CN109562495A - A kind of automatic welding work system and its operating method - Google Patents
A kind of automatic welding work system and its operating method Download PDFInfo
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- CN109562495A CN109562495A CN201780036244.7A CN201780036244A CN109562495A CN 109562495 A CN109562495 A CN 109562495A CN 201780036244 A CN201780036244 A CN 201780036244A CN 109562495 A CN109562495 A CN 109562495A
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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
Abstract
A kind of automatic welding work system (100), automatic welding work system (100) includes handling system (200), welding system (300) and control system (400), handling system (200) includes feeding platform (201), blanking bench (202) and transfer robot (203), and welding system (300) includes frock clamp (301) and welding robot (302).Also disclose the operating method of the automatic welding work system.Double-station welding tooling is realized by control system (400) control transfer robot (203) cooperation welding robot (302), and the full-automatic processing that can realize feeding, positioning, welding and blanking, improves welding efficiency.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the field of engineering machinery, in particular to an automatic welding work system and an operation method thereof.
[ background of the invention ]
The welding process in the prior art mainly adopts manual welding and manual carrying, and has a plurality of defects and shortcomings:
1. manual welding depends on manual proficiency, welding efficiency is low, product quality is difficult to guarantee, and product yield is low;
2. the feeding and discharging during operation are completed manually, the positioning precision depends on the manual proficiency, the product yield is low, and the manual carrying is large in labor intensity, high in cost and low in efficiency.
[ summary of the invention ]
In order to solve the technical problems, the invention provides an automatic welding work system and an operation method thereof, which can realize full-automatic operation of feeding, positioning, welding and discharging, have high automation degree and improve production efficiency and product yield.
In order to solve the above technical problem, an embodiment of the present invention provides an automatic welding work system, including: the conveying system comprises a feeding platform, a discharging platform and a conveying robot; the welding system comprises a tool clamp and a welding robot; the control system is connected with the conveying system and the welding system and is used for controlling the conveying system and the welding system; when the automatic welding work system works, the control system controls the carrying robot to grab a first group of workpieces from the feeding table, place the workpieces on a first station of the tool fixture, position the workpieces by the tool fixture, and weld the positioned first group of workpieces by the welding robot; in the process that the welding robot performs welding operation on the first group of workpieces, the control system controls the carrying robot to grab a second group of workpieces from the feeding table, place the second group of workpieces on a second station of the tool fixture and position the workpieces by the tool fixture; the control system controls the welding robot to perform welding operation on the second group of workpieces after the first group of workpieces are welded; in the process that the welding robot carries out welding operation on the second group of workpieces, the control system controls the carrying robot to grab the first group of workpieces subjected to welding from the first station and place the blanking table.
The automatic welding working system further comprises a gun cleaning machine, the gun cleaning machine is connected with the control system, and the control system controls the gun cleaning machine to clean impurities on a welding gun opening, a first group of workpieces and/or a second group of workpieces of the welding robot.
Wherein, automatic welding work system further includes the protection casing, and handling system and welding system install in the protection casing.
The protective cover is internally provided with a separation wall, the separation wall is used for separating the welding system and the carrying system, the separation wall is at least provided with a first welding window and a second welding window, the first welding window corresponds to a first station, and the second welding window corresponds to a second station.
The separation wall is at least provided with a first baffle and a second baffle, the first baffle is used for sealing a first welding window, the second baffle is used for sealing a second welding window, two sides of the first baffle and the second baffle are respectively provided with a sensing device and a transmission device, and when the sensing device senses that the transfer robot is close to the first welding window, the transmission device transmits the first baffle to be opened so as to expose the first welding window, so that the transfer robot can place a first group of workpieces to a first station or grab the first group of workpieces from the first station; when the sensing device senses that the carrying robot is close to the second welding window, the transmission device transmits the second baffle to be opened so as to expose the second welding window, and the carrying robot places a second group of workpieces to the second station or grabs the second group of workpieces from the second station.
The protective cover is at least provided with a first operation window and a second operation window, the first operation window corresponds to the feeding platform and is used for placing the workpiece on the feeding platform, and the second operation window corresponds to the discharging platform and is used for taking the workpiece out of the discharging platform.
The automatic welding work system further comprises an automatic feeding machine and an automatic discharging machine, the control system is connected with the automatic feeding machine and the automatic discharging machine, the automatic feeding machine is arranged corresponding to the feeding table, the automatic discharging machine is arranged corresponding to the discharging table, the control system controls the automatic feeding machine to automatically transmit workpieces to the feeding table, and controls the automatic discharging machine to automatically discharge the workpieces from the discharging table.
Wherein, the automatic feeding machine and/or the automatic discharging machine is a chute type automatic feeding machine or a vibration disc automatic feeding machine.
The automatic feeding machine and the automatic discharging machine are mechanical arms, and the mechanical arms are used for grabbing workpieces to be processed to the feeding table and grabbing the workpieces which are welded from the feeding table.
The automatic welding work system further comprises a smoke cleaner, the smoke cleaner is connected with the control system, and the smoke cleaner is used for purifying smoke generated in the welding process.
Wherein, be provided with first access door and second access door on the safety cover at least, be used for allowing the maintainer to get into in the safety cover in order to overhaul the operation to handling system or to welding system respectively.
The automatic welding work system further comprises power supply equipment for supplying power to the carrying robot, the welding robot and the tool clamp.
Wherein, the tail end of the body of the welding robot is provided with an air-cooled welding gun or a pneumatic spot welding clamp.
Wherein, the tail end of the body of the transfer robot is provided with a transfer claw.
Wherein, welding system further includes the shielding plate, and the shielding plate sets up between first station and second station.
In order to solve the above technical problem, an embodiment of the present invention further provides an automatic welding operation method, where the automatic welding operation method is applied to an automatic welding work system, where the automatic welding work system includes: the conveying system comprises a feeding platform, a discharging platform and a conveying robot; the welding system comprises a tool clamp and a welding robot, wherein the tool clamp at least comprises a first station and a second station; the control system is connected with the conveying system and the welding system and is used for controlling the conveying system and the welding system; the operation method comprises the following steps: the control system controls the transfer robot to grab a first group of workpieces from the feeding table and place the workpieces on a first station of the tool fixture; the tool clamp positions the first group of workpieces; the welding robot carries out welding operation on the positioned first group of workpieces; in the process that the welding robot performs welding operation on the first group of workpieces, the control system controls the carrying robot to grab a second group of workpieces from the feeding table and place the second group of workpieces on a second station of the tool fixture; the tool clamp positions the second group of workpieces; the control system controls the welding machine to perform welding operation on the second group of workpieces after the first group of workpieces are welded; in the process that the welding robot carries out welding operation on the second group of workpieces, the control system controls the carrying robot to grab the first group of workpieces subjected to welding from the first station and place the blanking table.
The automatic welding work system further comprises a gun cleaning machine, and the gun cleaning machine is connected with the control system; the method of operation further comprises: the control system controls the gun cleaning machine to clean impurities on a welding gun mouth, the first group of workpieces and/or the second group of workpieces of the welding robot.
The automatic welding work system further comprises an automatic feeding machine and an automatic discharging machine, the control system is connected with the automatic feeding machine and the automatic discharging machine, the automatic feeding machine is arranged corresponding to the feeding table, and the automatic discharging machine is arranged corresponding to the discharging table; the method of operation further comprises: the control system controls the automatic feeding machine to automatically transmit the workpiece to the feeding table and controls the automatic discharging machine to automatically discharge the workpiece from the discharging table.
Wherein the automatic welding work system further comprises a smoke cleaner, and the smoke cleaner is connected with the control system; the method of operation further comprises: the control system controls the smoke cleaner to purify smoke generated by the welding robot in the welding process.
The invention has the beneficial effects that: compared with the prior art, the automatic welding working system and the operation method thereof can realize full-automatic operation of loading, positioning, welding and unloading, have high automation degree, and have high production efficiency and positioning accuracy by matching the moving robot with the double welding stations and the tool clamp of the welding robot, thereby improving the product yield.
[ description of the drawings ]
FIG. 1 is a schematic perspective view of an automated welding work system according to a first embodiment of the present invention;
FIG. 2 is a schematic perspective view of an automated welding work system according to a second embodiment of the present invention;
FIG. 3 is a schematic top view of the automated welding work system of FIG. 2;
FIG. 4 is a schematic perspective view of a welding system of the automated welding work system of FIG. 2;
FIG. 5 is a flow chart illustrating a method of operation of the automated welding system in accordance with one embodiment of the present invention.
[ detailed description ] embodiments
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. It should be noted that like elements of the present invention are numbered identically.
Referring to fig. 1, fig. 1 is a schematic perspective view of an automatic welding system according to a first embodiment of the present invention. As shown in fig. 1, the automatic welding work system 100 of the present embodiment includes a handling system 200, a welding system 300, and a control system 400, wherein the control system 400 is connected to the handling system 200 and the welding system 300 for controlling the handling system 200 and the welding system 300. The handling system 200 includes a loading platform 201, a unloading platform 202, and a handling robot 203, where the handling robot 203 is configured to grab or place a workpiece from the loading platform 201 and/or the unloading platform 202 according to a received instruction. Welding system 300 includes frock clamp 301 and welding robot 302, and frock clamp 301 includes first station 3011 and second station 3012 at least, and frock clamp 301 can carry out the location and carry out the clamping operation to the work piece of placing on first station 3011 and second station 3012, and welding robot 302 is used for carrying out welding operation to the assigned position of the work piece on frock clamp 301 according to the instruction that receives. In this embodiment, the control system 400 at least includes a first control cabinet 401 and a second control cabinet 402, the first control cabinet 401 and the second control cabinet 402 are respectively connected to the handling system 200 and the welding system 300 for respectively controlling the handling system 200 and the welding system 300, where it is understood that the first control cabinet 401 controls operations of components in the whole handling system 200, such as controlling the handling robot 203 to perform a handling operation, and the second control cabinet 402 controls operations of components in the whole welding system 300, such as controlling the welding robot 302 to perform a welding operation on a workpiece at a certain station on the tooling fixture 301, and further can control the tooling fixture 301 to perform a clamping operation on the workpiece placed at the station. In fig. 1, the tooling fixture includes a first station 3011 and a second station 3012, and the control system 400 includes a first control cabinet 401 and a second control cabinet 402 for illustration. In other embodiments, the control system 400 may include only one control cabinet, or more than two control cabinets.
The working principle of the automatic welding work system 100 of the present embodiment is as follows:
when the automatic welding system 100 is operating, the control system 400 controls the transfer robot 203 to pick a first group of workpieces from the feeding table 201, place the workpieces on the first station 3011 of the tooling fixture 301, and position the workpieces by the tooling fixture 301.
The welding robot 302 performs a welding operation on the positioned first set of workpieces.
During the welding operation of the welding robot 302 on the first group of workpieces, the control system 400 further controls the transfer robot 203 to grab the second group of workpieces from the feeding table 201, place the second group of workpieces on the second station 3012 of the tooling fixture 301, and position the workpieces by the tooling fixture 301.
Then, the control system 400 controls the welding robot 302 to perform a welding operation on the second set of workpieces after completing the welding operation on the first set of workpieces.
In addition, the control system 400 controls the transfer robot 203 to pick up the first group of welded workpieces from the first station 3011 and place the blanking table 202 while the welding robot 302 performs the welding operation on the second group of workpieces.
Therefore, the automatic welding work system of this embodiment can control handling system 200 and welding system 300 through control system 400 and mutually support, realizes the full automation mechanized operation from material loading, location, welding, unloading to through set up a plurality of stations on frock clamp 301, can save welding robot 302 and wait for the time of work piece location, improve work efficiency.
In one embodiment, the welding system 100 can further include a gun clearer 304, the gun clearer 304 coupled to the control system 400, the control system 400 controlling the gun clearer 304 to remove contaminants from the welding robot 302 including the welding muzzle, the tooling fixture 301, the first set of workpieces, and the second set of workpieces. For example, in some embodiments, control system 400 controls gun sweeper 304 to clear contaminants from the welding mouth of welding robot 302 and from the first or second set of workpieces in real time during a welding operation performed by welding robot 302 on the first or second set of workpieces. In other embodiments, the control system 400 can control the gun clearer 304 to clear the welding mouth of the welding robot 302 at predetermined intervals to save the effectiveness of the gun clearer 304, and the control system 400 can control the gun clearer 304 to clear a workpiece that is welded after a group of workpieces are welded, so as to prevent impurities from adhering to the workpiece and flowing into the next operation flow, which may affect the product quality.
In one embodiment, the welding system 100 may further include a smoke cleaner 305, and the smoke cleaner 305 may be configured to clean smoke generated by the welding system 100 during a welding process to improve the cleanliness of the working environment of the welding system 100. For example, the fume cleaner 305 is provided with a suction hood (not shown) which is provided near the welding torch opening of the welding robot 302, and the suction hood sucks the fume generated during the welding operation of the welding robot 302, and further cleans the fume.
In one embodiment, the welding system 100 may further include at least one shielding plate 3013, where the shielding plate 3013 is disposed between the first station 3011 and the second station 3012 to prevent the workpieces on the first station 3011 and the second station 3012 from interfering with each other during operation.
In one embodiment, the welding system 100 further includes a power supply apparatus 306 for supplying power to the transfer robot 203, the welding robot 302, and the tooling fixture 301.
Referring to fig. 2, 3 and 4, fig. 2 is a schematic diagram of a product structure of an automatic welding work system according to a second embodiment of the present invention, fig. 3 is a schematic diagram of a top view structure of the automatic welding work system in fig. 2, and fig. 4 is a schematic diagram of a three-dimensional structure of a welding system of the automatic welding work system in fig. 2. As shown in fig. 2, the difference from the above embodiment is that the welding system 500 of the present embodiment further includes a protective cover 303, and both the carrying system 200 and the welding system 300 are installed in the protective cover 303, so that the protective cover 303 can improve the safety of manual work. In order to improve the working environment of the welding system 500, in this embodiment, a blocking wall 3036 is further disposed in the protective cover 303 to separate the welding system 300 from the handling system 200 and form a sealed space for the welding system 300, so as to prevent the welding robot 302 from generating smoke during the welding operation, polluting the environment, and also protecting the welding operation.
As shown in fig. 4, the barrier wall 3036 is provided with at least a first welding window 3031 corresponding to the first station 3011 and a second welding window 3032 corresponding to the second station 3012, and the protective cover 303 is further provided with a first blocking plate 3033 corresponding to the first welding window 3031 and a second blocking plate 3034 corresponding to the second welding window 3032, the first blocking plate 3033 is used for closing the first welding window 3031, and the second blocking plate 3034 is used for closing the second welding window 3032. Sensing devices (not shown) and transmission devices (not shown) are respectively arranged on two sides of the first baffle plate 3033 and the second baffle plate 3034, and when sensing that the transfer robot 203 approaches the first welding window 3031, the sensing devices send instructions to enable the transmission devices to transmit the first baffle plate 3033 to open so as to expose the first welding window 3031, and therefore the transfer robot 203 places a first group of workpieces to the first station 3011 or picks up the first group of workpieces from the first station 3011. The sensing device, upon sensing that the transfer robot 203 is proximate to the second welding window 3032, sends a command to cause the actuator to actuate the second shutter 3034 to open to expose the second welding window 3032 to allow the transfer robot 203 to place a second set of workpieces to the second station 3012 or to grasp a second set of workpieces from the second station 3012. Optionally, the sensing device is a grating sensor.
Further, the welding system 300 of the present embodiment also includes a gun cleaner 304, a smoke cleaner 305, and a power supply apparatus 306.
Wherein, clear rifle bolt 304 and power supply unit 306 are all installed in protection casing 303, and clear rifle bolt 304 can set up in one side of welding robot 302, and optionally, clear rifle bolt 304 is connected with the arm of welding robot 302 for clear away the welding gun mouth of welding robot 302, the impurity on first subassembly and/or the second group work piece. The power supply device 306 is used to supply power to the welding robot 302 and/or the tooling fixture 301.
The smoke cleaner 305 is disposed in the sealed space of the shield 303 to purify the smoke generated by the welding robot 302 during the welding operation, so as to prevent the smoke from polluting the environment and improve the cleanliness of the working environment of the welding system 100.
In other embodiments, the smoke cleaner 305 may be disposed outside the shield 303, and may also perform a cleaning process on smoke generated by the welding robot 302 during the welding operation. The power supply device 306 may be disposed outside the shield 303, and the power supply device 306 may also supply power to the transfer robot 203.
The protective cover 303 is at least provided with a first access door 3035 and a second access door 2043, which are used for allowing an access person to enter the protective cover 303 to perform an access operation on the welding system 300 or the carrying system 200.
The welding robot 302 may be provided with an air-cooled welding gun or a pneumatic spot welding clamp at the end of its body, which is not limited herein. In other embodiments, an electrode grinder (not shown) is further disposed on the welding system 300, and when the spot welding head of the welding robot 302 is worn, the spot welding head can be placed in the electrode grinder for grinding, so that the worn spot welding head can be reused, and replacement and loss of the spot welding head are reduced.
The end of the body of the transfer robot 203 is provided with a transfer claw, which is used for grabbing a workpiece to be processed from the feeding table 201 to the first station 3011 or the second station 3012 of the welding system 300, or grabbing a workpiece which has completed welding operation from the first station 3011 or the second station 3012 of the welding system 300 to the blanking table 202.
The protective cover 303 is provided with at least a first operation window 2041 and a second operation window 2042. The first operation window 2041 is disposed corresponding to the feeding platform 201, the second operation window 2042 is disposed corresponding to the discharging platform 202, and a worker can perform a work piece transporting operation on the feeding platform 201 or the discharging platform 202 through the first operation window 2041 and the second operation window 2042. And the protective cover 303 can also ensure the personal safety of the operator, so that the operator can be far away from the transfer robot 203 or the welding robot 302.
The first control cabinet 401 and the second control cabinet 402 may be disposed outside the protection cover 303 and respectively control the transfer robot 203 and the welding robot 302. The first control cabinet 401 and the second control cabinet 402 may be a robot control cabinet and/or a PLC (programmable logic Controller) control cabinet.
The following describes the implementation process of the automatic welding work system 500 of the present embodiment with reference to fig. 2 to 4:
the control system 400 is connected to the sensing device and the transmission device, and the control system 400 is configured to receive information transmitted by the sensing device and the transmission device, and send a corresponding instruction according to the received information.
Before welding operation, the first access door 3035, the second access door 2043, the first welding window 3031 and the second welding window 3032 on the protective cover 303 are all arranged in a closed state, and a worker fills the workpiece to be processed in the feeding table 201 through the first operation window 2041.
When starting the welding operation, the control system 400 sends an instruction to control the transfer robot 203 to grasp a first group of workpieces from the loading table 201 and control the transfer robot 203 to approach the first welding window 3031. Control system 400, upon sensing by the sensing device of first welding window 3031 that the transfer jawarms of transfer robot 203 are approaching a predetermined distance to first welding window 3031, sends a command to the corresponding actuator to cause the actuator to actuate first barrier 3033 to open to expose first welding window 3031. The control system 400 controls the transfer robot 203 to place the first group of workpieces on the first station 3011 of the tooling fixture 301, and then controls the tooling fixture 301 to clamp and position the first group of workpieces, thereby completing the positioning operation of the workpieces. Meanwhile, the control system 400 controls the transfer robot 203 to evacuate from the first station 3011, and when the sensing device senses that the transfer robot 203 is a certain distance away from the first welding window 3031, the control system 400 sends an instruction to enable the transmission device to transmit the first baffle 3033 to close the first welding window 3031, and the transmission first baffle 3033 closes the first welding window 3031, so that smoke can be prevented from diffusing to the transfer system 200 to cause pollution to the transfer system 200 when welding operation is subsequently performed on a first group of workpieces, or can be prevented from diffusing out of the transfer system 200 to cause environmental pollution. The control system 400 sends welding instructions to the welding robot 302 to perform a welding operation on a first set of workpieces.
During the welding operation of the welding robot 302 on the first group of workpieces, the control system 400 controls the transfer robot 203 to return to the feeding stage 201 to grasp the second group of workpieces and approach the second welding window 3032. When the sensing device of the second welding window 3032 senses that the carrying claw of the carrying robot 203 is close to a preset distance to the second welding window 3032, the control system 400 sends an instruction to open the transmission second baffle 3034 to expose the second welding window 3032, the carrying robot 203 places a second group of workpieces on the second station 3012 of the tooling clamp 301 through the second welding window 3032, and the tooling clamp 301 clamps and positions the second group of workpieces to complete the positioning operation of the workpieces. Meanwhile, the control system 400 controls the transfer robot 203 to evacuate from the second station 3012, and when the sensing device senses that the transfer robot 203 evacuates from the second station 3012 to a specific distance, the control system 400 sends an instruction to enable the transmission device to transmit the second baffle 3034 to seal the second welding window 3032, and similarly, the transmission of the second baffle 3034 to seal the second welding window 3032 can avoid the smoke from diffusing to the transfer system 200 and causing pollution to the transfer system 200 when welding operation is subsequently performed on a second group of workpieces, or can prevent the smoke from diffusing out of the transfer system 200 and causing environmental pollution. The control system 400 controls the welding robot 302 to perform welding operations on the second set of workpieces after the first set of workpieces has been welded.
During the welding operation of the welding robot 302 on the second group of workpieces, the control system 400 controls the transfer robot 203 to grab the welded first group of workpieces from the first station 3011 to place on the blanking table 202, and further grab the third group of workpieces from the loading table 201 to place on the first station 3011 of the tool holder 301 through the first welding window 3031 to continue the cycle operation.
Therefore, the double-station welding is carried out by the carrying robot 203 matching with a welding machine in the embodiment, full-automatic operation from feeding, positioning, welding and discharging is realized, the welding efficiency is improved, and further, the carrying robot 203 can match with the accurate positioning of the tool clamp 301 to improve the positioning accuracy. In addition, this embodiment can make the manual work position far away from the position of welding robot 302 through setting up protection casing 303, can guarantee workman's personal safety to a great extent to can avoid the smog in the welding process to scatter outward, the polluted environment.
In other embodiments, to further improve the full process automation of the automated welding-type work system 500, the handling system 200 further comprises an automatic loader (not shown) and an automatic unloader (not shown), and the control system 400 is connected to the automatic loader and the automatic unloader for controlling the automatic loader and the automatic unloader.
The automatic feeding machine is arranged corresponding to the feeding table 201, the automatic feeding machine is used for automatically providing a workpiece to be processed to the feeding table 201, and the control system 400 controls the automatic feeding machine to automatically transmit the workpiece to be processed to the feeding table 201. For example, in some embodiments, a sensing device (not shown) is further disposed on the feeding table 201, the control system 400 controls the automatic feeding machine to automatically transfer a workpiece to be processed to the feeding table 201, and after the sensing device senses the workpiece to be processed on the feeding table 201, the control system 400 controls the transfer robot 203 to transfer the workpiece to be processed from the feeding table 201 to a designated area for processing. In the process of carrying operation of the carrying robot 203, the control system 400 further controls the automatic feeding machine to automatically transmit the next workpiece to be processed to the feeding table 201, so that the carrying robot 203 and the automatic feeding table are operated in a matched manner, the circular operation is realized, and the working efficiency is improved. Moreover, when the sensing device senses that the loading platform 201 does not have a workpiece to be processed, the control system 400 may control the transfer robot 203 to stop the transfer operation and enter a sleep state, so as to save efficiency. In other embodiments, the control system 400 controls the automatic loader to automatically transfer the workpiece to be machined to the loading platform 201 until the loading platform 201 is full of the workpiece to be machined, and the control system 400 controls the transfer robot 203 to transfer the workpiece to be machined from the loading platform to a designated area for machining operation.
The automatic unloader is provided corresponding to the feed table 202, and the control system 400 controls the automatic unloader to automatically unload the workpiece having completed the welding work from the feed table 202. In some embodiments, a sensing device (not shown) is disposed on the blanking table 202, and the control system 400 controls the automatic unloading machine to unload the machined workpiece from the blanking table 202 when the sensing device senses that the machined workpiece is on the blanking table 202. The automatic feeding machine and/or the automatic discharging machine may be a chute type automatic feeding machine or a vibration tray automatic feeding machine in the prior art, which is not limited herein.
In some embodiments, the automatic feeding machine and/or the automatic discharging machine may be a robot (not shown), and the robot captures the workpiece to be processed conveyed by the conveyor belt to the feeding table 201, and captures the workpiece having completed the welding operation from the feeding table 202 to the conveyor belt for transmission to the next operation procedure. Therefore, the automatic feeding machine and the automatic discharging machine can be used for saving manual operation on the feeding platform 201 and/or the discharging platform 202, and labor is saved.
Referring further to fig. 5, fig. 5 is a flow chart illustrating an operation method of automatic welding according to an embodiment of the invention. The automatic welding operation method of the present embodiment may be applied to the automatic welding work system 100 of the first embodiment or the automatic welding work system 500 of the second embodiment, and includes:
s501: the control system 400 controls the transfer robot 203 to grab a first group of workpieces from the feeding table 201 and place the workpieces on the first station 3011 of the tooling fixture 301.
S502: the tooling fixture 301 positions the first set of workpieces.
S503: the welding robot 302 performs a welding operation on the positioned first set of workpieces.
S504: during the welding operation of the welding robot 302 on the first group of workpieces, the control system 400 controls the transfer robot 203 to grab the second group of workpieces from the feeding table 201 and place the workpieces onto the second station 3012 of the tooling fixture 301.
S505: the tooling fixture 301 positions the second set of workpieces.
S506: the control system 400 controls the welding robot 302 to perform a welding operation on a second set of workpieces after the first set of workpieces has been welded.
S507: during the welding operation of the welding robot 302 on the second group of workpieces, the control system 400 controls the transfer robot 203 to grab the welded first group of workpieces from the first station and place the blanking table 202.
In this embodiment, a workpiece to be processed is placed on the feeding table 201 through manual operation or mechanical operation, a sensing device (not shown) may be disposed on the feeding table 201, and when the sensing device senses that the workpiece to be processed is on the feeding table 201, the control system 400 controls the transfer robot 203 to grab a first group of workpieces from the feeding table 201 and place the first group of workpieces on the first station 3011 of the tooling fixture 301.
The control system 400 controls the tool clamp 301 to clamp and position the first group of workpieces, and after the tool clamp 301 positions the first group of workpieces, the control system 400 controls the welding robot 302 to perform welding operation on the first group of workpieces.
During the welding operation of the welding robot 302 on the first group of workpieces, the control system 400 controls the transfer robot 203 to grab the second group of workpieces from the feeding table 201 and place the workpieces onto the second station 3012 of the tooling fixture 301.
After the transfer robot 203 places the second group of workpieces at the second station 3012, the control system 400 controls the tooling fixture 301 to position the second group of workpieces, and controls the welding robot 302 to perform welding operation on the second group of workpieces after the welding operation on the first group of workpieces is completed. In the process of welding operation of the welding robot 302 on the second group of workpieces, the control system 400 controls the carrying robot 203 to grab the first group of workpieces for placing the blanking table 202 after welding from the first station, so that the carrying robot 203 and the welding robot 302 can realize a circular welding tool by using double stations, and the working efficiency is improved.
In some embodiments, the automatic welding work system 100 or 500 further includes an automatic loader (not shown) and an automatic unloader (not shown), the automatic loader is disposed corresponding to the loading station 201, the automatic unloader is disposed corresponding to the unloading station 202, and the control system 400 is connected to the automatic loader and the automatic unloader. Before step S501, the control system 400 controls the automatic loader to automatically transfer the workpiece to be machined to the feeding table 201, and after step S507, the control system 400 controls the automatic unloader to automatically unload the workpiece from the feeding table 202. In other embodiments, the control system 400 may control the automatic feeding machine to automatically transfer the workpiece to be machined to the feeding table 201 in real time or at regular time, that is, the control system 400 may control the automatic feeding machine to automatically transfer the workpiece to be machined to the feeding table 201 during the process from step S501 to step S507 performed by the automatic welding work system 100 or 500.
In some embodiments, the automated welding work system 100 or 500 further comprises a gun cleaner 304 and a smoke cleaner 305, and the control system 400 is coupled to the gun cleaner 304 and the smoke cleaner 305, respectively. During steps S503 and S506, i.e. during the welding operation of the welding robot 302 on the first set of workpieces or the second set of workpieces, the control system 400 can control the gun clearer 304 to clear impurities on the welding nozzle of the welding robot 302 and the first set of workpieces or the second set of workpieces, and the control system 400 can simultaneously control the smoke cleaner 305 to clear the smoke generated by the welding robot 302 during the welding operation in real time. In other embodiments, the control system 400 can control the gun clearer 304 to remove impurities from the welding mouth of the welding robot 302 at regular intervals, and/or control the smoke cleaner 305 to remove smoke generated during welding at regular intervals, and for impurities on the first set of workpieces and/or the second set of workpieces, the control system 400 can control the gun clearer 304 to remove impurities after welding of the first set of workpieces and/or the second set of workpieces is completed.
It should be noted that specific operations of each step of the present embodiment can refer to the description of the automatic welding work system 100 of the first embodiment or the automatic welding work system 500 of the second embodiment, and are not described in detail herein. Therefore, the automatic welding operation method of the embodiment can realize the cycle operation through double stations, and the work efficiency is improved.
In summary, according to the automatic welding work system and the operation method thereof provided by the embodiment of the invention, the carrying robot is matched with the welding robot to perform double-station welding, and full-automatic operation of feeding, positioning, welding and discharging can be realized, so that the welding efficiency is improved.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (19)
- An automated welding work system, wherein the automated welding work system comprises:the conveying system comprises a feeding platform, a discharging platform and a conveying robot;the welding system comprises a tool clamp and a welding robot, wherein the tool clamp at least comprises a first station and a second station;the control system is connected with the conveying system and the welding system and is used for controlling the conveying system and the welding system;when the automatic welding work system works, the control system controls the carrying robot to grab a first group of workpieces from the feeding table, place the workpieces on the first station of the tool clamp and position the workpieces by the tool clamp, and the welding robot performs welding operation on the positioned first group of workpieces; in the process that the welding robot performs welding operation on the first group of workpieces, the control system controls the carrying robot to grab a second group of workpieces from the feeding table, place the second group of workpieces on the second station of the tool clamp and position the workpieces by the tool clamp; the control system controls the welding robot to perform welding operation on the second group of workpieces after the first group of workpieces are welded; and in the process that the welding robot carries out welding operation on the second group of workpieces, the control system controls the carrying robot to grab the first group of workpieces subjected to welding from the first station and place the blanking table.
- The automated welding work system of claim 1, wherein the automated welding work system further comprises a gun clearer coupled to the control system, the control system controlling the gun clearer to clear contaminants from a welding muzzle of the welding robot, the first set of workpieces, and/or the second set of workpieces.
- The automated welding work system of claim 1, wherein the automated welding work system further comprises a protective enclosure, the handling system and the welding system being mounted within the protective enclosure.
- The automated welding work system of claim 3, wherein a barrier wall is disposed within the enclosure and separates the welding system from the handling system, the barrier wall having at least a first welding window and a second welding window disposed thereon, the first welding window corresponding to the first station and the second welding window corresponding to the second station.
- The automatic welding work system according to claim 4, wherein at least a first baffle and a second baffle are arranged on the barrier wall, the first baffle is used for closing the first welding window, the second baffle is used for closing the second welding window, sensing devices and transmission devices are respectively arranged on two sides of the first baffle and the second baffle, and when the sensing devices sense that the transfer robot approaches the first welding window, the transmission devices transmit the first baffle to be opened so as to expose the first welding window, and the transfer robot can place the first group of workpieces to the first station or grab the first group of workpieces from the first station; when the induction device induces that the carrying robot is close to the second welding window, the transmission device transmits the second baffle to be opened so as to expose the second welding window, and the carrying robot places the second group of workpieces to the second station or grabs the second group of workpieces from the second station.
- The automatic welding work system according to claim 3, wherein at least a first work window and a second work window are provided on the shield, the first work window corresponding to the material loading table for placing a workpiece on the material loading table, and the second work window corresponding to the material unloading table for taking out a workpiece from the material unloading table.
- The automatic welding work system according to any one of claims 1 to 6, wherein the automatic welding work system further comprises an automatic feeder and an automatic unloader, the control system being connected to the automatic feeder and the automatic unloader, the automatic feeder being disposed in correspondence with the feeding table, the automatic unloader being disposed in correspondence with the discharging table, the control system controlling the automatic feeder to automatically transfer a workpiece to the feeding table and controlling the automatic unloader to automatically unload a workpiece from the discharging table.
- The automatic weld work system according to claim 7, wherein the automatic feeder and/or the automatic discharger is a chute-type automatic feeder or a vibratory pan automatic feeder.
- The automatic welding work system according to claim 7, wherein the automatic feeder and the automatic discharger are robots for gripping a workpiece to be processed to the feeding stage and gripping a workpiece having completed welding from the discharging stage.
- The automated welding work system of any of claims 1 to 6, further comprising a smoke cleaner coupled to the control system, the control system controlling the smoke cleaner to decontaminate smoke generated during a welding process.
- The automatic welding work system of claim 3, wherein the protective enclosure is provided with at least a first access door and a second access door for allowing access by an inspection person to the interior of the protective enclosure for performing inspection operations on the handling system or the welding system, respectively.
- The automated welding work system of any of claims 1 to 6, wherein the automated welding work system further comprises a power supply device for powering the handling robot, the welding robot, and the tooling fixture.
- The automatic welding work system according to any one of claims 1 to 6, wherein an air-cooled welding gun or a pneumatic spot welder is mounted to a distal end of a body of the welding robot.
- The automated welding work system of any of claims 1 to 6, wherein a body end of the transfer robot is mounted with a transfer claw.
- The automated welding work system of any of claims 1 to 6, wherein the welding system further comprises at least one shutter disposed between the first station and the second station.
- An automatic welding operation method applied to an automatic welding work system, wherein the automatic welding work system comprises:the conveying system comprises a feeding platform, a discharging platform and a conveying robot;the welding system comprises a tool clamp and a welding robot, wherein the tool clamp at least comprises a first station and a second station;the control system is connected with the conveying system and the welding system and is used for controlling the conveying system and the welding system;the operation method comprises the following steps:the control system controls the carrying robot to grab a first group of workpieces from the feeding table and place the workpieces on the first station of the tool clamp;the tool clamp positions the first group of workpieces;the welding robot carries out welding operation on the positioned first group of workpieces;in the process that the welding robot performs welding operation on the first group of workpieces, the control system controls the carrying robot to grab a second group of workpieces from the feeding table and place the second group of workpieces on the second station of the tool fixture;the tool clamp positions the second group of workpieces;the control system controls the welding robot to perform welding operation on the second group of workpieces after the first group of workpieces are welded;and in the process that the welding robot carries out welding operation on the second group of workpieces, the control system controls the carrying robot to grab the first group of workpieces subjected to welding from the first station and place the blanking table.
- The method of operation of claim 16, wherein the automatic welding work system further comprises a gun clearer coupled to the control system;the method of operation further comprises:the control system controls the gun clearer to clear impurities on a welding gun mouth of the welding robot, the first group of workpieces and/or the second group of workpieces.
- The method of operation of claim 16, wherein the automated welding work system further comprises an automatic feeder and an automatic unloader, the control system coupled to the automatic feeder and the automatic unloader, the automatic feeder positioned to correspond to the feeding station and the automatic unloader positioned to correspond to the discharging station;the method of operation further comprises:the control system controls the automatic feeding machine to automatically transmit the workpiece to the feeding table and controls the automatic discharging machine to automatically discharge the workpiece from the discharging table.
- The method of operation of claim 16, wherein the automated welding work system further comprises a smoke cleaner coupled to the control system;the method of operation further comprises:and the control system controls the smoke cleaner to purify smoke generated by the welding robot in the welding process.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/081101 WO2018191890A1 (en) | 2017-04-19 | 2017-04-19 | Automatic welding work system and operation method therefor |
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| CN109562495A true CN109562495A (en) | 2019-04-02 |
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| CN201780036244.7A Pending CN109562495A (en) | 2017-04-19 | 2017-04-19 | A kind of automatic welding work system and its operating method |
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| CN (1) | CN109562495A (en) |
| WO (1) | WO2018191890A1 (en) |
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| WO2020069230A1 (en) * | 2018-09-28 | 2020-04-02 | Synfuel Americas Corporation | Production system for forming filtration tubes including subsystems and method of using same |
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| WO2018191890A1 (en) | 2018-10-25 |
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