CN110125584A - Vehicle roof skeleton intelligent flexible welding system and its welding method - Google Patents
Vehicle roof skeleton intelligent flexible welding system and its welding method Download PDFInfo
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- CN110125584A CN110125584A CN201910407106.6A CN201910407106A CN110125584A CN 110125584 A CN110125584 A CN 110125584A CN 201910407106 A CN201910407106 A CN 201910407106A CN 110125584 A CN110125584 A CN 110125584A
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- manipulator
- feeding
- side bar
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- 238000003466 welding Methods 0.000 title claims abstract description 153
- 238000000034 method Methods 0.000 title claims abstract description 20
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 28
- 238000003860 storage Methods 0.000 claims description 20
- 238000012360 testing method Methods 0.000 claims description 11
- 238000009713 electroplating Methods 0.000 claims description 8
- 238000004519 manufacturing process Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 6
- 238000005476 soldering Methods 0.000 claims description 6
- 230000003068 static effect Effects 0.000 claims description 3
- 238000003825 pressing Methods 0.000 claims 1
- 238000007600 charging Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 238000004513 sizing Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
-
- 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
-
- 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
The present invention relates to vehicle roof skeleton intelligent flexible welding system and welding methods, including pedestal, it is upper along its length thereon to arrange three the first track, the second track and the third tracks being parallel to each other, a plurality of first traverse rod is disposed between first track and the second track on vertical length direction, between second track and third track on vertical length direction, and a plurality of second traverse rod has been arranged symmetrically with the first traverse rod；Slidably in feeding device in the second track；Slidably in feeding manipulator in the second track before feeding device；First welding manipulator and the second welding manipulator；For fixing the side bar angle adjustment device of side bar to be welded comprising two groups, be symmetrically arranged between the first track and the second track between the second track and third track and slidably on the first traverse rod or the second traverse rod；Promptly positioning device, promptly positioning device is for promptly rod piece to be welded, controlling terminal to be electrically connected above-mentioned each device and each manipulator in welding.
Description
Technical field
The present invention relates to field of automobile, more particularly to vehicle roof skeleton intelligent flexible welding system
System and its welding method.
Background technique
The welding of vehicle roof skeleton mainly uses manual measurement size, is realized by manual welding mode, welding efficiency
It is low, it is unable to satisfy the growing demand of present vehicle.To solve the above-mentioned problems, occur in the prior art for single vehicle
Type exploitation manufacture welding fixture special realizes artificial clamping welding, and to increase welding efficiency, but it is unable to satisfy various
Roof frame welding, if each vehicle using a corresponding welding fixture, the welding for main engine plants' roof frame
Cost will increase.
Therefore, how to provide it is a kind of can satisfy various roof frame welding device be those skilled in the art urgently
Problem to be solved.
Summary of the invention
In view of this, solving and welding in the prior art the present invention provides vehicle roof skeleton intelligent flexible welding system
Welding fixture is unable to satisfy the technical issues of requirement of a plurality of vehicle roof frame welding, improves welding efficiency, reduces welding
Cost.
To achieve the goals above, the present invention adopts the following technical scheme:
Vehicle roof skeleton intelligent flexible welding system, comprising:
Pedestal, it is upper along its length on pedestal to arrange three the first track, the second track and the third tracks being parallel to each other,
A plurality of first traverse rod is disposed between first track and the second track on vertical length direction, between the second track and third track
On vertical length direction, and a plurality of second traverse rod has been arranged symmetrically with the first traverse rod；
Feeding device, feeding device is for carrying rod piece to be welded, slidably in the second track；
Feeding manipulator, feeding manipulator are located at before feeding device slidably in the second track；
First welding manipulator and the second welding manipulator are respectively slidably in the first track and third track；
Side bar angle adjustment device, side bar angle adjustment device is for fixing side bar to be welded comprising and two groups, symmetrical cloth
It is placed between the first track and the second track between the second track and third track；And each group of side bar angle adjustment device
Slidably on the first traverse rod or the second traverse rod；
Promptly positioning device, promptly positioning device for weld in promptly rod piece to be welded comprising quiet positioning device and
Dynamic positioning system；Quiet positioning device is fixed on the one end of the second track far from feeding device；Dynamic positioning system is slidably in second
In track, and with feeding manipulator integrally connected；
Controlling terminal, controlling terminal are electrically connected feeding device, feeding manipulator, the first welding manipulator, the second welding
Manipulator, side bar angle adjustment device and promptly positioning device.
It can be seen via above technical scheme that compared with prior art, the present disclosure provides vehicle roof skeleton intelligence
Energy flexible welding system realizes automatic charging by feeding device and feeding manipulator and the cooperation of the second track, reduces behaviour
Authors' labor intensity；Side bar is realized by two groups of side bar angle adjustment devices and the cooperation of the first traverse rod of multiple groups and the second traverse rod
It is automatic fixed, due to its can flexibility adjust varying dimensions, positioning device is firmly grasped in cooperation realizes various roof frame
Sizing requirement；The first welding manipulator and the second welding manipulator is cooperated to reach a plurality of vehicles on the basis of the above flexible
Change the purpose for adjusting and being fixedly welded automatically, improves welding efficiency, thereby reduce welding cost.
Preferably, feeding device include feeding sliding rail, feeding sliding servo motor, rod piece storage rack, rod piece frame to be grabbed,
Feeding grasping mechanism and testing agency；
Feeding sliding rail and the second track slidable connection；
Feeding sliding servo motor is fixed on feeding sliding rail；
Rod piece storage rack is fixedly connected with feeding sliding rail；
Between rod piece frame setting to be grabbed and feeding manipulator and rod piece storage rack, and it is fixed on rod piece storage rack；
Feeding grasping mechanism slidably on rod piece storage rack, the rod piece on rod piece storage rack is grabbed to rod piece and waits grabbing
On frame；
Testing agency, which is set on rod piece frame to be grabbed, detects rod size, shape and position；
Wherein, feeding sliding servo motor, feeding grasping mechanism and testing agency are electrically connected with controlling terminal.
Selectable, mentioned rod piece includes at least straight rod member and the rod piece with arc, rod piece storage rack in the present invention
It is upper that there is dismountable Turnround basket, the rest area of a variety of components is respectively set on Turnround basket, is adequately isolated component；One end of pedestal
It is provided with fixed revolving platform, after the rod piece use in Turnround basket, feeding device is retracted into revolving platform and is manually pitched
Vehicle replaces Turnround basket.
It is provided with infrared sensor in above-mentioned testing agency, detects the size of rod piece, shape judges feeding grasping mechanism
The rod piece of crawl is correctly that no feeding grasping mechanism grabs the rod piece and replaces, and grabs rod piece again；It can judge simultaneously
Whether the position that rod piece is placed is correct.
Preferably, feeding manipulator includes: manipulator base, mechanical arm and grip device；Manipulator base passes through manipulator
Motor drives slidably in the second track；Mechanical arm one end is rotating in manipulator base；Grip device is that level is rod-shaped,
The mechanical arm other end is fixed at middle part, and wherein manipulator motor and mechanical arm are electrically connected with controlling terminal.
Using this scheme coordinated loading device, the effect of automatic charging, detection and the different rod pieces of isolation is realized.
Preferably, each group of side bar angle adjustment device includes side bar fixed frame, rotating electric machine, shaft and locating piece；
Side bar fixed frame bottom has side bar sliding block, and side bar sliding block is driven and the first traverse rod or the by side bar servo motor
Two traverse rods are slidably connected；
Rotating electric machine is fixed on one end of side bar fixed frame；
Shaft is fixed on side bar fixed frame by spring bearing, and is connected by power with the output end of rotating electric machine；
Locating piece include it is multiple, slidably in shaft, for fixing side bar；
Wherein, side bar servo motor and rotating electric machine are electrically connected with controlling terminal.
Wherein, shaft can be one section, then be fixed using rectangular panel body with shaft, locating piece is arranged at rectangular panel body
On.The components such as gear reducer, shaft coupling can be set between rotating electric machine and shaft.
Using this scheme, two groups of side bar angle adjustment devices can be relatively close and far from adjusting, and meet different vehicle top
Welding spot size requirement between two side bar of lid skeleton；Rotating electric machine drives locating piece that can rotate a certain angle through shaft,
Meets the needs of side bar welding different angle；Multiple locating pieces slidably in shaft, meet the needs of different anchor points.
It is selectable, it is additionally provided with side bar end positioning cylinder on fixed frame, is used for different automobile types roof frame side bar
End position.
Preferably, each locating piece includes sliding seat, sliding seat motor, briquetting component and fixing clamp；
Sliding seat bottom is driven by sliding seat motor, and with the sliding rail slidable connection that is arranged on side bar fixed frame；
Briquetting component includes briquetting seat, briquetting rotary cylinder, screw shaft, briquetting head；At the top of briquetting seat bottom and sliding seat
It is fixed；Briquetting rotary cylinder is fixed on briquetting seat；Screw shaft one end is connect with briquetting rotary cylinder output end, and it is scalable in
In briquetting rotary cylinder shell；
Briquetting head is fixed on the other end of screw shaft；
Fixing clamp includes clamp and clamp cylinder, and clamp is fixed on sliding seat, and opening is corresponding with briquetting head position；
Clamp cylinder is fixed on clamp side for adjusting the opening width of clamp；
Wherein sliding seat motor and controlling terminal are electrically connected, and briquetting rotary cylinder and clamp cylinder and total compressed air source unit connect
Logical, total compressed air source unit and controlling terminal are electrically connected.The side in pedestal close to feeding device can be set in total gas source.
Using this scheme, screw shaft can stretch in the height direction under the drive of briquetting rotary cylinder, meet and fix
The demand of side bar different height；Clamp can satisfy the demand of fixed different in width side bar under the drive of clamp cylinder.
Preferably, quiet positioning device includes positioning base, positioning slide and steps up cylinder；Positioning base is fixed on the second track
One end far from feeding device；Positioning slide is fixed at the top of positioning base；Clamping cylinder is two, slidably in positioning slide
On, it is used for clamp bar；Quiet positioning device is generally used for stepping up first rod piece for needing transverse weld, wherein clamping cylinder bottom
Vertical lifting cylinder can be set, realize that quiet positioning device short transverse is adjustable, clamping cylinder can realize rod piece width section direction
On adjusting.
Preferably, dynamic positioning system includes support base and steps up component；Support base slidably in the second track, steps up group
Part is two, and it includes that bracket, vertical lifting cylinder and level step up cylinder that each, which steps up component,；Bracket is slidably in support base
On, vertical lifting cylinder is fixed on bracket and can upper movement along the vertical direction；Level is stepped up cylinder and is located on vertical lifting cylinder, and can
Step up in the horizontal direction or loosens；
Wherein, vertical lifting cylinder and level step up cylinder with controlling terminal be electrically connected.
Cooperated using quiet positioning device and dynamic positioning system, realizes that quiet positioning device fixes first and needs transverse weld
Rod piece, dynamic positioning system is mobile by controlling terminal control sequence, and cooperation welding manipulator realizes multiple transverse bar member positions
Fixed, welding meets the needs of a plurality of vehicle roof frames welding.
Preferably, the first welding manipulator and the second welding manipulator include welding pedestal, electroplating equipment wielding machine arm and soldering tip,
Pedestal is welded to drive and the first track or third track slidable connection by welding motor；Electroplating equipment wielding machine arm is rotating at welding
On pedestal；Soldering tip is connected on electroplating equipment wielding machine arm；Wherein a hanging wire is all had on the welding pedestal of each welding manipulator
Frame, flex holder are used to be that the welding wire that plumb joint provides mounts.
The present invention also provides a kind of welding methods for realizing above-mentioned vehicle roof skeleton intelligent flexible welding system, including
Following steps:
S1, the product designation that wanted welding production is recalled from controlling terminal, controlling terminal are adjusted automatically according to product designation
Treating selvedge beam angle adjustment device, feeding device, feeding manipulator, welding manipulator, the promptly position of positioning device and work shape
State；
S2, left and right side bar is put into the side bar angle adjustment device of two sides, the automatic positioning of side bar angle adjustment device clamps；
Behind S3, feeding device detection rod size, shape and position, feeding manipulator grabs in order from feeding device
Corresponding rod piece is respectively put into quiet positioning device and dynamic positioning system, quiet positioning device and dynamic positioning system Automatic-clamping；
S4, it is carried out simultaneously with S3 step, the first welding welding manipulator and the second welding manipulator cooperate feeding manipulator
Clamping movement is sequentially completed the welding between each rod piece；
S5, the roof frame welding product part through the welding of above-mentioned S1-S4 step are had enough to meet the need offline by suspender.
Preferably, in the controlling terminal in S1 each welding production product designation corresponding program, write by importing
Control program or the program write online, automatically generate according to above procedure controlling terminal and optimize robot movement direction and fortune
Dynamic path, and manipulator coverage is examined, ultimately produce manipulator operation procedure.
It can be seen via above technical scheme that compared with prior art, the present invention discloses the vehicle roof skeleton intelligence of offer
The welding method of energy flexible welding system, realizes in the same system, can complete different automobile types welding roof frame intelligence
The flexible welding of automation reduces personnel's manipulation strength, improves welding efficiency, thereby reduces the welding of single-piece roof frame
Cost.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 attached drawing is the schematic perspective view of vehicle roof skeleton intelligent flexible welding system provided by the invention；
Fig. 2 attached drawing is the top view of vehicle roof skeleton intelligent flexible welding system provided by the invention；
Fig. 3 attached drawing is the feeding device and feeding machinery of vehicle roof skeleton intelligent flexible welding system provided by the invention
The structural schematic diagram of hand；
Fig. 4 attached drawing is the side bar angle positioning device of vehicle roof skeleton intelligent flexible welding system provided by the invention
Partial enlargement diagram；
Fig. 5 attached drawing is the structural representation of the locating piece of vehicle roof skeleton intelligent flexible welding system provided by the invention
Figure；
Fig. 6 attached drawing is that the structure of the quiet positioning device of vehicle roof skeleton intelligent flexible welding system provided by the invention is shown
It is intended to；
Fig. 7 attached drawing is the dynamic positioning system structural representation of vehicle roof skeleton intelligent flexible welding system provided by the invention
Figure；
Fig. 8 attached drawing is the knot of the first welding manipulator of vehicle roof skeleton intelligent flexible welding system provided by the invention
Structure schematic diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the invention discloses vehicle roof skeleton intelligent flexible welding systems, solve weld clip in the prior art
Tool is unable to satisfy the technical issues of requirement of a plurality of vehicle roof frame welding, improves welding efficiency, reduces welding cost.
Referring to attached drawing 1-2, the present invention provides vehicle roof skeleton intelligent flexible welding systems, comprising:
Pedestal 100, it is upper along its length on pedestal 100 to arrange three the first track 101, the second tracks being parallel to each other
102 and third track 103, a plurality of first traverse rod is disposed between the first track 101 and the second track 102 on vertical length direction
104, between the second track 102 and third track 103 on vertical length direction, and it has been arranged symmetrically with the first traverse rod 104 a plurality of
Second traverse rod 105；
Feeding device 200, feeding device 200 is for carrying rod piece to be welded, slidably in the second track 102；
Feeding manipulator 300, feeding manipulator 300 slidably in the second track 102, and be located at feeding device 200 it
Before；
First welding manipulator 400 and the second welding manipulator 500 are respectively slidably in the first track 101 and third track
On 103；
Side bar angle adjustment device 600, side bar angle adjustment device 600 is for fixing side bar to be welded comprising and two groups,
It is symmetrically arranged between the first track 101 and the second track 102 between the second track 102 and third track 103；And it is each
Group side bar angle adjustment device 600 is slidably on the first traverse rod 104 or the second traverse rod 105；
Promptly positioning device 700, promptly positioning device 700 is for firmly grasping rod piece to be welded in welding comprising static determinacy position
Device 701 and dynamic positioning system 702；Quiet positioning device 701 is fixed on second one end of track 102 far from feeding device 200；It is dynamic
Positioning device 702 slidably in the second track 102, and with 300 integrally connected of feeding manipulator；
Controlling terminal, controlling terminal be electrically connected feeding device 200, feeding manipulator 300, the first welding manipulator 400,
Second welding manipulator 500, side bar angle adjustment device 600 and promptly positioning device 700.
The present disclosure provides vehicle roof skeleton intelligent flexible welding systems, pass through feeding device and feeding manipulator
Automatic charging is realized with the cooperation of the second track, reduces operator's labor intensity；By two groups of side bar angle adjustment devices with
The first traverse rod of multiple groups and the cooperation of the second traverse rod realize the automatic fixation of side bar, due to its can flexibility adjust varying dimensions, match
Closing promptly positioning device realizes the sizing requirement of various roof frame；Cooperate the first bonding machine on the basis of the above
Tool hand and the second welding manipulator have achieved the purpose that a plurality of vehicle flexibility adjustings are fixedly welded automatically, improve welding effect
Rate thereby reduces welding cost.
Referring to attached drawing 3, in one embodiment provided by the invention, feeding device 200 is sliding including feeding sliding rail 201, feeding
Dynamic servo motor, rod piece storage rack 202, rod piece frame to be grabbed, feeding grasping mechanism 203 and testing agency 204；
102 slidable connection of feeding sliding rail 201 and the second track；
Feeding sliding servo motor is fixed on feeding sliding rail 201；
Rod piece storage rack 202 is fixedly connected with feeding sliding rail 201；
Between rod piece frame setting to be grabbed and feeding manipulator 300 and rod piece storage rack 202, and it is fixed on rod piece storage rack
On 202；
Feeding grasping mechanism 203 slidably on rod piece storage rack 202, by the rod piece on rod piece storage rack 202 grab to
On rod piece frame to be grabbed；
Testing agency 204, which is set on rod piece frame to be grabbed, detects rod piece position, shape and size；
Wherein, feeding sliding servo motor, feeding grasping mechanism 203 and testing agency 204 electrically connect with controlling terminal
It connects.
Selectable, mentioned rod piece includes at least straight rod member and the rod piece with arc, rod piece storage rack in the present invention
It is upper that there is dismountable Turnround basket, the rest area of a variety of components is respectively set on Turnround basket, is adequately isolated component；One end of pedestal
It is provided with fixed revolving platform 900, after the rod piece use in Turnround basket, feeding device is retracted into revolving platform and carries out manually
Fork truck replaces Turnround basket.
It is provided with infrared sensor in above-mentioned testing agency, detects the size of rod piece, shape judges feeding grasping mechanism
The rod piece of crawl is correctly that no feeding grasping mechanism grabs the rod piece and replaces, and grabs rod piece again；It can judge simultaneously
Whether the position that rod piece is placed is correct.
Advantageously, feeding manipulator 300 includes: manipulator base 301, mechanical arm 302 and grip device 303；Manipulator
Pedestal 301 is driven by manipulator motor slidably in the second track 102；302 one end of mechanical arm is rotating at manipulator bottom
On seat 301；Grip device 303 is that level is rod-shaped, and 302 other end of mechanical arm is fixed at middle part, wherein manipulator motor and machinery
Arm 302 is electrically connected with controlling terminal.Using this scheme coordinated loading device, automatic charging, detection and isolation are realized not
With the effect of rod piece.
Referring to attached drawing 4, in another embodiment provided by the invention, each group of side bar angle adjustment device 600 includes
Side bar fixed frame 601, rotating electric machine 602, shaft 603 and locating piece 604；
601 bottom of side bar fixed frame has side bar sliding block, and side bar sliding block is driven and the first traverse rod by side bar servo motor
104 or second traverse rod 105 be slidably connected；
Rotating electric machine 602 is fixed on one end of side bar fixed frame 601；
Shaft 603 is fixed on side bar fixed frame 601 by spring bearing, and the output end power with rotating electric machine 602
Connection；
Locating piece 604 include it is multiple, slidably in shaft 603, for fixing side bar；
Wherein, side bar servo motor and rotating electric machine 602 are electrically connected with controlling terminal.
Wherein, shaft can be one section, then be fixed using rectangular panel body with shaft, locating piece is arranged at rectangular panel body
On.The components such as gear reducer, shaft coupling can be set between rotating electric machine and shaft.
Using this scheme, two groups of side bar angle adjustment devices can be relatively close and far from adjusting, and meet different vehicle top
Welding spot size requirement between two side bar of lid skeleton；Rotating electric machine drives locating piece that can rotate a certain angle through shaft,
Meets the needs of side bar welding different angle；Multiple locating pieces slidably in shaft, meet the needs of different anchor points.
It is selectable, it is additionally provided with side bar end positioning cylinder on fixed frame, is used for different automobile types roof frame side bar
End position.
Advantageously, referring to attached drawing 5, locating piece 604 include sliding seat 6041, sliding seat motor, briquetting component 6042 and
Fixing clamp 6043；
6041 bottom of sliding seat is driven by sliding seat motor, and slidably with the sliding rail that is arranged on side bar fixed frame 601
Connection；
Briquetting component 6042 includes briquetting seat 60421, briquetting rotary cylinder 60422, screw shaft, briquetting head 60423；Briquetting
It is fixed at the top of 60421 bottoms of seat and sliding seat 6041；Briquetting rotary cylinder 60422 is fixed on briquetting seat 60421；Screw shaft one
End is connect with 60422 output end of briquetting rotary cylinder, and scalable in 60422 shell of briquetting rotary cylinder；
Briquetting head 60423 is fixed on the other end of screw shaft；
Fixing clamp 6043 includes clamp 60431 and clamp cylinder 60432, and clamp 60431 is fixed on sliding seat 6041,
Opening is corresponding with 60423 position of briquetting head；Clamp cylinder 60432 is fixed on 60431 side of clamp for adjusting clamp 60431
Opening width；
Wherein sliding seat motor and controlling terminal are electrically connected, briquetting rotary cylinder 60422 and clamp cylinder 60432 and total
Compressed air source unit connection, total compressed air source unit and controlling terminal are electrically connected.Total gas source can be set in pedestal close to feeding device
Side.
Using this scheme, screw shaft can stretch in the height direction under the drive of briquetting rotary cylinder, meet and fix
The demand of side bar different height；Clamp can satisfy the demand of fixed different in width side bar under the drive of clamp cylinder.
Referring to attached drawing 6, quiet positioning device 701 is including positioning base 7011, positioning slide 7012 and steps up cylinder 7013；Positioning
Pedestal 7011 is fixed on second one end of track 102 far from feeding device 200；Positioning slide 7012 is fixed on positioning base 7011
Top；Clamping cylinder 7013 is two, is slidably used for clamp bar on positioning slide 7012；Quiet positioning device is generally used
In stepping up first rod piece for needing transverse weld, wherein vertical lifting cylinder is can be set in clamping cylinder bottom, realizes static determinacy position
Device short transverse is adjustable, and clamping cylinder can realize the adjusting on rod piece width section direction.
Referring to attached drawing 7, dynamic positioning system 702 includes support base 7021 and steps up component 7022；Support base 7021 is slidably
It is two in the second track 102, stepping up component 7022, it includes bracket 70221, vertical lifting that each, which steps up component 7022,
Cylinder 70222 and level step up cylinder 70223；Slidably on support base 7021, vertical lifting cylinder 70222 is fixed on bracket 70221
And it can upper movement along the vertical direction on bracket 70221；Level is stepped up cylinder 70223 and is located on vertical lifting cylinder 70222, and can be along water
Square steps up or loosen upwards；
Wherein, vertical lifting cylinder 70222 and level step up cylinder 70223 with controlling terminal be electrically connected.
Cooperated using quiet positioning device and dynamic positioning system, realizes that quiet positioning device fixes first and needs transverse weld
Rod piece, dynamic positioning system is mobile by controlling terminal control sequence, and cooperation welding manipulator realizes multiple transverse bar member positions
Fixed, welding meets the needs of a plurality of vehicle roof frames welding.
Referring to attached drawing 8, the first welding manipulator 400 and the second welding manipulator 500 include welding pedestal 401, welding
Mechanical arm 402 and soldering tip 403, welding pedestal 401 can be slided by welding motor drive with the first track 101 or third track 103
Dynamic connection；Electroplating equipment wielding machine arm 402 is rotating on welding pedestal 401；Soldering tip 403 is connected on electroplating equipment wielding machine arm 402；It is wherein every
All have a flex holder 800 on the welding pedestal of one welding manipulator, flex holder 800 is used to be weldering that plumb joint provides
Silk mounting.
The present invention also provides a kind of welding methods for realizing above-mentioned vehicle roof skeleton intelligent flexible welding system, including
Following steps:
S1, the product designation that wanted welding production is recalled from controlling terminal, controlling terminal are adjusted automatically according to product designation
Treating selvedge beam angle adjustment device, feeding device, feeding manipulator, welding manipulator, the promptly position of positioning device and work shape
State；
S2, left and right side bar is put into the side bar angle adjustment device of two sides, the automatic positioning of side bar angle adjustment device clamps；
Behind S3, feeding device detection rod size, shape and position, feeding manipulator grabs in order from feeding device
Corresponding rod piece is respectively put into quiet positioning device and dynamic positioning system, quiet positioning device and dynamic positioning system Automatic-clamping；
S4, it is carried out simultaneously with S3 step, the first welding welding manipulator and the second welding manipulator cooperate feeding manipulator
Clamping movement is sequentially completed the welding between each rod piece；
S5, the roof frame welding product part through the welding of above-mentioned S1-S4 step are had enough to meet the need offline by suspender.
Wherein, in the controlling terminal in S1 each welding production the corresponding program of product designation, by importing the control write
Processing procedure sequence or the program write online automatically generate according to above procedure controlling terminal and optimize robot movement direction and movement
Path, and manipulator coverage is examined, ultimately produce manipulator operation procedure.
The present invention discloses the welding method of the vehicle roof skeleton intelligent flexible welding system of offer, realizes in same system
In system, the flexible welding of different automobile types welding roof frame intelligent automation can be completed, personnel's manipulation strength is reduced, is improved
Welding efficiency, thereby reduces single-piece roof frame welding cost.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. vehicle roof skeleton intelligent flexible welding system characterized by comprising
Pedestal (100), it is upper along its length on the pedestal (100) to arrange three the first tracks (101) being parallel to each other, second
Track (102) and third track (103), vertical length direction between first track (101) and second track (102)
On be disposed with a plurality of first traverse rod (104), vertical length side between second track (102) and the third track (103)
Upwards, and with first traverse rod (104) a plurality of second traverse rod (105) has been arranged symmetrically it；
Feeding device (200), the feeding device (200) is for carrying rod piece to be welded, slidably in second track
(102) on；
Feeding manipulator (300), the feeding manipulator (300) are located at described slidably on second track (102)
Before feeding device (200)；
First welding manipulator (400) and the second welding manipulator (500) are respectively slidably in first track (101) and the
In three tracks (103)；
Side bar angle adjustment device (600), the side bar angle adjustment device (600) is for fixing side bar to be welded comprising
It two groups, is symmetrically arranged between first track (101) and the second track (102) and the second track (102) and third track
(103) between；And side bar angle adjustment device (600) described in each group is slidably horizontal in first traverse rod (104) or second
On rail (105)；
Promptly positioning device (700), described promptly positioning device (700) are for firmly grasping rod piece to be welded in welding comprising quiet
Positioning device (701) and dynamic positioning system (702)；It is separate that the quiet positioning device (701) is fixed on second track (102)
One end of the feeding device (200)；The dynamic positioning system (702) slidably on second track (102), and with institute
State feeding manipulator (300) integrally connected；
Controlling terminal, the controlling terminal are electrically connected the feeding device (200), the feeding manipulator (300), described the
One welding manipulator (400), second welding manipulator (500), the side bar angle adjustment device (600) and it is described promptly
Positioning device (700).
2. vehicle roof skeleton intelligent flexible welding system according to claim 1, which is characterized in that the feeding device
It (200) include feeding sliding rail (201), feeding sliding servo motor, rod piece storage rack (202), rod piece frame to be grabbed, feeding crawl
Mechanism (203) and testing agency (204)；
The feeding sliding rail (201) and the second track (102) slidable connection；
The feeding sliding servo motor is fixed on the feeding sliding rail (201)；
The rod piece storage rack (202) is fixedly connected with the feeding sliding rail (201)；
The rod piece frame to be grabbed is arranged between the feeding manipulator (300) and the rod piece storage rack (202), and fixed
On the rod piece storage rack (202)；
The feeding grasping mechanism (203) is slidably on the rod piece storage rack (202), by the rod piece storage rack (202)
On rod piece grab to rod piece frame to be grabbed；
The testing agency (204) is set to detection rod piece position, shape and size on rod piece frame to be grabbed；
Wherein, feeding sliding servo motor, the feeding grasping mechanism (203) and the testing agency (204) be and institute
State controlling terminal electric connection.
3. vehicle roof skeleton intelligent flexible welding system according to claim 2, which is characterized in that the feeding is mechanical
Hand (300) includes: manipulator base (301), mechanical arm (302) and grip device (303)；The manipulator base (301) passes through
Manipulator motor drives slidably on second track (102)；Described mechanical arm (302) one end is rotating at the machinery
At hand on seat (301)；The grip device (303) is that level is rod-shaped, and the mechanical arm (302) other end is fixed at middle part,
Described in manipulator motor and the mechanical arm (302) be electrically connected with the controlling terminal.
4. vehicle roof skeleton intelligent flexible welding system according to claim 1, which is characterized in that side described in each group
Beam angle adjustment device (600) includes side bar fixed frame (601), rotating electric machine (602), shaft (603) and locating piece (604)；
Side bar fixed frame (601) bottom has side bar sliding block, and the side bar sliding block is driven by side bar servo motor and institute
It states the first traverse rod (104) or the second traverse rod (105) is slidably connected；
The rotating electric machine (602) is fixed on one end of the side bar fixed frame (601)；
The shaft (603) is fixed on the side bar fixed frame (601) by spring bearing, and with the rotating electric machine
(602) output end is connected by power；
The locating piece (604) include it is multiple, slidably on the shaft (603), for fixing side bar；
Wherein, the side bar servo motor and the rotating electric machine (602) are electrically connected with the controlling terminal.
5. vehicle roof skeleton intelligent flexible welding system according to claim 4, which is characterized in that the locating piece
It (604) include sliding seat (6041), sliding seat motor, briquetting component (6042) and fixing clamp (6043)；
Sliding seat (6041) bottom by the sliding seat motor drive, and be arranged on the side bar fixed frame (601)
Sliding rail slidable connection；
Briquetting component (6042) includes briquetting seat (60421), briquetting rotary cylinder (60422), screw shaft, briquetting head (60423)；
It is fixed at the top of briquetting seat (60421) bottom and the sliding seat (6041)；The briquetting rotary cylinder (60422) is fixed on
On the briquetting seat (60421)；Described screw shaft one end is connect with briquetting rotary cylinder (60422) output end, and can be stretched
It shrinks in briquetting rotary cylinder (60422) shell；
The briquetting head (60423) is fixed on the other end of the screw shaft；
The fixing clamp (6043) includes clamp (60431) and clamp cylinder (60432), and the clamp (60431) is fixed on institute
It states on sliding seat (6041), opening is corresponding with briquetting head (60423) position；The clamp cylinder (60432) is fixed
It is used to adjust the opening width of the clamp (60431) in the clamp (60431) side；
Wherein the sliding seat motor and the controlling terminal are electrically connected, the briquetting rotary cylinder (60422) and the folder
Body cylinder (60432) is connected to total compressed air source unit, and total compressed air source unit and the controlling terminal are electrically connected.
6. vehicle roof skeleton intelligent flexible welding system according to claim 1, which is characterized in that the static determinacy position dress
(701) are set to include positioning base (7011), positioning slide (7012) and step up cylinder (7013)；The positioning base (7011) is fixed
In the one end of second track (102) far from the feeding device (200)；It is described fixed that the positioning slide (7012) is fixed on
At the top of position pedestal (7011)；The clamping cylinder (7013) is two, slidably on the positioning slide (7012), for pressing from both sides
Tight rod piece.
7. vehicle roof skeleton intelligent flexible welding system according to claim 1, which is characterized in that the dynamic positioning dress
(702) are set to include support base (7021) and step up component (7022)；The support base (7021) is slidably in second track
(102) on, described step up component (7022) are two, step up described in each component (7022) include bracket (70221), it is perpendicular
Straight lift cylinders (70222) and level step up cylinder (70223)；The bracket (70221) slidably on the support base (7021),
The vertical lifting cylinder (70222) is fixed on the bracket (70221) and can upper movement along the vertical direction；The level is stepped up
Cylinder (70223) is located on the vertical lifting cylinder (70222), and can in the horizontal direction on step up or loosen；
Wherein, the vertical lifting cylinder (70222) and level step up cylinder (70223) with the controlling terminal be electrically connected.
8. vehicle roof skeleton intelligent flexible welding system according to claim 1, which is characterized in that first welding
Manipulator (400) and the second welding manipulator (500) include welding pedestal (401), electroplating equipment wielding machine arm (402) and soldering tip
(403), the welding pedestal (401) can be slided by welding motor drive with first track (101) or third track (103)
Dynamic connection；The electroplating equipment wielding machine arm (402) is rotating on the welding pedestal (401)；The soldering tip (403) is connected to described
On electroplating equipment wielding machine arm (402).
9. a kind of welding method for realizing the described in any item vehicle roof skeleton intelligent flexible welding systems of claim 1-8,
Characterized by comprising the following steps:
S1, the product designation that wanted welding production is recalled from controlling terminal, controlling terminal is according to product designation adjust automatically side
Beam angle adjustment device, feeding device, feeding manipulator, welding manipulator, the promptly position of positioning dress and working condition；
S2, left and right side bar is put into the side bar angle adjustment device of two sides, the automatic positioning of side bar angle adjustment device clamps；
Behind S3, feeding device detection rod size, shape and position, crawl corresponds to feeding manipulator in order from feeding device
Rod piece is respectively put into quiet positioning device and dynamic positioning system, quiet positioning device and dynamic positioning system Automatic-clamping；
S4, it is carried out simultaneously with S3 step, the first welding welding manipulator and the cooperation feeding manipulator clamping of the second welding manipulator
Movement is sequentially completed the welding between each rod piece；
S5, the roof frame welding product part through the welding of above-mentioned S1-S4 step are had enough to meet the need offline by suspender.
10. the welding method of vehicle roof skeleton intelligent flexible welding system described in one kind according to claim 9,
It is characterized in that, the corresponding program of the product designation of each welding production in the controlling terminal in S1, by importing the control journey write
Sequence or the program write online automatically generate according to above procedure controlling terminal and optimize robot movement direction and movement road
Diameter, and manipulator coverage is examined, ultimately produce manipulator operation procedure.
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| CN201910407106.6A CN110125584B (en) | 2019-05-15 | 2019-05-15 | Intelligent flexible welding system for vehicle roof framework and welding method thereof |
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| CN201910407106.6A CN110125584B (en) | 2019-05-15 | 2019-05-15 | Intelligent flexible welding system for vehicle roof framework and welding method thereof |
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