CN111299889A - Robot welding workstation for drilling mast preparation and welding method thereof - Google Patents

Abstract

The invention discloses a robot welding workstation for preparing a drill mast and a welding method thereof, wherein the robot welding workstation comprises a welding robot transplanting mechanism, a head and tail frame moving positioner, a safety device and a corresponding electric control unit; the welding robot transplanting mechanism comprises a stand column, an X-axis beam is erected on the stand column, a Y-axis beam is arranged on the X-axis beam, a Z-axis beam is arranged on the Y-axis beam, and a welding robot body is arranged on the Z-axis beam; the head-tail frame mobile positioner comprises two mobile positioner bodies and a jacking and centering mechanism, wherein the jacking and centering mechanism is positioned between the two mobile positioner bodies; the safety device comprises a safety fence arranged on the periphery of the welding robot transplanting mechanism and the head-tail frame moving positioner; the electric control unit comprises an electric control cabinet, an electric control system is arranged in the electric control cabinet, and a control box is also arranged on the electric control cabinet. The invention replaces the existing manual welding mode, improves the working efficiency and the productivity, and improves the automation and mechanization level of a welding workshop.

Description

Robot welding workstation for drilling mast preparation and welding method thereof

technical field

The present invention relates to a robotic welding workstation, and more particularly, to a robotic welding workstation for drilling mast preparation and a welding method thereof.

Background technique

The drill mast (also known as the mast) is the main structural part of the construction machinery rotary drilling rig, the installation and support part of the drill pipe and the power head and the guide part of the working footage. As an important component of the mast, the middle mast has a total length of more than ten meters. It is a welded box-girder structure composed of an upper mast body and a lower mast body. The guide rails are welded on both sides of the profiled plate. In the middle mast structure, the welding seam of the profiled plate and the sealing plate, the welding seam of the guide rail and the profiled plate are the main welding seams, all of which are distributed on one side of the central axis of the section. The mast body is composed of three steel plates, and its cross section is A rectangle with an opening composed of two sides and a long side. The guide rail is bent from a steel plate. The cross-sectional shape of the guide rail consists of two long sides and two sides. There is an opening in the center of one long side of the guide rail. The length of the opening is equal to the distance between the two sides of the mast body, the mast body is inserted into the guide rail, and the end faces of the two sides of the mast body are in contact with a long side of the guide rail, and the two sides of the mast body and the guide rail are in contact with each other. The cross-section of the other long side is in contact, and the contact is welded together.

The mast is a very typical slender rod welded structure. As a support member of other parts, it has high precision requirements for its cross-sectional shape and axis straightness, so its welding deformation should be strictly controlled. In the process of mast welding, the quality and efficiency of welding need to be fully considered. At present, although there are many application cases of robot welding workstations at home and abroad, it is not possible to complete the main beam steel plate required by the workpiece at one time in the same workstation. , The splicing main welding of square tube and main beam, as well as the welding requirements of clapboard plug welding seam, accessories, etc.

SUMMARY OF THE INVENTION

Aiming at the above-mentioned defects in the prior art, the purpose of the present invention is to provide a robot welding workstation for drilling mast preparation and a welding method thereof, which can replace the existing manual welding method and provide an automatic, efficient and accurate drilling mast. Welding methods can improve work efficiency and productivity, and improve the automation and mechanization level of welding workshops.

To achieve the above object, the present invention adopts the following technical solutions:

On the one hand, a robot welding workstation for drilling mast preparation, comprising a welding robot transplanting mechanism, a head and tailstock moving positioner, a safety device and a corresponding electrical control unit;

The welding robot transplanting mechanism includes a column on which an X-axis beam is arranged, a Y-axis beam is arranged on the X-axis beam, a Z-axis beam is arranged on the Y-axis beam, and the Z-axis beam is arranged on the Z-axis beam. There is a welding robot body on it;

The head and tail frame mobile positioners include two mobile positioner bodies and a jacking and centering mechanism, and the two mobile positioner bodies are arranged opposite to each other to fix the drill mast. The middle mechanism is located between the two mobile positioner bodies, and is used to lift and align the drill mast;

The safety device includes a safety fence located at the periphery of the welding robot transplanting mechanism and the head and tail frame moving positioner;

The electrical control unit includes an electrical control cabinet, an electrical control system is arranged in the electrical control cabinet, and a control box is also provided on the electrical control cabinet, and an action button and an emergency stop switch are installed on the control box.

The Y-axis beam is provided with two, and the corresponding Z-axis beam and the welding robot body are also provided with two.

The welding robot body is also equipped with a welding power source and a smoking and dust removal device, and the welding power source is connected with a robot control cabinet.

The head and tailstock mobile positioner also includes a positioner track, and the mobile positioner body is arranged on the positioner track.

The mobile positioner body fixes the drill mast through a clamp.

The fixture is an electric double-drive four-jaw chuck.

The safety fence is a closed structure, the upper part is a steel arc shading plate, and the lower part is a plastic-sprayed steel mesh, and the safety fence is also provided with an emergency button and a three-color alarm light.

In another aspect, a robotic welding method for drill mast preparation, comprising the steps of:

1) using the lifting centering mechanism to adjust the workpiece and the mobile positioner body to the same height, and using the fixture on the mobile positioner body to fix the workpiece;

2) The workpiece is turned over to the position where the opening is facing up or down by the moving positioner body. One of the welding robot bodies starts welding from the middle of the workpiece to one end, and the other welding robot body starts from the other end of the workpiece. Start welding to the middle, and complete the welding of the bottom weld of the rib with the workpiece opening facing up or down;

3) The workpiece is turned over to the position where the opening faces left or right by the moving positioner body, one of the welding robot bodies starts welding from the middle of the workpiece to one end, and the other welding robot body starts from the other end of the workpiece. Start welding to the middle, and complete the welding of the bottom weld of the rib with the workpiece opening facing left or right.

When the welding robot body is welded, the method of intermittent welding is adopted, that is, the welding is 100mm, and the broken welding is 50mm.

The invention provides a robot welding workstation for drilling mast preparation and a welding method thereof. The robot welding workstation is designed so that both the head and tail frames can move. When the workpiece is long for clamping operation, the workpiece only needs to be placed on the top. On the lifting centering mechanism, the workpiece and the mobile positioner body are adjusted to the same height by the lifting centering mechanism, and then the mobile positioner body moves at the same time to reduce the moving distance on one side. At the same time, during the clamping process, the sliding distance of the workpiece on the jacking and centering mechanism is shortened, which is relatively safer. The jacking and centering mechanism includes the centering function, which ensures that the workpiece will not be greatly offset during the clamping process, and avoids the unstable force of the fixture. In terms of production capacity, it can meet 4 pieces/16 hours. After the clapboard is welded to the cached workpiece, the main beam square tube can be welded, which needs to be determined according to the actual situation on site.

Description of drawings

Fig. 1 is the schematic diagram of the embodiment of the robot welding workstation of the present invention;

Figure 2 is a top view of the embodiment of the robotic welding workstation of Figure 1;

Figure 3 is a side view of the embodiment of the robotic welding workstation of Figure 1;

Fig. 4 is the flow chart of the embodiment of the robot welding method of the present invention;

Fig. 5 is the electrical control principle diagram of the embodiment of the robot welding workstation of the present invention;

Fig. 6 is a flow chart of centering by the lifting centering mechanism in the embodiment of the robot welding workstation of the present invention;

Fig. 7 is the schematic diagram of the offset of two mobile positioner bodies in the embodiment of the robot welding workstation of the present invention;

Fig. 8 is the schematic diagram of the interaction of two welding robot bodies in the embodiment of the robot welding workstation of the present invention;

Fig. 9 is the schematic diagram of all the servo motor limits in the embodiment of the robot welding workstation of the present invention;

Fig. 10 is a schematic diagram of the lifting and centering mechanism in the embodiment of the robot welding workstation of the present invention;

Fig. 11 is a perspective view of the lifting centering mechanism in the embodiment of the robot welding workstation of Fig. 10;

Fig. 12 is the right side view of the jack-up centering mechanism in the embodiment of the robot welding workstation of Fig. 10;

Fig. 13 is a schematic diagram of the centering function realized by the lifting centering mechanism in the embodiment of the robot welding workstation of Fig. 10 .

Detailed ways

The technical solutions of the present invention are further described below with reference to the accompanying drawings and embodiments.

Please refer to FIGS. 1 to 3 , a robot welding workstation for drilling mast preparation provided by the present invention includes a set of welding robot transplanting mechanism, a set of head and tail frame moving positioners, safety devices and corresponding electrical control unit.

Preferably, the welding robot transplanting mechanism includes four equidistantly arranged uprights 1, four of which are provided with an X-axis beam 2, and the X-axis beam 2 is provided with two Y-axis. The cross beam 3 is driven by the external shaft motor to drive the gear and rack meshing transmission, so that the Y-axis cross-beam 3 can move along the X-axis cross-beam 2. The Y-axis cross-beam 3 is provided with a Z-axis cross-beam 4, and the Z-axis cross-beam The same is true for the beam 4 and the Y-axis beam 3. The Z-axis beam 4 is provided with a welding robot body 5, so that the welding robot body 5 can move freely between different stations. The two welding robot bodies 5 independently slide and do not interfere with each other, which meets the requirements of symmetrical welding and segmented welding in the welding process. The welding robot body 5 is a FANUCM-10iA7L robot, equipped with a TB I welding torch and a torch cleaning and wire cutting mechanism.

Preferably, the head and tail frame mobile positioners include two mobile positioner bodies 6 and a jacking and centering mechanism 7, and the two mobile positioner bodies 6 are arranged head-to-tail relative to each other. The machine rail 8 is installed and fixed on the workshop floor to fix the drill mast 100, and the jacking and centering mechanism 7 is located between the two mobile positioner bodies 6 to lift and center the drill. Mast 100. The servo motor on the main body 6 of the mobile positioner cooperates with the high-precision reducer to realize the automatic flipping and shifting of the drill mast 100. Through the coordinated movement of the mobile positioner body 6 and the welding robot body 5, it is ensured that the welding torch is always in the best welding posture during the welding process, the flip angle is ±360°, and the repeat positioning accuracy is ±0.2mm. The lifting and centering mechanism 7 ensures the supporting function of the drill mast 100 during the upper work and the welding process. In view of the excessive length of the drill mast 100, in order to prevent the excessive deformation of the drill mast 100 during the clamping process and the welding process from having an irreversible impact on the welding operation, the lifting and centering mechanism 7 is used to make up for it, so The above-mentioned jacking and centering mechanism 7 includes three basic actions:

1) Lifting action in vertical direction;

2) Clamping and loosening actions during alignment;

3) Movement along the length of the drill mast 100 .

Preferably, the safety device includes a safety fence 9 arranged on the periphery of the welding robot transplanting mechanism and the head and tail frame moving positioner. The safety fence 9 is a closed structure with an entrance and exit. , in order to ensure the safety of equipment and workers, the safety fence 9 is an aluminum alloy frame, the upper part is a yellow steel arc shading plate, the lower part is a red plastic-sprayed steel mesh, and the height is 2 meters. The specifications and dimensions of the welding robot body 5 are determined. In order to prevent the welding arc from causing damage to the eyes of personnel and to ensure the beauty of the entire system, the safety fence 9 is also provided with an emergency button and a three-color alarm light. When the equipment is in normal operation and welding, the green indicator light is on. The yellow indicator light is on. When the equipment stops running abnormally, the red indicator light is on, and the buzzer alarms. Through the three-color warning light, the status of the equipment can be clearly identified. During the operation, the buzzer also reminds workshop workers and driving Take precautions to avoid unnecessary safety accidents.

Preferably, the electric control unit includes an electric control cabinet 10, and an electric control system is arranged in the electric control cabinet 10. In order to facilitate remote operation on site, the basic configuration of the electric control system includes the control of the rotary motor and the safety protection device. , the electric control cabinet 10 is also equipped with a control box, and the control box is equipped with various action buttons and emergency stop switches. The power supply of the whole machine is immediately disconnected to ensure the safety of personnel and equipment.

Preferably, the welding robot body 5 is also provided with a welding power source 11 and a smoking and dust removal device 12, and the welding power source 11 is connected with a robot control cabinet 13.

Preferably, the mobile positioner body 6 fixes the drill mast 100 through a clamp 14, and the clamp 14 can be an electric double-drive four-jaw chuck.

Preferably, both ends of the X-axis beam 2 are connected with ladders 15, which are convenient for workers to climb up and maintain.

Referring to Figures 4 to 13, the present invention also provides a robotic welding method for preparing a drill mast, comprising the following steps:

1) Use the lifting and centering functions of the jacking centering mechanism 7 (as shown in Figure 6) to raise the two jacking centering mechanisms 7 to the same height, and adjust the centering mechanism handwheel 20, then The workpiece (ie, the drill mast 100 ) is hoisted onto the jack-up centering mechanism 7 and the centering fixing block 21 is controlled to clamp the workpiece, and then the moving positioner body 6 is manually adjusted to clamp the workpiece. Adjust the handwheel so that the clamping block is at the outermost side to avoid interference caused by the rotation of the workpiece during the welding process;

2) The mobile positioner body 6 adopts the head and tail frame structure, and the servo motor and the high-precision reducer are driven to realize the automatic turnover of the workpiece. First, turn the workpiece so that the opening is facing upwards (referred to as the 0-degree position). One of the welding robot bodies 5 starts welding from the middle of the workpiece to one end, and the other welding robot body 5 starts welding from the other end of the workpiece to the middle. Welding of the weld seam at the bottom of the rib at the 0 degree position of the workpiece;

3) To ensure the quality of the plug welding seam, adjust the side welding seam to the flat welding position, and the moving positioner body 6 will turn the workpiece to the position where the opening faces left or right (referred to as the 90-degree position), one of which is The welding robot body 5 starts welding from the middle of the workpiece to one end, and the other welding robot body 5 starts welding from the other end to the middle of the workpiece to complete the welding of the bottom of the rib at the 90-degree position (-90-degree position) of the workpiece. welding.

Preferably, when the welding robot body is welded, intermittent welding is adopted, that is, the welding is 100 mm and the welding is broken by 50 mm, which can effectively prevent welding variables.

The electrical control principle of the robot welding workstation of the present invention is as follows:

1) All electrical control adopts prof i net communication. Advantages: 1. Communication rate block; 2. Stable communication; 3. Easy to expand.

2) For the lifting and centering mechanism 7, after the single-sided welding is completed, the lifting and centering mechanism 7 is lowered to the zero position, and when the workpiece is turned in place, the lifting and centering mechanism 7 is pushed up again to contact the surface of the workpiece, and then Run together to an average of three positions. Advantages: 1. The lifting mechanism contacts the workpiece during the welding process to prevent the workpiece deformation caused by welding heat; 2. After contacting the workpiece, the lifting mechanism takes an average value, which can effectively calibrate the model and ensure that the three lifting devices are at the same level In the process of position welding, the heat is affected by gravity, so that the workpiece deforms in the ideal direction to overcome its own deformation and correct the deformation of the workpiece itself.

3) The centering function of the lifting centering mechanism 7 is realized by using torque motor (symbol 7.1 in Fig. 13) + reducer (symbol 7.2 in Fig. 13) + slider to realize the mechanical structure (symbol in Fig. 13 ) 7.3) + laser sensor (mark 7.4 in Figure 13). The clamping mechanism on both sides needs to be clamped at the same time by a motor, which has the advantage of avoiding the deviation before and after manual feeding and adjusting to the center position.

Note: Front and back refer to the reference point of people standing in front of the workpiece.

4) The moving positioner body 6 in the form of the head and tailstock structure adopts a high-precision servo motor with Siemens V90 absolute position 20+12-bit multi-turn absolute value coding. Advantages: 1. Overcome the inconsistency of product length and the fact that the left and right parts of the upper part cannot reach the absolute center position. Divide the difference between the values fed back by the encoder of the servo motor by 2 and inform the welding robot body 5 of the position offset; 2. It is convenient for the welding robot body 5 to program and debug. Note: Left and right refer to the reference point when a person stands in front of the workpiece.

5) The interaction of the two welding robot bodies 5, each machine sets 32-bit data through the PLC block for relaying to realize the setting of the interference area, and the mutual exchange of signals and other linkage operations. Advantages: 1. Real-time information interaction; 2. Enhanced device security.

6) All servo motors in the robot welding workstation of the present invention have double limit protection of soft limit and hard limit. Advantages increase the security of the device.

7) Informationized welding system: The welding current, voltage, wire speed can be displayed in real time through the informationized software, and the data can be saved and processed. Advantages: 1. Provide specific data support for the new product process; 2. Parameter tracking can be carried out when the product quality is not good.

Those skilled in the art should realize that the above embodiments are only used to illustrate the present invention, but not to limit the present invention. Changes and modifications will fall within the scope of the claims of the present invention.

Claims (9)

1. A welding workstation of robot for boring mast preparation which characterized in that: comprises a welding robot transplanting mechanism, a head and tail frame moving positioner, a safety device and a corresponding electric control unit;

the welding robot transplanting mechanism comprises an upright post, wherein an X-axis beam is erected on the upright post, a Y-axis beam is arranged on the X-axis beam, a Z-axis beam is arranged on the Y-axis beam, and a welding robot body is arranged on the Z-axis beam;

the head and tail frame movable positioner comprises two movable positioner bodies and a jacking and centering mechanism, the two movable positioner bodies are oppositely arranged and used for fixing the drill mast, and the jacking and centering mechanism is positioned between the two movable positioner bodies and used for lifting and centering the drill mast;

the safety device comprises a safety fence arranged on the periphery of the welding robot transplanting mechanism and the head-tail frame moving positioner;

the electric control unit comprises an electric control cabinet, an electric control system is arranged in the electric control cabinet, a control box is further arranged on the electric control cabinet, and an action button and an emergency stop switch are arranged on the control box.

2. A robotic welding station for drill mast preparation according to claim 1, wherein: the Y-axis cross beam is provided with two, and correspondingly, the Z-axis cross beam and the welding robot body are also provided with two.

3. A robotic welding station for drill mast preparation according to claim 2, wherein: still be furnished with welding power supply and smoking dust collector on the welding robot body, welding power supply intercommunication has the robot control cabinet.

4. A robotic welding station for drill mast preparation according to claim 1, wherein: the head and tail frame moving positioner further comprises a positioner rail, and the moving positioner body is arranged on the positioner rail.

5. A robotic welding station for drill mast preparation according to claim 4, wherein: the movable positioner body fixes the drill mast through a clamp.

6. A robotic welding station for drill mast preparation according to claim 5, wherein: the clamp is an electric double-drive four-jaw chuck.

7. A robotic welding station for drill mast preparation according to claim 1, wherein: the safety fence is of a closed structure, the upper portion of the safety fence is a steel arc-shielding light plate, the lower portion of the safety fence is a plastic spraying steel mesh, and an emergency button and a three-color alarm lamp are further arranged on the safety fence.

8. A robotic welding method for drill mast preparation according to any of claims 1-7, characterized in that it comprises the following steps:

1) adjusting the workpiece and the movable positioner body to the same height by using the jacking centering mechanism, and fixing the workpiece by using the clamp on the movable positioner body;

2) the workpiece is turned to a position with an upward or downward opening by the movable positioner body, wherein one welding robot body performs open welding from the middle to one end of the workpiece, and the other welding robot body performs open welding from the other end of the workpiece to the middle of the workpiece, so that welding of a welding seam at the bottom of the rib plate with the upward or downward opening of the workpiece is completed;

3) and the workpiece is turned to a position with an opening facing to the left or facing to the right by the mobile positioner body, one welding robot body is started to weld from the middle of the workpiece to one end, and the other welding robot body is started to weld from the other end of the workpiece to the middle of the workpiece, so that the welding of the welding seam at the bottom of the rib plate with the opening facing to the left or facing to the right of the workpiece is completed.

9. A robotic welding method for drill mast preparation as defined in claim 8, wherein: when the welding robot body is welded, an intermittent welding mode is adopted, namely 100mm welding is carried out, and 50mm welding is carried out.

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