, on the basis of no enough external force, the ring body can not generate horizontal displacement under the combined action of the three supporting wheels; at the moment, three brake type motors are simultaneously controlled, so that three rotating shafts rotate simultaneously, three surrounding walking rollers respectively rotate around the axes of the three rotating shafts, the three surrounding walking rollers move to be separated from the outer edge of the first annular heat exchange sheet, and along with the continuous respective rotation of the three rotating shafts, the first surrounding walking unit, the second surrounding walking unit and the third surrounding walking unit integrally respectively rotate around the three rotating shafts until the first surrounding walking unit, the second surrounding walking unit and the third surrounding walking unit all reach the outer part of the outline of the first annular heat exchange sheet in a overlooking view; the inclined telescopic rods of the three linear retractors are continuously controlled to extend downwards at the same time, the three support wheels roll on the upper surface of the second annular heat exchange plate in a manner of gradually approaching to each other along the radial direction of the second annular heat exchange plate, and the height of the upper surface of the welded second annular heat exchange plate cannot be changed, so that the three inclined telescopic rods extend downwards at the same time to enable the three linear retractors to move upwards, and the ring body, the first surrounding walking unit, the second surrounding walking unit and the third surrounding walking unit are lifted upwards until the annular clamping grooves of the surrounding walking rollers on the first surrounding walking unit, the second surrounding walking unit and the third surrounding walking unit are equal to the height of the second annular heat exchange plate; then, the three brake type motors are controlled simultaneously, so that the three rotating shafts rotate simultaneously, the first encircling walking unit, the second encircling walking unit and the third encircling walking unit rotate around the three rotating shafts respectively, the three encircling walking rollers rotate around the axes of the three rotating shafts respectively until the annular clamping grooves of the three encircling walking rollers move to the outer edge of the second annular heat exchange sheet in a clamping manner, the outer edge of the second annular heat exchange sheet is matched with the groove bottom of the annular clamping groove in a rolling manner, and at the moment, the three brake type motors are braked simultaneously; therefore, the welding robot is assembled on the second annular heat exchange plate which is manually welded on the linear heat exchange tube; then, the oblique telescopic rods of the three linear retractors are simultaneously controlled to be simultaneously retracted inwards completely; therefore, the welding robot can climb upwards from the first annular heat exchange plate and assemble the first annular heat exchange plate to the second annular heat exchange plate welded on the linear heat exchange tube.

Has the advantages that: the automatic welding robot is simple in structure, only one annular heat exchange plate needs to be welded manually, all other heat exchange plates are welded automatically by the robot, the robot can climb automatically without manual operation, labor cost is greatly reduced, and welding consistency is high.

Drawings

Fig. 1 is a schematic view of the overall structure of a welding robot which is assembled to a first annular heat exchanger plate and is welding a second annular heat exchanger plate (refer to step four);

FIG. 2 is a front view of a linear heat exchange tube with the outer wall welded to form an array of equally spaced heat exchange fins (refer to step eight);

FIG. 3 is a perspective view of FIG. 2;

FIG. 4 is a cross-sectional view of a single annular heat exchanger fin;

FIG. 5 is a schematic view of the overall structure of the welding robot;

FIG. 6 is a cross-sectional view of FIG. 5;

FIG. 7 is a cross-sectional view of the detailed process of step seven, wherein the oblique telescopic rods of the three linear expanders are controlled to simultaneously extend outwards until the three supporting wheels which are distributed in a circumferential array obliquely downwards move to downwards press against and roll to match the upper surface of the contour edge of the second annular heat exchange plate;

FIG. 8 is a schematic view showing a fifth step in which the second annular heat exchanger fin slides downward along the linear heat exchange tube under the action of gravity;

FIG. 9 is a schematic view showing that in the fifth step, the second annular heat exchange fin descends to three supporting rollers and simultaneously upwards supports the lower surface of the second annular heat exchange fin sleeved on the linear heat exchange tube;

FIG. 10 is a schematic structural diagram of the specific process of step seven, when the oblique telescopic rods of the three linear expanders are controlled to simultaneously extend outwards until the three supporting wheels distributed in the circumferential array move downwards in an oblique manner to downwards press against and roll-fit with the upper surface at the contour edge of the second annular heat exchange plate;

fig. 11 is a schematic diagram of "the first surrounding traveling unit, the second surrounding traveling unit, and the third surrounding traveling unit integrally rotate around three rotating shafts respectively in a specific process of" step seven ", until the first surrounding traveling unit, the second surrounding traveling unit, and the third surrounding traveling unit all reach the outside of the outline of the first annular heat exchanger fin" in a top view;

fig. 12 is a schematic diagram of the specific process of step seven, in which the three oblique telescopic rods extend obliquely downward at the same time to enable the three linear expanders to move upward, so that the ring body, the first surrounding traveling unit, the second surrounding traveling unit and the third surrounding traveling unit rise accordingly until the annular clamping grooves of the surrounding traveling rollers on the first surrounding traveling unit, the second surrounding traveling unit and the third surrounding traveling unit are equal to the second annular heat exchanger plate in height;

figure 13 is an overall top view of the device.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

The welding method of the heat exchange plate of the robot welder shown in the attached figures 1 to 13 comprises the following steps: including sharp heat exchange tube 2, a plurality of annular heat exchanger fin 3 and welding robot 1: the method comprises the following steps:

firstly, sleeving a first annular heat exchange fin 3.1 at one end of a linear heat exchange tube 2;

step two, manually welding the inner ring 4 of the first annular heat exchange fin 3.1 with the outer wall of the linear heat exchange tube 2;

step three, assembling the welding robot 1 to a first annular heat exchange fin 3.1 which is manually welded on the linear heat exchange tube 2;

step four, the linear heat exchange tube 2 is vertically arranged, and one end of the first annular heat exchange fin 3.1 which is manually welded faces downwards; then fixing the lower end of the linear heat exchange tube 2 by a fixer 7;

step five, sleeving a second annular heat exchange fin 3.2 at the upper end of the linear heat exchange tube 2, and then downwards sliding the second annular heat exchange fin 3.2 sleeved at the upper end of the linear heat exchange tube 2 along the linear heat exchange tube 2 under the action of gravity until the second annular heat exchange fin 3.2 descends to be upwards supported by the welding robot 1, wherein the second annular heat exchange fin 3.2 and the first annular heat exchange fin 3.1 keep a preset distance; and at the moment, the tail end of a welding gun 17 of the welding robot 1 just points to the lower contour 4.1 of the inner ring 4 of the second annular heat exchange plate 3.2;

step six, the welding robot 1 circularly walks for a circle along the outer ring 003 of the first annular heat exchange plate 3.1, so that the welding gun 17 completely sweeps the lower contour 4.1 of the inner ring 4 of the second annular heat exchange plate 3.2 along a circular path in the process of continuously spraying and welding the lower contour 4.1 of the inner ring 4 of the second annular heat exchange plate 3.2 by the welding gun 17; so that the inner ring 4 of the second annular heat exchange fin 3.2 is welded on the linear heat exchange tube 2;

step seven, the welding robot 1 climbs upwards from the first annular heat exchange plate 3.1 and is assembled on a second annular heat exchange plate 3.2 welded on the linear heat exchange tube 2;

step eight, welding a third annular heat exchange fin 3.3 on the linear heat exchange tube 2 according to the step five and the step six, and then continuing climbing the welding robot 1 upwards to the third annular heat exchange fin 3.3 welded on the linear heat exchange tube 2 according to the step seven; and (3) circulating the step, and finally sleeving the N annular heat exchange fins 3 on the outer wall of the linear heat exchange tube 2 at equal intervals and coaxially, and welding the inner ring 4 of each annular heat exchange fin 3 with the outer wall of the linear heat exchange tube 2 to form the heat exchange fin array 2 at equal intervals, as shown in the figures 2 and 3.

The "third step", the "fifth step", the "sixth step" and the "seventh step" have specific working processes and working principles hereinafter:

the special welding robot for welding the heat exchange plates comprises a welding robot 1, wherein the welding robot 1 comprises a ring body 9; the inner diameter of the ring body 9 is larger than the outer diameter of the annular heat exchange plate 3; a first surrounding walking unit 10.1, a second surrounding walking unit 10.2 and a third surrounding walking unit 10.3 which are distributed in a circumferential array are arranged on the ring body 9, as shown in fig. 13; the first circulating travel unit 10.1, the second circulating travel unit 10.2 and the third circulating travel unit 10.3 have the same structure.

Any one of the first circulating traveling unit 10.1, the second circulating traveling unit 10.2 and the third circulating traveling unit 10.3 is fixedly provided with a welding mechanism 16, and a welding gun 17 of the welding mechanism 16 is arranged obliquely upwards.

The first encircling walking unit 10.1, the second encircling walking unit 10.2 and the third encircling walking unit 10.3 respectively comprise a vertical rotating shaft 18, a rotary seat 23, a roller bracket 26, a roller 6, a motor bracket 24, a motor 25, a riding wheel 15, a tug bracket 14, a brake type motor 20, a motor output shaft 21 and an output gear 22;

the shell of the brake type motor 20 is fixed on the ring body 9, and the tail end of a motor output shaft 21 of the brake type motor 20 is coaxially connected with an output gear 22; a transmission gear 19 is coaxially and integrally connected to the rotating shaft 18, the output gear 22 is meshed with the transmission gear 19, and the upper end of the rotating shaft 18 is in running fit with a bearing hole in the ring body 9 through a bearing; the lower end of the rotating shaft 18 is fixedly connected with a rotary seat 23, a transverse roller bracket 26 is fixedly installed on the lower side of the rotary seat 23, a surrounding walking roller 6 is rotatably arranged on the roller bracket 26, and the axis of the surrounding walking roller 6 is vertical; a motor bracket 24 is fixedly arranged on the lower side of the roller bracket 26, a vertical motor 25 is fixedly arranged on the motor bracket 24, and the motor 25 is coaxially connected with the encircling walking roller 6 in a driving manner; an annular clamping groove 6.1 is formed in the outer ring of the circulating walking roller 6, and the groove width of the annular clamping groove 6.1 is larger than the thickness of the annular heat exchange sheet 3; the axis of the riding wheel 15 is horizontal, the riding wheel 15 is rotatably mounted on the riding wheel bracket 14, and the other end of the riding wheel bracket 14 is fixed on the rotating shaft 18; the welding mechanism 16 is fixed on any one of the rotary seats 23;

three linear expanders 5 with lower ends inclined inwards are circumferentially arranged above the ring body 9, and the three linear expanders 5 are fixedly arranged on the ring body 9 through upper expander supports 8 respectively; the tail end of an oblique telescopic rod 11 at the lower end of each linear expansion device 5 is fixedly connected with a supporting wheel bracket 13, each supporting wheel bracket 13 is rotatably provided with a supporting wheel 13, and the axis of each supporting wheel 13 is horizontal;

when the welding robot 1 is assembled on a first annular heat exchange fin 3.1 which is manually welded on the linear heat exchange tube 2, the outer edge 003 of the first annular heat exchange fin 3.1 is horizontally clamped into three annular clamping grooves 6.1 surrounding the walking roller 6, and the outer edge 003 of the first annular heat exchange fin 3.1 is in rolling fit with the groove bottom of the annular clamping groove 6.1; the axes of the three supporting wheels 15 are intersected with the axis of the first annular heat exchange fin 3.1, and the three supporting wheels 15 upwards support the lower surface of the second annular heat exchange fin 3.2 sleeved on the linear heat exchange tube 2; and the tail end of the welding gun 17 just points to the lower contour 4.1 of the inner ring 4 of the second annular heat exchange plate 3.2;

when the three inclined telescopic rods 11 of the linear expansion device 5 are all in a fully retracted state, three supporting wheels 13 distributed in a circumferential array are arranged outside the outline of the second annular heat exchange plate 3.2 in a top view; the three inclined telescopic rods 11 of the linear expansion device 5 extend outwards at the same time, so that the three supporting wheels 13 distributed in a circumferential array can move downwards in an inclined manner to be matched with the upper surface of the second annular heat exchange plate 3.2 in a rolling manner, and the rolling friction directions of the supporting wheels 13 on the upper surface of the second annular heat exchange plate 3.2 are the radial directions of the second annular heat exchange plate 3.2; the rotating shafts 18 rotate simultaneously, so that the annular clamping grooves 6.1 surrounding the walking rollers 6 can be separated from the outer edge 003 of the first annular heat exchange fin 3.1.

The supporting wheel 13 is made of rubber antiskid materials, and antiskid patterns are arranged on the wheel surface of the supporting wheel 13.

The specific process of step three above is as follows:

firstly, a ring body 9 of a welding robot 1 is coaxially sleeved outside a linear heat exchange tube 2, three surrounding walking rollers 6 of the welding robot 1 are positioned around a first annular heat exchange plate 3.1, and at the moment, the three surrounding walking rollers 6 are positioned on the periphery of the first annular heat exchange plate 3.1 along an axis view angle; at the moment, the three braking motors 20 are simultaneously controlled, so that the three rotating shafts 18 rotate simultaneously, the first surrounding walking unit 10.1, the second surrounding walking unit 10.2 and the third surrounding walking unit 10.3 rotate around the three rotating shafts 18 respectively, and the three surrounding walking rollers 6 rotate around the axes of the three rotating shafts 18 respectively until the three annular clamping grooves 6.1 surrounding the walking rollers 6 move to be clamped to the outer edge 003 of the first annular heat exchange sheet 3.1, the outer edge 003 of the first annular heat exchange sheet 3.1 is in rolling fit with the groove bottom of the annular clamping groove 6.1, and the three braking motors 20 are simultaneously braked; therefore, the welding robot 1 is assembled on the first annular heat exchange fin 3.1 which is manually welded on the linear heat exchange tube 2;

the specific process of descending the second annular heat exchanger plate 3.2 to be held by the welding robot 1 upwards in the above "step five" is as follows:

in an initial state, the inclined telescopic rods 11 of the three linear retractors 5 are all in a fully retracted state, and in a top view, the three support wheels 13 distributed in a circumferential array are arranged outside the outline of the second annular heat exchange plate 3.2; so that the second annular heat exchange plate 3.2 does not touch three support wheels 13 distributed in a circumferential array in the descending process; when the second annular heat exchange fin 3.2 descends to the three supporting wheels 15, the lower surface of the second annular heat exchange fin 3.2 sleeved on the linear heat exchange tube 2 is upwards supported; thereby realizing the supporting process of the second annular heat exchange plate 3.2; as in FIG. 9;

the specific process of step six above is as follows: meanwhile, the three driving motors 25 enable the circulating walking rollers 6 to rotate along the axis of the circulating walking rollers 6, so that the three circulating walking rollers 6 actively roll along the outer edge 003 of the first annular heat exchange plate 3.1, the three circulating walking rollers 6 do circulating motion around the first annular heat exchange plate 3.1, and the ring body 9 rotates along the axis of the circulating walking rollers, so that the whole welding robot 1 does circulating walking for one circle along the outer ring 003 of the first annular heat exchange plate 3.1, and in the process that the welding gun 17 continuously performs spray welding to the lower contour 4.1 of the inner ring 4 of the second annular heat exchange plate 3.2, the welding gun 17 can also completely sweep the lower contour 4.1 of the inner ring 4 of the second annular heat exchange plate 3.2 along a circular path; so that the inner ring 4 of the second annular heat exchange fin 3.2 is welded on the linear heat exchange tube 2;

the specific process of step seven above is as follows:

controlling the inclined telescopic rods 11 of the three linear expanders 5 to simultaneously extend outwards until the three supporting wheels 13 distributed in a circumferential array obliquely move downwards to downwards press and roll to match the upper surface of the outline edge of the second annular heat exchange plate 3.2, as shown in fig. 7 and 10, so that the whole weight of the welding robot 1 is supported by the upper surface of the second annular heat exchange plate 3.2; at this time, according to the position and geometric relation of the three supporting wheels 13, as long as the three supporting wheels 13 do not slide on the upper surface of the second annular heat exchange plate 3.2, the three supporting wheels 13 do not roll; therefore, on the basis of no enough external force, the ring body 9 can not be horizontally displaced under the combined action of the three supporting wheels 13; at this time, the three braking motors 20 are simultaneously controlled, so that the three rotating shafts 18 are simultaneously rotated, so that the three circulating walking rollers 6 respectively rotate around the axes of the three rotating shafts 18, so that the three circulating walking rollers 6 all move to be separated from the outer edge 003 of the first annular heat exchange fin 3.1, and along with the continuous respective rotation of the three rotating shafts 18, the first circulating walking unit 10.1, the second circulating walking unit 10.2 and the third circulating walking unit 10.3 integrally respectively rotate around the three rotating shafts 18 until the first circulating walking unit 10.1, the second circulating walking unit 10.2 and the third circulating walking unit 10.3 all reach the outside of the outline of the first annular heat exchange fin 3.1 in a top view, as shown in fig. 11; at this time, the inclined telescopic rods 11 of the three linear expanders 5 are continuously controlled to extend obliquely downwards at the same time, the three support wheels 13 roll on the upper surface of the second annular heat exchange plate 3.2 in a manner of gradually approaching each other along the radial direction of the second annular heat exchange plate 3.2, and because the height of the upper surface of the welded second annular heat exchange plate 3.2 cannot be changed, the three inclined telescopic rods 11 extend obliquely downwards at the same time to enable the three linear expanders 5 to move upwards, so that the annular body 9, the first encircling traveling unit 10.1, the second encircling traveling unit 10.2 and the third encircling traveling unit 10.3 ascend along with each other until the annular clamping grooves 6.1 of the encircling traveling rollers 6 on the first encircling traveling unit 10.1, the second encircling traveling unit 10.2 and the third encircling traveling unit 10.3 are equal in height to the second annular heat exchange plate 3.2, as shown in fig. 12; then, the three braking motors 20 are simultaneously controlled, so that the three rotating shafts 18 rotate simultaneously, the first surrounding walking unit 10.1, the second surrounding walking unit 10.2 and the third surrounding walking unit 10.3 rotate around the three rotating shafts 18 respectively, and the three surrounding walking rollers 6 rotate around the axes of the three rotating shafts 18 respectively until the three annular clamping grooves 6.1 of the surrounding walking rollers 6 move to be clamped to the outer edge 003 of the second annular heat exchange plate 3.2, the outer edge 003 of the second annular heat exchange plate 3.2 is in rolling fit with the groove bottoms of the annular clamping grooves 6.1, and at the same time, the three braking motors 20 are simultaneously braked; therefore, the welding robot 1 is assembled on the second annular heat exchange fin 3.2 which is manually welded on the linear heat exchange tube 2; then, the oblique telescopic rods 11 of the three linear retractors 5 are simultaneously controlled to be simultaneously and completely retracted; therefore, the welding robot 1 can climb upwards from the first annular heat exchange plate 3.1 and is assembled on the second annular heat exchange plate 3.2 welded on the linear heat exchange tube 2.

The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.