CN102441720A - Automatic welding method of flow production line for hydraulic support grid box type structure members - Google Patents
Automatic welding method of flow production line for hydraulic support grid box type structure members Download PDFInfo
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Abstract
The invention relates to the field of welding fabrication of hydraulic support structure members, particularly to an automatic welding method of a flow production line for hydraulic support grid box type structure members, which solves the problem that the traditional manual welding method cannot guarantee the welding forming quality and workpieces cannot be completely and automatically welded due to deformation caused by a unit type automatic robot due to thick plate welding thermal cycle. The automatic welding method comprises the following concrete steps of: cutting and forming the grid box type structure members; automatically counting and assembling bottom plates and main rib plates; preheating the counted and assembled bottom plates and main rib plates; automatically welding the main rib plates; automatically counting and assembling separation plates; preheating the counted and assembled separation plates; automatically welding the flat joints of the separation plates; automatically welding the left vertical joints of the separation plates; automatically welding the right vertical joints of the separation plates; counting and assembling function parts; counting and assembling cover plates; automatically welding the flat joints of the cover plates; automatically welding the arc joints of the cover plates; and circulating the above steps. The method provided by the invention is reasonable and simple in process, strong in operability and high production efficiency, and can guarantee the welding quality.
Description
Technical field
The present invention relates to the structural member field of welding processing, specifically is a kind of flow production line automation welding procedure of mine hydraulic bracket grid box type structure spare.
Background technology
At present, hydraulic support grid box type structure adopts manual welding technology and modular robot automatic soldering technique to machine usually.
Manual welding: artificial hand grips welding gun, handles electric welding machine, to the welding position of case structure carrying out the moulding welding, but because manually-operated technical ability is different, is prone to cause that the welding fabrication quality is unstable, the whole difference of weld strength;
Modular robot welds automatically: the independent station manipulation mode that adopts one-time positioning clamping, integral solder; Through welding special-purpose software programming, the moulding welding that the computer controlled automatic welding track is implemented causes the different shortcoming of welding fabrication quality although can overcome because of manually-operated technical ability difference; But it is because strict to the stability requirement of welding operating condition; Can't adapt to the workpiece deformation that Thermal Cycle causes, narrow application range, production efficiency is low; And needing the special-purpose software programming, program is complicated.
Summary of the invention
The objective of the invention is to solve existing manual welding mode method processing and can't guarantee that welding fabrication quality and modular robot weld narrow application range, shortcoming that production efficiency is low automatically, provide a kind of flow production line automation welding method of hydraulic support grid box type structure spare.
For realizing above-mentioned purpose, the technical scheme that the present invention adopts is:
A kind of flow production line automation welding method of hydraulic support grid box type structure spare, its processing step is following:
⑴, sheet material is tailored moulding, and the sheet forming classification is placed each station of production line according to the production design drawing of hydraulic support grid box type structure spare,
Said sheet forming classification is meant the classification of the base plate, main gusset, dividing plate, cover plate and each functor formation that form grid box type structure spare,
The station in order that said each station is meant that base plate and main gusset are decorated, preheating, welding form; And the station in order that dividing plate and base plate main gusset welding component is decorated, preheating, welding form; And the station in order that each functor and dividing plate base plate main gusset welding component is decorated, preheating, welding form; And the station in order that forms of the decorating of cover plate and functor dividing plate base plate main gusset welding component, preheating, welding, and comprise and produce required secondary station;
⑵, first road station master muscle are decorated in the station, and base plate is clamped on the logistics workbench location automatically, accurately are welded to main gusset on the base plate;
⑶, logistics workbench are transported to main muscle preheating station through predefined program with base plate main gusset point binding piece and carry out preheating;
⑷ after, base plate main gusset point binding piece were preheated to design temperature, the logistics workbench was transported to main muscle welding post with it and implements welding automatically;
⑸, logistics workbench are transported to dividing plate with base plate main gusset welding component and decorate station, and each dividing plate accurately is placed in the welding component, dividing plate accurately are welded on the welding component again;
⑹, logistics workbench put binding piece through predefined program with dividing plate and are transported to the dividing plate preheating station and carry out preheating; After being preheated to design temperature, the logistics workbench is transported to dividing plate and base plate welding post enforcement welding automatically with it, accomplishes the horizontal position welding seam of cell internal partition and base plate, and above repeatedly process is accomplished the horizontal position welding of all cell internal partitions and base plate successively and stitched.
⑺, logistics workbench weld component with dividing plate and are transported to dividing plate and main muscle welding left side and turn over welding post and implement welding automatically; Start the switching mechanism that disposes on the logistics workbench; To weld the component location and clamp 90 ° of upsets of laggard row; Accomplish the welding of cell internal partition and main gusset left side weld seam, switching mechanism resetted after welding was accomplished, and will weld component and be flat on the logistics workbench;
⑻, logistics workbench will weld component and be transported to dividing plate and main muscle welding right side and turn over welding post and implement welding; Start the switching mechanism that disposes on the logistics workbench; To weld the component location and clamp 90 ° of upsets of laggard row; Accomplish the welding of dividing plate and right side weld seam, above repeatedly process is accomplished the weld seam of all cell internal partitions and main gusset successively; Switching mechanism resetted after welding was accomplished; To weld component is flat on the logistics workbench; The logistics workbench will weld component and be transported to functor and decorate welding post, accomplish decorating and welding of all functions part, be transported to cover plate then and decorate station; The cover plate point is contained on the welding component, forms the bridge welding fastener;
⑼, logistics workbench put binding piece with cover plate and are transported to the cover plate preheating station and carry out preheating, be preheated to design temperature after, the logistics workbench is transported to the vertical face weld seam welding post of cover plate with it and implements welding automatically, accomplishes the vertical face weld seam of welded cover plate;
⑽, logistics workbench are transported to cover plate cambered surface weld seam welding post with the bridge welding fastener and implement the automation welding, start the switching mechanism that disposes on the logistics workbench, will weld the component location and clamp 90 ° of upsets of laggard row, and the cover plate arc-shaped welding seam is accomplished in welding; Switching mechanism resetted after welding was accomplished, and will weld component and be flat on the logistics workbench;
The welding position of hydraulic support grid box type structure spare all welding finishes.
More than in each step, at first according to welding material, through controller the welding system that disposes in the automatic welding device is carried out parameter and sets and program composition before the welding beginning, parameter is set and program composition is those skilled in the art's known technology.
Compared with prior art; The present invention utilizes the characteristics of grid box type structure spare; Grid box type structure spare self formation is classified; The three-dimensional welding track of original complicacy once is welded into be reduced to one dimension welding track multistep to be welded into, making automation weld job condition required to relax by 1 millimeter original strict deviation is 3 millimeters deviation requirements, has solved that the thick plates thermal cycle makes workpiece deformation and problem that can't complete automatic welding; Flow process standardization simultaneously, efficient is increased to original 2 times.In welding process, implement welding automatically, there is not direct positive connection with manual work welding technical ability, therefore can keep the homogenous quantities welding always, satisfy the requirement of product welding quality.In addition; Realize above-mentioned functions decorate automatically and welding equipment is can realize the universal numerical control equipment that three-dimensional moves by what numerical-control motor drove; Be equipped with corresponding frock clamp,, can realize with multiple numerical control structure for the technical staff in this numerical control field; Therefore, in specification not to decorating automatically and the concrete structure of welding equipment each several part is narrated.
Technology of the present invention is reasonable, succinct, and workable, welding quality is guaranteed, and production efficiency is high, is suitable for extensive popularization.
Description of drawings
Fig. 1 is a grid box type structure spare sheet forming classification sketch map, and wherein, 1-a comprises base plate, main gusset, dividing plate and functor, and 1-b comprises cover plate.
Fig. 2 is the schematic flow sheet when implementing flow production line automation welding with welding method according to the invention;
Fig. 3 is that the main gusset that main muscle is decorated in the station 7 is decorated sketch map;
Fig. 4 is the main gusset welding sketch map in the main muscle welding post 9;
Fig. 5 decorates sketch map for the dividing plate that dividing plate is decorated in the station 10;
Fig. 6 is the dividing plate welding sketch map in dividing plate and the base plate welding post 12;
Fig. 7 is for turning over the dividing plate welding sketch map in the welding post 13 on the left of dividing plate and the welding of main muscle;
Fig. 8 is the vertical face weld seam welding of the cover plate sketch map in the vertical face weld seam welding post 18 of cover plate;
Fig. 9 is the cover plate cambered surface weld seam welding sketch map in the cover plate cambered surface weld seam welding post 19;
Among the figure,The 1-base plate; The 2-main gusset; The 3-dividing plate; The 4-functor; The 5-cover plate;
6-master's muscle laydown area; 7-master's muscle is decorated station; 8-master's muscle preheating station; 9-master's muscle welding post; The 10-dividing plate is decorated station; 11-dividing plate preheating station; 12-dividing plate and base plate welding post; Welding post is turned in 13-dividing plate and main muscle welding left side; Welding post is turned on 14-dividing plate and main muscle welding right side; The 15-functor is decorated welding post; The 16-cover plate is decorated station; 17-cover plate preheating station; The 18-cover plate is indulged face weld seam welding post; 19-cover plate cambered surface weld seam welding post; 20-logistics workbench;
The 21-six-axis linkage is decorated welding equipment automatically; 22-decorates the welding equipment controller; 23-magnetic-type sucker; 24-manipulator mobile bearing axis; 25-welding robot hand; 26-swelling pin; The 27-positioning fixture; 28-master's muscle automatic welding device; 29-master's muscle automatic welding device controller; The 30-articulated manipulator; 31-master's muscle point binding piece; Six joint arm handling machineries of 32-hand controls; Six joint arm conveying robots of 33-; 34-electromagnetic type sucker; 35-manipulator mobile bearing axis; 36-welding robot hand; 37-master's muscle welding component; 38-dividing plate automatic welding device; 39-dividing plate automatic welding device controller; 40-articulated type welding manipulator; 41-dividing plate welding component; 42-dividing plate rollover automatic welding device; 43-dividing plate rollover automatic welding device controller; 44-articulated type welding manipulator; The 45-switching mechanism; 46-cover plate automatic welding device; 47-cover plate automatic welding device controller; 48-articulated type welding manipulator; 49-bridge welding fastener; 50-cover plate arc seam automatic welding device; 51-cover plate arc seam automatic welding device controller; 52-articulated type welding manipulator.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is done and to specify.
Shown in Fig. 1-9, be used for the flow production line automation welding procedure of hydraulic support grid box type structure spare, processing step is following:
⑴, sheet material is tailored moulding, and sheet forming is categorized as base plate 1, main muscle 2, dividing plate 3, functor 4, cover plate 5 according to the production design drawing of hydraulic support grid box type structure spare, five big types altogether,
The station in order that said each station is meant that base plate 1 and main gusset 2 are decorated, preheating, welding form; And the station in order that dividing plate 3 is decorated with base plate 1 main gusset 2 welding components, preheating, welding form; And the station in order that each functor 4 is decorated with dividing plate 3 base plates 1 main gusset 2 welding components, preheating, welding form; And the station in order that forms of the decorating of cover plate 5 and functor 4 dividing plates 3 base plates 1 main gusset 2 welding components, preheating, welding, and comprise and produce required secondary station.Concrete station comprises: main muscle laydown area 6, main muscle are decorated station 7, main muscle preheating station 8, main muscle welding post 9, dividing plate and are decorated station 10, dividing plate preheating station 11, dividing plate and base plate welding post 12, dividing plate and main muscle welding left side and turn over welding post 13, dividing plate and main muscle welding right side and turn over welding post 14, functor and decorate welding post 15, cover plate and decorate station 16, cover plate preheating station 17, cover plate and indulge face weld seam welding post 18, cover plate cambered surface weld seam welding post 19.
⑵, entering production line; First road master's muscle is decorated (with reference to Fig. 2, Fig. 3) in the station 7; Positioning fixture 27 location is clamped in base plate 1 on the logistics workbench 20 automatically; Automatically the welding equipment 21 of decorating of six-axis linkage is realized " plane and two pits " location through magnetic-type sucker 23 and swelling pin 26 simultaneously; Main gusset 2 accurately is positioned on the base plate 1, and three articulated type welding robot hands 25 of decorating the welding equipment configuration automatically accurately are welded to main gusset 2 on the base plate 1 according to predefined spot welding program, form the some binding piece.
Said six-axis linkage is decorated welding equipment 21 automatically can realize the equipment that three of X/Y/Z move and the articulated type welding robot hand of three rotations of X/Y/Z is formed by what numerical-control motor drove; Its actuation end is installed electromagnetic force sucker 23, swelling pin 26, welding robot hand 25, carries out integrated control through controller 22.
⑶, logistics workbench 20 decorate some binding piece in the station 7 through predefined program with main muscle and are transported to main muscle preheating station 8 and carry out preheating.(with reference to Fig. 2)
Said main muscle preheating station 8 is made up of general bilateral fire door electric furnace.Said logistics workbench adopts linked transmission logistics workbench, is to vertically move by can realizing of driving of numerical-control motor, i.e. and the equipment that logistics direction moves, its actuation end drags workpiece and realizes vertical shift.
⑷, base plate main gusset point binding piece are preheated to design temperature in main muscle preheating station 8 after, logistics workbench 20 is transported to main muscle welding post 9 with it and implements welding (with reference to Fig. 2, Fig. 4) automatically.At first according to welding material; Welding system through configuration in 29 pairs of main muscle automatic welding devices 28 of controller carries out parameter setting and program composition; Automatic welding device 28 carries out the starting point centering according to the synchronous articulated manipulator 30 of two mirror images of predefined driven by program; The welding of the starting the arc simultaneously in the left and right sides of same main gusset 2 then, the welding track of completion main gusset 2.Above repeatedly process is accomplished the welding of all main gussets 2 successively.
⑸, logistics workbench 20 are transported to dividing plate with the welding component in the main muscle welding post 9 and decorate and implement dividing plate in the station 10 and decorate (with reference to Fig. 2, Fig. 5); Handling system through configuration in 32 pairs of six joint arm conveying robots 33 of controller carries out parameter setting and program composition; Joint arm conveying robot 33 accurately is placed on each dividing plate in the welding component 37 through electromagnetic type sucker 34 according to the program of setting successively; The welding manipulator 36 that disposes on the joint arm accurately is welded to dividing plate on the welding component 37 according to predefined spot welding program, forms dividing plate point binding piece.
⑹, logistics workbench 20 decorate welding component in the station 10 through predefined program with dividing plate and are transported to dividing plate preheating station 11 and carry out preheating.After being preheated to design temperature, it is transported to dividing plate to logistics workbench 20 and base plate welding post 12 is implemented welding (with reference to Fig. 2, Fig. 6).At first according to welding material; Welding system through configuration in 39 pairs of dividing plate automatic welding devices 38 of controller carries out parameter setting and program composition; Dividing plate automatic welding device 38 is according to predefined driven by program mirror configuration and two articulated type welding manipulators 40 of self-movement carry out the starting point centering; Starting the arc welding then, the cross weld of completion cell internal partition 3 and base plate 1; Above repeatedly process is accomplished the cross weld of all cell internal partitions 3 and base plate 1 successively.
⑺, logistics workbench 20 turn over welding post 13 enforcement welding (with reference to Fig. 2, Fig. 7) on the left of the welding component in dividing plate and the base plate welding post 12 is transported to dividing plate and the welding of main muscle.At first according to welding material; Welding system through configuration in 43 pairs of dividing plate automatic welding devices 42 of controller carries out parameter setting and program composition; Start the switching mechanism 45 of configuration on the logistics workbench 20 then, will weld component 41 location and clamp 90 ° of upsets of laggard row, dividing plate automatic welding device 42 carries out the starting point centering according to predefined driven by program articulated manipulator 44; The welding of cell internal partition and main gusset 2 left side weld seams is accomplished in starting the arc welding then; Above repeatedly process is accomplished the weld seam of all cell internal partitions and main gusset 2 successively, and switching mechanism resets afterwards, will weld component and be flat on the logistics workbench.
⑻, logistics workbench 20 turn over welding component 41 in the welding post 13 with dividing plate and main muscle welding left side and are transported to dividing plate and turn over welding post 14 with main muscle welding right side and implement to weld (with reference to Fig. 2); Start the switching mechanism that disposes on the logistics workbench; To weld the component location and clamp 90 ° of upsets of laggard row; Accomplish the welding of dividing plate and main gusset right side weld seam, above repeatedly process is accomplished the weld seam of all cell internal partitions 3 and main gusset 2 successively; Switching mechanism resetted after welding was accomplished, and will weld component and be flat on the logistics workbench 20, and logistics workbench 20 will weld component and be transported to functor and decorate station 15, decorating and welding by manual work completion all functions part.Be transported to cover plate then and decorate station 16, the artificial cover plate point is contained in welded on the component, forms the bridge welding fastener.
⑼, logistics workbench 20 decorate cover plate point binding piece in the station 16 through predefined program with cover plate and are transported to cover plate preheating station 17 and carry out preheating.After being preheated to design temperature, logistics workbench 20 is transported to the vertical face weld seam welding post 18 of cover plate with it and implements welding (with reference to Fig. 2, Fig. 8) automatically.At first according to welding material; Welding system through configuration in 47 pairs of cover plate automatic welding devices 46 of controller carries out parameter setting and program composition; Cover plate automatic welding device 47 is according to predefined driven by program mirror configuration and two articulated type welding manipulators 48 of self-movement carry out the starting point centering; The welding of the vertical face weld seam of cover plate is accomplished in starting the arc welding then; Above repeatedly process is accomplished the welding of the vertical face weld seam of all cover plates successively.
⑽, logistics workbench 20 are transported to cover plate cambered surface weld seam welding post 19 with the welding component in the vertical face weld seam welding post 18 of cover plate and implement cover plate arc seam welding (with reference to Fig. 2, Fig. 9).At first according to welding material; Welding system through configuration in 51 pairs of cover plate automatic welding devices 50 of controller carries out parameter setting and program composition; Start the switching mechanism 45 of configuration on the logistics workbench 20 then, will weld component 49 location and clamp 90 ° of upsets of laggard row, cover plate automatic welding device 50 carries out the starting point centering according to predefined driven by program articulated type welding manipulator 52; The welding of cover plate arc-shaped welding seam is accomplished in starting the arc welding then; Above repeatedly process is accomplished the welding of all cover plate arc-shaped welding seams successively, and switching mechanism resets afterwards, will weld component and be flat on the logistics workbench 20.So far, the welding position of grid box type structure spare all welds and finishes.
The above process of production line reciprocation cycle forms the production of grid box type structure spare automation welding flowing water.
Claims (1)
1. the flow production line automation welding method of a hydraulic support grid box type structure spare is characterized in that processing step is following:
⑴, sheet material is tailored moulding, and the sheet forming classification is placed each station of production line according to the production design drawing of hydraulic support grid box type structure spare,
Said sheet forming classification is meant the classification of the base plate (1), main gusset (2), dividing plate (3), cover plate (5) and each functor (4) formation that form grid box type structure spare,
The station in order that said each station is meant that base plate (1) and main gusset (2) are decorated, preheating, welding form; And the station in order that dividing plate (3) and base plate (1) main gusset (2) welding component is decorated, preheating, welding form; And the station in order that each functor (4) and dividing plate (3) base plate (1) main gusset (2) welding component is decorated, preheating, welding form; And the station in order that forms of the decorating of cover plate (5) and functor (4) dividing plate (3) base plate (1) main gusset (2) welding component, preheating, welding, and comprise and produce required secondary station;
⑵, first road station master muscle are decorated in the station (7), and base plate (1) is clamped on the logistics workbench (20) location automatically, and main gusset (2) accurately is welded on the base plate (1);
⑶, logistics workbench (20) are transported to main muscle preheating station (7) through predefined program with base plate main gusset point binding piece and carry out preheating;
⑷ after, base plate main gusset point binding piece were preheated to design temperature, logistics workbench (20) was transported to main muscle welding post (9) with it and implements welding automatically;
⑸, logistics workbench (20) are transported to dividing plate with base plate (1) main gusset (2) welding component and decorate station (10), and each dividing plate (3) accurately is placed in the welding component, dividing plate (3) accurately are welded on the welding component again;
⑹, logistics workbench (20) put binding piece through predefined program with dividing plate and are transported to dividing plate preheating station (11) and carry out preheating; After being preheated to design temperature; It is transported to dividing plate to logistics workbench (20) and base plate welding post (12) is implemented welding automatically; Accomplish the horizontal position welding seam of cell internal partition and base plate, above repeatedly process is accomplished all cell internal partitions (3) successively and is stitched with the horizontal position welding of base plate (1);
⑺, logistics workbench (20) weld component with dividing plate and are transported to dividing plate and main muscle welding left side and turn over welding post (13) and implement welding automatically; Start the switching mechanism that disposes on the logistics workbench; To weld the component location and clamp 90 ° of upsets of laggard row; Accomplish the welding of cell internal partition and main gusset left side weld seam, switching mechanism resetted after welding was accomplished, and will weld component and be flat on the logistics workbench (20);
⑻, logistics workbench (20) will weld component and be transported to dividing plate and main muscle welding right side and turn over welding post (14) and implement welding; Start the switching mechanism that disposes on the logistics workbench; To weld the component location and clamp 90 ° of upsets of laggard row; Accomplish the welding of dividing plate and right side weld seam, above repeatedly process is accomplished the weld seam of all cell internal partitions (3) and main gusset (2) successively; Switching mechanism resetted after welding was accomplished; To weld component is flat on the logistics workbench 20; Logistics workbench (20) will weld component and be transported to functor and decorate welding post (15), accomplish decorating and welding of all functions parts (4), be transported to cover plate then and decorate station (16); Cover plate (5) point is contained on the welding component, forms the bridge welding fastener;
⑼, logistics workbench (20) put binding piece with cover plate and are transported to cover plate preheating station (17) and carry out preheating; After being preheated to design temperature; Logistics workbench (20) is transported to the vertical face weld seam welding post (18) of cover plate with it and implements welding automatically, accomplishes the vertical face weld seam of welded cover plate;
⑽, logistics workbench (20) are transported to cover plate cambered surface weld seam welding post (19) with the bridge welding fastener and implement the automation welding; Start the switching mechanism that disposes on the logistics workbench; To weld the component location and clamp 90 ° of upsets of laggard row, the cover plate arc-shaped welding seam is accomplished in welding; Switching mechanism resetted after welding was accomplished, and will weld component and be flat on the logistics workbench;
The welding position of hydraulic support grid box type structure spare all welding finishes.
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