CN110270781B - Intelligent vertical garage assembling and welding production line for bogie frame - Google Patents
Intelligent vertical garage assembling and welding production line for bogie frame Download PDFInfo
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- CN110270781B CN110270781B CN201910567155.6A CN201910567155A CN110270781B CN 110270781 B CN110270781 B CN 110270781B CN 201910567155 A CN201910567155 A CN 201910567155A CN 110270781 B CN110270781 B CN 110270781B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0461—Welding tables
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Abstract
The embodiment of the invention discloses a steering framework intelligent vertical warehouse assembling and welding production line, which comprises an intelligent assembling subsystem, an intelligent vertical warehouse storage subsystem and a three-dimensional conveyor; the intelligent assembling subsystem comprises a carrying robot, a welding robot and a station tooling clamp, the moving paths of the carrying robot and the welding robot are parallel to each other, and the station tooling clamp is positioned in the common working range of the carrying robot and the welding robot; the intelligent vertical warehouse storage subsystem comprises a multilayer vertical warehouse base frame and a lower guide rail located at the bottom, a driving end of the lower guide rail is provided with a driving shaft driven by a traveling motor, a feeding end and a discharging end of the multilayer vertical warehouse base frame are respectively provided with a vertical lifting mechanism, the vertical lifting mechanism pulls a cargo carrying platform to do vertical lifting motion, a lifting address recognizer is arranged on the cargo carrying platform, and a fork which does telescopic motion is arranged on the cargo carrying platform. The invention realizes the balance of the whole production takt, greatly improves the production efficiency, improves the product quality and reduces the production cost.
Description
Technical Field
The invention relates to the technical field of a bogie frame production line, in particular to an intelligent vertical warehouse assembling and welding production line for a bogie frame.
Background
1. Logistics mode of large-scale framework
The storage cargo space of the workpieces to be produced of the existing framework welding production line is a ground layer supporting platform, and if enough workpieces to be produced need to be stored, the occupied area is too large.
Because the workpiece storage station to be produced can not provide too many positions, the post-welding workpiece cooling needs to be provided with a post-welding workpiece cooling station. When the framework is welded, the cooling time of the workpiece after each process is different, and the cooling station of the workpiece after each process is of a wheel-moving storage type structure, so that the workpiece in the cooling station of the workpiece after welding can only be counted according to the process with the longest cooling time, and the storage sequence of the cooled workpieces is in a first-in first-out mode. This greatly affects the tact time of the frame welding.
2. The traditional unit type production mode is as follows:
the existing components are generally in unit manual or semi-automatic operation modes, the operation time difference of each procedure is large, the operation modes are basically in an unordered state, the operation modes are greatly influenced by human factors, the beats are difficult to match, certain procedures with relatively short operation time are easily caused to be in a standby state, a large number of products are produced at the front ends of certain bottleneck procedures, a large number of buffer memories not only occupy a large number of places, but also seriously influence the production efficiency and the cost of products.
3. Existing welding unit type production mode
The existing traditional welding mode is manual semi-automatic welding, so that the welding efficiency is low, the welding quality fluctuation is large, a large number of welders are needed, and the comprehensive cost is high. Although robot welding has been introduced tentatively to some welding station now, because the welding process of this product is complicated, and current welding robot's rigidity is stronger, needs the tandem production of multistation, and the beat between each station is difficult to balance, has caused welding robot utilization ratio lower, and is inefficient.
4. Frequent change of workpiece and replacement of work station
Because the batch of the products is more, the workpieces are frequently changed repeatedly, the existing robot welding workstation is difficult to realize the full coverage of all the workpieces, the tooling platform of the existing welding workstation needs to be frequently replaced according to the characteristics of the workpieces, the time and the labor are wasted, the manual intervention is more, and the requirement of automatic welding is difficult to meet.
5. Manual labor scheduling
At present, enterprise management systems such as ERP are generally adopted in the industry, but production organizations of all the existing processes still generally adopt manual work to organize production according to experience and order conditions and manually issue production plans. The mode can not be combined with the production capacity of equipment and the actual condition of a workshop, and production scheduling has great randomness and blindness, so that the efficiency of a production system is low.
6. Informationized management of the present situation
The existing workshop production management is mainly based on manual extensive management, a complete informatization system is not formed, and the information such as real-time production condition, inventory and the like of a workshop cannot be monitored. Errors often occur, resulting in a chaotic production line.
7. Information transmission mode of each process, station and tool state
At present, the information such as the number and the quantity of the workpiece figures is simply recorded in the workshop process and the station by adopting the modes of manual recording or sticking paper labels and the like, and the transmitted data error is caused by the conditions that the recorded data is incomplete or wrong, the paper labels are easy to damage and lose and the like.
8. The repeated positioning precision of the conveying system is low
The existing conveying system does not have an accurate positioning device, completely depends on the taking and placing precision of the conveying equipment, and is difficult to meet the requirement of an automatic flexible production line
Disclosure of Invention
The embodiment of the invention aims to provide a bogie frame intelligent vertical warehouse assembling and welding production line which is used for solving the problems explained in the background technology.
To achieve the above object, an embodiment of the present invention provides:
an intelligent vertical warehouse assembling and welding production line of a steering framework comprises an intelligent assembling subsystem, wherein the output end of the intelligent assembling subsystem is connected with an intelligent vertical warehouse storage subsystem; wherein,
the intelligent assembling subsystem comprises a carrying robot, a welding robot and a station tool clamp, the bottom of the carrying robot is installed on a main beam slide rail, a grabbing end of the carrying robot is provided with a gas magnet grab or a pneumatic grab, the welding robot is installed on a gantry linear slide rail, the gantry linear slide rail is parallel to the sliding direction of the main beam slide rail, a lifting seat for controlling the welding robot to lift is arranged between the gantry linear slide rail and the welding robot, the station tool clamp is located in the common working range of the carrying robot and the welding robot, and the station tool clamp is at least one of a lower cover plate clamp, a vertical plate partition plate clamp and a beam clamp.
The intelligent vertical warehouse storage subsystem comprises a multilayer vertical warehouse base frame, the multilayer vertical warehouse base frame is a multilayer frame, the bottom of the multilayer vertical warehouse base frame is provided with a lower guide rail, the driving end of the lower guide rail is provided with a driving shaft driven by a walking motor, the feeding end and the discharging end of the multilayer vertical warehouse base frame are both provided with a vertical lifting mechanism, a lifting motor is arranged on the vertical lifting mechanism, the lifting motor pulls a cargo carrying platform through chain transmission to do vertical lifting motion, a lifting address recognizer is arranged on the cargo carrying platform, and a cargo fork which does telescopic motion is arranged on the cargo carrying platform.
In another preferred embodiment, the lower cover plate clamp comprises a lower cover plate supporting seat, the top surface of the lower cover plate supporting seat is a multi-arc surface matched with the lower cover plate, the multi-arc surface is a multi-arc surface with a high middle part and two low sides, and a plurality of lower cover plate clamping components positioned on two sides of the multi-arc surface are arranged at the top of the lower cover plate supporting seat.
In another preferred embodiment, the vertical plate baffle clamp comprises a plurality of uniformly distributed clamping pedestals, the clamping pedestal in the center is low, the clamping pedestals on two sides are gradually raised, and the top of the clamping pedestal is provided with the vertical plate baffle clamp; the vertical plate partition plate fixture comprises a bidirectional fixed fixture, first rubber heads are arranged on positioning surfaces on two sides of the bidirectional fixed fixture, movable fixtures are arranged on two sides of the bidirectional fixed fixture, second rubber heads which are opposite to the first rubber heads are arranged on the movable fixtures, and the second rubber heads are arranged at telescopic ends of the electric push rods.
In another preferred embodiment, the beam body clamp comprises a beam body clamp table top, a plurality of uniformly distributed horizontal support frames are arranged on the beam body clamp table top, a longitudinal pressing device is arranged above the horizontal support frames, the longitudinal pressing device comprises a T-shaped lever frame, two ends of the T-shaped lever frame are respectively connected with a pressing sheet and a first electric push rod, and a pushing end and a pulling end of the first electric push rod move up and down; the two sides of the table top of the beam body clamp are symmetrically provided with transverse clamping devices, the transverse clamping devices are provided with two second electric push rods which are oppositely arranged, and the push-pull ends of the second electric push rods are provided with flexible buffer heads.
In another preferred embodiment, a flaw detection clamp is arranged in the grabbing range of the carrying robot, the flaw detection clamp comprises a flaw detection table top, main positioning devices which are symmetrically arranged are arranged in the middle of the flaw detection table top, and clamping devices are arranged at four corners of the flaw detection table top; the main positioning device is provided with a fixed clamping plate and a movable clamping plate which are matched with each other, and the movable clamping plate is fixedly connected with a main positioning electric push rod; the clamping device comprises a clamping slide rail and a clamping splint oppositely arranged on the clamping slide rail, and the outer side of the clamping splint is connected with a clamping electric push rod.
Another preferred embodiment, the bottom of stacker is equipped with and is located gliding base coaster on the ground rail, the top bilateral symmetry of base coaster is equipped with the longeron and the middle part is equipped with the elevating platform, the top fixed connection top crossbeam of longeron all is equipped with hoist cable drive arrangement on the longeron that the bilateral symmetry set up, be equipped with the guide pulley group on the back timber, hoist and mount in the both sides of elevating platform through the guide pulley group to hoist and mount hoist cable drive arrangement's hoist cable.
In another preferred embodiment, the sling driving device comprises a driving motor, a bevel gear set and a rocker arm, the driving motor is longitudinally arranged, the bevel gear set is provided with a driving bevel gear fixedly connected with the driving motor and a driven bevel gear fixedly connected with the rocker arm, and the driving bevel gear is in meshing connection with the driven bevel gear.
In another preferred embodiment, the guide wheel set comprises a first guide wheel pair and a second guide wheel pair which are sequentially arranged on the top cross beam from outside to inside, the first guide wheel pair is provided with at least two first guide wheels which are symmetrically arranged on two sides of the sling driving device, and the second guide wheel pair is provided with at least two first guide wheels which are symmetrically arranged on two sides of the installation position of the lifting platform.
The embodiment of the invention has the following advantages:
according to the invention, through the application of automatic equipment or systems such as an intelligent vertical warehouse system, an automatic assembling unit, an automatic welding unit, an automatic logistics system, an MES system, an intelligent scheduling system, an intelligent tracing system and the like, the balance of the whole production rhythm is realized, the production efficiency is greatly improved, the product quality is improved, and the production cost is reduced. The automatic and efficient production of the high-speed rail bogie frame is realized.
Drawings
FIG. 1 is a process flow diagram of a steering framework intelligent vertical warehouse assembly welding production line provided by an embodiment of the invention;
fig. 2 is a top view structural diagram of a steering framework intelligent vertical warehouse assembly welding production line provided by the embodiment of the invention;
FIG. 3 is an overall view of the lower deck fixture of FIG. 2;
FIG. 4 is a general structure view of the vertical plate spacer clamp of FIG. 2;
FIG. 5A is a top view of the beam clamp of FIG. 2;
FIG. 5B is a side view structural diagram of FIG. 5A;
FIG. 6 is an overall configuration view of the flaw detection jig in FIG. 2;
fig. 7 is an overall structural view of the stacker truck in fig. 2.
In the figure:
2-1 carrying robot; 2-2, a main beam slide rail; 2-3, welding a robot; 2-4, a portal frame; 2-5, gantry linear slide rail; 2-6, vertical guide rails; 2-7, a lower cover plate clamp; 2-8, a vertical plate and partition plate clamp; 2-9, beam body clamp; 2-10, flaw detection clamp;
3-1, a lower cover plate supporting seat; 3-2, multi-arc surface; 3-3, a lower cover plate electric push rod; 3-4, horizontally clamping the rubber head; 3-5, a lower cover plate horizontal stop block; 3-6, a lower cover plate;
4-1, clamping a pedestal; 4-2, fixing the clamp in a bidirectional mode; 4-3, a first glue head; 4-4, a second glue head; 4-5, moving the clamp electric push rod;
5-1, a beam fixture table-board; 5-2, horizontal supporting frame; 5-3, a T-shaped lever frame; 5-4, tabletting; 5-5, a first electric push rod; 5-6, a second electric push rod; 5-7, a flexible buffer head;
6-1, a flaw detection table top; 6-2, fixing the splint; 6-3, moving the clamping plate; 6-4, mainly positioning an electric push rod; 6-5, clamping the sliding rail; 6-6, clamping the splint; 6-7, clamping the electric push rod.
7-1, a multilayer vertical warehouse base frame; 7-2, stacking vehicles; 7-3, a ground rail; 7-4, a base pulley; 7-5, longitudinal beams; 7-6, a lifting platform; 7-7, a top cross beam; 7-8, a sling; 7-9, driving a motor; 7-10, bevel gear group; 7-11, rocker arm; 7-12, a first guide wheel; 7-13 and a second guide wheel.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
It should be understood that the structures, ratios, sizes, and the like shown in the specification are only used for matching with the disclosure of the specification to be understood and read by those skilled in the art, and are not used to limit the conditions and conditions under which the present invention can be implemented, so that the present invention has no technical significance.
In addition, the terms such as "upper", "lower", "left", "right" and "middle" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and changes or modifications of the relative relationship may be made without substantial technical changes.
The content shown in fig. 1 is a steering framework intelligent vertical warehouse assembly welding production process diagram, an assembled finished product is conveyed to a framework storage intelligent warehouse system by an intelligent assembly subsystem through a three-dimensional conveyor, a two-dimensional code identification recorder is used for recording a two-dimensional code mark on the assembled finished product in the conveying process, the two-dimensional code identification, stacking, moving, positioning and storage duration are carried out on the assembled finished product by the intelligent vertical warehouse storage subsystem, the assembled finished product meeting the storage duration is conveyed to an intelligent welding sub-assembly line through the three-dimensional conveyor, the intelligent welding process is carried out after the two-dimensional code mark is identified according to an uncovering sub-assembly line, and the finished product is finished after manual polishing. The production process is suitable for a bogie frame intelligent vertical warehouse production system, and comprises an intelligent assembling subsystem and an intelligent vertical warehouse storage subsystem, wherein the output end of the intelligent assembling subsystem is connected with the intelligent vertical warehouse storage subsystem.
Intelligent assembling subsystem
As shown in fig. 2, the intelligent assembling subsystem includes a transfer robot 1, welding robots 2-3, and a station fixture, and the three structures are described in detail below.
1. Transfer robot 1
The bottom of transfer robot 1 is installed on girder slide rail 2-2, transfer robot 1's model is KUKA KR500 robot, can load 500 kilograms, transfer robot 1's the end of snatching is equipped with gas magnet gripping apparatus or pneumatic gripping apparatus, according to the structural characteristic of the different work pieces of processing panel, changes the gripping apparatus automatically, for example curb girder and plate gripping apparatus adopt gas magnet to adsorb, and crossbeam subassembly gripping apparatus adopts pneumatic snatching. The main beam slide rail 2-2 penetrates through the whole intelligent assembling subsystem, so that the transfer robot 1 can shuttle between the whole intelligent assembling subsystem and is used for moving workpiece raw materials.
2. Welding robot 2-3
The welding robot 2-3 is installed on a gantry linear sliding rail 2-5, the sliding direction of the gantry linear sliding rail 2-5 is parallel to that of a main beam sliding rail 2-2, the gantry linear sliding rail 2-5 is installed on a top cross beam 7-7 of a gantry 2-4, and if the model of the gantry linear sliding rail 2-5 is RP-GL-20KN-7000 mm. A vertical guide rail 2-6 for controlling the welding robot 2-3 to ascend and descend is arranged between the gantry linear slide rail 2-5 and the welding robot 2-3, and the ascending and descending end of the vertical guide rail 2-6 is provided with the welding robot 2-3, such as a welding robot 2-3QRC-E-410, which is characterized in that all shafts have a large rotation range, thereby bringing great dexterity performance and working range to the welding robot 2-3. The arms of the robot have a slim and compact design, which ensures excellent welding accuracy, speed and repeatability due to the high dynamic performance of each axis. The motor transmission shaft is provided with a brake, and the brake operates according to the principle of a closed circuit, so that the brake is automatically released under the condition of power loss, and dangerous movement is avoided. The linear motion direction of the cross movement forms a coordinate X-Z system, the structure greatly enlarges the working range of the mechanical arm and can process large and complex workpieces, the sliding table controlled by the mechanical arm controller is driven by a servo motor, and the motion of the robot shaft is synchronous with the motion of the sliding table.
3. Station frock clamp
The station tooling fixture is located in the common working range of the carrying robot 1 and the welding robot 2-3 and is at least one of a lower cover plate 3-6 fixture 2-7, a vertical plate partition fixture 2-8 and a beam body fixture 2-9, and if a plurality of station tooling fixtures are arranged, the plurality of station tooling fixtures are arranged between the carrying robot 1 and the welding robot 2-3 side by side, so that the plurality of station tooling are located in the common working range of the carrying robot 1 and the welding robot 2-3.
a. Lower cover plate 3-6 clamp 2-7
As shown in fig. 3, the lower cover plate 3-6 clamp 2-7 comprises a lower cover plate 3-6 support seat 3-1, the top surface of the lower cover plate 3-6 support seat 3-1 is a multi-arc surface 3-2 matched with the lower cover plate 3-6, the multi-arc surface 3-2 is a multi-arc surface 3-2 with a high middle part and two low sides, the lower cover plate 3-6 support seat 3-1 is formed by assembling a plurality of rectangular frames with different heights, so that the multi-arc surface 3-2 matched with the lower cover plate 3-6 is formed at the top of the lower cover plate, and the assembling combination of the rectangular frames can be adjusted according to the different shapes of the lower cover plate 3-6, so as to meet the processing requirements of the lower cover plates 3-6 with different shapes. The top of the supporting seat 3-1 of the lower cover plate 3-6 is provided with a plurality of lower cover plate 3-6 horizontal clamping assemblies and ceramic base plate pressing assemblies (not shown in the figure), each lower cover plate 3-6 clamping assembly comprises a lower cover plate 3-6 electric push rod 3-3 and a lower cover plate 3-6 horizontal stop block 3-5, the pushing end of each lower cover plate 3-6 electric push rod 3-3 is provided with a horizontal clamping rubber head 3-4, and the lower cover plate 3-6 electric push rod 3-3 is started to enable the lower cover plate 3-6 to be horizontally clamped between the horizontal clamping rubber head 3-4 and the lower cover plate 3-6 horizontal stop block 3-5.
b. Vertical plate and partition plate clamp 2-8
As shown in FIG. 4, the vertical plate baffle clamp 2-8 comprises a plurality of uniformly distributed clamping pedestals 4-1, wherein the clamping pedestal 4-1 in the center is low, and the clamping pedestals 4-1 on two sides are gradually raised, so that the top surfaces of the clamping pedestals 4-1 form a multi-arc surface 3-2 matched with the vertical plate baffle, and the clamping pedestals 4-1 with different heights can be replaced to be combined to process vertical plate baffles with different shapes.
The top of the clamping pedestal 4-1 is provided with a vertical plate partition plate fixture 2-8, the vertical plate partition plate fixture 2-8 comprises a bidirectional fixed fixture 4-2, two side positioning surfaces of the bidirectional fixed fixture 4-2 are provided with first glue heads 4-3, two sides of the bidirectional fixed fixture 4-2 are provided with movable fixtures, the movable fixture is provided with a second glue head 4-4 opposite to the first glue head 4-3, and the second glue head 4-4 is arranged at a telescopic end of an electric push rod 4-5 of the movable fixture. When the two-way positioning fixture is used specifically, the vertical plates on the two sides of the vertical plate partition plate are symmetrically and vertically arranged on the two sides of the two-way positioning fixture respectively, the vertically arranged partition plate is installed between the vertical plates on the two sides, the electric push rod 4-5 of the movable fixture is started to enable the second rubber head 4-4 to press the vertical plate inwards, and the width of the two-way fixed fixture 4-2 is the same as that of the partition plate, so that the two-way fixed fixture is matched with the two-way movable fixture on the two sides, the vertical plate and the partition plate are just in the static optimal relative position, and the welding.
c. Beam body clamp 2-9
As shown in fig. 5A and 5B, the beam clamp 2-9 includes a beam clamp table-board 5-1, the beam clamp table-board 5-1 is provided with a plurality of uniformly distributed horizontal support frames 5-2, a longitudinal pressing device is arranged above the horizontal support frames 5-2, the longitudinal pressing device includes a T-shaped lever frame 5-3, two ends of the T-shaped lever frame 5-3 are respectively connected with a pressing sheet 5-4 and a first electric push rod 5-5, and a pushing end and a pulling end of the first electric push rod 5-5 move up and down. When the first electric push rod 5-5 is pulled down, as the first electric push rod is connected with one end of the cross rod of the T-shaped lever frame 5-3, the pressing sheet 5-4 connected with the other end of the cross rod rises, the cross plates of the beam body are vertically arranged on two sides of the horizontal support frame 5-2, the longitudinal partition plate is vertically arranged between the two cross plates, the transverse clamping device is started, the two cross plates clamp the middle longitudinal partition plate, the first electric push rod 5-5 is started to move upwards, the cross rod of the T-shaped lever frame 5-3 rotates anticlockwise, the pressing sheet 5-4 presses down the cross plates on two sides, the heights of the cross plates on two sides are corrected to be consistent, and the clamping and fixing of the beam body are realized through transverse clamping and longitudinal pressing, so that the welding robot 2-3 performs a welding process.
The two sides of the beam body clamp table-board 5-1 are symmetrically provided with transverse clamping devices, the transverse clamping devices are provided with two second electric push rods 5-6 which are oppositely arranged, the push-pull ends of the second electric push rods 5-6 are provided with flexible buffer heads 5-7, and the second electric push rods 5-6 are driven to enable the flexible buffer heads 5-7 to extrude the transverse plate of the beam body to be transversely fixed on one side of the horizontal support frame 5-2.
d. Flaw detection clamp 2-10
As shown in fig. 6, flaw detection clamps 2-10 are arranged in the grabbing range of the transfer robot 1, the flaw detection clamps 2-10 comprise a flaw detection table top 6-1, main positioning devices symmetrically arranged are arranged in the middle of the flaw detection table top 6-1, and clamping devices are arranged at four corners of the flaw detection table top 6-1; the main positioning device is provided with a fixed clamping plate 6-2 and a movable clamping plate 6-3 which are matched with each other, and the movable clamping plate 6-3 is fixedly connected with a main positioning electric push rod 6-4; the clamping device comprises a clamping slide rail 6-5 and a clamping splint 6-6 which is arranged on the clamping slide rail 6-5 and is opposite to the clamping slide rail, and the outer side of the clamping splint 6-6 is connected with a clamping electric push rod 6-7.
Second, the intellectual vertical warehouse stores the subsystem
The intelligent vertical warehouse storage subsystem comprises a multilayer vertical warehouse base frame 7-1, a stacking vehicle 7-2 and a ground rail 7-3, wherein the ground rail 7-3 is arranged on one side of the multilayer vertical warehouse base frame 7-1 in parallel, the stacker is arranged on the ground rail 7-3 to move, a lifting address recognizer is arranged on the stacker, the multilayer vertical warehouse base frame 7-1 is of a multilayer goods shelf structure, and lifting address recognizing marks for recognizing the lifting address recognizer are arranged on the same side of an inlet and an outlet of the multilayer vertical warehouse base frame 7-1.
The bottom of the stacker is provided with a base pulley 7-4 which slides on a ground rail 7-3, the two sides of the top of the base pulley 7-4 are symmetrically provided with longitudinal beams 7-5, the middle of the top of the base pulley 7-4 is provided with a lifting platform 7-6, the top of the longitudinal beams 7-5 is fixedly connected with a top cross beam 7-7, the longitudinal beams 7-5 symmetrically arranged at the two sides are provided with sling 7-8 driving devices, the top beam is provided with a guide wheel set, and slings 7-8 of the sling 7-8 driving devices are hoisted at the two sides of the lifting platform 7-6 through the guide wheel set.
The sling 7-8 driving device comprises a driving motor 7-9, a bevel gear set 7-10 and a rocker arm 7-11, the driving motor 7-9 is longitudinally arranged, the bevel gear set 7-10 is provided with a driving bevel gear fixedly connected with the driving motor 7-9 and a driven bevel gear fixedly connected with the rocker arm 7-11, and the driving bevel gear is in meshing connection with the driven bevel gear.
The guide wheel set comprises a first guide wheel 7-12 pair and a second guide wheel 7-13 pair which are sequentially arranged on the top cross beam 7-7 from outside to inside, the first guide wheel 7-12 pair is provided with at least two first guide wheels 7-12 which are symmetrically arranged on two sides of the sling 7-8 driving device, and the second guide wheel 7-13 pair is provided with at least two first guide wheels which are symmetrically arranged on two sides of the installation position of the lifting platform 7-6.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (5)
1. The utility model provides a welding production water line is assembled to bogie frame intelligence vertical warehouse which characterized in that: the system comprises an intelligent assembling subsystem, an intelligent vertical warehouse storage subsystem, a three-dimensional conveyor and an intelligent welding sub-assembly line; wherein,
the intelligent assembling subsystem comprises a carrying robot, a welding robot and a station tooling fixture, wherein the bottom of the carrying robot is installed on a main beam slide rail, a grabbing end of the carrying robot is provided with a gas magnet grab or a pneumatic grab, the welding robot is installed on a gantry linear slide rail, the gantry linear slide rail is parallel to the sliding direction of the main beam slide rail, a lifting seat for controlling the welding robot to lift is arranged between the gantry linear slide rail and the welding robot, the station tooling fixture is positioned in the common working range of the carrying robot and the welding robot, and the station tooling fixture is at least one of a lower cover plate fixture, a vertical plate partition plate fixture and a beam body fixture;
the intelligent vertical warehouse storage subsystem comprises a multilayer vertical warehouse base frame, a stacking vehicle and a ground rail, wherein the ground rail is arranged on one side of the multilayer vertical warehouse base frame in parallel, the stacking vehicle is mounted on the ground rail to move, a lifting address recognizer is arranged on the stacking vehicle, the multilayer vertical warehouse base frame is of a multilayer goods shelf structure, and lifting address recognizing marks for the lifting address recognizer to recognize are arranged on the same side of an inlet and an outlet of the multilayer goods shelf structure;
the intelligent assembling subsystem also comprises a two-dimension code recognition recorder, and the intelligent assembling subsystem carries out recording of two-dimension code marks on the assembled finished products by using the two-dimension code recognition recorder in the process of conveying the assembled finished products to the intelligent vertical warehouse storage subsystem through a three-dimensional conveyor;
the intelligent vertical warehouse storage subsystem performs two-dimensional code recognition, stacking, moving, positioning and storage duration recording on the assembled finished products, and conveys the assembled finished products meeting the storage duration to an intelligent welding sub-assembly line through a three-dimensional conveyor, and the intelligent welding sub-assembly line performs an automatic welding process after recognizing two-dimensional code marks;
the lower cover plate clamp comprises a lower cover plate supporting seat, the top surface of the lower cover plate supporting seat is a multi-arc surface matched with the lower cover plate, the multi-arc surface is a multi-arc surface with a high middle part and two low sides, and a plurality of lower cover plate clamping assemblies positioned on two sides of the multi-arc surface are arranged at the top of the lower cover plate supporting seat; the vertical plate partition plate fixture comprises a plurality of uniformly distributed clamping pedestal seats, wherein the clamping pedestal seat positioned in the center is low, the clamping pedestal seats positioned on two sides are gradually raised, and the vertical plate partition plate fixture is arranged at the top of the clamping pedestal seat;
the vertical plate partition plate clamp comprises a bidirectional fixed clamp, first rubber heads are arranged on positioning surfaces on two sides of the bidirectional fixed clamp, movable clamps are arranged on two sides of the bidirectional fixed clamp, second rubber heads which are opposite to the first rubber heads are arranged on the movable clamps, and the second rubber heads are arranged at the telescopic ends of the electric push rods;
the beam body clamp comprises a beam body clamp table-board, a plurality of uniformly distributed horizontal support frames are arranged on the beam body clamp table-board, a longitudinal pressing device is arranged above the horizontal support frames, the longitudinal pressing device comprises a T-shaped lever frame, two ends of the T-shaped lever frame are respectively connected with a pressing sheet and a first electric push rod, and a pushing end and a pulling end of the first electric push rod move up and down; the two sides of the table top of the beam body clamp are symmetrically provided with transverse clamping devices, the transverse clamping devices are provided with two second electric push rods which are oppositely arranged, and the push-pull ends of the second electric push rods are provided with flexible buffer heads.
2. The bogie frame intelligent vertical warehouse assembling and welding production line of claim 1, which is characterized in that: a flaw detection clamp is arranged in the grabbing range of the carrying robot and comprises a flaw detection table board, main positioning devices which are symmetrically arranged are arranged in the middle of the flaw detection table board, and clamping devices are arranged at four corners of the flaw detection table board; wherein,
the main positioning device is provided with a fixed clamping plate and a movable clamping plate which are matched with each other, and the movable clamping plate is fixedly connected with a main positioning electric push rod;
the clamping device comprises a clamping slide rail and a clamping splint oppositely arranged on the clamping slide rail, and the outer side of the clamping splint is connected with a clamping electric push rod.
3. The bogie frame intelligent vertical warehouse assembling and welding production line of claim 1, which is characterized in that: the bottom of piling car is equipped with and is located gliding base coaster on the ground rail, the top bilateral symmetry of base coaster is equipped with the longeron and the middle part is equipped with the elevating platform, the top fixed connection top crossbeam of longeron all is equipped with hoist cable drive arrangement on the longeron that the bilateral symmetry set up, be equipped with the guide pulley group on the top crossbeam, hoist and mount in the both sides of elevating platform through the guide pulley group are passed through to hoist and mount to hoist cable drive arrangement's hoist cable.
4. The bogie frame intelligent vertical warehouse assembling and welding production line of claim 3, which is characterized in that: the sling driving device comprises a driving motor, a bevel gear set and a rocker arm, the driving motor is longitudinally arranged, the bevel gear set is provided with a driving bevel gear fixedly connected with the driving motor and a driven bevel gear fixedly connected with the rocker arm, and the driving bevel gear is in meshing connection with the driven bevel gear.
5. The bogie frame intelligent vertical warehouse assembling and welding production line of claim 3, which is characterized in that: the guide wheel set comprises a first guide wheel set and a second guide wheel set which are sequentially arranged on the top cross beam from outside to inside, the first guide wheel set is provided with at least two first guide wheels which are symmetrically arranged on two sides of the sling driving device, and the second guide wheel set is provided with at least two sides which are symmetrically arranged on the installation position of the lifting platform.
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Effective date of registration: 20220302 Address after: 211106 No. 1888, Jiyin Avenue, Jiangning District, Nanjing, Jiangsu Province (Jiangning Development Zone) Patentee after: Carl cruise robot technology (China) Co.,Ltd. Address before: 101300 building 3, 4 and 5, No. 16, Yuanying Road, Zhaofeng industrial base, zhaoquanying Town, Shunyi District, Beijing Patentee before: Karl Cruise Welding Technology (Beijing) Co.,Ltd. |
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Inventor after: Li Xiaopeng Inventor after: Luo Jinghua Inventor after: Zhang Zhiying Inventor after: Jiang Shan Inventor after: Sun Jiong Inventor after: Gan Haiping Inventor after: Miao Dongdong Inventor before: Li Xiaopeng Inventor before: Luo Jinghua Inventor before: Zhang Zhiying Inventor before: Jiang Shan Inventor before: Sun Dong Inventor before: Gan Haiping Inventor before: Miao Dongdong |