CN111590226B - Welding production line of automobile body side wall outer plate assembly - Google Patents
Welding production line of automobile body side wall outer plate assembly Download PDFInfo
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- CN111590226B CN111590226B CN202010446766.8A CN202010446766A CN111590226B CN 111590226 B CN111590226 B CN 111590226B CN 202010446766 A CN202010446766 A CN 202010446766A CN 111590226 B CN111590226 B CN 111590226B
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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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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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
- B23K37/04—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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/006—Vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Automatic Assembly (AREA)
- Resistance Welding (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
A welding production line of a side wall outer plate assembly of an automobile body relates to the technical field of automobile production. The invention aims to realize the comprehensive automatic, multi-station parallel and high-efficiency production of welding of the automobile body side wall outer plate assembly. The technical points are as follows: the welding production line comprises a rotatable workbench, a pneumatic clamp arranged on the rotatable workbench, two fixed welding robots and a grabbing robot; welding and shaping a group of parts on a working unit of the pneumatic type clamp through two shaping welding robots, grabbing the workpiece subjected to shaping welding by a grabbing robot at a transfer station and moving the workpiece to be correspondingly opposite to the two shaping welding robots along a sliding rail, and performing shaping welding on the workpiece through the two shaping welding robots; and the grabbing robot transfers the workpiece subjected to the solid welding to a blanking detection station. The automatic welding device is used for automatically welding the automobile body side outer plate assembly.
Description
Technical Field
The invention relates to a welding production line of a side wall outer plate assembly of an automobile body, which is used for realizing automatic welding of the side wall outer plate assembly of the automobile body and relates to the technical field of automobile production.
Background
The automobile body side wall outer plate assembly is an important assembly component of an automobile. The automobile body side wall outer plate assembly is divided into an A column, a B column, an H column and a threshold. In a traditional factory, a manual welding mode is generally adopted for the welding production of the automobile body side wall outer plate assembly. The manual welding has the problems of low production efficiency, high production cost and the like, and potential safety hazards exist due to the fact that an operator is in direct contact with a welding workpiece and welding equipment.
In order to improve production efficiency and reduce production cost, the prior art provides automatic welding equipment for a body-in-white. The prior art with the reference number of CN109909632A discloses a white automobile body automatic welding production line, including supply line and a plurality of station, the station is equipped with the station robot, the station robot is equipped with the robot tongs, the station still is equipped with tongs frame, welding gun frame and mount, be equipped with supplementary tongs on the tongs frame, be equipped with welder on the welding gun frame, the robot tongs is used for being connected with supplementary tongs and controlling supplementary tongs to snatch the work piece and remove to assembling the position, the robot tongs still is used for being connected with welder and carries out welding operation through welder, the mount is used for fixed supplementary tongs. This automatic welding production line of white automobile body that prior art provided can the effectual utilization ratio that improves the robot, reduces to assemble the required robot quantity of fixed work piece, and then reduces the cost of production line. This prior art does not have the welding that is special to car body side wall planking assembly.
The existing patent documents are only rarely mentioned about a welding production line of a side wall outer plate assembly of an automobile body. The prior art with the reference number of CN102491082A discloses manual conveying equipment for automobile body-in-white side panel materials, which is formed by connecting a rack, a positioning guide mechanism, a supporting block telescopic mechanism, a workpiece lifting positioning assembly, a lifting appliance hoisting assembly and an operating handle. The frame includes fixed frame and balancing weight. The positioning guide mechanism comprises a guide seat, a guide sleeve, an adjustable guide sleeve mounting plate and an adjustable positioning rod. The support block telescopic mechanism comprises a connecting rod, a telescopic shaft, a telescopic linear bearing seat, a connecting rod driving rod mounting seat, a manual clamp mounting plate and a linear bearing. The workpiece lifting and positioning assembly comprises a lower supporting block mounting plate, an upper supporting block, a lower supporting block and a B column guide block. The lifting appliance lifting assembly comprises an adjustable lifting ring chain fixing ring, a lifting ring chain shackle and a lifting ring. The equipment is arranged on a pneumatic or electric elevator at the upper part of a welding production line of side walls of a white automobile body of an automobile. The prior art with the reference number of CN108723667A discloses a welding and positioning tool for side walls of white bodies of automobiles, which comprises two tool cross beams which are distributed in parallel in the front and back, wherein lifting support mechanisms are arranged at two ends of the bottoms of the two tool cross beams, two support connection mechanisms are symmetrically arranged between the left lifting support mechanism and the right lifting support mechanism, the left support connection mechanism and the right support connection mechanism are connected through a connection cross rod, and the front support connection mechanism and the back support connection mechanism are connected through a connection longitudinal rod. Through scientific and reasonable structural design, the tooling can be matched and fixed according to the model size of the vehicle body, the production efficiency is effectively improved, the market requirements of manufacturing flexibility and product diversification are fully met, the material sources are wide, the mounting and dismounting are convenient, the welding reliability and safety of a white vehicle body welding production line are greatly ensured, and the use and popularization values are good.
It can be seen that the prior art does not realize the comprehensive automation of the welding of the automobile body side wall outer plate assembly, the intelligent degree is not high, the operability is not strong without an integrated control console, the multi-station parallelism is not available, and the production efficiency is not high. The production line work after the feeding still can not realize the full automation operation.
Disclosure of Invention
Aiming at the problems that the technology in the background technology does not realize the comprehensive automation of the welding of the automobile body side wall outer plate assembly, the intelligent degree is not high, the operation of an integrated control console is not strong, multi-station parallelism is not generated, and the production efficiency is not high, the invention provides the welding production line of the automobile body side wall outer plate assembly, which can realize the intelligent automatic welding.
In order to achieve the purpose, the invention adopts the following technical scheme:
a welding production line of an automobile body side wall outer plate assembly comprises at least five stations Station 1-Station 5, wherein the five stations can work in parallel and are respectively used for finishing manual feeding, welding shaping, transferring, welding shaping and blanking detection operations;
the pneumatic fixture comprises two symmetrically arranged working units, and each working unit is used for placing and clamping a group of parts to be welded; one working unit far away from the two shaped welding robots is a manual feeding Station1, and an assembling worker sequentially places a group of parts on one working unit of the clamp at the Station and fixes the parts through the clamp;
the working unit for placing and clamping a group of parts to be welded is just positioned between two fixed-size welding robots through the rotation of the rotatable working table, so that the group of parts on one working unit of the pneumatic clamp are welded and fixed through the two fixed-size welding robots, and the positions of the two fixed-size welding robots are welding and fixing stations Station 2;
a grabbing robot (manipulator) of the transfer Station3 grabs the workpiece after the shaping welding and moves to the corresponding opposite position between the two solid welding robots along the slide rail, the workpiece is subjected to the shaping welding by the two solid welding robots, and the position of the two solid welding robots is a welding shaping Station 4; and the grabbing robot transfers the fixed and welded workpiece to a blanking detection Station 5.
Further, after the manual feeding Station1 is assembled, the sensor sends out a signal, the pneumatic clamp clamps the workpiece, and the signal is automatically released; if the two manipulators of the shaping welding station are in a waiting state, the rotary workbench rotates, and the workpiece enters the shaping welding station;
when the rotary worktable rotates in place, a signal is released, the manipulator starts to weld, a first shaped welding robot (welding manipulator) of Station2 welds the lap joint parts of the A column, the B column and the threshold, and a second shaped welding robot (welding manipulator) of Station2 welds the lap joint parts of the A column, the H column and the threshold;
after the workpieces are welded and shaped, signals are released, a grabbing robot (manipulator) of a transfer station moves on a slide rail, and the workpieces on the welding and shaping station are transferred to a welding and shaping station; after a workpiece is transferred to a welding and fixing Station4, a grabbing robot (manipulator) releases a signal, two fixing welding robots start welding, a third fixing welding robot (welding manipulator) at the same side of the Station4 as a first fixing welding robot welds a column A and a column B and the overlapped part of the column A and the column H, and a fourth fixing welding robot (welding manipulator) at the same side of the Station4 as a second fixing welding robot welds the overlapped part of the column H and the threshold and the overlapped part of the column B and the threshold;
after the mold fixing welding is finished, a grabbing robot (a manipulator) of the transferring Station moves on the slide rail, and a workpiece on the welding mold fixing Station is transferred to a blanking detection Station 5;
if the blanking detection device fails to detect, a signal alarm is released to give an alarm, and unqualified welding parts are sent to a defective area; if the detection is qualified, the signal is not released, and the welding workpiece which is qualified through the detection continues to move forward and is smoothly blanked.
Furthermore, the welding production line controls the time sequence of actions of the rotatable workbench, the pneumatic clamp, the two fixed welding robots and the grabbing robot and the actions of each device through the integrated control console, and multi-station parallel work is achieved.
Furthermore, the detection equipment is used for detecting the internal defects in the welding part by utilizing the eddy current detection of the quality of the welding seam, is used for detecting the quality of the welding seam, mainly comprises a detection probe, a display screen, a detection bottom plate and a packaging shell, can realize the three-axis direction detection of the probe, and transmits eddy current waves to carry out the quality detection on the welding part.
Further, the multi-Station parallel mode means that five stations can work in parallel, when an operator feeds materials in the Station1, a first fixing welding robot (welding manipulator) and a second fixing welding robot (welding manipulator) can perform welding fixing work in the Station2, a third fixing welding robot (welding manipulator) and a fourth fixing welding robot (welding manipulator) can perform welding fixing work in the Station3, meanwhile, the transfer manipulator of the Station3 can perform transfer work, and the conveyor belt of the Station5 can place a plurality of finished workpieces to perform blanking detection work.
Further, when the rotatable workbench rotates to a preset position, the sensor releases signals to a mechanical arm of the welding shaping station, the mechanical arm starts to weld, when a workpiece on the clamp is fed in place and the gripper transfers the workpiece to a proper position, the sensor releases signals to a shaping welding robot of the welding shaping station, and the shaping welding robot starts to prepare for welding.
Furthermore, the pneumatic type clamp comprises a bottom plate and four groups of clamping components which are arranged on the bottom plate and used for positioning the A column, the B column, the H column and the doorsill, each group of clamping components comprises at least two clamping parts (clamping units) and at least two positioning support parts, each clamping part comprises a base and a clamping pressing block, the connecting end of the clamping pressing block is hinged to the upper end of the base, the lower end of the base is fixed on the bottom plate, the clamping pressing block can rotate along the base, the clamping end of the clamping pressing block and a cantilever of the base form a clamping part of the clamping part, the upper surface of the tail end of the cantilever of the base is provided with a variable cross section clamping lower molding block, the lower surface of the clamping end of the clamping pressing block is provided with a variable cross section clamping upper molding block, the working surface of the variable cross section clamping lower molding block is matched with the working surface of the variable cross section clamping upper molding block, the clamping opening is matched with the surface of the clamped piece; each positioning support comprises a support fixed on the bottom plate and a clamping positioning pin arranged at the upper end of the support.
Furthermore, the positions of the clamping pieces and the positioning supporting pieces in each group of clamping parts on the bottom plate are matched with four frames formed by enclosing the A column, the B column, the H column and the doorsill.
Further, the grabbing robot is used for grabbing four frames formed by enclosing the A column, the B column, the H column and the threshold after the shaping welding is completed from the pneumatic fixture and moving the four frames to a preset position to perform the shaping welding; the grabbing device comprises a grabbing hand, wherein the grabbing hand comprises a hollow-out type support, a plurality of grabbing units and a plurality of grabbing positioning parts, the grabbing units are arranged below the hollow-out type support, each grabbing unit is provided with a grabbing clamping portion capable of being opened and closed, the grabbing clamping portions are used for an A column, an H column or a doorsill, and the grabbing clamping portions 8 are provided with anti-clamping parts; each grabbing positioning piece is provided with a grabbing positioning pin.
Further, the gripping units on the gripper of the gripping robot and the grippers (clamping units) of the pneumatic gripper are offset from each other in their position designs.
The invention has the following beneficial technical effects:
the welding production line is different from a distributed operation mode of a traditional factory, namely a working mode that welding workers weld at respective stations, adopts a working layout combining a conveying unit and step-by-step welding stations, can flexibly adjust the number of the stations participating in welding according to the yield requirement, greatly improves the production efficiency, and meets the basic functionality; the production line can be fully automated after feeding, and each component has intelligence; the pneumatic clamp, the light gripper and the detection equipment are all independently designed mechanical structures, the functional requirements of the invention are well met, and the fool-proof performance is realized. The invention has the advantages that the welding operation is divided into two welding steps of solid welding and shaped welding, so that the production of multiple workpieces on one assembly line is realized, the production beat is shortened, and the production efficiency is improved. Under the condition that the number of stations put into production is certain, the working rhythm is shortened and the rhythm balance is achieved by optimizing a welding path, adjusting the conveying speed and the feeding and discharging speed, so that the production efficiency is improved, and the resource allocation is optimized. The production line can also modularly extend the parallel connection of relatively independent production sections for different plant models to increase or decrease the yield. The invention adopts a work layout combining a transmission unit and a step-by-step welding station. The semi-finished workpieces are transferred from the form welding unit to the form-fixing welding unit by the transfer unit (transfer operation one), and the finished workpieces are transferred from the form-fixing welding unit to the blanking unit (transfer operation two). And the time for the second conveying operation and the time for the shape fixing welding are approximately equal to the shape fixing welding time, and after one workpiece is welded and fixed and transferred to the blanking station, the transferring manipulator can just go to the shape fixing welding station to transfer a semi-finished product to the shape fixing station, so that the production bottleneck is effectively shortened.
The welding production line is divided into five stations, namely Station 1-Station 5, and the operations of manual feeding, welding, transferring, blanking detection and the like are respectively completed. According to the functional requirements of a welding production line, mechanical structures such as a pneumatic type clamp, a light-duty gripper and detection equipment are designed. The whole assembly line has multiple parallel stations, so that the production efficiency is greatly improved, and the basic functionality is met. It is also possible to modularly extend parallel relatively independent production intervals for different plant models to increase or decrease production. In the scheme, the fence and the safety grating are arranged outside the welding area, so that the safety is high; and the system has strong anti-electromagnetic and anti-static interference capability and reliable operation. The production line work realizes full automation after the material loading, and each subassembly has the intellectuality. The station of assembly line is provided with integrated control platform, and is operatable strong, fully considers the user demand. The welding production line has multiple parallel stations, the bottleneck sections of the production line are separated, the production efficiency is improved, and the production workshop can be expanded in parallel according to the yield requirement. According to the functional requirements of a welding production line, a pneumatic clamp, a light gripper and detection equipment are independently designed, and an operator can directly and correctly complete correct operation without experience and professional knowledge.
The Station1 is a manual feeding Station. In the station, an assembly worker sequentially places four parts on a clamp, and the workpiece is positioned and fixed through the clamp. After the assembly is completed, the sensor sends out a signal, the pneumatic clamp clamps tightly, and the signal is automatically released. And if the two manipulators of the shaping welding station are in a waiting state, the rotary workbench rotates, and the workpiece enters the shaping welding station.
The Station2 is a welding and shaping Station. When the rotary worktable rotates in place, the signal is released, and the manipulator starts welding. The first welding manipulator of the Station2 welds the lap parts of the A column, the B column and the threshold, and the second welding manipulator of the Station2 welds the lap parts of the A column, the H column and the threshold.
The Station3 is a transfer Station. And after the workpiece is welded and shaped, releasing a signal, moving a manipulator of the transfer station on the slide rail, and transferring the workpiece on the welding and shaping station to the welding and shaping station. And (3) starting welding of the workpiece, releasing a signal by the manipulator after the welding is finished, moving the manipulator at the transfer station on the slide rail, and transferring the workpiece on the welding and fixing station to the blanking detection station.
The Station4 is a welding and fixing Station. After the workpiece is transferred to the welding and fixing station, the transferring manipulator releases signals, and the two welding and fixing manipulators start welding. The third welding manipulator of Station4 welds the lap parts of the A column and the B column and the A column and the H column, and the fourth welding manipulator of Station4 welds the lap parts of the H column and the threshold and the B column and the threshold.
The Station5 is the unloading detection Station. And internal defects such as nugget size, cracks, air holes, shrinkage cavities and the like in the welding part are detected by adopting eddy current detection, so that the welding quality of the side wall assembly of the automobile body is ensured. If the blanking detection device fails to detect, a signal is released, an alarm gives an alarm, and the unqualified welding part is sent to a defective area; if the detection is qualified, the signal is not released, and the welding workpiece which is qualified through the detection continues to move forward and is smoothly blanked.
The pneumatic clamp is integrally supported by multiple points and has good stability. The variable cross-section clamping type block enables the workpiece to be placed more stably. Meanwhile, the clamping block is provided with a chloroprene rubber coating, so that the workpiece can be effectively prevented from being damaged by clamping.
The light-duty tongs, the clamping unit who snatchs unit and anchor clamps stagger each other on the position design, prevent to interfere. The design of fretwork formula support and aluminium alloy material, it is lighter and more handy, reduce the robot load.
The detection equipment detects the internal defects in the welding part by using the eddy current detection of the quality of the welding seam, and ensures the welding quality of the automobile frame. The welding seam quality detection part mainly comprises a detection probe, a display screen, a detection bottom plate and a packaging shell. And the movement of the conveyor belt can realize the three-axis direction detection of the probe, and the probe emits eddy current waves to perform quality detection on the welding part.
The multiple stations are parallel, and all five stations can work in parallel. When the operation workman was at Station1 material loading, welding design work can be carried out at Station2 to a welding manipulator and No. three and No. four welding manipulators, and the solid type work of welding can be carried out at Station3 to No. three and No. four welding manipulators, and Station 3's transport manipulator can carry out the work of transporting simultaneously, and Station 5's conveyer belt can place a plurality of finished product work pieces and carry out unloading detection work. And multiple stations are parallel, the bottleneck section of the production line is separated, the production efficiency is improved, and the production cost is reduced.
The intelligent type intelligent robot has intelligence, and each component is provided with a proximity sensor or a photoelectric sensor, so that the intelligent type intelligent robot can perform autonomous judgment and release signals to other mechanical structures to execute the next operation. Taking a rotary worktable as an example: when the rotary worktable rotates in place, the sensor releases a signal to the manipulator of the welding and shaping station, and the manipulator starts welding. When the workpiece on the clamp is fed in place and the gripper transfers the workpiece to a proper position, the sensor releases a signal to a manipulator of the welding and shaping station, and the manipulator starts to prepare for welding.
Drawings
FIG. 1 is a flow chart of the operation of a system in accordance with the present invention (not shown for ease of illustration of station three);
FIG. 2 is a schematic view of the general layout of the welding line of the present invention;
FIG. 3 is a block diagram of the structure of the Station1 containing device;
FIG. 4 is a block diagram of the structure of the Station2 containing device;
FIG. 5 is a block diagram of the structure of the Station3 containing device;
FIG. 6 is a block diagram of the structure of the Station4 containing device;
FIG. 7 is a block diagram of the structure of the Station5 containing device;
FIG. 8 is a block diagram of the peripheral device of the present invention;
FIG. 9 is a top view of the pneumatic clamp; FIG. 10 is a side view of the hand grip;
FIG. 11 is a perspective view of a pneumatic clamp; FIG. 12 is a top view of the pneumatic clamp;
FIGS. 13, 14 and 15 are perspective line views of different angle hand grips; fig. 16 is a perspective view of the hand grip.
Detailed Description
The invention will be described in detail below with reference to fig. 1 to 16 and examples.
As shown in fig. 1, based on the analysis of the system workflow and the design of the assembly line, the welding production line is provided with five stations to respectively complete the procedures of manual feeding, welding shaping, transferring, welding shaping, blanking detection and the like. The state of the product before entering the welding production line is as follows: the H-pillar, the B-pillar, the threshold plate and the A-pillar are four loose parts. The welding forming method comprises the following steps of firstly completing feeding at a feeding station, rotating a rotary workbench after the feeding station, enabling a workpiece to enter a welding forming station, and meanwhile starting feeding of the next workpiece. And welding key points of the assembly by the welding and shaping manipulator. At this station, the workpieces are welded as one piece. And after welding, the manipulator at the transfer station moves to transfer the workpiece to the welding and fixing station. The welding manipulator welds the residual welding spot, plays the effect of strengthening the work piece, prevents that the work piece from warping. Meanwhile, the next workpiece is welded by the shaping welding station manipulator. And after the welding is finished, transferring the workpiece to a blanking detection station by the manipulator. And the blanking detection station detects defects by adopting eddy current detection equipment, so that the welding quality is ensured. The transfer manipulator has no waiting time, and the throughput rate is improved.
As shown in fig. 2, the final determined welding production line layout is composed of a manual feeding station, a shaping welding station, a transferring station, a shaping welding station and a blanking detection station. Each component in the project is provided with a proximity sensor or a photoelectric sensor, and can perform autonomous judgment and release signals to other mechanical structures to execute the next operation. Taking a rotary worktable as an example: when the rotary worktable rotates in place, the sensor releases a signal to the manipulator of the welding and shaping station, and the manipulator starts welding. When the workpiece on the clamp is fed in place and the gripper transfers the workpiece to a proper position, the sensor releases a signal to a manipulator of the welding and shaping station, and the manipulator starts to prepare for welding.
As shown in FIG. 3, for Station1, the manual loading Station includes a pneumatic clamp, a rotary table IRBP-B250. And the cleaning and manual feeding work of the weldment is finished at the station. The rotatable workbench IRBP-B250 adopts a double-station solution, a welding robot is arranged on one side, and feeding is carried out on the other side, so that the production efficiency is improved; a partition is arranged between the two working tables, and plays a role in isolation and protection during welding; the rotation angle can be set, and personnel and equipment can enter a welding station for routine maintenance; the rotary worktable has compact structure and utilizes the available space to the maximum extent.
As shown in fig. 4, for Station2, the setting welding Station includes two welding robots IRB 6620, two C-shaped welding guns, and two robot bases. The shaping welding work is finished at the station, and the workpiece is shaped and welded. The number of welding points of the two manipulators for shaped welding is 12 and 11 respectively.
As shown in fig. 5, for Station3, the transfer Station includes a transfer robot IRB7600, slide rails IRBT 7004, and a gripper. This Station is responsible for transferring workpieces from Station1 to Station2 and from Station2 to Station 4. The IRB7600 load of the conveying manipulator meets the requirement, the integrated design enables the running speed to be kept to the maximum, the takt time is obviously shortened, the productivity of material handling, loading and unloading and other operations is improved, and the production reliability is enhanced. The slide rail IRBT 7004 consists of standard modules with the length of 1 meter, supports the self-expansion of the length and the stroke of the guide rail, meets the requirements of robots and transmission application, and has excellent track precision and speed.
As shown in fig. 6, for Station4, the fixed welding Station includes two welding robots IRB 6620, two C-shaped welding guns, and two robot bases. And the work station completes the fixed welding work to reinforce the workpiece. The number of welding points for welding of the two solid welding manipulators is 7 and 9 respectively.
As shown in FIG. 7, for Station5, the blanking inspection Station includes a conveyor belt and a material flow inspection machine. And (4) placing the welded workpiece on a conveyor belt, and conveying the welded workpiece to a logistics damage detection machine. The internal defects in the welding part are detected by using the eddy current inspection of the quality of the welding line, the welding quality of the automobile frame is ensured, the welding parts qualified through inspection are discharged smoothly, and the unqualified welding parts are sent to a defective area.
As shown in fig. 8, the peripheral devices include guard rails, light barriers, warning lights, alarms, and the like. The peripheral protection plays the role of protecting workers and machines, and the safety of the whole workshop is improved. The periphery adopts the wire netting protection, prevents that personnel from getting into by mistake during operation. The safety door is arranged at the feeding position of the worker, and the worker and the welding manipulator are isolated during welding. After the feeding is finished, the worker leaves the rotary workbench, the SEPG double-hand control device is operated to control the clamp of the rotary workbench to be closed, and the rotary workbench rotates after the clamp is closed. Effectively prevent staff's material loading in-process, the staff is hindered to rotatory workstation rotation mistake. The grating is placed at the junction of the working range of the welding manipulator, so that the robot is prevented from being offside during working, interfering with the other robot to work and even colliding.
As shown in fig. 9, 11 and 12, the pneumatic jig is a plan view. The fixture is provided with the positioning pin, workers do not need to carefully align during feeding, and workpieces are placed on the fixture according to the positioning pin to complete positioning of all parts of the vehicle body side wall assembly. The clamp clamping block is matched with the cross section of the workpiece, and if the workpiece is placed at an improper position, the workpiece is unstable and shakes. Only when the workpiece hole coincides with the positioning pin and the clamping block is matched with the section of the workpiece, the workpiece cannot swing, and the workpiece placing position is accurate. According to the cross section of each part of the workpiece and the position of the positioning hole, the pneumatic clamp is placed at the corresponding position of the bottom plate under the condition that the interference welding of the clamp is ensured not to occur, and the workpiece is ensured to be stably clamped.
As shown in figures 10 and 13-16, the transfer gripper is a side view. The gripper is provided with a positioning pin, and the workpiece is accurately positioned by the positioning pin when the gripper transfers the workpiece. The clamping block of the gripper is matched with the cross section of the workpiece. The positions of the gripping parts of the grippers are reasonably arranged, so that the gripping parts of the grippers are guaranteed not to interfere with the gripping parts of the clamp, the gripping parts are placed at the corresponding positions of the gripper frames, and the workpieces are guaranteed to be stably transferred. The design of the gripper structure also needs to consider the light weight as much as possible, no matter the structure of the gripper frame is as simple as possible, two aluminum profiles are taken as main bodies, the extended aluminum profiles are taken as supports of the grabbing parts, the materials used for the frame are hollow aluminum profiles with holes, the structure of the grabbing parts is not like the grabbing parts of the clamp, the grabbing parts are fixed by materials with larger area, but sheet materials are adopted as much as possible, the parts contacting with the workpiece are transversely widened, the light weight is realized, and the fixing in place is ensured.
The invention also comprises a welding seam quality detection part, wherein the welding seam quality detection part mainly comprises a detection probe, a display screen, a detection bottom plate and a packaging shell. The motor drives the probe to move on two axes, the conveyor belt drives the workpiece to move, so that the three-axis movement of the probe is realized, the probe emits eddy current waves, and the quality detection is carried out on a welding part; the display screen displays the detection result and the related parameters; detecting that the bottom plate supported automobile frame enters detection equipment, and returning to the initial position through a conveying line after detection is finished; the packaging shell is made of high polymer materials, and the influence of continuous high-frequency eddy waves on a human body and other equipment is effectively weakened. And (4) blanking after detection is finished, the welding state of a welding product can be clearly observed through a window of the detection platform, appearance inspection is carried out, and the welding product can be directly processed when residual welding wire heads exist.
Claims (9)
1. A welding production line of an automobile body side wall outer plate assembly comprises at least five stations Station 1-Station 5, wherein the five stations can work in parallel and are respectively used for finishing manual feeding, welding shaping, transferring, welding shaping and blanking detection operations;
the pneumatic fixture comprises two symmetrically arranged working units, and each working unit is used for placing and clamping a group of parts to be welded; one working unit far away from the two shaped welding robots is a manual feeding Station1, wherein an assembling worker sequentially places a group of parts on one working unit of the clamp at the Station, and the workpiece is positioned and fixed through the clamp;
the working unit for placing and clamping a group of parts to be welded is just positioned between two fixed-size welding robots through the rotation of the rotatable working table, so that the group of parts on one working unit of the pneumatic clamp are welded and fixed through the two fixed-size welding robots, and the positions of the two fixed-size welding robots are welding and fixing stations Station 2;
the grabbing robot of the transfer Station3 grabs the workpiece after the shaping welding and moves to the corresponding opposite position between the two solid welding robots along the slide rail, the workpiece is subjected to the solid welding by the two solid welding robots, and the position of the two solid welding robots is the welding shaping Station 4; the grabbing robot transfers the workpiece after the shape fixing welding to a blanking detection Station 5; the method is characterized in that:
after the manual feeding Station1 is assembled, the sensor sends out a signal, the pneumatic clamp clamps the workpiece, and the signal is automatically released; if the two manipulators of the shaping welding station are in a waiting state, the rotary workbench rotates, and the workpiece enters the shaping welding station;
when the rotary workbench rotates in place, a signal is released, the manipulator starts to weld, the first shaped welding robot of the Station2 welds the lap joint parts of the A column, the B column and the threshold, and the second shaped welding robot of the Station2 welds the lap joint parts of the A column, the H column and the threshold;
after the workpieces are welded and shaped, releasing signals, enabling a grabbing robot of a transfer station to move on a sliding rail, and transferring the workpieces on the welding and shaping station to a welding and shaping station; after a workpiece is transferred to a welding and fixing Station4, a grabbing robot releases a signal, two fixing welding robots start welding, a third fixing welding robot on the same side of the Station4 as a first fixing welding robot welds an A column and a B column and the overlapped part of the A column and the H column, and a fourth fixing welding robot on the same side of the Station4 as a second fixing welding robot welds the overlapped part of the H column and a doorsill and the overlapped part of the B column and the doorsill;
after the shape fixing welding is finished, a grabbing robot of the transferring Station moves on the slide rail, and a workpiece on the welding shape fixing Station is transferred to a blanking detection Station 5;
if the blanking detection device fails to detect, a signal is released, an alarm gives an alarm, and the unqualified welding part is sent to a defective area; if the detection is qualified, the signal is not released, and the welding workpiece which is qualified through the detection continues to move forward and is smoothly blanked.
2. The welding production line of the automobile body side wall outer plate assembly according to claim 1, characterized in that: but welding production line controls rotary worktable, pneumatic type anchor clamps, two setting type welding robot, two solid welding robot and snatch the chronogenesis of the action of robot and the action of every equipment through integrated control platform, realizes the multistation and can the parallel work.
3. The welding production line of the automobile body side wall outer plate assembly according to claim 1, characterized in that: the blanking detection device is detection equipment for detecting internal defects in a welding part by utilizing welding seam quality eddy current detection, is used for welding seam quality detection and mainly comprises a detection probe, a display screen, a detection bottom plate and a packaging shell, can realize the three-axis direction detection of the probe, and the probe emits eddy current waves to perform quality detection on the welding part.
4. The welding production line of the automobile body side wall outer plate assembly according to claim 2, characterized in that: the parallel five stations of multistation indicates that all can parallel work, and when the operation workman was in Station1 material loading, the welding of a number one and No. two setting type welding robot can carry out the welding setting work at Station2, and No. three and No. four setting type welding robot can carry out the welding setting work at Station3, and Station 3's transport manipulator can carry out the transfer work simultaneously, and Station 5's conveyer belt can place a plurality of finished product work pieces and carry out unloading detection work.
5. The welding production line of the automobile body side wall outer plate assembly according to claim 4, characterized in that: when the rotatable workbench rotates to a preset position, the sensor releases signals to the mechanical arm of the welding and shaping station, the mechanical arm starts to weld, when the workpiece on the clamp is fed to the position and the grabbing robot transfers the workpiece to a proper position, the sensor releases signals to the shaping welding robot of the welding and shaping station, and the shaping welding robot starts to prepare for welding.
6. The welding production line of the automobile body side wall outer plate assembly according to claim 1, characterized in that: the pneumatic type clamp comprises a bottom plate (1) and four groups of clamping components which are arranged on the bottom plate (1) and used for positioning an A column, a B column, an H column and a doorsill, wherein each group of clamping components comprises at least two clamping pieces (2) and at least two positioning support pieces (3), each clamping piece (2) comprises a base (2-1) and a clamping pressing block (2-2), the connecting end of each clamping pressing block (2-2) is hinged to the upper end of the base (2-1), the lower end of each base (2-1) is fixed on the bottom plate (1), each clamping pressing block (2-2) can rotate along the corresponding base (2-1), the clamping end of each clamping pressing block (2-2) and a cantilever of each base (2-1) form a clamping part of each clamping piece (2), and a variable-section clamping lower molding block (2-3) is arranged on the upper surface of the tail end of each cantilever of each base, the lower surface of the clamping end of the clamping pressing block (2-2) is provided with a variable cross-section clamping upper molding block (2-4), the working surface of the variable cross-section clamping lower molding block (2-3) is matched with the working surface of the variable cross-section clamping upper molding block (2-4), a clamping opening for clamping an A column, an H column or a doorsill is formed between the variable cross-section clamping lower molding block and the variable cross-section clamping upper molding block, and the clamping opening is matched with the surface of a clamped piece; each positioning support (3) comprises a support (3-1) fixed on the bottom plate and a clamping positioning pin (3-2) arranged at the upper end of the support (3-1).
7. The welding production line of the automobile body side wall outer plate assembly according to claim 6, characterized in that: the positions of the clamping pieces (2) and the positioning support pieces (3) in each group of clamping parts on the bottom plate (1) are matched with four frames formed by enclosing the A column, the B column, the H column and the doorsill.
8. The welding production line of the automobile body side wall outer plate assembly according to claim 7, characterized in that: the grabbing robot is used for grabbing four frames formed by enclosing the A column, the B column, the H column and the threshold after the shaping welding is completed from the pneumatic fixture and moving the four frames to a preset position to carry out the shaping welding; the grabbing device comprises a grabbing hand, wherein the grabbing hand comprises a hollow-out type support (5), a plurality of grabbing units (6) and a plurality of grabbing positioning parts (7), the grabbing units (6) are arranged below the hollow-out type support (5), each grabbing unit (6) is provided with a grabbing clamping portion (8) capable of being opened and closed, the grabbing clamping portions (8) are used for an A column, an H column or a doorsill, and the grabbing clamping portions (8) are provided with clamping damage prevention parts; each grabbing positioning piece (7) is provided with a grabbing positioning pin (7-1).
9. The welding production line of the automobile body side wall outer plate assembly according to claim 8, characterized in that: the grabbing units on the grabbing hand of the grabbing robot and the clamping pieces of the pneumatic type clamp are staggered in position design.
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