CN107953045A - Box-type substation robot automation Flexible Welding Line and production technology - Google Patents
Box-type substation robot automation Flexible Welding Line and production technology Download PDFInfo
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- CN107953045A CN107953045A CN201711423421.5A CN201711423421A CN107953045A CN 107953045 A CN107953045 A CN 107953045A CN 201711423421 A CN201711423421 A CN 201711423421A CN 107953045 A CN107953045 A CN 107953045A
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- type substation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/36—Electric or electronic devices
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- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention discloses a kind of box-type substation robot automation Flexible Welding Line and production technology, including conveying equipment and the assembling spot-welding equipment set gradually, assembling spot-welding equipment includes the first welding robot assembly and frame assembling flexibility platform, to assemble frame and tentatively be welded；Reverse side welding equipment, reverse side welding equipment includes the second welding robot assembly, to be welded to the reverse side of frame；Tipping arrangement, to clamp, move up and down and resupination framework；Front welding equipment, front welding equipment includes the 3rd welding robot assembly, to be welded to the front of frame；Panel welding equipment, panel welding equipment includes panel feeding table apparatus and the 4th welding robot assembly, panel is soldered on frame.The present invention uses robot automation's Flexible Welding Line, suitable for the welding of different dimensions box-type substations, improves welding efficiency and welding quality, reduces production cost.
Description
Technical field
The present invention relates to welding production technical field, more particularly to a kind of box-type substation robot automation flexible welding
Producing line of delivering a child and production technology.
Background technology
Box-type substation, is called preassembled transformer station, is that one kind is integrated with high-voltage switch gear and distribution transformer functional device.Case
Formula substation since the advent of the world, development are extremely rapid.With the rapid development of China's Modernization, urban power distribution network, which is constantly updated, to be changed
Make, box-type substation is widely used.
Box-type substation in production, it is necessary to the section bar of various different sizes first is welded into frame, then in frame welding
On the basis of weld panel again.Since the workpiece size of box-type substation is larger, welding quality is more demanding, it is not easy to realizes
Automatic welding.Welding at present in industry to box-type substation is main by the way of human weld, its welding quality unstable,
Welding efficiency is low, production cost is high, great work intensity, has been not suitable with the growth requirement of modern enterprise.
The content of the invention
The small box change of low cost, convenient mounting and clamping, labor strength is fabricated the object of the present invention is to provide a kind of
Power plant machine people's automatic flexible welding production line and production technology, to improve welding efficiency and positioning accuracy, reduce welding and become
Shape, improves product quality.
To achieve the above object, the present invention provides following scheme：
It is defeated with conveying equipment the invention discloses a kind of box-type substation robot automation Flexible Welding Line
Send so as to which semi-finished product are carried out with predetermined processing, including the conveying equipment and set gradually：
Spot-welding equipment is assembled, the assembling spot-welding equipment includes the first welding robot assembly and frame is assembled with flexible flat
Platform, to assemble frame and tentatively be welded；
Reverse side welding equipment, the reverse side welding equipment includes the second welding robot assembly, to the frame
Reverse side is welded；
Tipping arrangement, to clamp, move up and down and overturn the frame；
Front welding equipment, the front welding equipment includes the 3rd welding robot assembly, to the frame
Welded in front；
Panel welding equipment, the panel welding equipment include panel feeding table apparatus and the 4th welding robot assembly,
The panel is soldered on the frame.
Preferably, the first module trolley, the second module that the conveying equipment includes track and moved along the track are small
Car, the 3rd module trolley and the 4th module trolley, the first module trolley be used in the frame assembling flexibility platform and
Semi-finished product are conveyed between the reverse side welding equipment, the second module trolley is used in the reverse side welding equipment and the upset
Equipment room conveys semi-finished product, and the 3rd module trolley is used in the tipping arrangement and the front welding equipment room conveying half
Finished product, the 4th module trolley are used to convey semi-finished product between the front welding equipment and the panel welding equipment.
Preferably, the first module trolley, the second module trolley, the 3rd module trolley and the 4th mould
Group trolley includes electric flat carriage and flexible frock system, and the electric flat carriage includes vehicle frame and the car being arranged on the vehicle frame
Wheel, decelerating motor and buffer unit, the flexible frock system includes the manual frock of length positioning, width positions manual frock and
Width positions servo frock.
Preferably, the first welding robot assembly includes the first truss and is movably arranged at first truss
On the first welding robot, the first seam tracking system and the track being slidably connected with first truss；
The second welding robot assembly includes the second truss and be movably arranged on second truss the
Two welding robots, the second seam tracking system and the first lifting system；
The 3rd welding robot assembly includes the 3rd truss and be movably arranged on the 3rd truss the
Three welding robots, the 3rd seam tracking system and the second lifting system；
The 4th welding robot assembly includes the 4th truss and be movably arranged on the 4th truss the
Four welding robots, the 4th seam tracking system and material grabbing mechanism.
Preferably, it is both provided with first truss, second truss, the 3rd truss and the 4th truss
Linear moving mechanism, the linear moving mechanism include motor, sliding block, gear and rack, and the sliding block is slidably disposed in
On first truss, second truss, the 3rd truss and the 4th truss, the motor drives the gear to turn
Dynamic, the gear is engaged with the rack, and the sliding block is arranged on the rack.
Preferably, the frame assembling flexibility platform includes assembling workbench, is put down to adjust the assembly working
The support adjustment module of corner of table degree and the flexible combined fixture fixture being arranged on the assembling workbench.
Preferably, the flexible combined fixture fixture includes setting element, support component, the tune of multiple and different dimensions
Whole element and locking element.
Preferably, the tipping arrangement includes rotation positioner device, and the rotation positioner device includes moving horizontally
Device, vertical shift device, rollover stand and hydraulic vice, the hydraulic vice are arranged on the rollover stand, the horizontal shifting
Dynamic device and the vertical shift device are used for the horizontal level and vertical position for adjusting the rollover stand.
The invention also discloses a kind of box-type substation robot automation process of flexible production, comprise the following steps：
1) frame for filling box-type substation is delivered to assembling spot welding station, the frame face down is spelled successively
Dress, clamping and spot welding positioning；
2) frame is delivered to reverse side welding post, and carries out reverse side automatic welding；
3) frame is delivered to reverse side repair welding station, and carries out artificial repair welding；
4) frame is delivered to station turning, and it is face-up to overturn；
5) frame is delivered to front welding post, and carries out front automatic welding；
6) frame is delivered to positive repair welding station, and carries out artificial repair welding；
7) frame and panel are delivered to panel welding post respectively, and by the panel automatic welding to the frame
On frame, box-type substation frame is obtained；
8) the box-type substation frame is delivered to the positive repair welding station, completes panel repair welding.
Preferably, module trolley is provided between adjacent two station, and passes through the module cart transport semi-finished product.
The present invention achieves following technique effect relative to the prior art：
It is an advantage of the invention that worker's workpiece loading and unloading is convenient, labor intensity is small, different size multiple types molding box can be realized
The welding of formula substation, it is flexible.It can realize that skeleton front, the back side are welded by tipping arrangement, reduce robot welding and add
The cost of work, simplify operating process, ensure machining accuracy, improve work efficiency, reduce labor strength, human cost and pipe
Cost is managed, meets enterprise's needs.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the station schematic diagram of box-type substation robot automation Flexible Welding Line of the present invention；
Fig. 2 is the structure diagram of box-type substation robot automation Flexible Welding Line of the present invention；
Fig. 3 is that the structure that spot-welding equipment is assembled in box-type substation robot automation Flexible Welding Line of the present invention is shown
It is intended to；
Fig. 4 is box-type substation robot automation Flexible Welding Line middle frame assembling flexibility platform of the present invention
Partial enlarged view；
Fig. 5 is the structural representation of conveying equipment in box-type substation robot automation Flexible Welding Line of the present invention
Figure；
Fig. 6 is that the structure of reverse side welding equipment in box-type substation robot automation Flexible Welding Line of the present invention is shown
It is intended to；
Fig. 7 is the structural representation of tipping arrangement in box-type substation robot automation Flexible Welding Line of the present invention
Figure；
Fig. 8 is that the structure of front welding equipment in box-type substation robot automation Flexible Welding Line of the present invention is shown
It is intended to；
Fig. 9 is that the structure of panel welding equipment in box-type substation robot automation Flexible Welding Line of the present invention is shown
It is intended to；
Figure 10 is the structural representation of module trolley in box-type substation robot automation Flexible Welding Line of the present invention
Figure；
Description of reference numerals：A, spot welding station is assembled；B, charge hoisting by skip station；C, reverse side welding post；D, reverse side repair welding
Station；E, station turning；F, front welding post；G, positive repair welding station；H, panel welding post；1st, spot-welding equipment is assembled；
2nd, conveying equipment；3rd, reverse side welding equipment；4th, tipping arrangement；5th, front welding equipment；6th, panel welding equipment；10th, the first weldering
Welding robot assembly；11st, frame assembling flexibility platform；20th, the first module trolley；21st, the second module trolley；22nd, the 3rd mould
Group trolley；23rd, the 4th module trolley；24th, track；30th, the second welding robot assembly；40th, the first rotation positioner device；
41st, the second rotation positioner device；50th, the 3rd welding robot assembly；60th, the 4th welding robot assembly；61st, panel feeding
Table apparatus；100th, track；101st, the first truss；102nd, the first welding robot；103rd, the first seam tracking system；110th, assemble
Workbench；111st, support adjustment module；112nd, flexible combined fixture fixture；200th, electric flat carriage；201st, flexible frock system；
300th, the second truss；301st, the first work-piece hoister structure；302nd, second workpiece hoisting mechanism；303rd, the second welding robot；304
Second seam tracking system；400th, horizontally moving device；401st, vertical shift device；402nd, rollover stand；403rd, hydraulic vice；
500th, the 3rd truss；501st, the 3rd work-piece hoister structure；502nd, the 4th work-piece hoister structure；503；3rd welding robot；
504th, the 3rd seam tracking system；600th, the 4th truss；601st, material grabbing mechanism；602nd, the 4th welding robot；603rd, the 4th weldering
Stitch tracking system；2000th, vehicle frame；2001st, wheel；2002nd, decelerating motor；2003rd, buffer unit；2010th, length positioning is manual
Frock；2011st, width positions manual frock；2012nd, width positioning servo frock.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
The small box change of low cost, convenient mounting and clamping, labor strength is fabricated the object of the present invention is to provide a kind of
Power plant machine people's automatic flexible welding production line and production technology, to solve above-mentioned technical problem existing in the prior art.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is described in further detail.
As shown in Figure 1, the present embodiment provides a kind of box-type substation robot automation process of flexible production, including it is following
Step：
1) FRAME COMPONENTS for forming box-type substation is delivered to assembling spot welding station a, by the frame face down successively
Carry out assembled, clamping and spot welding positioning；
2) by the frame at charge hoisting by skip station b feeding, and be delivered to reverse side welding post c, and it is automatic to carry out reverse side
Welding；
3) frame is delivered to reverse side repair welding station d, and carries out artificial repair welding；
4) frame is delivered to station turning e, and it is face-up to overturn；
5) frame is delivered to front welding post f, and carries out front automatic welding；
6) frame is delivered to positive repair welding station g, and carries out artificial repair welding；
7) frame and panel are delivered to panel welding post h respectively, and by panel automatic welding to the frame, obtained
To box-type substation frame；
8) box-type substation is delivered to positive repair welding station g, completes panel repair welding.
As shown in Fig. 2, the present embodiment also provides a kind of box-type substation robot automation Flexible Welding Line, with complete
Into above-mentioned production technology.The production line is as the conveying of conveying equipment 2 is so as to carry out semi-finished product predetermined processing, including conveying is set
Standby 2 and the assembling spot-welding equipment 1, reverse side welding equipment 3, tipping arrangement 4, front welding equipment 5 and the panel weldering that set gradually
Connect equipment 6.Wherein, assemble spot-welding equipment 1 and use flexibility platform 11 including the first welding robot assembly 10 and frame assembling, to
Assembling frame is simultaneously tentatively welded.Reverse side welding equipment 3 includes the second welding robot assembly 30, to the anti-of the frame
Welded in face.Tipping arrangement 4 includes the first rotation positioner device 40 and the second rotation positioner device 41, to clamp,
Move up and down and overturn the frame.Front welding equipment 5 includes the 3rd welding robot assembly 50, to the frame just
Welded in face.Panel welding equipment 6 includes the 4th welding robot assembly 60 and panel feeding platform device 61, to by panel
After 61 feeding of panel feeding table apparatus, it is soldered on the frame.It is specifically described below in conjunction with the accompanying drawings.
As shown in figure 3, assembling spot-welding equipment 1 is arranged at assembling spot welding station a, including 10 He of the first welding robot assembly
Flexibility platform 11 is used in frame assembling.First welding robot assembly 10 includes the first truss 101 and is movably arranged at first
The first welding robot 102, the first seam tracking system 103 on truss 101 and it is slidably connected with the first truss 101
Track 100 so that the first welding robot 102 can be stitched with automatic tracking welding and spot weld any point of frame plane, be completed
The automatic spot of workpiece frame.First welding robot 102 is spot welding robot, small-sized using Nanjing Ai Sidun ER16-1600
Six-joint robot, load capacity 16kg, range of movement 1600mm, meet the welding demand of box-type substation workpiece.For box
The characteristics of substation's size is big, by setting track 100, extends the working space of the first welding robot assembly 10, precision is high,
Carrying is big, is unlikely to deform.
As shown in figure 4, frame assembling flexibility platform 11 includes assembling workbench 110, is put down to adjust assembly working
The support adjustment module 111 of 110 angle of platform and the flexible combined fixture fixture 112 being arranged on assembling workbench 110.This is flat
Platform is suitable for 1.8-8 meters of length, 1.2-3 meters of width, the quick splicing of the workpiece of height 80-200mm.Assembling workbench 110
Its work top can be spliced and combined according to workpiece shapes, size, possess high-precision feature and 3 D stereo feature, table top
On scale and module size design, operator is rapidly taken out required frock workbench according to workpiece size
Face and various functions module, every the circular hole of 25mm, 50mm or 100mm supporting D16 or D28, are appointed in plane and four sides
The pitch of holes dimensional tolerance in meaning hole is ± 0.05mm, ensures the precision of workpieces processing, frock clamp can be realized in three dimensions
Interior adjustment.Support adjustment module 111 is arranged at the bottom of assembling workbench 110 and supports, available for three-dimensional
Space is spliced, suitable for the box-type substation workpiece of different size.Flexible combined fixture fixture 112 includes different dimensions
Setting element, support component, adjustment element and locking element, it is assembled quick, it is convenient to mount and dismount, suitable for the box change of different size
The quick of power station product is remodeled.
As shown in figure 5, conveying equipment 2 includes track 24 and the first module trolley 20, the second module that are moved along track 24
Trolley 21, the 3rd module trolley 22 and the 4th module trolley 23.Wherein, four module vehicle structures are identical, according to setting
Sequential complete different station between feeding, feeding.First module trolley 20 is used in frame assembling flexibility platform 11 and anti-
Semi-finished product are conveyed between face welding equipment 3, the second module trolley 21 is used for conveying half between reverse side welding equipment 3 and tipping arrangement 4
Finished product, the 3rd module trolley 22 are used to convey semi-finished product, the 4th module trolley 23 between tipping arrangement 4 and front welding equipment 5
For conveying semi-finished product between front welding equipment 5 and panel welding equipment 6.
As shown in fig. 6, reverse side welding equipment 3 includes the second welding robot assembly 30, wherein the second welding robot is total
Include the second truss 300 and the second welding robot 303, the second weld seam that are movably arranged on the second truss 300 into 30
304 and first lifting system of tracking system so that the second welding robot 303 can be soldered to the optional position of workpiece reverse side.
First lifting system includes the first work-piece hoister structure 301 and second workpiece hoisting mechanism 302, in the both sides of workpiece to be added
Steadily lifted after clamping.The translational speed of second welding robot, 303 grade suspender can reach 30m/min on second truss 300
More than, accelerated energy reaches 0.5m/s2, repetitive positioning accuracy ± 0.1mm.First work-piece hoister structure 301 and second workpiece carry
Rise mechanism 302 to be driven by the cylinder, the lifting after completing the frame of box-type substation in place simultaneously departs from trolley module, assists to complete
The frame replaces the action of trolley module.
As shown in fig. 7, tipping arrangement 4 includes the first rotation positioner device 40 and the second rotation positioner device 41, the
One rotation positioner device 40 and the second rotation positioner device 41 cooperate with the positive and negative for completing different box-type substation workpiece
180 ° of upsets.Rotating positioner device includes horizontally moving device 400, vertical shift device 401, rollover stand 402 and hydraulic pressure tiger
Pincers 403, hydraulic vice 403 is arranged on rollover stand 402, and horizontally moving device 400 and vertical shift device 401 are turned over for adjustment
The horizontal level and vertical position of pivoted frame 403.Workpiece in place after, pass through horizontally moving device 400 and vertical shift device 401
Co-operating to rotate positioner device in place；Workpiece from the second module trolley 21 is held up and pressed by hydraulic vice 403
Tightly, after clamping, rollover stand completes 180 ° of positive and negative upsets；Workpiece is positioned on the 3rd module trolley 22 after the completion of upset, by
3rd module trolley 22 is delivered to next equipment.Chassis Workpiece length, short transverse shifting can be become in case by rotating positioner device
It is dynamic, to adapt to 180 ° of upsets of positive and negative of the box-type substation frame of different size.
As shown in figure 8, front welding equipment 5 includes the 3rd welding robot assembly 50, wherein the 3rd welding robot is total
Include the 3rd truss 500 and the 3rd welding robot 503, the 3rd weld seam that are movably arranged on the 3rd truss 500 into 50
504 and second lifting system of tracking system so that the 3rd welding robot 503 completes the automation of the positive optional position of workpiece
Welding.Second lifting system includes the 3rd work-piece hoister structure 501 and the 4th work-piece hoister structure 502.On 3rd truss 500
The translational speed of three welding robots, 503 grade suspender can reach more than 30m/min, and accelerated energy reaches 0.5m/s2, it is fixed to repeat
Position precision ± 0.1mm.3rd work-piece hoister structure 501 and the 4th work-piece hoister structure 502 are driven by the cylinder, and complete box type transformation
The frame stood in place after lifting and with trolley module depart from, assist complete the frame replace trolley module action.
As shown in figure 9, panel welding equipment 6 includes the 4th welding robot assembly 60 and panel feeding platform device 61, its
In the 4th welding robot assembly 60 include the 4th truss 600 and the material grabbing mechanism being movably arranged on the 4th truss 600
601st, the 4th welding robot 602 and the 4th seam tracking system 603.Panel feeding table apparatus 61 is provided with magnetic splitting machine
Structure, stacks the panel put easy to counterweight in reclaiming process and is separated.Panel welding equipment 6 completes panel automatic charging and welding
(spot welding), can complete thickness of slab 2mm, the panel welding job in the range of panel size 500x500mm -1000x2000mm.Wherein
Material grabbing mechanism 601 completes transfer of the panel from panel feeding table apparatus 61 to conveying equipment 2.
As shown in Figure 10, each module trolley includes electric flat carriage 200 and flexible frock system 201.Module trolley is effective
3 tons of load-carrying, dimensions are 32mm (length) X8150mm (width) X500mm (height), can adapt to 1.8-8 meters of length, width 1.2-3
Meter, the transfer between each station of box-type substation frame work of height 80-200mm, weight 90Kg -1450Kg.Electric flat carriage
200 include vehicle frame 2000 and the wheel 2001, decelerating motor 2002 and the buffer unit 2003 that are arranged on vehicle frame 2000.Flexible work
Dress system 201 includes the manual frock 2010 of length positioning, width positions manual frock 2011 and width positioning servo frock 2012.
Wherein, it be fixing tool that the manual frock 2010 of length positioning and width, which position manual frock 2011, can only manual adjustment move, it is wide
Degree positioning servo frock 2012 is adjust automatically frock, by the linear module adjust automatically of servomotor band, is completed to different rule
The automated exchanged cutter positioning of the box-type substation frame of lattice.
Rectilinear movement machine is both provided with first truss 101, the second truss 300, the 3rd truss 500 and the 4th truss 600
Structure, linear moving mechanism include motor, sliding block, gear and rack, and sliding block is slidably disposed in the first truss 101, the second purlin
On frame 300, the 3rd truss 500 and the 4th truss 600, motor-driven gear rotates, and wheel and rack engagement, sliding block is arranged at tooth
On bar.By the linear moving mechanism, realize the structures such as each welding robot, seam tracking system along the first truss 101, second
Truss 300, the 3rd truss 500 and 600 length direction of the 4th truss are movably arranged.
During work, refering to what is shown in Fig. 1, first by manually being adjusted in assembling spot welding station a on assembling workbench 110
Flexible combined fixture fixture 112, hereafter manually faces down, spells in the frame of the assembled box-type substation of assembling workbench 110
Frame is clamped after installing, operating personnel exit, and start the first welding robot assembly 10 and carry out spot welding positioning, weld seam passes through same
The teaching programming of kind workpiece initial workpiece, weld seam automatic localization, realizes automatic welding.
After the completion of spot welding is fixed, in charge hoisting by skip station b, the frame of a postwelding is positioned over the by the first truss 101
One module trolley 20, the positioning of 201 automated exchanged cutter of flexible frock system, the first module trolley 20 are transported to reverse side welding post
c。
In reverse side welding post c, welded by the second welding robot assembly 30, weld seam is shown by workpiece initial workpiece of the same race
Religion programming, weld seam automatic localization, realizes automatic welding, the first work-piece hoister structure of reverse side welding equipment 3 after the completion of welding
301st, frame lifter, the first module trolley 20 are returned to charge hoisting by skip station b by second workpiece hoisting mechanism 302, and the second module is small
Car 21 enters reverse side welding post c, the first work-piece hoister structure 301, the second workpiece hoisting mechanism 302 of reverse side welding equipment 3
Frame is fallen and is positioned on the second module trolley 21, the second module trolley 21 is transported to the artificial repair welding station d of reverse side.
In the artificial repair welding station d of reverse side, manually regard robot welding situation and carry out repair welding, by the second module after the completion of repair welding
Trolley 21 is transported to base turning station e.
In station turning e, the first rotation positioner device 40 and the second rotation positioner device 41 cooperate with and are lifted and overturn
The frame, the second module trolley 21 return to reverse side welding post d, and the 3rd module trolley 22 is run to station turning e, the first rotation
Positioner device 40 and second rotates positioner device 41 and the frame is positioned on the 3rd module trolley 22, which just faces
On, the 3rd module trolley 22 is run to front welding post f.
In front welding post f, the 3rd welding robot assembly 50 carries out the frame positive welding, and weld seam passes through of the same race
The teaching of workpiece initial workpiece programs, and weld seam automatic localization, realizes automatic welding, after the completion of welding, the 3rd workpiece of front welding equipment 5
By the frame lifter, the 3rd module trolley 22 returns to station turning e for hoisting mechanism 501, the 4th work-piece hoister structure 502, and the 4th
Module trolley 23 is run to front welding post f, and the 3rd work-piece hoister structure 501, the 4th work-piece hoister structure 502 are by the frame
It is positioned on the 4th module trolley 23, the 4th module trolley 23 is transported to positive manually repair welding station g.
In positive manually repair welding station g, manually regard robot welding situation and carry out repair welding, by the 4th module after the completion of repair welding
Trolley 23 is transported to panel welding post h；
In panel welding post h, panel is sent to designated position by panel feeding table apparatus 61, by the 4th welding robot
Assembly 60 carries out the welding of counter plate, and after the completion of panel welding, the artificial repair welding in front is transported to by the 4th module trolley 23
Station g, is accomplished manually after the positive repair welding of panel by being transferred to next process by the box-type substation to have completed chassis is offline.
It should be noted that quantity and construction of the present embodiment to conveying equipment, welding robot, truss and other structures
Carry out for example, those skilled in the art can make choice according to actual needs, however it is not limited to above-described embodiment.
Apply specific case in this specification to be set forth the principle of the present invention and embodiment, above example
Explanation be only intended to help understand the present invention method and its core concept；Meanwhile for those of ordinary skill in the art,
According to the thought of the present invention, in specific embodiments and applications there will be changes.In conclusion in this specification
Appearance should not be construed as limiting the invention.
Claims (10)
- A kind of 1. box-type substation robot automation Flexible Welding Line, as the conveying of conveying equipment is so as to semi-finished product Carry out predetermined processing, it is characterised in that：Including the conveying equipment and the assembling spot-welding equipment set gradually, the assembling point Soldering equipment includes the first welding robot assembly and frame assembling flexibility platform, to assemble frame and tentatively be welded；Reverse side welding equipment, the reverse side welding equipment includes the second welding robot assembly, to the reverse side to the frame Welded；Tipping arrangement, to clamp, move up and down and overturn the frame；Front welding equipment, the front welding equipment includes the 3rd welding robot assembly, to the front to the frame Welded；WithPanel welding equipment, the panel welding equipment include panel feeding table apparatus and the 4th welding robot assembly, to The panel is soldered on the frame.
- 2. box-type substation robot automation Flexible Welding Line according to claim 1, it is characterised in that：The conveying equipment includes track and the first module trolley, the second module trolley, the 3rd module that are moved along the track Trolley and the 4th module trolley, the first module trolley are used to weld in the frame assembling flexibility platform and the reverse side Equipment room conveys semi-finished product, and the second module trolley is used for conveying half between the reverse side welding equipment and the tipping arrangement Finished product, the 3rd module trolley are used in the tipping arrangement and the front welding equipment room conveying semi-finished product, and described the Four module trolleies are used to convey semi-finished product between the front welding equipment and the panel welding equipment.
- 3. box-type substation robot automation Flexible Welding Line according to claim 2, it is characterised in that：The first module trolley, the second module trolley, the 3rd module trolley and the 4th module trolley wrap Electric flat carriage and flexible frock system are included, the electric flat carriage includes vehicle frame and the wheel being arranged on the vehicle frame, slow down electricity Machine and buffer unit, the flexible frock system includes the manual frock of length positioning, width positions manual frock and width positioning Servo frock.
- 4. box-type substation robot automation Flexible Welding Line according to claim 1, it is characterised in that：The first weldering that the first welding robot assembly includes the first truss and is movably arranged on first truss Welding robot, the first seam tracking system and the track being slidably connected with first truss；The second weldering that the second welding robot assembly includes the second truss and is movably arranged on second truss Welding robot, the second seam tracking system and the first lifting system；The 3rd weldering that the 3rd welding robot assembly includes the 3rd truss and is movably arranged on the 3rd truss Welding robot, the 3rd seam tracking system and the second lifting system；The 4th weldering that the 4th welding robot assembly includes the 4th truss and is movably arranged on the 4th truss Welding robot, the 4th seam tracking system and material grabbing mechanism.
- 5. box-type substation robot automation Flexible Welding Line according to claim 4, it is characterised in that：Rectilinear movement machine is both provided with first truss, second truss, the 3rd truss and the 4th truss Structure, the linear moving mechanism include motor, sliding block, gear and rack, and the sliding block is slidably disposed in first purlin On frame, second truss, the 3rd truss and the 4th truss, the motor drives the gear to rotate, the tooth Wheel is engaged with the rack, and the sliding block is arranged on the rack.
- 6. box-type substation robot automation Flexible Welding Line according to claim 1, it is characterised in that：The frame assembling flexibility platform includes assembling workbench, adjusting the support of the assembling workbench angle Adjustment module and the flexible combined fixture fixture being arranged on the assembling workbench.
- 7. box-type substation robot automation Flexible Welding Line according to claim 6, it is characterised in that：The flexible combined fixture fixture includes setting element, support component, adjustment element and the lock of multiple and different dimensions Tight element.
- 8. box-type substation robot automation Flexible Welding Line according to claim 1, it is characterised in that：The tipping arrangement includes rotation positioner device, and the rotation positioner device includes horizontally moving device, moves vertically Dynamic device, rollover stand and hydraulic vice, the hydraulic vice are arranged on the rollover stand, the horizontally moving device and described Vertical shift device is used for the horizontal level and vertical position for adjusting the rollover stand.
- 9. a kind of box-type substation robot automation process of flexible production, it is characterised in that comprise the following steps：1) frame for filling box-type substation is delivered to assembling spot welding station, by the frame face down carry out successively it is assembled, Clamp and spot welding positions；2) frame is delivered to reverse side welding post, and carries out reverse side automatic welding；3) frame is delivered to reverse side repair welding station, and carries out artificial repair welding；4) frame is delivered to station turning, and it is face-up to overturn；5) frame is delivered to front welding post, and carries out front automatic welding；6) frame is delivered to positive repair welding station, and carries out artificial repair welding；7) frame and panel are delivered to panel welding post respectively, and by the panel automatic welding to the frame On, obtain box-type substation；8) box-type substation is delivered to the positive repair welding station, completes panel repair welding.
- 10. box-type substation robot automation process of flexible production according to claim 9, it is characterised in that：Module trolley is provided between adjacent two station, and passes through the module cart transport semi-finished product.
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| CN201711423421.5A CN107953045B (en) | 2017-12-25 | 2017-12-25 | Robot automatic flexible welding production line and production process for box-type transformer substation |
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| CN201711423421.5A CN107953045B (en) | 2017-12-25 | 2017-12-25 | Robot automatic flexible welding production line and production process for box-type transformer substation |
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| CN110560835A (en) * | 2019-09-26 | 2019-12-13 | 芜湖勤惠科技有限公司 | intelligent integrated welding workstation of high-speed railway box girder pipeline location net piece |
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| CN108465967A (en) * | 2018-05-29 | 2018-08-31 | 苏州五圣通机器人自动化有限公司 | A kind of high-efficient production line and its working method for the processing of angle steel Turbogrid plates |
| CN108465967B (en) * | 2018-05-29 | 2023-11-17 | 苏州五圣通机器人自动化有限公司 | Efficient production line for angle steel grid plate machining and working method thereof |
| CN108971791A (en) * | 2018-09-17 | 2018-12-11 | 江苏北人机器人系统股份有限公司 | A kind of saddle production line and the saddle production method using the saddle production line |
| CN108971791B (en) * | 2018-09-17 | 2024-02-13 | 江苏北人智能制造科技股份有限公司 | Saddle production line and saddle production method using saddle production line |
| CN109551128A (en) * | 2018-12-31 | 2019-04-02 | 深圳市合尔为科技有限公司 | A kind of automatic production line of steel framework |
| CN109773486A (en) * | 2018-12-31 | 2019-05-21 | 深圳市合尔为科技有限公司 | A kind of automatic production line of wall assemblies |
| CN109773486B (en) * | 2018-12-31 | 2024-03-26 | 深圳市合尔为科技有限公司 | Automatic production line of wall body subassembly |
| US10974779B2 (en) | 2019-01-29 | 2021-04-13 | Honda Motor Co., Ltd. | Rotatable vehicle frame jig |
| CN110480244A (en) * | 2019-08-30 | 2019-11-22 | 深圳市利和兴股份有限公司 | A kind of welding tooling of automatic turning |
| CN110560835A (en) * | 2019-09-26 | 2019-12-13 | 芜湖勤惠科技有限公司 | intelligent integrated welding workstation of high-speed railway box girder pipeline location net piece |
| CN111673322A (en) * | 2020-06-02 | 2020-09-18 | 蚌埠凯盛工程技术有限公司 | Multi-station automatic welding method and equipment for main beam of heliostat support |
| CN114247969A (en) * | 2020-09-25 | 2022-03-29 | 山东华耀汽车配件有限公司 | Semitrailer portal frame production line |
| CN112475745A (en) * | 2020-10-29 | 2021-03-12 | 湖南九方焊接技术有限公司 | Truss intersecting line welding production line and welding method |
| CN112536541A (en) * | 2020-11-30 | 2021-03-23 | 唐山市华诚机械制造有限公司 | Automatic production line for welding of automobile traction seat |
| CN112935606A (en) * | 2021-01-29 | 2021-06-11 | 道可道(江苏)激光科技有限公司 | Welding production line and production process for electric tricycle frame |
| CN112935606B (en) * | 2021-01-29 | 2022-04-05 | 道可道(江苏)激光科技有限公司 | Welding production line and production process for electric tricycle frame |
| CN112958964A (en) * | 2021-03-17 | 2021-06-15 | 广东澳美铝业有限公司 | Aluminum profile welding production line |
| CN113787344A (en) * | 2021-07-29 | 2021-12-14 | 埃夫特智能装备股份有限公司 | Telescopic machine frame welding and polishing production line and production process thereof |
| CN114227069A (en) * | 2021-12-03 | 2022-03-25 | 中车长江车辆有限公司 | Production line of railway wagon side wall |
| CN114682946A (en) * | 2022-04-20 | 2022-07-01 | 苏州罗蒙特科技有限公司 | Full-automatic line operation formula machine of lifting stand welding production line |
| CN115338554A (en) * | 2022-08-18 | 2022-11-15 | 中建科工集团绿色科技有限公司 | Side plate welding method |
| CN115319920A (en) * | 2022-09-01 | 2022-11-11 | 徐州徐工施维英机械有限公司 | Split type concrete pump truck base and automatic welding production line and method thereof |
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