CN110125584B - Intelligent flexible welding system for vehicle roof framework and welding method thereof - Google Patents

Intelligent flexible welding system for vehicle roof framework and welding method thereof Download PDF

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Publication number
CN110125584B
CN110125584B CN201910407106.6A CN201910407106A CN110125584B CN 110125584 B CN110125584 B CN 110125584B CN 201910407106 A CN201910407106 A CN 201910407106A CN 110125584 B CN110125584 B CN 110125584B
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China
Prior art keywords
welding
feeding
manipulator
rail
ground
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CN201910407106.6A
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Chinese (zh)
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CN110125584A (en
Inventor
兰春立
刘志军
赵锋
廖忠传
李持生
孙哲辉
廖云诚
徐昌华
薛金山
黄振
陈江松
赵涛
林键列
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Xiamen Golden Dragon Auto Body Co Ltd
Fuzhou Guohua Intelligent Technology Co Ltd
Original Assignee
Xiamen Golden Dragon Auto Body Co Ltd
Fuzhou Guohua Intelligent Technology Co Ltd
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Priority to CN201910407106.6A priority Critical patent/CN110125584B/en
Publication of CN110125584A publication Critical patent/CN110125584A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0211Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/0426Fixtures for other work
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/047Auxiliary 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 invention relates to an intelligent flexible welding system and a welding method for a vehicle roof framework, wherein the intelligent flexible welding system comprises a base, three first ground rails, second ground rails and third ground rails which are parallel to each other are arranged on the base along the length direction, a plurality of first transverse rails are arranged between the first ground rails and the second ground rails in the vertical length direction, and a plurality of second transverse rails are symmetrically arranged between the second ground rails and the third ground rails in the vertical length direction and are symmetrically arranged with the first transverse rails; the feeding device can slide on the second ground rail; the feeding mechanical arm is positioned in front of the feeding device and can slide on the second ground rail; a first welding robot and a second welding robot; the side beam angle adjusting device is used for fixing the side beam to be welded and comprises two groups, is symmetrically arranged between the first ground rail and the second ground rail, and between the second ground rail and the third ground rail, and can slide on the first transverse rail or the second transverse rail; the grasping and positioning device is used for grasping a rod piece to be welded in welding, and the control terminal is electrically connected with the devices and the manipulators.

Description

Intelligent flexible welding system for vehicle roof framework and welding method thereof
Technical Field
The invention relates to the technical field of automobile manufacturing, in particular to an intelligent flexible welding system for a vehicle roof framework and a welding method thereof.
Background
The vehicle roof skeleton welding mainly adopts the manual measurement size, realizes through manual welding mode, and welding efficiency is low, can't satisfy the ever-increasing demand of current vehicle. In order to solve the above problems, in the prior art, a special welding fixture for developing and manufacturing a single vehicle model is used for realizing manual clamping welding so as to increase welding efficiency, but the welding fixture cannot meet the welding of top cover frameworks of multiple vehicle models, and if each vehicle model uses a corresponding welding fixture, the welding cost of the top cover frameworks of a host factory can be increased.
Therefore, how to provide a device capable of meeting the welding of roof skeletons of various vehicle types is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the invention provides an intelligent flexible welding system for a vehicle roof framework, which solves the technical problem that a welding fixture in the prior art cannot meet the welding requirements of roof frameworks of multiple vehicle types, improves the welding efficiency and reduces the welding cost.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
vehicle top cap skeleton intelligence flexible welding system includes:
the base is provided with three first ground rails, second ground rails and third ground rails which are parallel to each other along the length direction, a plurality of first transverse rails are arranged between the first ground rails and the second ground rails along the vertical length direction, and a plurality of second transverse rails are symmetrically arranged between the second ground rails and the third ground rails along the vertical length direction;
the feeding device is used for bearing a rod piece to be welded and can slide on the second ground rail;
the feeding mechanical arm can slide on the second ground rail and is positioned in front of the feeding device;
the first welding manipulator and the second welding manipulator are respectively and slidably arranged on the first ground rail and the third ground rail;
the side beam angle adjusting device is used for fixing the side beam to be welded and comprises two groups, which are symmetrically arranged between the first ground rail and the second ground rail and between the second ground rail and the third ground rail; each group of side beam angle adjusting devices can slide on the first transverse rail or the second transverse rail;
the grasping and positioning device is used for grasping a rod piece to be welded in welding and comprises a static positioning device and a dynamic positioning device; the static positioning device is fixed at one end of the second ground rail far away from the feeding device; the movable positioning device can slide on the second ground rail and is integrally connected with the feeding manipulator;
the control terminal is electrically connected with the feeding device, the feeding manipulator, the first welding manipulator, the second welding manipulator, the side beam angle adjusting device and the grasping and positioning device.
Compared with the prior art, the intelligent flexible welding system for the vehicle roof framework provided by the invention realizes automatic feeding through the matching of the feeding device and the feeding manipulator with the second ground rail, and reduces the labor intensity of operators; the two groups of side beam angle adjusting devices are matched with the multiple groups of first transverse rails and second transverse rails to realize automatic fixing of the side beams, and the flexible adjustment of the variable size is realized, so that the size positioning requirements of the top cover frameworks of various vehicle types are realized by matching with the grasping positioning devices; on the basis, the first welding manipulator and the second welding manipulator are matched, the purpose of flexible adjustment and automatic fixing welding of multiple types of vehicles is achieved, the welding efficiency is improved, and the welding cost is further reduced.
Preferably, the feeding device comprises a feeding sliding 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 sliding rail;
the rod storage rack is fixedly connected with the feeding slide rail;
the rod piece to-be-grabbed frame is arranged between the feeding manipulator and the rod piece storage frame and is fixed on the rod piece storage frame;
the feeding grabbing mechanism can slide on the rod storage rack to grab the rod on the rod storage rack onto the rod to-be-grabbed rack;
the detection mechanism is arranged on the rod piece to-be-grabbed frame and used for detecting the size, shape and position of the rod piece;
wherein, material loading slip servo motor, material loading snatch mechanism and detection mechanism all with control terminal electric connection.
Optionally, the rod in the invention at least comprises a straight rod and an arc rod, the rod storage rack is provided with a detachable turnover basket, the turnover basket is respectively provided with a plurality of component placement areas, and the components are fully isolated; one end of the base is provided with a fixed turnover table, and when the rod in the turnover basket is used, the feeding device returns to the turnover table to replace the turnover basket by a manual forklift.
The detection mechanism is provided with an infrared sensor, the size and the shape of the rod are detected, whether the rod grabbed by the feeding grabbing mechanism is correct or not is judged, the rod is grabbed by the feeding grabbing mechanism to be replaced, and the rod is grabbed again; meanwhile, whether the position of the rod piece is correct can be judged.
Preferably, the feeding manipulator comprises: a manipulator base, a manipulator arm and a piece grabbing device; the manipulator base is driven by a mechanical hand and electric machine to slide on the second ground rail; one end of the mechanical arm can rotate on the mechanical arm base; the grabbing device is in a horizontal rod shape, the middle of the grabbing device is fixed to the other end of the mechanical arm, and the mechanical arm motor and the mechanical arm are electrically connected with the control terminal.
By adopting the scheme to match with the feeding device, the effects of automatic feeding, detection and isolation of different rod pieces are realized.
Preferably, each group of side beam angle adjusting devices comprises a side beam fixing frame, a rotating motor, a rotating shaft and a positioning block;
the bottom of the boundary beam fixing frame is provided with a boundary beam sliding block which is driven by a boundary beam servo motor to be in sliding connection with the first transverse rail or the second transverse rail;
the rotating motor is fixed at one end of the boundary beam fixing frame;
the rotating shaft is fixed on the boundary beam fixing frame through a supporting bearing and is in power connection with the output end of the rotating motor;
the positioning blocks comprise a plurality of positioning blocks and can slide on the rotating shaft and are used for fixing the side beams;
wherein, boundary beam servo motor and rotating electrical machines all with control terminal electric connection.
The rotating shaft can be one section, then the rectangular plate body is adopted to be fixed with the rotating shaft, and the positioning blocks are arranged on the rectangular plate body. And a speed reducer, a coupler and other parts can be arranged between the rotating motor and the rotating shaft.
By adopting the scheme, the two groups of side beam angle adjusting devices can be relatively close to and far away from each other for adjustment, so that the size requirement of welding points between two side beams of different vehicle roof frameworks is met; the rotating motor drives the positioning block to rotate by a certain angle through the rotating shaft, so that the requirements of welding different angles of the boundary beam are met; the positioning blocks can slide on the rotating shaft, so that the requirements of different positioning points are met.
Optionally, a side beam end positioning cylinder is further arranged on the fixing frame and used for the end positions of side beams of top cover frameworks of different vehicle types.
Preferably, each positioning block comprises a sliding seat, a sliding seat motor, a pressing block assembly and a fixing clamp;
the bottom of the sliding seat is driven by a sliding seat motor and is in sliding connection with a sliding rail arranged on the boundary beam fixing frame;
the briquetting component comprises a briquetting seat, a briquetting rotary cylinder, a screw shaft and a briquetting head; the bottom of the pressing block seat is fixed with the top of the sliding seat; the briquetting rotary cylinder is fixed on the briquetting seat; one end of the screw shaft is connected with the output end of the pressing block rotary cylinder and can be telescopic in the pressing block rotary cylinder shell;
the pressing block head is fixed at the other end of the screw shaft;
the fixing clamp comprises a clamp body and a clamp body cylinder, the clamp body is fixed on the sliding seat, and the opening of the clamp body corresponds to the position of the pressing block head; the clamp body air cylinder is fixed on the side surface of the clamp body and used for adjusting the opening width of the clamp body;
the sliding seat motor is electrically connected with the control terminal, the pressing block rotating cylinder and the clamping body cylinder are communicated 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 arranged on one side of the base close to the feeding device.
By adopting the scheme, the screw shaft can stretch and retract along the height direction under the drive of the pressing block rotary cylinder, so that the requirements of different heights of the fixed side beams are met; the clamp body can meet the requirement of fixing edge beams with different widths under the driving of the clamp body cylinder.
Preferably, the static positioning device comprises a positioning base, a positioning sliding rail and a tightening cylinder; the positioning base is fixed at one end of the second ground rail far away from the feeding device; the positioning slide rail is fixed at the top of the positioning base; the two clamping cylinders can slide on the positioning slide rail and are used for clamping the rod piece; the static positioning device is generally used for clamping a first rod piece needing transverse welding, wherein a vertical lifting cylinder can be arranged at the bottom of the clamping cylinder, the height direction of the static positioning device is adjustable, and the clamping cylinder can be used for adjusting the width section direction of the rod piece.
Preferably, the dynamic positioning device comprises a supporting seat and a clamping assembly; the support seat can slide on the second ground rail, and the number of the clamping assemblies is two, and each clamping assembly comprises a bracket, a vertical lifting cylinder and a horizontal clamping cylinder; the support can slide on the supporting seat, and the vertical lifting cylinder is fixed on the support and can move along the vertical direction; the horizontal tightening cylinder is positioned on the vertical lifting cylinder and can be tightened or loosened along the horizontal direction;
wherein, vertical lift jar and horizontal clamping jar all with control terminal electric connection.
Adopt quiet positioner and move positioner cooperation, realize the fixed first member that needs horizontal welding of quiet positioner, move positioner and control the sequential movement through control terminal, cooperate welding manipulator to realize the fixed, the welding in a plurality of horizontal member positions, satisfy the welded demand of many models motorcycle type top cap skeleton.
Preferably, the first welding manipulator and the second welding manipulator comprise a welding base, a welding manipulator and a welding head, and the welding base is driven by a welding motor to be in sliding connection with the first ground rail or the third ground rail; the welding mechanical arm can rotate on the welding base; the welding head is connected to the welding mechanical arm; the welding base of each welding manipulator is provided with a wire hanging frame which is used for hanging welding wires provided for the welding head.
The invention also provides a welding method for realizing the intelligent flexible welding system for the vehicle roof framework, which comprises the following steps:
s1, calling out a product code number of welding production from a control terminal, and automatically adjusting the positions and working states of a boundary beam angle adjusting device, a feeding manipulator, a welding manipulator and a grasping and positioning device by the control terminal according to the product code number;
s2, placing the left side beam and the right side beam into side beam angle adjusting devices on two sides, and automatically positioning and clamping the side beam angle adjusting devices;
s3, after the feeding device detects the size, shape and position of the rod piece, the feeding manipulator sequentially grabs the corresponding rod piece from the feeding device and respectively puts the rod piece into the static positioning device and the dynamic positioning device, and the static positioning device and the dynamic positioning device are automatically clamped;
s4, simultaneously carrying out the step S3, wherein the first welding manipulator and the second welding manipulator are matched with the clamping action of the feeding manipulator to sequentially finish welding among the rod pieces;
s5, turning the welded top cover framework product piece welded in the steps S1-S4 off line by a lifting appliance.
Preferably, the program corresponding to the product code number of each welding production in the control terminal in S1 is automatically generated and optimized according to the program control terminal by importing the written control program or the online written program, the reachable range of the manipulator is checked, and finally the manipulator operation program is generated.
Compared with the prior art, the welding method of the intelligent flexible welding system for the vehicle roof framework, disclosed by the invention, has the advantages that intelligent and automatic flexible welding of the vehicle roof frameworks of different vehicle types can be completed in the same system, the operation intensity of personnel is reduced, the welding efficiency is improved, and the welding cost of the single roof framework is further reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic perspective view of an intelligent flexible welding system for a vehicle roof framework, provided by the invention;
FIG. 2 is a top view of the intelligent flexible welding system for the vehicle roof framework provided by the invention;
FIG. 3 is a schematic structural view of a feeding device and a feeding manipulator of the intelligent flexible welding system for the vehicle roof framework, provided by the invention;
FIG. 4 is an enlarged schematic view of a part of a side beam angle positioning device of the intelligent flexible welding system for the vehicle roof framework, provided by the invention;
FIG. 5 is a schematic structural view of a positioning block of the intelligent flexible welding system for the vehicle roof framework, provided by the invention;
FIG. 6 is a schematic structural view of a static positioning device of the intelligent flexible welding system for the vehicle roof framework, provided by the invention;
FIG. 7 is a schematic diagram of a dynamic positioning device of the intelligent flexible welding system for the vehicle roof framework;
fig. 8 is a schematic structural diagram of a first welding manipulator of the intelligent flexible welding system for the vehicle roof framework.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the invention discloses an intelligent flexible welding system for a vehicle roof framework, which solves the technical problem that a welding fixture in the prior art cannot meet the welding requirements of roof frameworks of multiple vehicle types, improves the welding efficiency and reduces the welding cost.
Referring to fig. 1-2, the present invention provides a vehicle roof skeleton intelligent flexible welding system, comprising:
the base 100, three first ground rails 101, second ground rails 102 and third ground rails 103 parallel to each other are arranged on the base 100 along the length direction, a plurality of first transverse rails 104 are arranged between the first ground rails 101 and the second ground rails 102 along the vertical length direction, a plurality of second transverse rails 105 are arranged between the second ground rails 102 and the third ground rails 103 along the vertical length direction and symmetrically to the first transverse rails 104;
the feeding device 200, the feeding device 200 is used for bearing a rod piece to be welded, and the rod piece can slide on the second ground rail 102;
the feeding mechanical arm 300, wherein the feeding mechanical arm 300 can slide on the second ground rail 102 and is positioned in front of the feeding device 200;
the first welding manipulator 400 and the second welding manipulator 500 are respectively slidable on the first ground rail 101 and the third ground rail 103;
the side beam angle adjusting device 600, the side beam angle adjusting device 600 is used for fixing the side beam to be welded, and comprises two groups, which are symmetrically arranged between the first ground rail 101 and the second ground rail 102, and between the second ground rail 102 and the third ground rail 103; each group of side beam angle adjusting devices 600 can slide on the first transverse rail 104 or the second transverse rail 105;
the gripping and positioning device 700 is used for gripping a rod piece to be welded in welding, and comprises a static positioning device 701 and a dynamic positioning device 702; the static positioning device 701 is fixed at one end of the second ground rail 102 far away from the feeding device 200; the movable positioning device 702 is slidably disposed on the second ground rail 102 and is integrally connected with the feeding manipulator 300;
the control terminal is electrically connected with the feeding device 200, the feeding manipulator 300, the first welding manipulator 400, the second welding manipulator 500, the side beam angle adjusting device 600 and the grasping and positioning device 700.
The invention discloses an intelligent flexible welding system for a vehicle roof framework, which realizes automatic feeding through the cooperation of a feeding device, a feeding manipulator and a second ground rail, and reduces the labor intensity of operators; the two groups of side beam angle adjusting devices are matched with the multiple groups of first transverse rails and second transverse rails to realize automatic fixing of the side beams, and the flexible adjustment of the variable size is realized, so that the size positioning requirements of the top cover frameworks of various vehicle types are realized by matching with the grasping positioning devices; on the basis, the first welding manipulator and the second welding manipulator are matched, the purpose of flexible adjustment and automatic fixing welding of multiple types of vehicles is achieved, the welding efficiency is improved, and the welding cost is further reduced.
Referring to fig. 3, in an embodiment of the present invention, a feeding device 200 includes a feeding slide rail 201, a feeding slide servo motor, a rod storage rack 202, a rod to-be-grabbed rack, a feeding grabbing mechanism 203 and a detecting mechanism 204;
the feeding slide rail 201 is slidably connected with the second ground rail 102;
the feeding sliding servo motor is fixed on the feeding sliding rail 201;
the rod storage rack 202 is fixedly connected with the feeding slide rail 201;
the rod piece to-be-grabbed frame is arranged between the feeding manipulator 300 and the rod piece storage frame 202 and is fixed on the rod piece storage frame 202;
the feeding grabbing mechanism 203 is capable of sliding on the rod storage rack 202, and grabs the rod on the rod storage rack 202 to a rod rack to be grabbed;
the detection mechanism 204 is arranged on the rod piece to-be-grabbed frame and used for detecting the position, the shape and the size of the rod piece;
wherein, material loading slip servo motor, material loading snatch mechanism 203 and detection mechanism 204 all with control terminal electric connection.
Optionally, the rod in the invention at least comprises a straight rod and an arc rod, the rod storage rack is provided with a detachable turnover basket, the turnover basket is respectively provided with a plurality of component placement areas, and the components are fully isolated; one end of the base is provided with a fixed turnover table 900, and when the rods in the turnover basket are used, the feeding device returns to the turnover table to replace the turnover basket by a manual forklift.
The detection mechanism is provided with an infrared sensor, the size and the shape of the rod are detected, whether the rod grabbed by the feeding grabbing mechanism is correct or not is judged, the rod is grabbed by the feeding grabbing mechanism to be replaced, and the rod is grabbed again; meanwhile, whether the position of the rod piece is correct can be judged.
Advantageously, the loading manipulator 300 comprises: a robot base 301, a robot arm 302, and a gripper 303; the manipulator base 301 is driven by a mechanical hand and electric machine to slide on the second ground rail 102; one end of the mechanical arm 302 is rotatable on the mechanical arm base 301; the gripper 303 is in a horizontal rod shape, the middle of the gripper is fixed at the other end of the mechanical arm 302, and the mechanical arm motor and the mechanical arm 302 are electrically connected with a control terminal. By adopting the scheme to match with the feeding device, the effects of automatic feeding, detection and isolation of different rod pieces are realized.
Referring to fig. 4, in another embodiment of 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;
the bottom of the boundary beam fixing frame 601 is provided with a boundary beam sliding block which is driven by a boundary beam servo motor to be in sliding connection with the first transverse rail 104 or the second transverse rail 105;
the rotary motor 602 is fixed at one end of the boundary beam fixing frame 601;
the rotating shaft 603 is fixed on the boundary beam fixing frame 601 through a supporting bearing and is in power connection with the output end of the rotating motor 602;
the positioning blocks 604 comprise a plurality of positioning blocks and can slide on the rotating shafts 603 for fixing the side beams;
wherein, boundary beam servo motor and rotating electrical machines 602 all are connected with control terminal electricity.
The rotating shaft can be one section, then the rectangular plate body is adopted to be fixed with the rotating shaft, and the positioning blocks are arranged on the rectangular plate body. And a speed reducer, a coupler and other parts can be arranged between the rotating motor and the rotating shaft.
By adopting the scheme, the two groups of side beam angle adjusting devices can be relatively close to and far away from each other for adjustment, so that the size requirement of welding points between two side beams of different vehicle roof frameworks is met; the rotating motor drives the positioning block to rotate by a certain angle through the rotating shaft, so that the requirements of welding different angles of the boundary beam are met; the positioning blocks can slide on the rotating shaft, so that the requirements of different positioning points are met.
Optionally, a side beam end positioning cylinder is further arranged on the fixing frame and used for the end positions of side beams of top cover frameworks of different vehicle types.
Advantageously, referring to fig. 5, the positioning block 604 includes a slide block 6041, a slide block motor, a press block assembly 6042, and a fixing clip 6043;
the bottom of the sliding seat 6041 is driven by a sliding seat motor and is in sliding connection with a sliding rail arranged on the boundary beam fixing frame 601;
the briquetting assembly 6042 includes a briquetting seat 60421, a briquetting rotary cylinder 60422, a screw shaft, a briquetting head 60423; the bottom of the pressing block seat 60421 is fixed with the top of the sliding seat 6041; the briquetting rotary cylinder 60422 is fixed on the briquetting seat 60421; one end of the screw shaft is connected with the output end of the pressing block rotating cylinder 60422 and can stretch out and draw back in the casing of the pressing block rotating cylinder 60422;
the block pressing head 60423 is fixed at the other end of the screw shaft;
the fixing clamp 6043 comprises a clamp body 60431 and a clamp body cylinder 60432, the clamp body 60431 is fixed on the sliding seat 6041, and the opening position of the clamp body corresponds to the position of the pressing block head 60423; the clamp cylinder 60432 is fixed to the side of the clamp 60431 for adjusting the opening width of the clamp 60431;
the sliding seat motor is electrically connected with the control terminal, the pressing block rotating cylinder 60422 and the clamping body cylinder 60432 are communicated with a total air source device, and the total air source device is electrically connected with the control terminal. The total air source can be arranged on one side of the base close to the feeding device.
By adopting the scheme, the screw shaft can stretch and retract along the height direction under the drive of the pressing block rotary cylinder, so that the requirements of different heights of the fixed side beams are met; the clamp body can meet the requirement of fixing edge beams with different widths under the driving of the clamp body cylinder.
Referring to fig. 6, the stationary positioning apparatus 701 includes a positioning base 7011, a positioning slide 7012, and a clamping cylinder 7013; the positioning base 7011 is fixed at one end of the second ground rail 102 far away from the feeding device 200; the positioning slide 7012 is fixed on top of the positioning base 7011; the two clamping cylinders 7013 are arranged and can slide on the positioning slide rail 7012 for clamping the rod piece; the static positioning device is generally used for clamping a first rod piece needing transverse welding, wherein a vertical lifting cylinder can be arranged at the bottom of the clamping cylinder, the height direction of the static positioning device is adjustable, and the clamping cylinder can be used for adjusting the width section direction of the rod piece.
Referring to fig. 7, the dynamic positioning device 702 includes a support base 7021 and a tightening assembly 7022; the support base 7021 is slidable on the second ground rail 102, and the number of tightening assemblies 7022 is two, and each tightening assembly 7022 comprises a bracket 70221, a vertical lifting cylinder 70222 and a horizontal tightening cylinder 70223; the bracket 70221 is slidably disposed on the support base 7021, and the vertical lifting cylinder 70222 is fixed to the bracket 70221 and can move in a vertical direction; the horizontal tightening cylinder 70223 is located on the vertical lifting cylinder 70222 and can be tightened or loosened in the horizontal direction;
wherein, vertical lift jar 70222 and horizontal clamping jar 70223 all are with control terminal electric connection.
Adopt quiet positioner and move positioner cooperation, realize the fixed first member that needs horizontal welding of quiet positioner, move positioner and control the sequential movement through control terminal, cooperate welding manipulator to realize the fixed, the welding in a plurality of horizontal member positions, satisfy the welded demand of many models motorcycle type top cap skeleton.
Referring to fig. 8, each of the first welding robot 400 and the second welding robot 500 includes a welding base 401, a welding robot 402, and a welding head 403, where the welding base 401 is slidably connected to the first ground rail 101 or the third ground rail 103 by a welding motor; the welding mechanical arm 402 can rotate on the welding base 401; the welding head 403 is connected to the welding robot 402; each welding manipulator has a wire hanger 800 on its welding base, and the wire hanger 800 is used for hanging welding wires provided for the welding head.
The invention also provides a welding method for realizing the intelligent flexible welding system for the vehicle roof framework, which comprises the following steps:
s1, calling out a product code number of welding production from a control terminal, and automatically adjusting the positions and working states of a boundary beam angle adjusting device, a feeding manipulator, a welding manipulator and a grasping and positioning device by the control terminal according to the product code number;
s2, placing the left side beam and the right side beam into side beam angle adjusting devices on two sides, and automatically positioning and clamping the side beam angle adjusting devices;
s3, after the feeding device detects the size, shape and position of the rod piece, the feeding manipulator sequentially grabs the corresponding rod piece from the feeding device and respectively puts the rod piece into the static positioning device and the dynamic positioning device, and the static positioning device and the dynamic positioning device are automatically clamped;
s4, simultaneously carrying out the step S3, wherein the first welding manipulator and the second welding manipulator are matched with the clamping action of the feeding manipulator to sequentially finish welding among the rod pieces;
s5, turning the welded top cover framework product piece welded in the steps S1-S4 off line by a lifting appliance.
And (2) automatically generating and optimizing the movement direction and movement path of the manipulator according to the program control terminal by importing a written control program or an online written program, checking the reachable range of the manipulator, and finally generating the manipulator operation program.
The welding method of the intelligent flexible welding system for the vehicle roof framework, disclosed by the invention, realizes that intelligent and automatic flexible welding of the vehicle roof frameworks of different vehicle types can be completed in the same system, reduces the operation intensity of personnel, improves the welding efficiency, and further reduces the welding cost of the single-piece roof framework.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to 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 (7)

1. Vehicle top cap skeleton intelligence flexible welding system, its characterized in that includes:
the base (100), three first ground rails (101), second ground rails (102) and third ground rails (103) which are parallel to each other are arranged on the base (100) along the length direction, a plurality of first transverse rails (104) are arranged between the first ground rails (101) and the second ground rails (102) along the vertical length direction, a plurality of second transverse rails (105) are arranged between the second ground rails (102) and the third ground rails (103) along the vertical length direction and are symmetrical to the first transverse rails (104);
the feeding device (200) is used for bearing a rod piece to be welded, and the feeding device (200) can slide on the second ground rail (102);
the feeding mechanical arm (300) can slide on the second ground rail (102) and is positioned in front of the feeding device (200);
a first welding manipulator (400) and a second welding manipulator (500) are respectively slidable on the first ground rail (101) and the third ground rail (103);
the side beam angle adjusting device (600) is used for fixing side beams to be welded, and comprises two groups, wherein the two groups are symmetrically arranged between the first ground rail (101) and the second ground rail (102) and between the second ground rail (102) and the third ground rail (103); and each set of side beam angle adjustment devices (600) is slidable on the first transverse rail (104) or the second transverse rail (105);
each group of side beam angle adjusting devices (600) comprises a side beam fixing frame (601), a rotating motor (602), a rotating shaft (603) and a positioning block (604);
the bottom of the boundary beam fixing frame (601) is provided with a boundary beam sliding block, and the boundary beam sliding block is driven by a boundary beam servo motor to be in sliding connection with the first transverse rail (104) or the second transverse rail (105);
the rotating motor (602) is fixed at one end of the boundary beam fixing frame (601);
the rotating shaft (603) is fixed on the boundary beam fixing frame (601) through a supporting bearing and is in power connection with the output end of the rotating motor (602);
the positioning blocks (604) comprise a plurality of positioning blocks and can slide on the rotating shaft (603) for fixing the side beams;
a gripping and positioning device (700), the gripping and positioning device (700) being used for gripping a rod piece to be welded in welding and comprising a static positioning device (701) and a dynamic positioning device (702); the static positioning device (701) is fixed at one end of the second ground rail (102) far away from the feeding device (200); the movable positioning device (702) can slide on the second ground rail (102) and is integrally connected with the feeding manipulator (300);
the static positioning device (701) comprises a positioning base (7011), a positioning sliding rail (7012) and a clamping cylinder (7013); the positioning base (7011) is fixed at one end of the second ground rail (102) far away from the feeding device (200); the positioning slide rail (7012) is fixed to the top of the positioning base (7011); the two clamping cylinders (7013) can slide on the positioning slide rail (7012) and are used for clamping the rod piece;
the control terminal is electrically connected with the feeding device (200), the feeding manipulator (300), the first welding manipulator (400), the second welding manipulator (500), the boundary beam servo motor, the rotating motor (602) and the grasping and positioning device (700);
the positioning block (604) comprises a sliding seat (6041), a sliding seat motor, a pressing block assembly (6042) and a fixing clamp (6043);
the bottom of the sliding seat (6041) is driven by the sliding seat motor and is in sliding connection with a sliding rail arranged on the boundary beam fixing frame (601);
the briquetting component (6042) comprises a briquetting seat (60421), a briquetting rotary cylinder (60422), a screw shaft and a briquetting head (60423);
the bottom of the pressing block seat (60421) is fixed with the top of the sliding seat (6041); the pressing block rotating cylinder (60422) is fixed on the pressing block seat (60421); one end of the screw shaft is connected with the output end of the pressing block rotary cylinder (60422) and can stretch out and draw back in the casing of the pressing block rotary cylinder (60422);
the briquetting head (60423) is fixed at the other end of the screw shaft;
the fixing clamp (6043) comprises a clamp body (60431) and a clamp body air cylinder (60432), the clamp body (60431) is fixed on the sliding seat (6041), and the opening of the clamp body corresponds to the position of the pressing block head (60423); the clamp body air cylinder (60432) is fixed on the side surface of the clamp body (60431) and used for adjusting the opening width of the clamp body (60431);
the sliding seat motor is electrically connected with the control terminal, the pressing block rotating cylinder (60422) and the clamping body cylinder (60432) are communicated with a total air source device, and the total air source device is electrically connected with the control terminal.
2. The vehicle roof framework intelligent flexible welding system according to claim 1, wherein the feeding device (200) comprises a feeding sliding rail (201), a feeding sliding servo motor, a rod storage rack (202), a rod to-be-grabbed rack, a feeding grabbing mechanism (203) and a detection mechanism (204);
the feeding sliding rail (201) is slidably connected with the second ground rail (102);
the feeding sliding servo motor is fixed on the feeding sliding rail (201);
the rod storage rack (202) is fixedly connected with the feeding slide rail (201);
the rod piece to-be-grabbed rack is arranged between the feeding manipulator (300) and the rod piece storage rack (202) and is fixed on the rod piece storage rack (202);
the feeding grabbing mechanism (203) can slide on the rod storage rack (202) to grab the rod on the rod storage rack (202) to the rod to-be-grabbed rack;
the detection mechanism (204) is arranged on the rod piece to-be-grabbed frame and used for detecting the position, the shape and the size of the rod piece;
the feeding sliding servo motor, the feeding grabbing mechanism (203) and the detecting mechanism (204) are electrically connected with the control terminal.
3. The vehicle roof skeleton intelligent flexible welding system of claim 2, wherein the loading manipulator (300) comprises: a manipulator base (301), a manipulator arm (302) and a gripper (303); the manipulator base (301) is driven by a mechanical hand and electric machine to slide on the second ground rail (102); one end of the mechanical arm (302) can rotate on the mechanical arm base (301); the piece grabbing device (303) is in a horizontal rod shape, the middle of the piece grabbing device is fixed to the other end of the mechanical arm (302), and the mechanical arm motor and the mechanical arm (302) are electrically connected with the control terminal.
4. The vehicle roof skeleton intelligent flexible welding system of claim 1, wherein the dynamic positioning device (702) comprises a support base (7021) and a tightening assembly (7022); the support base (7021) can slide on the second ground rail (102), the number of the tightening assemblies (7022) is two, and each tightening assembly (7022) comprises a bracket (70221), a vertical lifting cylinder (70222) and a horizontal tightening cylinder (70223); the bracket (70221) can slide on the supporting seat (7021), and the vertical lifting cylinder (70222) is fixed on the bracket (70221) and can move along the vertical direction; the horizontal tightening cylinder (70223) is positioned on the vertical lifting cylinder (70222) and can be tightened or loosened in the horizontal direction;
wherein, vertical lift jar (70222) and horizontal clamping jar (70223) all with control terminal electric connection.
5. The intelligent flexible welding system for the vehicle roof framework according to claim 1, wherein the first welding manipulator (400) and the second welding manipulator (500) comprise a welding base (401), a welding manipulator (402) and a welding head (403), and the welding base (401) is driven by a welding motor to be slidably connected with the first ground rail (101) or the third ground rail (103); the welding mechanical arm (402) can rotate on the welding base (401); the welding head (403) is connected to the welding robot (402).
6. A welding method for realizing the intelligent flexible welding system for the vehicle roof framework according to any one of claims 1 to 5, comprising the following steps:
s1, calling out a product code number of welding production from a control terminal, and automatically adjusting the positions and working states of a boundary beam angle adjusting device, a feeding manipulator, a welding manipulator and a grasping positioning device by the control terminal according to the product code number;
s2, placing the left side beam and the right side beam into side beam angle adjusting devices on two sides, and automatically positioning and clamping the side beam angle adjusting devices;
s3, after the feeding device detects the size, shape and position of the rod piece, the feeding manipulator sequentially grabs the corresponding rod piece from the feeding device and respectively puts the rod piece into the static positioning device and the dynamic positioning device, and the static positioning device and the dynamic positioning device are automatically clamped;
s4, simultaneously carrying out the step S3, wherein the first welding manipulator and the second welding manipulator are matched with the clamping action of the feeding manipulator to sequentially finish welding among the rod pieces;
s5, turning the welded top cover framework product piece welded in the steps S1-S4 off line by a lifting appliance.
7. The welding method of the intelligent flexible welding system for the vehicle roof framework, according to claim 6, is characterized in that the program corresponding to the product code number of each welding production in the control terminal in the step S1 is introduced, the written control program or the online written program is used for automatically generating and optimizing the movement direction and movement path of the manipulator according to the program control terminal, the reachable range of the manipulator is checked, and finally the manipulator operation program is generated.
CN201910407106.6A 2019-05-15 2019-05-15 Intelligent flexible welding system for vehicle roof framework and welding method thereof Active CN110125584B (en)

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CN113441862B (en) * 2021-09-01 2021-11-05 江苏久泰智能科技有限公司 Intelligence bus stop metal sunshade ceiling additional strengthening welding frock
CN113751943B (en) * 2021-09-09 2023-08-22 中车唐山机车车辆有限公司 Flexible tool and assembly method for roof through long bent beam framework module

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CN210099323U (en) * 2019-05-15 2020-02-21 厦门金龙汽车车身有限公司 Intelligent flexible welding system for vehicle roof framework

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CN104289924A (en) * 2014-09-15 2015-01-21 西安交通大学 Non-planar-long-and-thin-profile-machining-oriented self-adaptive linkage clamping device and method
CN104759825A (en) * 2015-03-25 2015-07-08 山东奥太电气有限公司 Aluminum template robot welding system fixture for building and working method thereof
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