CN109434339A - A kind of robot automation welds the welding control method of carrying roller crossbeam work station - Google Patents
A kind of robot automation welds the welding control method of carrying roller crossbeam work station Download PDFInfo
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- CN109434339A CN109434339A CN201811553591.XA CN201811553591A CN109434339A CN 109434339 A CN109434339 A CN 109434339A CN 201811553591 A CN201811553591 A CN 201811553591A CN 109434339 A CN109434339 A CN 109434339A
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- pillar
- sliding slot
- angle steel
- spot welding
- quarter line
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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
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention discloses a kind of robot automation weld carrying roller crossbeam work station welding control method, including the following steps: S1, welding loose mail stock；S2, the limit of spot welding sliding slot；S3, angle steel feeding；S4, the feeding of band steel and middle pillar and patch material；S5, compression clamping；S6, spot welding；S7, displacement；S8, reorientation；S9, compression clamping；S10, it is fully welded；S11, workpiece are released；The work station includes welding platform, angle steel feeding mechanism, band steel feeding mechanism, pillar feeding mechanism, pillar feeding position-limit mechanism, pillar compression position-limit mechanism, spot welding robot, is fully welded robot and the controller for controlling the work station.Work station control method provided by the invention completes the automated production of carrying roller crossbeam, guarantees the welding position of band steel, middle pillar and quarter line pillaring on angle steel in welding, effectively improves welding quality and efficiency, while improving the operating condition of shop worker.
Description
Technical field
The present invention relates to a kind of control methods of work station more particularly to a kind of robot automation to weld carrying roller crossbeam work
Make the welding control method stood, belongs to robotic welding technology field.
Background technique
Currently, Transport Machinery equipment is in fields such as harbour, power plant, iron and steel enterprise, grain, coal production and light industry
With extensive, wherein the demand of belt conveyor is especially prominent.There is a large amount of welding zero in the manufacturing in belt conveyor
Component, middle idler roller crossbeam are the main members of belt conveyor, and a large amount of identical size carrying roller is needed on a conveying equipment
Crossbeam, the welding of crossbeam generally uses manual type to weld at present, and that there are production efficiencys is low, production environment is severe, welding quality
The problems such as qualification rate is unstable, so that carrying roller beam welding becomes the bottleneck process of belt conveyor production.
In welding, manipulator feeding is generally used.The component parts angle steel length dimension of carrying roller crossbeam is larger, according to machine
Tool hand clamps feeding, and required clamp structure is complicated, and overall structure is too fat to move, and manipulator is at high cost, and production site occupies big；Meanwhile
One carrying roller crossbeam is arranged in angle steel two sides there are two band steel, and spacing is big between two band steels, and relative position size is not easy to protect
Card.In addition, the middle pillar and quarter line pillaring part of carrying roller crossbeam are more, generally require more manipulators while grabbing, manipulator at
This height；At the same time, two quarter line pillarings of a carrying roller crossbeam are located at angle steel two sides, and two middle pillars are located at angle steel interposition
It sets, the relative position size also bad guarantee for middle pillar and quarter line pillaring.
Summary of the invention
In order to solve problem above, the object of the present invention is to provide a kind of robot automations to weld carrying roller crossbeam work station
Welding control method, complete the automated production of carrying roller crossbeam, guarantee band steel, middle pillar and quarter line pillaring in angle steel in welding
On welding position, effectively improve welding quality and efficiency, while improving the operating condition of shop worker.
In order to achieve the goal above, the technical solution adopted by the present invention:
A kind of robot automation welds the welding control method of carrying roller crossbeam work station, comprising the following steps:
S1, welding loose mail stock.Angle steel when by carrying roller beam welding is deposited in angle steel feeding mechanism, and band steel is stacked
In band steel feeding mechanism, middle pillar and quarter line pillaring are deposited in pillar feeding mechanism.
S2, the limit of spot welding sliding slot.Limit plate lifting cylinder pushes angle steel limit plate to rise.
S3, angle steel feeding.Angle steel is pushed in spot welding sliding slot by angle steel feeding mechanism, after angle steel reaches, lifter plate cylinder
Push the lifting of angle steel lifter plate.
S4, the feeding of band steel and middle pillar and patch material.Band steel is pushed into the angle steel in spot welding sliding slot by band steel feeding mechanism
Downside, lifter plate cylinder drive angle steel lifter plate to drop to angle steel and are pressing against band steel；Pillar feeding mechanism is by middle pillar and quarter line pillaring
It is transported to spot welding sliding slot upper end, and middle pillar and quarter line pillaring are transported to the angle in spot welding sliding slot by pillar feeding position-limit mechanism
It is bonded on steel.
S5, compression clamping.The tooling pusher cylinder that spot welding sliding slot upper end pillar compresses position-limit mechanism pushes under roller bar tooling
It moves, compresses the middle pillar and quarter line pillaring on angle steel.
S6, spot welding.Spot welding robot carries out spot welding to the workpiece in spot welding sliding slot.
S7, displacement.The tooling pusher cylinder of spot welding sliding slot upper end drives roller bar tooling to move up, and limit plate lifting cylinder drives
The decline of angle steel limit plate, angle steel feeding mechanism are pushed into next angle steel, and the workpiece push-in that point is soldered is fully welded in sliding slot.
S8, reorientation.The workpiece of point postwelding is pushed into be fully welded in sliding slot after, workpiece opposite direction is pushed and is pushed up by swing clamp cylinder
Tightly.
S9, compression clamping.It is fully welded under the tooling pusher cylinder promotion roller bar tooling that sliding slot upper end pillar compresses position-limit mechanism
It moves, compresses the tooling being fully welded in sliding slot.
S10, it is fully welded.Robot is fully welded to be fully welded the workpiece being fully welded in sliding slot.While carrying out S7-S10 step,
In the synchronous progress S3-S6 step of spot welding sliding slot.
S11, workpiece are released.After being fully welded, swing clamp cylinder movement, angle steel feeding mechanism is pushed into next angle steel again,
It pushes the workpiece after being fully welded to release slope from the workpiece for being fully welded sliding slot end and releases operation area, the welding for completing carrying roller crossbeam is made
Industry.
Further, the work station includes welding platform, angle steel feeding mechanism, band steel feeding mechanism, pillar feeding
Mechanism, pillar feeding position-limit mechanism, pillar compress position-limit mechanism, spot welding robot, are fully welded robot and for the work
Stand control controller.
The welding platform includes interconnected spot welding sliding slot and is fully welded sliding slot, and the angle steel feeding mechanism and band steel are sent
Material mechanism is installed in the welding platform, and is located at beside the spot welding sliding slot.
The angle steel output end of the angle steel feeding mechanism connects the angle steel input end of the spot welding sliding slot, the band steel feeding
Mechanism is provided with multiple, and the band steel output end of band steel feeding mechanism connects the band steel input end of the spot welding sliding slot.
The pillar output end of the pillar feeding mechanism is located above the pillar input end of the spot welding sliding slot, the pillar
Feeding position-limit mechanism is mounted on the pillar input end of spot welding sliding slot, and the pillar compresses position-limit mechanism and is mounted on spot welding sliding slot and expires
Weld the top of sliding slot.
It the spot welding robot and is fully welded robot and is separately mounted to the spot welding sliding slot and is fully welded beside sliding slot.
Welding platform is the workbench of carrying roller beam welding, angle steel feeding mechanism, band steel feeding mechanism and pillar feeding
Angle steel, band steel and pillar are transported on the spot welding sliding slot of welding platform by mechanism respectively, pillar feeding position-limit mechanism and pillar pressure
Tight position-limit mechanism is limited and is compressed to the pillar being transported on spot welding sliding slot, and spot welding robot is to the angle in spot welding sliding slot
Steel, band steel and pillar carry out spot welding, are welded as a whole；Then the angle steel, band steel and pillar of postwelding are transported to and are fully welded
In sliding slot, it is fully welded robot and the angle steel, band steel and pillar of postwelding is fully welded, angle steel, band steel and pillar are welded as band
The carrying roller crossbeam of formula conveyer.
Further, the welding platform further include supporting table, band steel guide groove, angle steel lifter plate, angle steel limit plate,
Lifter plate cylinder, limit plate lifting cylinder, swing clamp cylinder and workpiece release slope.
The spot welding sliding slot is fully welded sliding slot, band steel guide groove, angle steel lifter plate and angle steel limit plate and is installed in the branch
It supports on platform；The spot welding sliding slot and the width for being fully welded sliding slot lower end are all larger than the width of upper end, and the band steel guide groove is vertically simultaneously
It is connected to the spot welding sliding slot；The angle steel lifter plate is arranged in spot welding sliding slot, and the telescopic rod of lifter plate cylinder passes through supporting table
Connect the angle steel lifter plate；In spot welding sliding slot end, angle steel limit plate connects the limit plate for the angle steel limit plate setting
The telescopic rod of lifting cylinder；The swing clamp cylinder is fully welded sliding slot end described in being mounted on, described to be fully welded sliding slot end and the work
Part is released slope top and is mutually connected.
Spot welding sliding slot carries out spot welding for the push-in of angle steel, release and diagonal steel；It is horizontal for carrying roller after spot welding to be fully welded sliding slot
The push-in of beam is released and is fully welded to it；Band steel guide groove is used for the push-in of band steel.Spot welding sliding slot and it is fully welded sliding slot lower end
Width is all larger than the width of upper end, be band steel after being welded as a whole for band steel and angle steel, after welding can from bottom end width compared with
It is skidded off in big sliding slot, into next station.Angle steel lifter plate in spot welding sliding slot is sliding in order to enter spot welding in angle steel
After in slot, angle steel is jacked upwards, the band steel in band steel guide groove is facilitated to enter below the left and right ends of angle steel, and spot welding robot will
Band steel is welded on angle steel left and right ends.The angle steel limit plate of spot welding sliding slot end, be in order to weld it is initial when, to spot welding sliding slot
Interior angle steel is limited, and angle steel limit plate keeps off angle steel, keeps angle steel immovable, to limit before and after the angle steel in spot welding sliding slot
Position, spot welding robot's diagonal steel and band steel weld；After point is soldered, angle steel limit plate is under the drive of limit plate lifting cylinder
Retracted downward no longer keeps off angle steel, and under the promotion of subsequent angle steel, from spot welding sliding slot end, entrance is fully welded in sliding slot carries out angle steel
It is fully welded.Swing clamp cylinder is used to carry out front-rear direction reorientation to the workpiece that is fully welded being fully welded in sliding slot；It is fully welded the workpiece of sliding slot end
Slope is released, for welding workpiece to be released operation area after being fully welded.
Further, the angle steel feeding mechanism includes that angle steel stacks frame, angle steel push notch, angle steel pushing plate and nothing
Bar cylinder.
The angle steel push notch setting stacks frame bottom end in angle steel, and angle steel pushes the end connection spot welding sliding slot of notch
The bottom end of angle steel input terminal, the angle steel pushing plate is arranged on the output sliding block of rodless cylinder, and the top of angle steel pushing plate is
Triangular structure, the triangular structure are slidably arranged in angle steel push notch.
Angle steel is piled up to be stacked in frame in angle steel, when work, under the action of rodless cylinder, and the output sliding block band of rodless cylinder
Dynamic angle steel pushing plate thereon is mobile, and angle steel pushing plate slides in angle steel push notch, pushes the angle in angle steel push notch
Steel is displaced outwardly, and angle steel is pushed in spot welding sliding slot, simply and easily diagonal steel is pushed；The top of angle steel pushing plate
For triangular structure, this is matched with the shape of angle steel, and the single angle steel for facilitating diagonal steel to stack frame bottom end is pushed, and
On angle steel thereon without influence.
Further, the band steel feeding mechanism includes that band steel stacks frame, band steel push notch, band steel pushing plate and flat
Steel push cylinder.
The band steel push notch setting stacks frame bottom end in band steel, and the end that band steel pushes notch connects band steel guide groove
Band steel input terminal, one end of the band steel pushing plate be slidably arranged in band steel push notch in, the other end connect band steel push
The telescopic rod of cylinder.
Band steel is piled up to be stacked in frame in band steel, and when work, under the action of band steel push cylinder, band steel push cylinder is stretched
Contracting bar drives band steel pushing plate mobile, and band steel pushing plate slides in band steel push notch, pushes flat in band steel push notch
Steel is displaced outwardly, and band steel is pushed in band steel guide groove, is simply and easily pushed to band steel.
Further, the pillar feeding mechanism includes transmission mounting rack, middle pillar transfer assembly and quarter line pillaring transmission
Component, the middle pillar transfer assembly and quarter line pillaring transfer assembly are installed on the transmission mounting rack, and the quarter line pillaring passes
Sending component is located on the outside of the middle pillar transfer assembly；Middle pillar transfer assembly is for pillar, quarter line pillaring to pass in transmission when welding
Sending component is for transmitting quarter line pillaring when welding.
The middle pillar transfer assembly includes middle pillar conveying trough, middle pillar pushing frame, middle pillar transmission chain and middle branch
Column transport motor, the middle pillar pushing frame are fixedly mounted on middle pillar transmission chain upper end, and the end of middle pillar pushing frame is sliding
Dynamic to be mounted in middle pillar conveying trough, the middle pillar transmission chain is driven by middle pillar transport motor.During middle pillar is placed on
In pillar conveying trough, under the action of middle pillar transport motor, middle pillar transmission chain movement drives the middle pillar of chain upper end
Pushing frame moves, and the middle pillar sliding in promotion in pillar conveying trough is slided into welding platform and welded, simply and easily to support
The middle pillar of roller crossbeam is transmitted.
The quarter line pillaring transfer assembly includes quarter line pillaring conveying trough, quarter line pillaring pushing frame, quarter line pillaring transmission chain and Bian Zhi
Column transport motor, the quarter line pillaring pushing frame are fixedly mounted on quarter line pillaring transmission chain upper end, and the end of quarter line pillaring pushing frame is sliding
Dynamic to be mounted in quarter line pillaring conveying trough, the quarter line pillaring transmission chain is driven by quarter line pillaring transport motor.Quarter line pillaring is placed on side
In pillar conveying trough, under the action of quarter line pillaring transport motor, the movement of quarter line pillaring transmission chain drives the quarter line pillaring of chain upper end
Pushing frame movement pushes the quarter line pillaring sliding in quarter line pillaring conveying trough, slides into welding platform and weld, simply and easily to support
The quarter line pillaring of roller crossbeam is transmitted.
Further, the middle pillar conveying trough and quarter line pillaring conveying trough are parallel to each other and there are two being respectively provided with, two
Middle pillar conveying trough is centrally located and is parallel to each other, and two quarter line pillaring conveying troughs are located at outside two middle pillar conveying troughs
It side and is parallel to each other.Centre is two middle pillar conveying troughs, and both sides are two quarter line pillaring conveying troughs, this is the reality with carrying roller crossbeam
Border structure is adapted, and each conveying trough is disposed in parallel relation to one another, after ensure that pillar is sent out, quarter line pillaring and quarter line pillaring when welding
Between, the relative position size of quarter line pillaring and middle branch intercolumniation, middle pillar and middle branch intercolumniation.
Transmission mounting rack is stretched out in the end of the middle pillar conveying trough and quarter line pillaring conveying trough；Stretch out transmission mounting rack one
Section distance, after the middle pillar and quarter line pillaring for pushing pushing plate come out from conveying trough, the welding that is directly transmitted in front of conveying trough
On platform.It is high outside bottom in the frid at quarter line pillaring conveying trough both ends；Low inner end frid is to assemble to carry out in order to prevent with other components
When welding, inner end frid keeps off pillar and compresses position-limit mechanism；Outer end frid height is mutually to fit with the height of quarter line pillaring, while and being
Prevent the external object from entering inside pillar feeding mechanism from left and right ends.
The middle pillar pushing frame and quarter line pillaring pushing frame include the down-set promotion of intermediate connector and both ends
Plate, the connector are fixedly mounted on transmission chain, and the pushing plate is slidably mounted in conveying trough.Connector is fixed on chain
Upper end, pushing plate are slidably arranged in conveying trough, and chain movement band follower link moves and then drives pushing plate in conveying trough
Interior sliding pushes quarter line pillaring or middle pillar in conveying trough to slide in and out, is transmitted in welding platform and welds, simply and easily right
The quarter line pillaring of carrying roller crossbeam and middle pillar are transmitted.
Further, the pillar feeding position-limit mechanism includes pillar locating rack, detaches piece crossbearer, locating rack promotion gas
Cylinder, crossbearer pusher cylinder and linear guide.
The pillar locating rack includes the middle pillar U-type groove and quarter line pillaring U-type groove of front end, the middle pillar U-type groove and side
The output end of middle pillar conveying trough and quarter line pillaring conveying trough described in the open end difference face of pillar U-type groove, and be located at described
Right above spot welding sliding slot.
The piece crossbearer that detaches includes that front end is slided block the middle pillar U-type groove and quarter line pillaring U-type groove bottom end goes out respectively
The middle pillar baffle and quarter line pillaring baffle of mouth.
The locating rack pusher cylinder is fixedly mounted on the supporting table, and the telescopic rod of the locating rack pusher cylinder connects
Connect the pillar locating rack；The crossbearer pusher cylinder is fixedly mounted on the lower surface of pillar locating rack, crossbearer pusher cylinder
Telescopic rod connection detach piece crossbearer；The track of the linear guide is fixedly mounted on the supporting table, the cunning of linear guide
Block upper end connects the pillar locating rack.
Pillar feeding position-limit mechanism is for middle pillar and quarter line pillaring to be sent in spot welding sliding slot from pillar feeding mechanism.Its
In, pillar locating rack slides under the action of locating rack pusher cylinder and linear guide perpendicular to spot welding track length direction,
At a distance between exporting end convenient for pillar U-type groove and quarter line pillaring U-type groove in control and pillar feeding mechanism, make middle pillar and Bian Zhi
Column respectively enters in middle pillar U-type groove and quarter line pillaring U-type groove, in middle pillar baffle and quarter line pillaring the baffle support of U-type groove lower end
Pillar and quarter line pillaring.Piece crossbearer is detached under the action of crossbearer pusher cylinder, is slided perpendicular to spot welding track length direction, control
Pillar baffle and quarter line pillaring baffle are slided in middle pillar U-type groove and quarter line pillaring U-type groove lower end in system, middle pillar U-type groove and Bian Zhi
Middle pillar and quarter line pillaring in column U-type groove are directly fallen in the spot welding sliding slot of lower end, simply and easily control middle pillar and
The entrance of quarter line pillaring.
Further, it includes that cylinder installation portal frame, roller bar tooling and tooling push that the pillar, which compresses position-limit mechanism,
Cylinder.
The tooling pusher cylinder is mounted on the cylinder installation portal frame, and there are two the roller bar tooling settings, point
It the spot welding sliding slot and Wei Yu not be fully welded above sliding slot, the top of the roller bar tooling connects the flexible of the tooling pusher cylinder
Bar.Under the action of tooling pusher cylinder, roller bar tooling is mobile in vertical direction, the middle pillar and quarter line pillaring to carrying roller crossbeam into
It row limit and compresses, and then convenient for spot welding robot and is fully welded robot carrying roller beam welding workpiece is welded.
The roller bar tooling includes the connecting rod of upper end, the compression gag lever post of lower end, the connection connecting rod and compresses limit
Connecting plate in the middle part of the bar of position；The both ends for compressing gag lever post are folded upward at respectively, and the left and right ends of the connecting rod connect respectively
Connect the left and right ends that the compression gag lever post is folded upward at；Lower end in the middle part of the compression gag lever post is provided with middle pillar and compresses limit
Position block, the lower end of both ends bending part are provided with quarter line pillaring and compress limited block.
Under the drive of tooling pusher cylinder, move down roller bar tooling, to the middle pillar and quarter line pillaring of carrying roller crossbeam
It is limited and is compressed；Wherein, middle pillar compresses the top slot that limited block sticks middle pillar, and quarter line pillaring compresses limited block and sticks
The top slot of quarter line pillaring, convenient for being pressed downward middle pillar and quarter line pillaring, centering pillar and quarter line pillaring again limit it while compression
Position, and then convenient for spot welding robot and be fully welded robot workpiece is welded.The both ends for compressing gag lever post are folded upward at respectively,
This allows for the specific structure of carrying roller crossbeam, is compressed and is limited simultaneously convenient for centering pillar and quarter line pillaring.
Further, the spot welding robot is installed on robot mounting table with the lower end for being fully welded robot, point
Weldering robot is located in front of spot welding sliding slot, and the robot that is fully welded is provided with two, is respectively placed in the front and back for being fully welded sliding slot
Two sides.Spot welding robot carries out preliminary spot welding in spot welding sliding slot to workpiece, and then working to be pushed into is fully welded in sliding slot, and two
Platform is fully welded robot and is fully welded to workpiece, by local all melting welding of all contacts of welding workpiece, welding workpiece is made to be welded as one
It is whole.Three welding robots weld workpiece in total, and one spot welding two are fully welded, and keep the welding robot division of labor clear,
Improve the efficiency to welding workpiece welding.
Beneficial effects of the present invention:
The present invention provides the welding control methods that a kind of robot automation welds carrying roller crossbeam work station, pass through control
Device controls each cylinder, motor and the work of welding robot cooperation；Angle steel feeding mechanism, band steel feeding mechanism and pillar feeding
Angle steel, band steel and pillar are transported on the spot welding sliding slot of welding platform by mechanism respectively, pillar feeding position-limit mechanism and pillar pressure
Tight position-limit mechanism is limited and is compressed to the pillar being transported on spot welding sliding slot, and spot welding robot is to the angle in spot welding sliding slot
Steel, band steel and pillar carry out spot welding, are welded as a whole；Then the angle steel, band steel and pillar of postwelding are transported to and are fully welded
It in sliding slot, is fully welded robot and the angle steel, band steel and pillar of postwelding is fully welded, release slope from workpiece after being fully welded and release
The automated production of carrying roller crossbeam is completed in operation area；Guarantee the welding of band steel, middle pillar and quarter line pillaring on angle steel in welding
Position, more traditional artificial welding manner can effectively improve welding quality and efficiency, while improve the operating condition of shop worker.
Detailed description of the invention
Fig. 1 is flow chart of the invention；
Fig. 2 is work station structural schematic diagram of the invention；
Fig. 3 is the top view of work station of the present invention；
Fig. 4 is the structural schematic diagram that supporting table of the present invention and workpiece release slope；
Fig. 5 is that welding platform of the present invention removes supporting table and workpiece releases the structural schematic diagram behind slope；
Fig. 6 is the structural schematic diagram of angle steel feeding mechanism of the present invention；
Fig. 7 is the left side structure schematic diagram of angle steel feeding mechanism of the present invention；
Fig. 8 is the structural schematic diagram of band steel feeding mechanism of the present invention；
Fig. 9 is the structural schematic diagram of pillar feeding mechanism of the present invention；
Figure 10 is the structural schematic diagram of pillar transfer assembly and quarter line pillaring transfer assembly in the present invention；
Figure 11 is the structural schematic diagram of pillar conveying trough in the present invention；
Figure 12 is the structural schematic diagram of quarter line pillaring conveying trough of the present invention；
Figure 13 is the structural schematic diagram of pillar pushing frame in the present invention；
Figure 14 is the structural schematic diagram of quarter line pillaring pushing frame of the present invention；
Figure 15 is the structural schematic diagram of pillar feeding position-limit mechanism of the present invention；
Figure 16 is the bottom view of pillar feeding position-limit mechanism of the present invention；
Figure 17 is the structural schematic diagram of pillar locating rack of the present invention；
Figure 18 is the structural schematic diagram that the present invention detaches piece crossbearer；
Figure 19 is the structural schematic diagram that pillar of the present invention compresses position-limit mechanism；
Figure 20 is the structural schematic diagram of roller bar tooling of the present invention；
Figure 21 is the structural schematic diagram for the carrying roller crossbeam that the present invention welds；
In figure: 1, welding platform；10, supporting table；11, spot welding sliding slot；12, it is fully welded sliding slot；13, band steel guide groove；14, angle
Steel lifter plate；15, angle steel limit plate；16, lifter plate cylinder；17, limit plate lifting cylinder；18, swing clamp cylinder；19, workpiece pushes away
Slope out；2, angle steel feeding mechanism；21, angle steel stacks frame；22, angle steel pushes notch；23, angle steel pushing plate；24, without bar gas
Cylinder；3, band steel feeding mechanism；31, band steel stacks frame；32, band steel pushes notch；33, band steel pushing plate；34, band steel pushes gas
Cylinder；4, pillar feeding mechanism；41, mounting rack is transmitted；42, middle pillar transfer assembly；421, pillar conveying trough；422, middle pillar pushes away
Moving frame；423, middle pillar transmission chain；424, middle pillar transport motor；43, quarter line pillaring transfer assembly；431, quarter line pillaring transmits
Slot；432, quarter line pillaring pushing frame；433, quarter line pillaring transmission chain；434, quarter line pillaring transport motor；44, connector；45, it pushes
Plate；5, pillar feeding position-limit mechanism；51, pillar locating rack；511, middle pillar U-type groove；512, quarter line pillaring U-type groove；52, piece is detached
Crossbearer；521, middle pillar baffle；522, quarter line pillaring baffle；53, locating rack pusher cylinder；54, crossbearer pusher cylinder；55, straight line
Guide rail；6, pillar compresses position-limit mechanism；61, cylinder installs portal frame；62, roller bar tooling；621, connecting rod；622, limit is compressed
Bar；623, connecting plate；624, middle pillar compresses limited block；625, quarter line pillaring compresses limited block；63, tooling pusher cylinder；7, point
Weld robot；8, it is fully welded robot；9, carrying roller crossbeam；91, angle steel；92, band steel；93, middle pillar；94, quarter line pillaring.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention is made into one with reference to the accompanying drawing
Step illustrates.In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", "top",
The orientation or positional relationship of the instructions such as "bottom", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, merely to just
In description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with
Specific orientation construction and operation, therefore be not considered as limiting the invention.
A kind of robot automation welds the welding control method of carrying roller crossbeam work station, as shown in Figure 1, including following step
It is rapid:
S1, welding loose mail stock.Angle steel 91 when carrying roller crossbeam 9 is welded is deposited in angle steel feeding mechanism 2, band steel
92 are deposited in band steel feeding mechanism 3, and middle pillar 93 and quarter line pillaring 94 are deposited in pillar feeding mechanism 4.
S2, the limit of spot welding sliding slot.Limit plate lifting cylinder 17 pushes angle steel limit plate 15 to rise.
S3, angle steel feeding.Angle steel 91 is pushed in spot welding sliding slot 11 by angle steel feeding mechanism 2, after angle steel reaches, lifter plate
Cylinder 16 pushes angle steel lifter plate 14 to be lifted.
S4, the feeding of band steel and middle pillar and patch material.Band steel 92 is pushed into spot welding sliding slot 11 by band steel feeding mechanism 3
On the downside of angle steel, lifter plate cylinder 16 drives angle steel lifter plate 14 to drop to angle steel 91 and is pressing against band steel 92；Pillar feeding mechanism 4 will in
Pillar 93 and quarter line pillaring 94 are transported to 11 upper end of spot welding sliding slot, and pass through pillar feeding position-limit mechanism 5 for middle pillar 93 and Bian Zhi
It is bonded on the angle steel 91 that column 94 is transported in spot welding sliding slot 11.
S5, compression clamping.The tooling pusher cylinder 63 that 11 upper end pillar of spot welding sliding slot compresses position-limit mechanism 6 pushes roller bar work
It fills 62 to move down, compresses the middle pillar 93 and quarter line pillaring 94 on angle steel 91.
S6, spot welding.Spot welding robot 7 carries out spot welding to the workpiece in spot welding sliding slot 11.
S7, displacement.The tooling pusher cylinder 63 of 11 upper end of spot welding sliding slot drives roller bar tooling 62 to move up, limit plate lifting air
Cylinder 17 drives angle steel limit plate 15 to decline, and angle steel feeding mechanism 2 is pushed into next angle steel 91, and the workpiece push-in that point is soldered is fully welded
In sliding slot 12.
S8, reorientation.The workpiece of point postwelding is pushed into be fully welded in sliding slot 12 after, swing clamp cylinder 18 pushes workpiece opposite direction
It holds out against.
S9, compression clamping.It is fully welded the promotion roller bar work of tooling pusher cylinder 63 that 12 upper end pillar of sliding slot compresses position-limit mechanism 6
It fills 62 to move down, compresses the tooling being fully welded in sliding slot 12.
S10, it is fully welded.Robot 8 is fully welded to be fully welded the workpiece being fully welded in sliding slot 12.Carrying out the same of S7-S10 step
When, in the synchronous progress S3-S6 step of spot welding sliding slot 11.
S11, workpiece are released.After being fully welded, swing clamp cylinder 18 is acted, and angle steel feeding mechanism 2 is pushed into next angle again
Steel 91 pushes the workpiece after being fully welded to release slope 19 from the workpiece for being fully welded 12 end of sliding slot and releases operation area, completes carrying roller crossbeam
Weld job.
As prioritization scheme of the invention, as shown in Figures 2 and 3, including welding platform 1, angle steel feeding mechanism 2, band steel are sent
Material mechanism 3, pillar feeding mechanism 4, pillar feeding position-limit mechanism 5, pillar compress position-limit mechanism 6, spot welding robot 7, are fully welded machine
Device people 8 and controller for controlling work station；
Welding platform 1 includes interconnected spot welding sliding slot 11 and is fully welded sliding slot 12, angle steel feeding mechanism 2 and band steel feeding
Mechanism 3 is installed in welding platform 1, and is located at 11 side of spot welding sliding slot；
The angle steel input end of the angle steel output end connection spot welding sliding slot 11 of angle steel feeding mechanism 2, band steel feeding mechanism 3 are arranged
There is multiple, the band steel input end of the band steel output end connection spot welding sliding slot 11 of band steel feeding mechanism 3；
The pillar output end of pillar feeding mechanism 4 is located above the pillar input end of spot welding sliding slot 11, pillar feeding limit
Mechanism 5 is mounted on the pillar input end of spot welding sliding slot 11, and pillar compresses position-limit mechanism 6 and is mounted on spot welding sliding slot 11 and is fully welded sliding slot
12 top；
It spot welding robot 7 and is fully welded robot 8 and is separately mounted to spot welding sliding slot 11 and is fully welded the side of sliding slot 12.
In the present embodiment, controller selects the PLC of the 288 1SR60 0AA0 model of 6ES7 of Siemens；Spot welding robot 7
With the robot for being fully welded robot 8 and selecting M-20iA02x01 model.
As prioritization scheme of the invention, as shown in Figures 4 and 5, welding platform 1 further includes supporting table 10, band steel guide groove
13, angle steel lifter plate 14, angle steel limit plate 15, lifter plate cylinder 16, limit plate lifting cylinder 17, swing clamp cylinder 18 and workpiece push away
Slope 19 out；In the present embodiment, lifter plate cylinder 16 and limit plate lifting cylinder 17 select the cylinder of SE32x25 model；Turn
The cylinder of the selection model ACKL50x90 model of angle cylinder 18.
Spot welding sliding slot 11 is fully welded sliding slot 12, band steel guide groove 13, angle steel lifter plate 14 and angle steel limit plate 15 and is installed in
In supporting table 10；Spot welding sliding slot 11 and the width for being fully welded 12 lower end of sliding slot are all larger than the width of upper end, and band steel guide groove 13 is vertical
And it is connected to spot welding sliding slot 11；Angle steel lifter plate 14 is arranged in spot welding sliding slot 11, and the telescopic rod of lifter plate cylinder 16 passes through support
10 angle cleat lifter plate 14 of platform；The setting of angle steel limit plate 15 connects limit plate in 11 end of spot welding sliding slot, angle steel limit plate 15
The telescopic rod of lifting cylinder 17；Swing clamp cylinder 18, which is mounted on, is fully welded 12 end of sliding slot, is fully welded 12 end of sliding slot and workpiece is released tiltedly
19 top of slope is mutually connected.
As prioritization scheme of the invention, as shown in Figures 6 and 7, angle steel feeding mechanism 2 includes that angle steel stacks frame 21, angle steel
Push notch 22, angle steel pushing plate 23 and rodless cylinder 24；In the present embodiment, rodless cylinder 24 selects model 1312505_
The cylinder of DGC-K-63-1850-PPV-A-GK.
Angle steel pushes the setting of notch 22 and stacks 21 bottom end of frame in angle steel, and the end that angle steel pushes notch 22 connects spot welding sliding slot
11 angle steel input terminal, the bottom end of angle steel pushing plate 23 are arranged on the output sliding block of rodless cylinder 24, angle steel pushing plate 23
Top is triangular structure, and triangular structure is slidably arranged in angle steel push notch 22.
As prioritization scheme of the invention, as shown in figure 8, band steel feeding mechanism 3 includes that band steel stacks frame 31, band steel push
Notch 32, band steel pushing plate 33 and band steel push cylinder 34；In the present embodiment, band steel push cylinder 34 selects model
The cylinder of SE50x500 model.
Band steel pushes the setting of notch 32 and stacks 31 bottom end of frame in band steel, and band steel pushes the end connection band steel guiding of notch 32
The band steel input terminal of slot 13, one end of band steel pushing plate 33 are slidably arranged in band steel push notch 32, and the other end connects band steel
The telescopic rod of push cylinder 34.
As prioritization scheme of the invention, as shown in Fig. 9-14, pillar feeding mechanism 4 includes transmission mounting rack 41, middle branch
Column transfer assembly 42 and quarter line pillaring transfer assembly 43, middle pillar transfer assembly 42 and quarter line pillaring transfer assembly 43 are installed in transmission
On mounting rack 41, quarter line pillaring transfer assembly 43 is located at middle 42 outside of pillar transfer assembly；
Middle pillar transfer assembly 42 includes middle pillar conveying trough 421, middle pillar pushing frame 422, middle pillar transmission chain 423
With middle pillar transport motor 424, middle pillar pushing frame 422 is fixedly mounted on middle 423 upper end of pillar transmission chain, and middle pillar pushes
The end of frame 422 is slidably mounted in middle pillar conveying trough 421, and middle pillar transmission chain 423 is driven by middle pillar transport motor 424
It is dynamic；
Quarter line pillaring transfer assembly 43 includes quarter line pillaring conveying trough 431, quarter line pillaring pushing frame 432, quarter line pillaring transmission chain 433
With quarter line pillaring transport motor 434, quarter line pillaring pushing frame 432 is fixedly mounted on 433 upper end of quarter line pillaring transmission chain, and quarter line pillaring pushes
The end of frame 432 is slidably mounted in quarter line pillaring conveying trough 431, and quarter line pillaring transmission chain 433 is driven by quarter line pillaring transport motor 434
It is dynamic.In the present embodiment, middle pillar transport motor 424 and quarter line pillaring transport motor 434 select model SHSTM110-1.2-S-
171 motor.
As prioritization scheme of the invention, as shown in Fig. 9-14,431 phase of middle pillar conveying trough 421 and quarter line pillaring conveying trough
Mutually parallel and there are two being respectively provided with, two middle pillar conveying troughs 421 are centrally located and are parallel to each other, two quarter line pillarings transmission
Slot 431 is located at two middle 421 outsides of pillar conveying trough and is parallel to each other, middle pillar conveying trough 421 and quarter line pillaring conveying trough
Transmission mounting rack 41 is stretched out in 431 end, high outside bottom in the frid at 431 both ends of quarter line pillaring conveying trough；
Middle pillar pushing frame 422 and quarter line pillaring pushing frame 432 include that intermediate connector 44 and both ends are down-set
Pushing plate 45, connector 44 are fixedly mounted on transmission chain, and pushing plate 45 is slidably mounted in conveying trough.
As prioritization scheme of the invention, as shown in figures 15-18, pillar feeding position-limit mechanism 5 include pillar locating rack 51,
Detach piece crossbearer 52, locating rack pusher cylinder 53, crossbearer pusher cylinder 54 and linear guide 55.In the present embodiment, locating rack is pushed away
The cylinder of cylinder 53 of taking offence selection model SE50x100 model；The gas of the selection model SE32x100 model of crossbearer pusher cylinder 54
Cylinder；The guide rail of the selection model SHS25LC2QZSS model of linear guide 55.
Pillar locating rack 51 includes the middle pillar U-type groove 511 and quarter line pillaring U-type groove 512 of front end, middle 511 He of pillar U-type groove
Distinguish the output end of positive centering pillar conveying trough 421 and quarter line pillaring conveying trough 431, and position in the open end of quarter line pillaring U-type groove 512
Right above spot welding sliding slot 11；
Detaching piece crossbearer 52 includes that front end is slided block middle pillar U-type groove 511 and 512 bottom end of quarter line pillaring U-type groove goes out respectively
The middle pillar baffle 521 and quarter line pillaring baffle 522 of mouth；
Locating rack pusher cylinder 53 is fixedly mounted in supporting table 10, the telescopic rod connection pillar of locating rack pusher cylinder 53
Locating rack 51；Crossbearer pusher cylinder 54 is fixedly mounted on the lower surface of pillar locating rack 51, and crossbearer pusher cylinder 54 is stretched
Bar connection detaches piece crossbearer 52；The track of linear guide 55 is fixedly mounted in supporting table 10, the upper end of slide block of linear guide 55
Connection pillar locating rack 51.
As prioritization scheme of the invention, as shown in figure 19, it includes that cylinder installs portal frame that pillar, which compresses position-limit mechanism 6,
61, roller bar tooling 62 and tooling pusher cylinder 63；In the present embodiment, tooling pusher cylinder 63 selects model SE50x100 model
Cylinder.
Tooling pusher cylinder 63 is mounted on cylinder installation portal frame 61, and there are two the settings of roller bar tooling 62, is located at
Spot welding sliding slot 11 and it is fully welded the top of sliding slot 12, the telescopic rod of the top connecting tooling pusher cylinder 63 of roller bar tooling 62.
As prioritization scheme of the invention, as shown in figure 20, roller bar tooling 62 includes the connecting rod 621 of upper end, lower end
Compress gag lever post 622, connection connecting rod 621 and the connecting plate 623 for compressing 622 middle part of gag lever post；
The both ends for compressing gag lever post 622 are folded upward at respectively, and the left and right ends of connecting rod 621 are separately connected compression gag lever post
622 left and right ends being folded upward at；The lower end for compressing 622 middle part of gag lever post is provided with middle pillar and compresses limited block 624, and both ends are curved
The lower end of folding part point is provided with quarter line pillaring and compresses limited block 625.
As prioritization scheme of the invention, as shown in Figures 2 and 3, spot welding robot 7 and the lower end for being fully welded robot 8 are pacified
On robot mounting table, spot welding robot 7 is located at 11 front of spot welding sliding slot, is fully welded robot 8 and is provided with two, sets respectively
In two side of front and back for being fully welded sliding slot 12.
In present invention, it is desirable to welding carrying roller crossbeam 9 as described in Figure 21, it include 91, two band steels 92 of an angle steel,
Two middle pillars 93 and two quarter line pillarings 94, the purpose of work station of the invention are exactly needed 91, two band steels of an angle steel
92, two middle pillars 93 and two quarter line pillarings 94 are welded as carrying roller crossbeam as shown in figure 20.
In order to better understand the present invention, primary complete description is made to the working principle of the invention below:
In above-mentioned S1 step, the angle steel that angle steel 91 is deposited in angle steel feeding mechanism 2 is stacked in frame 21；Band steel 92 is deposited in two
The band steel of a band steel feeding mechanism 3 is stacked in frame 31；Middle pillar 93 is deposited in two middle pillar conveying troughs of pillar feeding mechanism 4
In 421；Quarter line pillaring 94 is deposited in two quarter line pillaring conveying troughs 431 of pillar feeding mechanism 4.
Control method the following steps are included:
S1, welding loose mail stock.Angle steel 91 when carrying roller crossbeam 9 is welded is deposited in angle steel feeding mechanism 2, band steel
92 are deposited in band steel feeding mechanism 3, and middle pillar 93 and quarter line pillaring 94 are deposited in pillar feeding mechanism 4.Specifically, angle steel 91
The angle steel for being deposited in angle steel feeding mechanism 2 is stacked in frame 21；The band steel that band steel 92 is deposited in two band steel feeding mechanisms 3 stacks frame
In 31；Middle pillar 93 is deposited in two middle pillar conveying troughs 421 of pillar feeding mechanism 4；Quarter line pillaring 94 is deposited in pillar and send
In two quarter line pillaring conveying troughs 431 for expecting mechanism 4.
S2, the limit of spot welding sliding slot.Limit plate lifting cylinder 17 pushes angle steel limit plate 15 to rise, in spot welding sliding slot 11
It is limited before and after angle steel 91.
S3, angle steel feeding.Under the action of rodless cylinder 24, the output sliding block of rodless cylinder 24 drives angle steel thereon to push away
Send plate 23 mobile, angle steel pushing plate 23 slides in angle steel push notch 22, push angle steel 91 in angle steel push notch 22 to
Angle steel 91 is pushed in spot welding sliding slot 11 by outer movement；After angle steel reaches, lifter plate cylinder 16 pushes angle steel lifter plate 14 to be lifted
A distance.
S4, the feeding of band steel and middle pillar and patch material.
S41, band steel push cylinder 34 work, and the telescopic rod of band steel push cylinder 34 drives band steel pushing plate 33 mobile, flat
Steel pushing plate 33 slides in band steel push notch 32, pushes the band steel 92 in band steel push notch 32 to be displaced outwardly, by band steel
92 are pushed in band steel guide groove 13, are further pushed into spot welding sliding slot 11 on the downside of angle steel left and right ends；Then lifter plate gas
Cylinder 16 drives angle steel lifter plate 14 to drop to angle steel 91 and is pressing against band steel 92.
S42, middle pillar transport motor 424 and quarter line pillaring transport motor 434 rotate, and drive two middle pillar transmission chains
423 with two quarter line pillaring transmission chains 433 synchronize move right, and then drive in pillar pushing frame 422 and quarter line pillaring pushing frame
432 move right, and the pushing plate 45 at pushing frame both ends moves right in middle pillar conveying trough 421 and quarter line pillaring conveying trough 431,
In promotion the middle pillar 93 of pillar conveying trough 421 and the quarter line pillaring 94 of quarter line pillaring conveying trough 431 synchronize move right, will be in two
Pillar 93 and two quarter line pillarings 94, are transmitted on pillar feeding position-limit mechanism 5 from conveying trough end.
S43, middle pillar U-type groove 511 and quarter line pillaring U-type groove 512 pick the middle pillar 93 transmitted from conveying trough end and side
Pillar 94, then under the promotion of crossbearer pusher cylinder 54, middle pillar baffle 521 and quarter line pillaring baffle 522 are in middle pillar U-type groove
511 and 512 lower end of quarter line pillaring U-type groove sliding detach, 93 He of middle pillar in middle pillar U-type groove 511 and quarter line pillaring U-type groove 512
Quarter line pillaring 94 falls on the angle steel 91 in spot welding sliding slot 11 and is bonded.
S5, compression clamping.The tooling pusher cylinder 63 that 11 upper end pillar of spot welding sliding slot compresses position-limit mechanism 6 pushes roller bar work
It fills 62 to move down, compresses the middle pillar 93 and quarter line pillaring 94 on angle steel 91；Wherein, middle pillar compresses limited block 624 and sticks middle pillar
93 top slot, quarter line pillaring compress the top slot that limited block 625 sticks quarter line pillaring 94, and centering pillar 93 and quarter line pillaring 94 are pressed
It is limited again while tight.
S6, spot welding.Spot welding robot 7 carries out spot welding to the workpiece in spot welding sliding slot 11.
S7, displacement.The tooling pusher cylinder 63 of 11 upper end of spot welding sliding slot drives roller bar tooling 62 to move up, limit plate lifting air
Cylinder 17 drives angle steel limit plate 15 to decline, and roller bar tooling 62 and angle steel limit plate 15 no longer limit pillar 93 and quarter line pillaring 94；
Then angle steel feeding mechanism 2 is pushed into next angle steel 91, and the workpiece push-in that point is soldered is fully welded in sliding slot 12.Angle steel limit plate 15
Only for the first time be pushed into angle steel when from position-limiting action, hereafter angle steel limit plate 15 is constantly in lowest part, it is no longer necessary to spot welding
Angle steel limit in sliding slot 11.
S8, reorientation.The workpiece of point postwelding is pushed into be fully welded in sliding slot 12 after, swing clamp cylinder 18 pushes workpiece opposite direction
It holds out against, prevents push-in direction position from deviation occur, it is accurate to guarantee that it is pushed into the position in direction.
S9, compression clamping.It is fully welded the promotion roller bar work of tooling pusher cylinder 63 that 12 upper end pillar of sliding slot compresses position-limit mechanism 6
It fills 62 to move down, compresses the tooling being fully welded in sliding slot 12；Wherein, middle pillar compresses the upper end slot that limited block 624 sticks middle pillar 93
Mouthful, quarter line pillaring compresses the top slot that limited block 625 sticks quarter line pillaring 94, and the middle pillar 93 and quarter line pillaring 94 to postwelding compress
While again it is limited.
S10, it is fully welded.Robot 8 is fully welded to be fully welded the workpiece being fully welded in sliding slot 12.Carrying out the same of S7-S10 step
When, in the synchronous progress S3-S6 step of spot welding sliding slot 11.
S11, workpiece are released.After being fully welded, swing clamp cylinder 18 is acted, no longer to the workpiece being fully welded in sliding slot 12, angle
Steel feeding mechanism 2 is pushed into next angle steel 91 again, and the workpiece after being fully welded is pushed to release from the workpiece for being fully welded 12 end of sliding slot
Operation area is released on slope 19, completes the weld job of carrying roller crossbeam.
In above-mentioned steps, each cylinder, motor and welding robot be all by controller control run, each cylinder, motor and
Welding robot cooperation completes welding of the carrying roller crossbeam work station to carrying roller crossbeam.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (10)
1. the welding control method that a kind of robot automation welds carrying roller crossbeam work station, which is characterized in that including following step
It is rapid:
S1, welding loose mail stock: the angle steel (91) when carrying roller crossbeam (9) are welded is deposited in angle steel feeding mechanism (2), flat
Steel (92) is deposited in band steel feeding mechanism (3), and middle pillar (93) and quarter line pillaring (94) are deposited in pillar feeding mechanism (4)；
S2, the limit of spot welding sliding slot: limit plate lifting cylinder (17) pushes angle steel limit plate (15) to rise；
S3, angle steel feeding: angle steel (91) is pushed in spot welding sliding slot (11) by angle steel feeding mechanism (2), after angle steel reaches, lifting
Plate cylinder (16) pushes angle steel lifter plate (14) lifting；
S4, the feeding of band steel and middle pillar and patch material: band steel (92) is pushed into spot welding sliding slot (11) by band steel feeding mechanism (3)
Angle steel on the downside of, lifter plate cylinder (16) drives angle steel lifter plate (14) to drop to angle steel (91) and pressing against band steel (92)；Pillar is sent
Middle pillar (93) and quarter line pillaring (94) are transported to spot welding sliding slot (11) upper end by material mechanism (4), and pass through pillar feeding position restrainer
Structure (5) will be bonded on angle steel (91) that middle pillar (93) and quarter line pillaring (94) are transported in spot welding sliding slot (11)；
S5, compression clamping: the tooling pusher cylinder (63) that spot welding sliding slot (11) upper end pillar compresses position-limit mechanism (6) pushes roller bar
Tooling (62) moves down, and compresses middle pillar (93) and quarter line pillaring (94) on angle steel (91)；
S6, spot welding: spot welding robot (7) carries out spot welding to the workpiece in spot welding sliding slot (11)；
S7, displacement: the tooling pusher cylinder (63) of spot welding sliding slot (11) upper end drives roller bar tooling (62) to move up, limit plate lifting
Cylinder (17) drives angle steel limit plate (15) decline, and angle steel feeding mechanism (2) is pushed into next angle steel (91), the work that point is soldered
Part push-in is fully welded in sliding slot (12)；
S8, reorientation: the workpiece for putting postwelding is pushed into be fully welded in sliding slot (12) after, swing clamp cylinder (18) pushes workpiece opposite direction
It holds out against；
S9, compression clamping: it is fully welded tooling pusher cylinder (63) the promotion roller bar that sliding slot (12) upper end pillar compresses position-limit mechanism (6)
Tooling (62) moves down, and compresses the tooling being fully welded in sliding slot (12)；
S10, it is fully welded: being fully welded robot (8) and the workpiece being fully welded in sliding slot (12) is fully welded.Carrying out the same of S7-S10 step
When, in spot welding sliding slot (11) synchronous progress S3-S6 step；
S11, workpiece are released: after being fully welded, swing clamp cylinder (18) movement, angle steel feeding mechanism (2) is pushed into next angle again
Steel (91) pushes the workpiece after being fully welded to release slope (19) from the workpiece for being fully welded sliding slot (12) end and releases operation area, completes support
The weld job of roller crossbeam.
2. a kind of robot automation according to claim 1 welds the welding control method of carrying roller crossbeam work station,
Be characterized in that: the work station includes welding platform (1), angle steel feeding mechanism (2), band steel feeding mechanism (3), pillar feeder
Structure (4), pillar feeding position-limit mechanism (5), pillar compress position-limit mechanism (6), spot welding robot (7), are fully welded robot (8) and use
In the controller controlled the work station；
The welding platform (1) includes interconnected spot welding sliding slot (11) and is fully welded sliding slot (12), the angle steel feeding mechanism
(2) it is installed on the welding platform (1), and is located at beside the spot welding sliding slot (11) with band steel feeding mechanism (3)；
The angle steel output end of the angle steel feeding mechanism (2) connects the angle steel input end of the spot welding sliding slot (11), the band steel
Feeding mechanism (3) be provided with it is multiple, the band steel output end of band steel feeding mechanism (3) connect the band steel of the spot welding sliding slot (11) into
Mouth end；
The pillar output end of the pillar feeding mechanism (4) is located above the pillar input end of the spot welding sliding slot (11), described
Pillar feeding position-limit mechanism (5) is mounted on the pillar input end of spot welding sliding slot (11), and the pillar compresses position-limit mechanism (6) installation
In spot welding sliding slot (11) and it is fully welded the tops of sliding slot (12)；
It the spot welding robot (7) and is fully welded robot (8) and is separately mounted to the spot welding sliding slot (11) and is fully welded sliding slot (12)
Side.
3. a kind of robot automation according to claim 2 welds the welding control method of carrying roller crossbeam work station,
Be characterized in that: the welding platform (1) further includes supporting table (10), band steel guide groove (13), angle steel lifter plate (14), angle steel limit
Position plate (15), lifter plate cylinder (16), limit plate lifting cylinder (17), swing clamp cylinder (18) and workpiece release slope (19)；
The spot welding sliding slot (11) is fully welded sliding slot (12), band steel guide groove (13), angle steel lifter plate (14) and angle steel limit plate
(15) it is installed on the supporting table (10)；The spot welding sliding slot (11) and the width for being fully welded sliding slot (12) lower end are all larger than
The width at end, the band steel guide groove (13) is vertical and is connected to the spot welding sliding slot (11)；Angle steel lifter plate (14) setting
In spot welding sliding slot (11), the telescopic rod of lifter plate cylinder (16) passes through supporting table (10) and connects the angle steel lifter plate (14)；
In spot welding sliding slot (11) end, angle steel limit plate (15) connects the limit plate lifting cylinder for angle steel limit plate (15) setting
(17) telescopic rod；The swing clamp cylinder (18) is fully welded sliding slot (12) end described in being mounted on, described to be fully welded sliding slot (12) end
Slope (19) top is released with the workpiece to be mutually connected.
4. a kind of robot automation according to claim 3 welds the welding control method of carrying roller crossbeam work station,
Be characterized in that: the angle steel feeding mechanism (2) includes that angle steel stacks frame (21), angle steel push notch (22), angle steel pushing plate
(23) and rodless cylinder (24)；
Angle steel push notch (22) setting stacks frame (21) bottom end in angle steel, and angle steel pushes the end tie point of notch (22)
The angle steel input terminal of sliding slot (11) is welded, the output sliding block in rodless cylinder (24) is arranged in the bottom end of the angle steel pushing plate (23)
On, the top of angle steel pushing plate (23) is triangular structure, and the triangular structure is slidably arranged in angle steel push notch (22)
It is interior.
5. a kind of robot automation according to claim 4 welds the welding control method of carrying roller crossbeam work station,
Be characterized in that: the band steel feeding mechanism (3) includes that band steel stacks frame (31), band steel push notch (32), band steel pushing plate
(33) and band steel push cylinder (34)；
Band steel push notch (32) setting stacks frame (31) bottom end in band steel, and band steel pushes the end connection flat of notch (32)
The band steel input terminal of steel guide groove (13), one end of the band steel pushing plate (33) are slidably arranged in band steel push notch (32)
Interior, the other end connects the telescopic rod of band steel push cylinder (34).
6. a kind of robot automation according to claim 5 welds the welding control method of carrying roller crossbeam work station,
Be characterized in that: the pillar feeding mechanism (4) includes transmission mounting rack (41), middle pillar transfer assembly (42) and quarter line pillaring transmission
Component (43), the middle pillar transfer assembly (42) and quarter line pillaring transfer assembly (43) are installed in the transmission mounting rack (41)
On, the quarter line pillaring transfer assembly (43) is located on the outside of the middle pillar transfer assembly (42)；
The middle pillar transfer assembly (42) includes middle pillar conveying trough (421), middle pillar pushing frame (422), the transmission of middle pillar
Chain (423) and middle pillar transport motor (424), the middle pillar pushing frame (422) are fixedly mounted on middle pillar transmission chain
(423) upper end, the end of middle pillar pushing frame (422) are slidably mounted in middle pillar conveying trough (421), the middle pillar transmission
Chain (423) is driven by middle pillar transport motor (424)；
The quarter line pillaring transfer assembly (43) includes quarter line pillaring conveying trough (431), quarter line pillaring pushing frame (432), quarter line pillaring transmission
Chain (433) and quarter line pillaring transport motor (434), the quarter line pillaring pushing frame (432) are fixedly mounted on quarter line pillaring transmission chain
(433) upper end, the end of quarter line pillaring pushing frame (432) are slidably mounted in quarter line pillaring conveying trough (431), the quarter line pillaring transmission
Chain (433) is driven by quarter line pillaring transport motor (434).
7. a kind of robot automation according to claim 6 welds the welding control method of carrying roller crossbeam work station,
Be characterized in that: the middle pillar conveying trough (421) and quarter line pillaring conveying trough (431) are parallel to each other and there are two being respectively provided with, and two
Middle pillar conveying trough (421) is centrally located and is parallel to each other, and two quarter line pillaring conveying troughs (431) are located in two and prop up
It on the outside of column conveying trough (421) and is parallel to each other, the end of the middle pillar conveying trough (421) and quarter line pillaring conveying trough (431) is equal
Transmission mounting rack (41) is stretched out, it is high outside bottom in the frid at quarter line pillaring conveying trough (431) both ends；
The middle pillar pushing frame (422) and quarter line pillaring pushing frame (432) include that intermediate connector (44) and both ends are downward
The pushing plate (45) of setting, the connector (44) are fixedly mounted on transmission chain, and the pushing plate (45) is slidably mounted on
In conveying trough.
8. a kind of robot automation according to claim 7 welds the welding control method of carrying roller crossbeam work station,
Be characterized in that: the pillar feeding position-limit mechanism (5) includes pillar locating rack (51), detaches piece crossbearer (52), locating rack promotion
Cylinder (53), crossbearer pusher cylinder (54) and linear guide (55)；
The pillar locating rack (51) includes middle pillar U-type groove (511) and the quarter line pillaring U-type groove (512) of front end, the middle pillar
Distinguish middle pillar conveying trough (421) described in face and quarter line pillaring transmission in the open end of U-type groove (511) and quarter line pillaring U-type groove (512)
The output end of slot (431), and be located at right above the spot welding sliding slot (11)；
The piece crossbearer (52) that detaches includes that front end is slided block the middle pillar U-type groove (511) and quarter line pillaring U-type groove respectively
(512) the middle pillar baffle (521) of bottom end outlet and quarter line pillaring baffle (522)；
The locating rack pusher cylinder (53) is fixedly mounted on the supporting table (10), the locating rack pusher cylinder (53)
Telescopic rod connects the pillar locating rack (51)；The crossbearer pusher cylinder (54) is fixedly mounted under pillar locating rack (51)
On surface, the telescopic rod connection of crossbearer pusher cylinder (54) detaches piece crossbearer (52)；The track of the linear guide (55) is fixed
It is mounted on the supporting table (10), the upper end of slide block of linear guide (55) connects the pillar locating rack (51).
9. a kind of robot automation according to claim 8 welds the welding control method of carrying roller crossbeam work station,
Be characterized in that: it includes that cylinder installation portal frame (61), roller bar tooling (62) and tooling push that the pillar, which compresses position-limit mechanism (6),
Cylinder (63)；
The tooling pusher cylinder (63) is mounted on cylinder installation portal frame (61), and the roller bar tooling (62) is provided with
It two, is located at the spot welding sliding slot (11) and is fully welded above sliding slot (12), the top of the roller bar tooling (62) connects institute
State the telescopic rod of tooling pusher cylinder (63)；
The roller bar tooling (62) includes the connecting rod (621) of upper end, the compression gag lever post (622) of lower end, the connection connection
Connecting plate (623) in the middle part of bar (621) and compression gag lever post (622)；
The both ends for compressing gag lever post (622) are folded upward at respectively, and the left and right ends of the connecting rod (621) are separately connected institute
It states and compresses the left and right ends that gag lever post (622) are folded upward at；The lower end compressed in the middle part of gag lever post (622) is provided with middle pillar
It compresses limited block (624), the lower end of both ends bending part is provided with quarter line pillaring and compresses limited block (625).
10. a kind of robot automation according to claim 9 welds the welding control method of carrying roller crossbeam work station,
Be characterized in that: the spot welding robot (7) and the lower end for being fully welded robot (8) are installed on robot mounting table, mash welder
Device people (7) is located in front of spot welding sliding slot (11), and the robot (8) that is fully welded is provided with two, is respectively placed in and described is fully welded sliding slot
(12) two side of front and back.
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|---|---|---|---|
| CN201811553591.XA CN109434339B (en) | 2018-12-19 | 2018-12-19 | Welding control method for robot automatic welding carrier roller beam workstation |
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| CN201811553591.XA CN109434339B (en) | 2018-12-19 | 2018-12-19 | Welding control method for robot automatic welding carrier roller beam workstation |
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| CN109434339B CN109434339B (en) | 2020-10-27 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1349930A (en) * | 1970-03-13 | 1974-04-10 | Allan Ltd Anthony Eden B S | Portable cargo handling apparatus |
| CN105551786A (en) * | 2016-01-21 | 2016-05-04 | 西安启源机电装备股份有限公司 | Full-automatic laminating production line of transformer E-type iron cores |
| CN205271224U (en) * | 2015-12-31 | 2016-06-01 | 苏州紫金港智能制造装备有限公司 | Drum blade holder automatic weld of robot production line is dug in milling of duplex position |
| CN107879079A (en) * | 2017-12-12 | 2018-04-06 | 扬州市海星数控制刷设备有限公司 | A kind of automatic feed mechanism |
| CN207534245U (en) * | 2017-11-09 | 2018-06-26 | 广西农业机械研究院有限公司 | The positioning fixture of people's air defense door frame angle steel automatic welding |
| CN207668753U (en) * | 2017-11-22 | 2018-07-31 | 力博重工科技股份有限公司 | Carrier roller frame welding flow-line equipment |
-
2018
- 2018-12-19 CN CN201811553591.XA patent/CN109434339B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1349930A (en) * | 1970-03-13 | 1974-04-10 | Allan Ltd Anthony Eden B S | Portable cargo handling apparatus |
| CN205271224U (en) * | 2015-12-31 | 2016-06-01 | 苏州紫金港智能制造装备有限公司 | Drum blade holder automatic weld of robot production line is dug in milling of duplex position |
| CN105551786A (en) * | 2016-01-21 | 2016-05-04 | 西安启源机电装备股份有限公司 | Full-automatic laminating production line of transformer E-type iron cores |
| CN207534245U (en) * | 2017-11-09 | 2018-06-26 | 广西农业机械研究院有限公司 | The positioning fixture of people's air defense door frame angle steel automatic welding |
| CN207668753U (en) * | 2017-11-22 | 2018-07-31 | 力博重工科技股份有限公司 | Carrier roller frame welding flow-line equipment |
| CN107879079A (en) * | 2017-12-12 | 2018-04-06 | 扬州市海星数控制刷设备有限公司 | A kind of automatic feed mechanism |
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|---|---|
| CN109434339B (en) | 2020-10-27 |
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