CN110125584A - Vehicle roof skeleton intelligent flexible welding system and its welding method - Google Patents

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

Vehicle roof frame intelligent flexible welding system and its welding method

technical field

The invention relates to the technical field of automobile manufacturing, and more specifically relates to an intelligent flexible welding system for a vehicle roof frame and a welding method thereof.

Background technique

The welding of the vehicle roof frame mainly adopts manual measurement of dimensions, which is realized by manual welding, and the welding efficiency is low, which cannot meet the growing needs of the current vehicles. In order to solve the above problems, in the prior art, a special welding fixture has been developed and manufactured for a single car model to realize manual clamping and welding to increase welding efficiency, but it cannot meet the roof frame welding of various car models. If each car model uses Corresponding to a welding jig, the welding cost for the roof frame of the OEM will increase.

Therefore, how to provide a device capable of welding roof frames of various vehicle models is an urgent problem to be solved by those skilled in the art.

Contents of the invention

In view of this, the present invention provides an intelligent flexible welding system for vehicle roof frames, which solves the technical problem that welding fixtures in the prior art cannot meet the requirements for welding roof frames of various models, improves welding efficiency, and reduces welding costs.

In order to achieve the above object, the present invention adopts the following technical solutions:

Intelligent flexible welding system for vehicle roof frame, including:

The base, three parallel first ground rails, second ground rails and third ground rails are arranged along the length direction on the base, and a plurality of first ground rails and second ground rails are arranged in the vertical length direction between the first ground rail and the second ground rail. A horizontal rail, a plurality of second horizontal rails arranged in the vertical length direction between the second ground rail and the third ground rail and symmetrically arranged with the first horizontal rail;

Feeding device, the feeding device is used to carry the rods to be welded, which can slide on the second ground rail;

The feeding manipulator can slide on the second ground rail and is located in front of the feeding device;

The first welding manipulator and the second welding manipulator can slide on the first ground rail and the third ground rail respectively;

Side beam angle adjustment device, the side beam angle adjustment device is used to fix the side beam to be welded, which includes two groups, symmetrically arranged between the first ground rail and the second ground rail, and between the second ground rail and the third ground rail and each set of edge beam angle adjustment devices can slide on the first rail or the second rail;

Grasp the positioning device, the grasping positioning device is used to grasp the rods to be welded during welding, which includes a static positioning device and a dynamic positioning device; the static positioning device is fixed on the end of the second ground rail away from the feeding device; the dynamic positioning device can slide on the first 2. On the ground rail, and integrated with the feeding manipulator;

The control terminal is electrically connected to the feeding device, the feeding manipulator, the first welding manipulator, the second welding manipulator, the edge beam angle adjustment device and the grasping positioning device.

It can be seen from the above-mentioned technical solutions that compared with the prior art, the present invention provides an intelligent flexible welding system for the vehicle roof frame, which realizes automatic feeding through the cooperation of the feeding device and the feeding manipulator with the second ground rail, reducing the The labor intensity of the operator; through the cooperation of two sets of side beam angle adjustment devices and multiple sets of first cross rails and second cross rails, the automatic fixation of the side beams is realized. Because it can be flexibly adjusted and changed in size, multiple The size and positioning requirements of the roof frame of various models; on the basis of the above, the first welding manipulator and the second welding manipulator are used to achieve the purpose of flexible adjustment and automatic fixed welding of various models, which improves the welding efficiency and reduces the welding cost.

Preferably, the feeding device includes a feeding slide rail, a feeding sliding servo motor, a rod storage rack, a rod to be grabbed rack, a feeding grabbing mechanism and a detection mechanism;

The feeding slide rail is slidably connected with the second ground rail;

The feeding sliding servo motor is fixed on the feeding slide rail;

The rod storage rack is fixedly connected with the feeding slide rail;

The rod to be grabbed is set between the loading manipulator and the rod storage rack, and is fixed on the rod storage rack;

The feeding and grabbing mechanism can slide on the rod storage rack, and grab the rods on the rod storage rack to the rod waiting rack;

The detection mechanism is set on the rod to be grasped to detect the size, shape and position of the rod;

Wherein, the feeding sliding servo motor, the feeding grabbing mechanism and the detecting mechanism are all electrically connected with the control terminal.

Optionally, the poles mentioned in the present invention include at least straight poles and arc-shaped poles. The pole storage rack has detachable turnover baskets, and the turnover baskets are respectively provided with placement areas for various components. Parts are fully isolated; one end of the base is provided with a fixed turnover table, and when the rods in the turnover basket are used up, the feeding device returns to the turnover platform for manual forklift replacement of the turnover basket.

The above-mentioned detection mechanism is equipped with an infrared sensor to detect the size and shape of the rod to judge whether the rod captured by the feeding and grabbing mechanism is correct, or not. Rods; at the same time, it can judge whether the position of the rods is correct.

Preferably, the feeding manipulator includes: a manipulator base, a manipulator arm and a gripper; the manipulator base can slide on the second ground rail driven by the manipulator motor; one end of the manipulator arm can be rotated on the manipulator base; the gripper is a horizontal rod , the middle of which is fixed on the other end of the manipulator, where the manipulator motor and the manipulator are electrically connected to the control terminal.

Using this scheme with the feeding device, the effect of automatic feeding, detection and isolation of different rods is realized.

Preferably, each set of side beam angle adjustment devices includes a side beam fixing frame, a rotating motor, a rotating shaft and a positioning block;

There is a side beam slider at the bottom of the side beam fixing frame, and the side beam slider is driven by the side beam servo motor to slide and connect with the first cross rail or the second cross rail;

The rotating motor is fixed at one end of the side beam fixing frame;

The rotating shaft is fixed on the side beam fixing frame through the support bearing, and is connected with the output end of the rotating motor;

There are several positioning blocks, which can slide on the rotating shaft and are used to fix the side beam;

Wherein, both the side beam servo motor and the rotating motor are electrically connected to the control terminal.

Wherein, the rotating shaft can be a section, and then a rectangular plate is used to fix the rotating shaft, and the positioning blocks are arranged on the rectangular plate. Components such as a reducer and a shaft coupling can be arranged between the rotating motor and the rotating shaft.

With this solution, the two sets of side beam angle adjustment devices can be adjusted relatively close to and far away from each other to meet the size requirements of the welding point between the two side beams of the roof frame of different vehicles; Different welding angles are required; multiple positioning blocks can slide on the rotating shaft to meet the needs of different positioning points.

Optionally, a side beam end positioning cylinder is also arranged on the fixed frame, which is used for the end position of the roof frame side beam of different vehicle models.

Preferably, each positioning block includes a sliding seat, a sliding seat motor, a pressing block assembly and a fixing clip;

The bottom of the sliding seat is driven by the sliding seat motor, and is slidably connected with the slide rail set on the side beam fixing frame;

The briquetting assembly includes a briquetting seat, a briquetting rotary cylinder, a screw shaft, and a briquetting head; the bottom of the briquetting seat is fixed to the top of the sliding seat; the briquetting rotary cylinder is fixed on the briquetting seat; one end of the screw shaft is connected to the output end of the briquetting rotary cylinder Connected, and can be stretched in the housing of the pressing block rotating cylinder;

The briquetting head is fixed on the other end of the screw shaft;

The clamp includes a clamp body and a clamp body cylinder. The clamp body is fixed on the sliding seat, and its opening corresponds to the position of the pressing block head; the clamp body cylinder is fixed on the side of the clamp body to adjust the opening width of the clamp body;

Wherein the sliding seat motor is electrically connected with the control terminal, the pressing block rotating cylinder and the clip body cylinder are connected with the total air source device, and the total air source device is electrically connected with the control terminal. The total air source can be set on the side of the base close to the feeding device.

With this solution, the screw shaft can expand and contract along the height direction under the drive of the pressing block rotating cylinder, meeting the needs of different heights of the fixed side beams; the clamp body can meet the needs of fixing side beams of different widths driven by the clamp body cylinder.

Preferably, the static positioning device includes a positioning base, a positioning slide rail and a tightening cylinder; the positioning base is fixed on the end of the second ground rail away from the feeding device; the positioning slide rail is fixed on the top of the positioning base; there are two clamping cylinders, either Sliding on the positioning slide rail, it is used to clamp the rod; the static positioning device is generally used to tighten the first rod that needs to be welded horizontally, and the bottom of the clamping cylinder can be equipped with a vertical lifting cylinder to realize the height direction of the static positioning device. Adjustment, the clamping cylinder can realize the adjustment in the width section direction of the rod.

Preferably, the dynamic positioning device includes a support base and a tightening assembly; the support base can slide on the second ground rail, and there are two tightening assemblies, and each tightening assembly includes a bracket, a vertical lifting cylinder and a horizontal tightening cylinder; the bracket can slide On the support base, the vertical lifting cylinder is fixed on the bracket and can move vertically; the horizontal tightening cylinder is located on the vertical lifting cylinder and can be tightened or loosened horizontally;

Wherein, both the vertical lifting cylinder and the horizontal tightening cylinder are electrically connected to the control terminal.

The static positioning device and the dynamic positioning device are used together to realize the static positioning device to fix the first bar that needs to be welded horizontally. The dynamic positioning device moves in sequence through the control terminal, and cooperates with the welding manipulator to realize the fixing and welding of multiple transverse bar positions. It meets the needs of roof frame welding of various models.

Preferably, both the first welding manipulator and the second welding manipulator include a welding base, a welding manipulator and a welding head, and the welding base is driven by a welding motor to be slidably connected to the first ground rail or the third ground rail; the welding manipulator can rotate on on the welding base; the welding head is connected to the welding robot arm; wherein each welding manipulator has a wire hanger on the welding base, and the wire hanger is used for hanging the welding wire provided for the welding head.

The present invention also provides a welding method for realizing the intelligent flexible welding system of the vehicle roof frame, comprising the following steps:

S1. Call out the product code to be welded from the control terminal, and the control terminal automatically adjusts the position and working status of the side beam angle adjustment device, feeding device, feeding manipulator, welding manipulator, and grasping positioning device according to the product code;

S2. Put the left and right side beams into the side beam angle adjustment devices on both sides, and the side beam angle adjustment devices will automatically position and clamp;

S3. After the feeding device detects the size, shape and position of the rods, the feeding manipulator grabs the corresponding rods from the feeding device in order and puts them into the static positioning device and the dynamic positioning device respectively, and the static positioning device and the dynamic positioning device are automatically clamped. tight;

S4, step S3 is carried out at the same time, the first welding manipulator and the second welding manipulator cooperate with the material feeding manipulator to complete the welding between the rods in sequence;

S5. The roof frame welding products welded by the above steps S1-S4 are rolled off the production line by the spreader.

Preferably, the program corresponding to the product code of each welding production in the control terminal in S1, by importing the written control program or the online written program, according to the above program, the control terminal automatically generates and optimizes the movement direction and path of the manipulator, and checks the manipulator reachable range, and finally generate the manipulator operation program.

It can be seen from the above-mentioned technical solutions that, compared with the prior art, the welding method of the vehicle roof frame intelligent flexible welding system disclosed by the present invention realizes that in the same system, the flexibility of intelligent automation of welding roof frames of different models can be completed. Welding reduces the operating intensity of personnel, improves welding efficiency, and reduces the welding cost of a single-piece roof frame.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can also obtain other drawings according to the provided drawings without creative work.

Accompanying drawing of Fig. 1 is the three-dimensional structure schematic diagram of the intelligent flexible welding system of vehicle roof frame provided by the present invention;

Fig. 2 accompanying drawing is the top view of the intelligent flexible welding system of vehicle roof frame provided by the present invention;

Fig. 3 accompanying drawing is the structural representation of the feeding device and the feeding manipulator of the intelligent flexible welding system of the vehicle roof frame provided by the present invention;

Fig. 4 accompanying drawing is the partially enlarged schematic diagram of the side beam angle positioning device of the intelligent flexible welding system of the vehicle roof frame provided by the present invention;

Fig. 5 accompanying drawing is the structure diagram of the positioning block of the intelligent flexible welding system of the vehicle roof frame provided by the present invention;

Figure 6 is a schematic structural view of the static positioning device of the vehicle roof frame intelligent flexible welding system provided by the present invention;

Figure 7 is a schematic diagram of the structure of the dynamic positioning device of the vehicle roof frame intelligent flexible welding system provided by the present invention;

Fig. 8 is a schematic diagram of the structure of the first welding manipulator of the intelligent flexible welding system for the vehicle roof frame provided by the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

The embodiment of the invention discloses an intelligent flexible welding system for a vehicle roof frame, which solves the technical problem that welding fixtures in the prior art cannot meet the requirements for welding roof frames of various vehicle types, improves welding efficiency, and reduces welding costs.

Referring to accompanying drawings 1-2, the present invention provides a vehicle roof frame intelligent flexible welding system, including:

Base 100, three mutually parallel first ground rails 101, second ground rails 102 and third ground rails 103 are arranged along the length direction on the base 100, the vertical length between the first ground rail 101 and the second ground rail 102 A plurality of first cross rails 104 are arranged in the direction, and a plurality of second cross rails 105 are arranged in a vertical length direction between the second ground rail 102 and the third ground rail 103 and symmetrically with the first cross rail 104;

The feeding device 200, the feeding device 200 is used to carry the rods to be welded, which can slide on the second ground rail 102;

The feeding manipulator 300, the feeding manipulator 300 can slide on the second ground rail 102, and is located in front of the feeding device 200;

The first welding manipulator 400 and the second welding manipulator 500 can slide on the first ground rail 101 and the third ground rail 103 respectively;

The side beam angle adjustment device 600, the side beam angle adjustment device 600 is used to fix the side beam to be welded, which includes two groups, symmetrically arranged between the first ground rail 101 and the second ground rail 102, and the second ground rail 102 and the second ground rail 102 between the third ground rails 103; and each group of edge beam angle adjustment devices 600 can slide on the first cross rail 104 or the second cross rail 105;

Grasp the positioning device 700, the grasping positioning device 700 is used to grasp the rods to be welded during welding, which includes a static positioning device 701 and a dynamic positioning device 702; the static positioning device 701 is fixed on the second ground rail 102 away from the end of the feeding device 200; The dynamic positioning device 702 can slide on the second ground rail 102, and is integrally connected with the feeding manipulator 300;

The control terminal is electrically connected to the feeding device 200 , the feeding manipulator 300 , the first welding manipulator 400 , the second welding manipulator 500 , the edge beam angle adjusting device 600 and the grasping and positioning device 700 .

The invention discloses an intelligent flexible welding system for the roof frame of a vehicle, which realizes automatic feeding through the cooperation of the feeding device and the feeding manipulator with the second ground rail, and reduces the labor intensity of the operator; through two sets of side beam angle adjustment devices and Multiple sets of first cross rails and second cross rails cooperate to realize the automatic fixation of the side beams. Because they can be flexibly adjusted and changed in size, and cooperate with the grasping positioning device to realize the size positioning requirements of the roof frame of various models; on the basis of the above Cooperating with the first welding manipulator and the second welding manipulator, the purpose of flexible adjustment and automatic fixed welding of various models is achieved, the welding efficiency is improved, and the welding cost is reduced.

Referring to accompanying drawing 3, in an embodiment provided by the present invention, the feeding device 200 includes a feeding slide rail 201, a feeding sliding servo motor, a rod storage rack 202, a rod to be grabbed rack, and a feeding grabbing mechanism 203 and testing agency 204;

The feeding slide rail 201 is slidably connected to the second ground rail 102;

The feeding slide servo motor is fixed on the feeding slide rail 201;

The rod storage rack 202 is fixedly connected with the feeding slide rail 201;

The rod to be grasped is set between the loading manipulator 300 and the rod storage rack 202, and is fixed on the rod storage rack 202;

The feeding grabbing mechanism 203 can slide on the rod storage rack 202, and grab the rods on the rod storage rack 202 to the rod waiting rack;

The detection mechanism 204 is arranged on the rod to be grasped rack to detect the position, shape and size of the rod;

Wherein, the feeding sliding servo motor, the feeding grasping mechanism 203 and the detecting mechanism 204 are all electrically connected to the control terminal.

Optionally, the poles mentioned in the present invention include at least straight poles and arc-shaped poles. The pole storage rack has detachable turnover baskets, and the turnover baskets are respectively provided with placement areas for various components. Fully isolate the parts; one end of the base is provided with a fixed turnover table 900, and when the rods in the turnover basket are used up, the feeding device returns to the turnover platform for manual forklift replacement of the turnover basket.

The above-mentioned detection mechanism is equipped with an infrared sensor to detect the size and shape of the rod to judge whether the rod captured by the feeding and grabbing mechanism is correct, or not. Rods; at the same time, it can judge whether the position of the rods is correct.

Advantageously, the feeding manipulator 300 includes: a manipulator base 301, a manipulator 302 and a gripper 303; the manipulator base 301 can slide on the second ground rail 102 driven by the manipulator motor; one end of the manipulator 302 can rotate on the manipulator base 301 Above; the gripper 303 is in the shape of a horizontal rod, the middle of which is fixed to the other end of the robotic arm 302, wherein the motor of the robotic arm and the robotic arm 302 are both electrically connected to the control terminal. Using this scheme with the feeding device, the effect of automatic feeding, detection and isolation of different rods is realized.

Referring to accompanying drawing 4, in another embodiment provided by the present invention, each set of side beam angle adjustment devices 600 includes a side beam fixing frame 601, a rotating motor 602, a rotating shaft 603 and a positioning block 604;

There is a side beam slider at the bottom of the side beam fixing frame 601, and the side beam slider is driven by the side beam servo motor to slide and connect with the first cross rail 104 or the second cross rail 105;

The rotating motor 602 is fixed on one end of the side beam fixing frame 601;

The rotating shaft 603 is fixed on the side beam fixing frame 601 through the support bearing, and is connected with the output end of the rotating motor 602 by power;

The positioning block 604 includes a plurality, which can slide on the rotating shaft 603, and is used to fix the side beam;

Wherein, both the side beam servo motor and the rotating motor 602 are electrically connected to the control terminal.

Wherein, the rotating shaft can be a section, and then a rectangular plate is used to fix the rotating shaft, and the positioning blocks are arranged on the rectangular plate. Components such as a reducer and a shaft coupling can be arranged between the rotating motor and the rotating shaft.

With this solution, the two sets of side beam angle adjustment devices can be adjusted relatively close to and far away from each other to meet the size requirements of the welding point between the two side beams of the roof frame of different vehicles; Different welding angles are required; multiple positioning blocks can slide on the rotating shaft to meet the needs of different positioning points.

Optionally, a side beam end positioning cylinder is also arranged on the fixed frame, which is used for the end position of the roof frame side beam of different vehicle models.

Advantageously, referring to accompanying drawing 5, the positioning block 604 includes a sliding seat 6041, a sliding seat motor, a pressing block assembly 6042 and a fixing clip 6043;

The bottom of the sliding seat 6041 is driven by the sliding seat motor, and is slidably connected with the slide rail provided on the side beam fixing frame 601;

The briquetting block assembly 6042 includes a briquetting block seat 60421, a briquetting block rotating cylinder 60422, a screw shaft, and a briquetting block head 60423; the bottom of the briquetting block seat 60421 is fixed to the top of the sliding seat 6041; the briquetting block rotating cylinder 60422 is fixed on the briquetting block seat 60421; the screw shaft One end is connected to the output end of the briquetting rotary cylinder 60422, and can be stretched in the casing of the briquetting rotary cylinder 60422;

The briquetting head 60423 is fixed on the other end of the screw shaft;

The fixing clip 6043 includes a clip body 60431 and a clip body cylinder 60432. The clip body 60431 is fixed on the sliding seat 6041, and its opening corresponds to the position of the pressure block head 60423; the clip body cylinder 60432 is fixed on the side of the clip body 60431 for adjusting the position of the clip body 60431. opening width;

The sliding seat motor is electrically connected to the control terminal, the pressing block rotating cylinder 60422 and the clip body cylinder 60432 are connected to the total air source device, and the total air source device is electrically connected to the control terminal. The total air source can be set on the side of the base close to the feeding device.

With this solution, the screw shaft can expand and contract along the height direction under the drive of the pressing block rotating cylinder, meeting the needs of different heights of the fixed side beams; the clamp body can meet the needs of fixing side beams of different widths driven by the clamp body cylinder.

Referring to accompanying drawing 6, the static positioning device 701 includes a positioning base 7011, a positioning slide rail 7012 and a tightening cylinder 7013; the positioning base 7011 is fixed on the end of the second ground rail 102 away from the feeding device 200; the positioning slide rail 7012 is fixed on the positioning base 7011 top; there are two clamping cylinders 7013, both of which can slide on the positioning slide rail 7012, and are used to clamp rods; the static positioning device is generally used to tighten the first rod that needs to be welded horizontally, and the bottom of the clamping cylinder can be The vertical lifting cylinder is set to realize the adjustable height direction of the static positioning device, and the clamping cylinder can realize the adjustment in the direction of the width and section of the rod.

Referring to accompanying drawing 7, the dynamic positioning device 702 includes a support base 7021 and a tightening assembly 7022; the support base 7021 can slide on the second ground rail 102, and there are two tightening assemblies 7022, and each tightening assembly 7022 includes a bracket 70221, a vertical The lifting cylinder 70222 and the horizontal tightening cylinder 70223; the bracket 70221 can slide on the support seat 7021, the vertical lifting cylinder 70222 is fixed on the bracket 70221 and can move vertically; the horizontal tightening cylinder 70223 is located on the vertical lifting cylinder 70222, And it can be tightened or loosened in the horizontal direction;

Wherein, the vertical lifting cylinder 70222 and the horizontal tightening cylinder 70223 are both electrically connected to the control terminal.

The static positioning device and the dynamic positioning device are used together to realize the static positioning device to fix the first bar that needs to be welded horizontally. The dynamic positioning device moves in sequence through the control terminal, and cooperates with the welding manipulator to realize the fixing and welding of multiple transverse bar positions. It meets the needs of roof frame welding of various models.

Referring to accompanying drawing 8, first welding manipulator 400 and second welding manipulator 500 all comprise welding base 401, welding manipulator 402 and welding head 403, and welding base 401 is driven by welding motor and first ground rail 101 or the 3rd ground rail 103 Slidable connection; the welding robot arm 402 can be rotated on the welding base 401; the welding head 403 is connected to the welding robot arm 402; wherein each welding robot has a wire hanger 800 on the welding base, and the wire hanger 800 is used for For the wire hook provided for the welding head.

The present invention also provides a welding method for realizing the intelligent flexible welding system of the vehicle roof frame, comprising the following steps:

S1. Call out the product code to be welded from the control terminal, and the control terminal automatically adjusts the position and working status of the side beam angle adjustment device, feeding device, feeding manipulator, welding manipulator, and grasping positioning device according to the product code;

S2. Put the left and right side beams into the side beam angle adjustment devices on both sides, and the side beam angle adjustment devices will automatically position and clamp;

S3. After the feeding device detects the size, shape and position of the rods, the feeding manipulator grabs the corresponding rods from the feeding device in order and puts them into the static positioning device and the dynamic positioning device respectively, and the static positioning device and the dynamic positioning device are automatically clamped. tight;

S4, step S3 is carried out at the same time, the first welding manipulator and the second welding manipulator cooperate with the material feeding manipulator to complete the welding between the rods in sequence;

S5. The roof frame welding products welded by the above steps S1-S4 are rolled off the production line by the spreader.

Among them, the program corresponding to the product code of each welding production in the control terminal in S1, by importing the written control program or the online program, according to the above program, the control terminal automatically generates and optimizes the movement direction and path of the manipulator, and checks that the manipulator can reach the range, and finally generate the manipulator operation program.

The welding method of the vehicle roof frame intelligent flexible welding system disclosed in the present invention realizes that in the same system, the intelligent and automatic flexible welding of the roof frame of different vehicle types can be completed, the operating intensity of personnel is reduced, and the welding efficiency is improved. The welding cost of the single-piece roof frame is reduced.

Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other. As for the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and for the related information, please refer to the description of the method part.

The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

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.