CN110682047A - A kind of multifunctional tooling equipment for robot welding steel beam - Google Patents

Abstract

The invention belongs to the technical field of welding processing, and particularly discloses multifunctional tool equipment for welding a steel cross beam by a robot, which comprises a rack, a translation sliding table, a jacking mechanism, a web plate positioning tool, an upper wing plate positioning tool and a lower wing plate positioning tool, wherein the translation sliding table is connected to the rack in a sliding manner, the upper wing plate positioning tool and the lower wing plate positioning tool are both arranged on the translation sliding table, and the upper wing plate positioning tool and the lower wing plate positioning tool can vertically move; the web plate positioning tool is located above the rack, the jacking mechanism is located below the rack, and the web plate positioning tool and the jacking mechanism are arranged rightly. The equipment, the feeding and discharging robot and the welding robot form a robot welding workstation, large-scale automatic and unmanned production of steel beam products can be realized, the production efficiency is high, and the equipment has wide application prospect.

Description

A kind of multifunctional tooling equipment for robot welding steel beam

technical field

The invention relates to the technical field of welding processing, and belongs to the unmanned flexible production technology in the field of intelligent manufacturing of welding processing, in particular to a multifunctional tooling device for robotic welding of steel beams.

Background technique

Steel beams for railway bridges are mainly composed of 5 parts: lower wing plate, web plate, upper wing plate, cylinder head studs, and railing column foundation. Steel beams are mainly used on railway simply supported T-shaped bridges, which are installed on both sides of the bridge with a spacing of 2m/piece, that is, 1,000 steel beams need to be installed per kilometer of railway. Steel beams have the characteristics of uniform specifications and models and large demand, and are suitable for mechanical automation production. According to production experience, in the production process of steel beam, the welding connection of lower flange, web and upper flange is the main construction process. At present, manual welding is mostly used, which has high labor intensity, limited by the technical level of workers, and welding seam. The quality is unstable and the working environment is harsh. With the scarcity of skilled workers in the country and the growth of workers' wages, manual welding is more and more restricted.

With the development of intelligent manufacturing technology, it is possible to reconstruct and upgrade welding production lines. At present, automated welding workstations using robot welding have been widely used, such as "a robot welding workstation" disclosed in the Chinese invention patent publication number CN106425223A, which involves a relatively general tool with rotating, lifting and moving functions Although the equipment is flexible and compatible with welding operations of different workpieces, targeted development and research are still required for specific welded objects, especially for mass-produced steel beams for railway bridges.

The utility model patents CN209035880U "A Railroad T-beam Steel Beam Positioning, Clamping and Turning Device" and CN209206762U "A Welding Mechanism for Steel Beams" both disclose a clamping tooling device with a turning function, which can realize a single robot The technology of welding railway bridge steel beams can solve the problems of high labor intensity, unstable welding seam quality and low efficiency of manual welding operations. However, the above-mentioned device still relies on manual loading and unloading, which requires manual installation and positioning of the welded workpiece, and the degree of automation and production efficiency is not high.

SUMMARY OF THE INVENTION

In view of the shortcomings of the above-mentioned prior art, the purpose of the present invention is to provide a kind of multifunctional tooling equipment for robotic welding of steel beams, which is used to solve the problems of high labor intensity of manual welding operation, unstable welding seam quality, degree of automation of welding equipment and production. Low efficiency and other problems, realize the purpose of large-scale and unmanned production of steel beam products for railway bridges.

In order to achieve the above purpose and other related purposes, the present invention provides a multifunctional tooling equipment for robotic welding of steel beams, including a frame, a translation slide table, a jacking mechanism, a web positioning tooling, an upper wing plate positioning tooling, and a lower wing plate. Positioning tooling, the translation sliding table is slidably connected to the frame, the upper wing plate positioning tooling and the lower wing plate positioning tooling are both installed on the translation sliding table, the upper wing plate positioning tooling and the lower wing plate positioning tooling can be vertical movement; the web positioning tool is located above the frame, and the web positioning tool is provided with a vertical groove for accommodating and positioning the web workpiece; the jacking mechanism is located below the frame, the web The positioning tool and the jacking mechanism are set in the opposite direction.

Further, the frame is provided with a horizontal guide rail, and the horizontal slide table is slidably connected to the horizontal guide rail.

Further, two vertical guide rails are provided on the translation slide table, and the upper wing plate positioning tool and the lower wing plate positioning tool are slidably connected in the vertical guide tracks.

Further, an upper beam is arranged above the frame, the web positioning tool is installed on the upper beam, a lower beam is arranged below the frame, and the jacking mechanism is installed on the lower beam.

Further, both sides of the frame are provided with uprights, and the upper beam is directly opposite to the lower beam, and is connected with the two uprights to form a return-shaped frame. Beneficial effects: the upper beam and the lower beam are aligned and connected to form a back-shaped frame through the columns on both sides, which is beneficial to bear the reaction force of the clamping web workpiece and ensure the stability of the structure.

Further, the translation slide table has three parking positions: left, middle and right. When the translation slide table is in the middle position, the upper wing plate positioning tool is located directly below the upper beam; when the translation slide table is in the right position, the lower The wing plate positioning tool is located directly under the upper beam; when the translation slide table is in the left position, the lower wing plate positioning tool and the upper wing plate positioning tool are exposed above, and the lower wing plate positioning tool and the upper wing plate positioning tool can be adjusted. Loading work.

Further, vacuum suction cups are respectively provided on the upper wing plate positioning tool and the lower wing plate positioning tool. Beneficial effects: The vacuum chuck can tightly suck the workpiece on the positioning tool, further ensuring that the workpiece is clamped. At the same time, compared with electromagnetic chucks, mechanical grippers, etc., the vacuum chuck can prevent the steel beam from being magnetized or the surface being scratched, etc. .

Further, a vacuum suction cup is installed in the vertical groove. Beneficial effects: The vacuum chuck can tightly suck the web workpiece on the positioning tool, further ensuring that the workpiece is clamped. At the same time, compared with electromagnetic chucks, mechanical grippers, etc., the vacuum chuck can prevent the steel beam from being magnetized or the surface being scratched injury etc.

As mentioned above, the multifunctional tooling equipment for robotic welding of steel beams of the present invention has the following beneficial effects:

When the equipment is working, the upper wing plate positioning tool, lower wing plate positioning tool and web plate positioning tool of the loading and unloading robot can be used for loading. Move the upper wing plate positioning tool or the lower wing plate positioning tool to the top of the jacking mechanism and be jacked up by the jacking mechanism, so as to clamp and locate the workpiece together with the web positioning tool, which is convenient for the welding robot to weld from both sides of the web at the same time.

The multifunctional tooling equipment for robot welding steel beams of the present invention is applied to the robot welding workstation, which can cooperate with the loading and unloading robot and the welding robot to realize the fully unmanned welding operation of automatic loading and unloading and automatic welding, and only a small number of management personnel are required. It is enough to monitor the production process in the centralized control center, thereby improving the automation degree and production efficiency of the steel beam welding production process, eliminating various uncertain factors of manual welding, and ensuring the product quality.

Description of drawings

1 is a perspective view of the multifunctional tooling equipment for robotic welding of steel beams of the present invention when applied to a robotic welding workstation;

2 is a schematic elevational view of the multifunctional tooling equipment for robotic welding of steel beams of the present invention;

3 is a schematic cross-sectional view of the multifunctional tooling equipment for robotic welding of steel beams of the present invention.

Detailed ways

The embodiments of the present invention are described below through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

It should be noted that the drawings provided in this embodiment are only to illustrate the basic concept of the present invention in a schematic way, so the drawings only show the components related to the present invention rather than the number, shape and the number of components in actual implementation. For dimension drawing, the type, quantity and proportion of each component can be changed at will in actual implementation, and the component layout may also be more complicated. The structures, proportions, sizes, etc. shown in the drawings in this specification are only used to cooperate with the contents disclosed in the specification for the understanding and reading of those who are familiar with the technology, and are not intended to limit the conditions for the implementation of the present invention. , therefore does not have technical substantive significance, any structural modification, proportional relationship change or size adjustment, without affecting the effect that the present invention can produce and the purpose that can be achieved, should still fall within the scope of the present invention. The technical content must be able to cover the scope. At the same time, the terms such as "up", "down", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description and clarity, and are not used to limit this specification. The implementable scope of the invention, and the change or adjustment of the relative relationship thereof, shall also be regarded as the implementable scope of the present invention without substantially changing the technical content.

Description of reference numbers:

Frame 1, translation slide table 2, jacking mechanism 3, web positioning tool 4, upper wing plate positioning tool 5, lower wing plate positioning tool 6, upper beam 7, lower beam 8, column 9, web 10, upper The wing plate 11 , the lower wing plate 12 , the loading and unloading robot 13 , and the welding robot 14 .

The specific implementation process is as follows:

As shown in Figure 1, Figure 2, Figure 3, the present invention provides a multifunctional welding tooling equipment for robotic welding of steel beams, including a frame 1, a translation slide table 2, a jacking mechanism 3, a web positioning tooling 4, an upper The wing plate positioning tool 5, the lower wing plate positioning tool 6, the translation slide table 2 is slidably connected to the frame 1, the upper wing plate positioning tool 5 and the lower wing plate positioning tool 6 are both installed on the translation slide table 2, which can be moved up and down Specifically, the frame 1 is provided with a horizontal guide rail, the horizontal slide table is slidably connected to the horizontal guide rail, and the frame 1 is also provided with a horizontal drive device for driving the translation slide table 2 to move along the horizontal guide rail.

An upper beam 7 is arranged above the frame 1, a lower beam 8 is arranged below the frame 1, the web positioning tool 4 is installed on the upper beam 7, and the jacking mechanism 3 is installed on the lower beam 8; Each side is provided with a column 9, the upper beam 7 is directly opposite to the lower beam 8, and is connected with the two columns 9 to form a back-shaped frame, which is beneficial to bear the reaction force of the clamping web 10 workpiece and ensure the stability of the structure.

When the upper wing plate positioning tool 5 or the lower wing plate positioning tool 6 moves with the translation slide 2 to the top of the jacking mechanism 3, it can be lifted by the jacking mechanism 3, thereby clamping the workpiece together with the web plate positioning tool 4. When the lifting mechanism 3 descends, the upper wing plate positioning tool 5 or the lower wing plate positioning tool 6 descends accordingly under the combined action of gravity and the force of the return spring.

As shown in FIG. 1 , the multifunctional tooling equipment of the present invention is applied to the robot welding workstation. One side of the frame 1 is installed with a loading and unloading robot 13, and the other side is installed with two welding robots 14. Two welding robots The robots 14 are located on both sides of the column 9 respectively.

The translation slide table 2 of the device can be accurately positioned in three positions: left, middle and right. When the translation slide table 2 is in the left position, the loading and unloading robot 13 can load the lower wing plate positioning tool 6 and the upper wing plate positioning tool 5; when the translation slide table 2 is in the neutral position, the upper wing plate positioning tool 5 is located at The frame 1 is directly below the upper beam 7; when the translation slide table 2 is in the right position, the lower wing plate positioning tool 6 is located directly under the upper beam 7; the jacking mechanism 3 is located under the translation slide table 2, and the upper wing plate positioning tooling can be respectively 5. The lower wing plate positioning tool 6 is jacked up.

Further, in addition to clamping and positioning the workpiece, this equipment also adopts a vacuum suction cup, wherein, the upper wing plate positioning tooling 5 and the lower wing plate positioning tooling 6 are respectively provided with vacuum suction cups, which can tightly suck the wing plate workpiece in the positioning. On the tooling; the web positioning tooling 4 is provided with a vertical groove that can accommodate and locate the workpiece of the web 10, and the vertical groove is arranged along the axial direction of the web positioning tooling 4 (that is, the length direction of the upper beam 7); A vacuum suction cup is installed on the side of the vertical groove, which can tightly suck the workpiece of the web 10 on the positioning tool. During welding, the workpiece of the web 10 is inserted into the vertical groove of the web positioning tool 4 in a vertical state, so as to solve the positioning of the web 10, and at the same time, there is no need to clamp the tooling equipment (that is, the web positioning tool 4). ) to flip the workpiece, the loading and unloading robot can be used to flip the workpiece, and other clamping tooling equipment (ie, the upper wing plate positioning tool 5, the lower wing plate positioning tool 6) needs to be shifted as needed, so that the web 10 and the upper wing The plate 11 and the lower wing plate 12 can be matched and clamped to be welded, and the operation is more convenient.

The multi-functional tooling equipment operates in the robot welding workstation according to the following workflow:

1) The conveyor belt sends the upper wing plate 11, lower wing plate 12 and web 10 blanks of the steel beam to the designated position in the welding area in turn;

2) Place the translation slide 2 in the left position;

3) The loading and unloading robot 13 takes the upper wing plate 11 from the conveyor belt and places it on the upper wing plate positioning tool 5 on the translation slide table 2;

4) The loading and unloading robot 13 takes the lower wing plate 12 from the conveyor belt and places it on the lower wing plate positioning tool 6 on the translation slide table 2;

5) The loading and unloading robot 13 takes the web 10 from the conveyor belt and places it on the positioning beam tooling of the web 10;

6) Place the translation slide 2 in the neutral position;

7) The jacking mechanism 3 rises, and the upper wing plate positioning tool 5 on the translation slide table 2 is lifted up, so that the upper wing plate 11 and the web plate 10 are clamped;

8) After the upper wing plate 11 and the web plate 10 are clamped, the loading and unloading robot 13 releases the web plate 10 to make room for the welding robot 14;

9) The two sets of welding robots 14 move according to the specified trajectory, and weld from both sides of the web 10 at the same time; return to the initial position after the welding is completed;

10) After the loading and unloading robot 13 holds the web 10, the jacking mechanism 3 and the upper wing plate positioning tool 5 descend;

11) The loading and unloading robot 13 takes out the web 10 and rotates it by 180°, and then puts it back under the beam of the web positioning tool 4;

12) Place the translation slide 2 in the right position;

13) The jacking mechanism 3 is lifted, and the lower wing plate positioning tool 6 on the translation slide table 2 is lifted up, so that the lower wing plate 12 and the web plate 10 are clamped;

14) The 2 sets of welding robots 14 move according to the specified trajectory, and simultaneously weld from both sides of the web 10; return to the initial position after the welding is completed;

15) After the loading and unloading robot 13 holds the web 10, the jacking mechanism 3 and the lower wing plate positioning tool 6 descend;

16) The loading and unloading robot 13 grabs the welded workpiece and places it on the pallet of the forklift;

17) Put the translation slide 2 in the left position, and the welding workstation repeats the above actions.

To sum up, the multifunctional tooling equipment of the present invention is applied in the robot welding workstation, which can realize large-scale automation and unmanned production of steel beam unmanned welding production line, without manual handling and manual assembly welding of traditional production lines. The production efficiency is high, and the movement trajectory and operation sequence of intelligent equipment can be planned in the centralized control center in a unified manner to realize remote network cloud control, which is suitable for digital manufacturing system and has broad application prospects.

The above-mentioned embodiments merely illustrate the principles and effects of the present invention, but are not intended to limit the present invention. Anyone skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed in the present invention should still be covered by the claims of the present invention.

Claims (8)

1. a multifunctional tooling equipment for robotic welding of steel beams, is characterized in that, comprises frame, translation slide table, jacking mechanism, web positioning tooling, upper wing plate positioning tooling, lower wing plate positioning tooling, the translation The sliding table is slidably connected to the frame, the upper wing plate positioning tooling and the lower wing plate positioning tooling are both installed on the translation sliding table, and the upper wing plate positioning tooling and the lower wing plate positioning tooling can move vertically; the The web positioning tool is located above the frame, and the web positioning tool is provided with a vertical groove for accommodating and positioning the web workpiece; the jacking mechanism is located below the frame, the web positioning tool and the jacking mechanism Right to the setting. 2 . The device according to claim 1 , wherein the frame is provided with a horizontal guide rail, and the horizontal slide table is slidably connected to the horizontal guide rail. 3 . 3 . The device according to claim 1 , wherein two vertical guide rails are arranged on the translation slide table, and the upper wing plate positioning tool and the lower wing plate positioning tool are slidably connected to the vertical guide rails. 4 . middle. 4. The device according to claim 1, wherein an upper beam is arranged above the frame, the web positioning tool is installed on the upper beam, and a lower beam is arranged below the frame, so The jacking mechanism is installed on the lower beam. 5 . The device according to claim 4 , wherein the frame is provided with uprights on both sides, and the upper beam and the lower beam face each other, and are connected with the two uprights to form a back-shaped frame. 6 . 6 . The device according to claim 1 , wherein the translation slide table has three parking positions, left, middle and right, and when the translation slide table is in the neutral position, the upper wing plate positioning tool is located on the upper beam. 7 . Right below; when the translation slide table is in the right position, the lower wing plate positioning tool is located directly below the upper beam; when the translation slide table is in the left position, the lower wing plate positioning tool and the upper wing plate positioning tool Load the lower wing plate positioning tool and the upper wing plate positioning tool. 7 . The device according to claim 1 , wherein the upper wing plate positioning tool and the lower wing plate positioning tool are respectively provided with vacuum suction cups. 8 . 8. The apparatus according to claim 1, wherein a vacuum suction cup is installed in the vertical groove.

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