CN111992933A

CN111992933A - Corn harvesting returning machine shell welding system and method

Info

Publication number: CN111992933A
Application number: CN202010863497.5A
Authority: CN
Inventors: 于治国; 倪磊; 张善江; 张洪民; 孙娟; 兰彩虹
Original assignee: Shandong Management University
Current assignee: Shandong Management University
Priority date: 2020-08-25
Filing date: 2020-08-25
Publication date: 2020-11-27
Anticipated expiration: 2040-08-25
Also published as: CN111992933B

Abstract

The invention provides a welding system and a welding method for a shell of a corn harvesting and returning machine, which belong to the technical field of welding and comprise a robot suspension mechanism, at least two welding robots and at least two groups of head-tail frame type position changing machines which are arranged in parallel; the robot suspension mechanism is provided with a guide rail for moving the welding robot, the head-tail frame type position changing machine is provided with a workpiece driving mechanism, and the moving direction of the workpiece on the head-tail frame type position changing machine is vertical to the direction of the guide rail; this openly use many sets of robots to weld still field robot simultaneously and carry out bilateral symmetry position, can effectively reduce the deformation problem that leads to because of the heat input asymmetry, promoted product quality and stability, promoted production efficiency.

Description

Corn harvesting returning machine shell welding system and method

Technical Field

The disclosure relates to the technical field of welding, in particular to a welding system and method for a shell of a corn harvesting returning machine.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

At present, the automation level of the production in the mechanical industry is relatively low and is limited by the processing level and the technical capacity of parts, a plurality of production links still depend on a large amount of manpower, the production efficiency is low, the product quality is poor, and meanwhile, the environmental pollution of the welding operation is serious.

The robot welding technology is applied and popularized in a large scale in the manufacturing industry, the robot automatic production system is rapidly developed in the metal processing industry, the intelligent manufacturing direction is mainly researched and developed, and the automation level and the production efficiency are improved.

However, the inventor of the present disclosure finds that a workpiece of a shell of a field returning machine is composed of side plates (left and right), the shell, channel steel and other parts, a welding seam is in a butt joint and lap joint intermittent welding mode and basically has a symmetrical structure along the center lines of the left and right side plates, most of existing welding robot systems of the shell of the field returning machine are single robot systems, simultaneous welding of multiple point positions cannot be achieved, simultaneous welding of two sides cannot be achieved, and a deformation problem caused by asymmetry of heat input is easily caused, so that a welding effect is poor.

Disclosure of Invention

In order to solve the defects of the prior art, the utility model provides a welding system and a welding method for a shell of a corn harvesting returning machine, which uses a plurality of sets of robots to simultaneously weld the returning robots to the left and right symmetrical positions, can effectively reduce the deformation problem caused by asymmetrical heat input, improve the product quality and stability and improve the production efficiency.

In order to achieve the purpose, the following technical scheme is adopted in the disclosure:

a first aspect of the present disclosure provides a corn harvesting returning field machine housing welding system.

A welding system for a shell of a corn harvesting and returning machine comprises a robot suspension mechanism, at least two welding robots and at least two groups of head-tail frame type position changing machines which are arranged in parallel;

the robot suspension mechanism is provided with a guide rail used for moving the welding robot, the head-tail frame type position changing machine is provided with a workpiece driving mechanism, and the moving direction of the workpiece on the head-tail frame type position changing machine is perpendicular to the direction of the guide rail.

As some possible implementations, the robot suspension mechanism includes at least two longitudinal beams provided with guide rails, and each longitudinal beam is provided with at least one welding robot capable of sliding along the guide rails.

As a further limitation, the robot suspension mechanism comprises two parallel beams fixed to the support, the longitudinal beam is respectively fixed perpendicular to the two beams, and the guide rail is disposed at a position between the two beams on the longitudinal beam.

As a further limitation, a gun cleaning, wire cutting and silicone oil spraying device is arranged in the middle of the bottom of the robot suspension mechanism.

As a further limitation, lifting arc-proof devices are arranged on two sides of the gun cleaning, wire cutting and silicone oil spraying device, and the head-tail frame type position changing machine is arranged between the lifting arc-proof devices and the cross beam on the same side.

As some possible implementations, the head-tail frame type positioner includes a driving end and a driven end which are mounted on a guide rail seat, the guide rail seat is fixed on the base through a linear guide rail, and the guide rail seat can move along the linear guide rail.

As a further limitation, the device further comprises a positioner side tool and a workpiece side tool, wherein one end of the workpiece side tool is fixedly connected with the workpiece, and the other end of the workpiece side tool is connected with the driving end or the driven end through a rod piece;

the side tooling of the position changing machine comprises an inverted trapezoidal guide groove for placing a workpiece, and a pressing mechanism for fixing the side tooling of the workpiece in the inverted trapezoidal guide groove is arranged on the inverted trapezoidal guide groove.

As a further limitation, a connecting plate fixedly connected with the positioner is arranged on the positioner side tool.

As a further limitation, the inclined plane of the inverted trapezoidal guide groove forms an included angle of 120 degrees with the inner bottom surface.

As a further limitation, the base is provided with a plurality of positioning holes.

A second aspect of the disclosure provides a method of operating a welding system for a corn harvesting and returning machine hull.

A method of operating a welding system for a corn harvesting and returning machine hull, using the welding system of the first aspect of the present disclosure, comprising the steps of:

when a workpiece to be machined is to be machined on a first station corresponding to the first end of the guide rail and is started, the two welding robots move to the first station from the middle position of the guide rail at the same time to perform automatic welding operation;

at the moment, a second station corresponding to the other end of the guide rail is used for loading workpieces, and after the operation of the first station is finished, the two welding robots move to the middle position of the guide rail simultaneously;

after the second station is started, the two welding robots move to the second station at the same time to perform automatic welding operation;

at the moment, a finished workpiece is placed at a first station corresponding to the first end of the guide rail, and then a workpiece to be machined is placed;

and circulating the above processes.

Compared with the prior art, the beneficial effect of this disclosure is:

1. according to the system and the method, the plurality of sets of robots are used for simultaneously welding and returning to the field robots to carry out bilateral symmetry, so that the deformation problem caused by asymmetrical heat input can be effectively reduced, the product quality and the stability are improved, and the production efficiency is improved.

2. According to the system and the method, the workpiece can be quickly and effectively fixed by arranging the position changing machine side tool and the workpiece side tool, and the workpiece and the position changing machine frame are effectively fixed.

3. According to the system and the method, the plurality of groups of positioning holes are formed in the two sides of the base respectively, the working range of the positioner is adjustable in a grading mode, and the applicability of a welding system is improved.

4. According to the system and the method, the inverted trapezoidal structure is used as the main body of the positioner side tool, the pressing mechanism is combined to ensure effective fixation of the workpiece, and meanwhile, the rod piece of the workpiece side tool is connected with the driving end or the driven end of the positioner, so that the mobility of the workpiece is ensured, and the welding efficiency is greatly improved.

5. The system and the method can move along the guide groove by arranging the telescopic arc light prevention device, and can effectively avoid the influence of the arc light on operators.

6. According to the system and the method, multi-point simultaneous welding can be achieved in a mode that a plurality of longitudinal beams and a plurality of sets of robots work in parallel, and welding efficiency and welding quality are greatly improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.

Fig. 1 is a schematic view of a robotic welding system for a corn harvesting and returning machine housing provided in embodiment 1 of the present disclosure.

Fig. 2 is a schematic view of a suspension device of a double-longitudinal-beam gantry robot provided in embodiment 1 of the present disclosure.

Fig. 3 is a schematic view of a single-axis head-tail frame type adjustable position changing machine system provided in embodiment 1 of the present disclosure.

Fig. 4 is a schematic view of a guide rail provided in embodiment 1 of the present disclosure.

Fig. 5 is a schematic view of a side-shifting tool fixture provided in embodiment 1 of the present disclosure.

Fig. 6 is a schematic view of a workpiece-side tool holder provided in embodiment 1 of the present disclosure.

Fig. 7 is a workpiece schematic diagram of a field returning machine housing mounted on a workpiece side tool clamp according to embodiment 1 of the present disclosure.

Fig. 8 is a schematic view of a welding sequence of the field returning machine housing provided in embodiment 1 of the present disclosure.

01, a double-longitudinal-beam gantry robot suspension device; 02. a six-axis robot; 03. an electrical control system; 04. returning the field machine shell workpiece; 05. a single-shaft head-tail frame type adjustable position changing machine system; 06. a gun cleaning, wire cutting and silicone oil spraying device, 07-a lifting type arc light prevention device; 08. a column; 09. a cross beam; 10. a stringer; 11. a welding robot system; 12. a welding system mounting bracket; 13. a drag chain; 14. a tow chain support; 15. a lubrication system;

101. a driving end of the positioner; 102. a driven end of the positioner; 103. side tooling fixture of the position changer; 104. a linear guide rail; 105. a linear guide rail; 106. an anti-collision device;

201. a guide rail seat; 202. linear guide 203, linear guide shield; 204. positioning holes; 301. a bottom plate of the tool clamp; 302. the fixture is provided with an inverted trapezoidal guide groove; 303. a connecting plate; 304. a pressure head; 305. a manual compression handle; 306. a workpiece side tooling clamp;

401. returning machine shell side plates 402, returning machine shell parts 403 and channel steel; 404. channel steel; 405. mounting a bracket; 406. the returning machine shell mounting hole.

Detailed Description

The present disclosure is further described with reference to the following drawings and examples.

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.

Example 1:

as shown in fig. 1-8, embodiment 1 of the present disclosure provides a robotic welding system for a corn harvester returning machine housing, which includes two sets of six-axis robots 02, two sets of welding robot systems 11, one set of double-longitudinal-beam gantry robot suspension device 01, two sets of single-axis head-tail frame type adjustable position changing machine systems 05, two sets of tooling fixtures, an electrical control system 03, two sets of lifting arc light prevention devices 07, and one set of gun cleaning, wire cutting and silicone oil spraying devices 06;

the double-longitudinal-beam gantry robot suspension device 01 is characterized in that two longitudinal beams 10 are arranged above a gantry and are arranged on two gantry cross beams 09, and the cross beams are arranged on four gantry columns 08.

The lower surface of the longitudinal beam 10 is provided with a sliding rail, a sliding block and a rack, the robot is driven by a servo motor and a gear to move on the longitudinal beam 10, and a robot cable is placed in a drag chain 14 arranged on a drag chain bracket 15 to move together.

The returning machine shell workpiece 04 is fixed on the single-shaft head-tail frame type adjustable positioner system 05 through a tooling fixture.

The longitudinal beam comprises three positions of a 0 point position, an A station and a B station, wherein the 0 point position is located in the middle of the longitudinal beam, and the A station and the B station are respectively arranged at the positions close to the two ends of the longitudinal beam.

The single-shaft head-tail frame type adjustable position changing machine system 05 comprises a position changing machine body and a tooling clamp, is arranged in parallel with the lifting arc light prevention device 07 and is distributed on two sides of the system, and the single-shaft head-tail frame type adjustable position changing machine system 05 is perpendicular to the longitudinal beams 10 of the double-longitudinal-beam gantry robot suspension device 01.

The gun cleaning, wire cutting and silicone oil spraying device 06 is installed in the middle of the lifting type arc light prevention device, and the two welding robot systems 11 are common and can provide a gun cleaning, wire cutting and silicone oil spraying function after the welding operation is completed.

In this embodiment, the lifting arc protection device 07 is driven by cylinders installed on both sides to move up and down in a predetermined guide groove.

And a welding system mounting bracket 12 and a lubricating system 15 are arranged on the cross beam 09, and the lubricating system 15 is used for lubricating the guide rail.

The positioner body comprises a positioner driving end 101 and a positioner driven end 102, the positioner driving end 101 and the positioner driven end 102 are mounted on a guide rail seat 201, the guide rail seat 201 is arranged on a base through linear guide rails 104(105, 202), the guide rail seat 201 can move along the linear guide rails, the linear guide rails are arranged on a frame of the positioner, and the direction of the linear guide rails is parallel to the longitudinal beams.

In this embodiment, the linear guide is provided with a linear guide protective cover 203

The anti-collision devices 106 are arranged at two ends of the base, two groups of positioning holes 204 are formed in two sides of the base respectively, the working range of the positioner is adjustable in a grading mode, the adjustable grade is three, and the positioner is fixed by using locking screws after adjustment is completed, so that the positioner is suitable for requirements of different series of products.

The tooling clamp comprises a position changing machine side tooling clamp 103 and a workpiece side tooling clamp 306, wherein the position changing machine side tooling clamp is provided with an inverted trapezoidal guide groove 302, the inverted trapezoidal guide groove 302 is used for guiding and positioning a shell workpiece to be welded, and the included angle between the inclined plane of the inverted trapezoidal guide groove and the inner bottom surface is 120 degrees.

The inclined plane of the inverted trapezoidal guide groove is provided with a square bump, and the outer side surface of the bump is parallel to the inclined plane of the corresponding inverted trapezoidal guide groove.

Fall trapezoidal guide way's top and be equipped with door font hold-down mechanism, door font hold-down mechanism includes tip first member, second member and third member in proper order, first member and third member perpendicular and fall trapezoidal guide way's interior bottom surface, the second member is on a parallel with the interior bottom surface of falling trapezoidal guide way, be equipped with on the second member and compress tightly handle 305, compress tightly handle 305 through behind the second member with pressure head 304 fixed connection, pressure head 304 is used for the one side and the work piece side frock surface matching laminating of work piece side frock contact.

In use, the rod portion of the workpiece side tooling fixture 306 is tightened onto the index side tooling fixture by manually bolting the ram 304 via the compression handle 305.

The driving end and the driven end are respectively and fixedly connected with the position changing machine side tool clamp 103 in a detachable mode, and in the implementation, the detachable fixed connection can be a bolt connection or a buckle connection.

The workpiece side tooling clamp comprises a plate and a rod piece, wherein the rod piece is fixed with the center of the plate, a plurality of mounting holes are formed in the plate, and the workpiece side tooling clamp is fixedly connected with a side plate of a shell of the returning machine through the mounting holes.

In this implementation, the plate is a circular plate, two opposite inclined planes are symmetrically cut on two sides of the rod piece by using the axis of the rod piece, the inclination angle of the two opposite inclined planes is 60 degrees, and the two opposite inclined planes are respectively matched with the inner inclined plane of the inverted trapezoidal guide groove to realize guide fixing.

The design through the lug can guarantee that the bottom of member is placed in the holding space of falling trapezoidal guide way bottom to only laminate mutually through the inclined plane of member and the surface of lug can realize that quick frock clamp is fixed.

It can be understood that, in some other embodiments, the plate may also have other structures, such as a square, a rectangle, or a trapezoid, as long as the plate can be fixedly connected to the side plate of the housing, and those skilled in the art may select the plate according to specific working conditions, and details are not described here.

It is understood that, in some other embodiments, the body of the rod may be a circular rod, or a rod with other structures such as a square, an inverted trapezoid, or a trapezoid, as long as two inclined planes matching with the inverted trapezoid guide groove can be symmetrically cut, and those skilled in the art can select the inclined planes according to specific conditions, and will not be described herein again.

Four mounting holes on the workpiece side tool clamp 306 are matched with mounting holes of workpiece side plates (one on the left and one on the right) of the returning machine shell, and after the four mounting holes are mounted, the rod piece is fastened on the side tool of the positioner in a mode that a manual pressing handle 305 and a manual bolt are used for pressing the pressing head 304.

The side frock clamp that shifts still includes connecting plate 303 and frock clamp bottom plate 301, connecting plate 303 is connected with the machine of shifting, and frock clamp bottom plate 301 is connected with connecting plate 303.

As shown in fig. 7, the returning machine shell comprises a returning machine shell side plate 401, a returning machine shell part 402, channel steels 403(404), a mounting bracket 405 and a returning machine shell mounting hole 406, wherein the returning machine shell mounting hole 406 is matched with the workpiece side tooling fixture 306 for use, and the welding sequence is shown in fig. 8.

Example 2:

the embodiment 2 of the disclosure provides a working method of a welding system for a corn harvesting and returning machine shell, and the welding system in the embodiment 1 of the disclosure takes two sets of robots as an example and comprises the following steps:

when the system is started, the robot is at the 0-point position, and a worker is on the workpiece at the A station;

starting the system, moving the two sets of robots from the 0-point position to the station A at the same time, and performing automatic welding operation, wherein a worker puts a workpiece on the station B at the moment;

after the operation of the station A is completed, the two sets of robots move to the 0-point position simultaneously, after the station B is started, the two sets of robots move to the station B simultaneously to perform automatic welding operation, and at the moment, workers move to the station A to lower finished products and upper blank pieces, and the process is repeated.

The two robots use a signal interlocking function to prevent the robots from colliding during free movement.

The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A corn harvesting and returning machine shell welding system is characterized by comprising a robot suspension mechanism, at least two welding robots and at least two groups of head-tail frame type position changing machines which are arranged in parallel;

2. The corn harvesting and returning machine housing welding system of claim 1, wherein the robotic suspension mechanism comprises at least two longitudinal beams having guide rails, each longitudinal beam having at least one welding robot thereon that is slidable along the guide rails.

3. The corn harvesting and returning machine housing welding system of claim 2, wherein the robotic suspension mechanism comprises two parallel cross beams secured to the support member, the longitudinal beam is secured perpendicular to each of the two cross beams, and the guide rail is disposed on the longitudinal beam at a location between the two cross beams.

4. The welding system for the corn harvesting and returning machine shell as claimed in claim 3, characterized in that a gun cleaning, wire cutting and silicone oil spraying device is arranged in the middle of the bottom of the robot suspension mechanism.

5. The corn harvesting and returning machine shell welding system of claim 4, wherein the lifting type arc light preventing device is arranged on two sides of the gun cleaning, wire cutting and silicone oil spraying device, and the head-tail frame type positioner is arranged between the lifting type arc light preventing device and the cross beam on the same side.

6. The corn harvesting and returning to field machine housing welding system of claim 1, wherein the head and tail positioner comprises a drive end and a driven end mounted on a rail mount, the rail mount being secured to the base by a linear rail, and the rail mount being movable along the linear rail.

7. The corn harvesting and returning machine shell welding system of claim 6, further comprising a position changing machine side tool and a workpiece side tool, wherein one end of the workpiece side tool is fixedly connected with the workpiece, and the other end of the workpiece side tool is connected with the driving end or the driven end through a rod piece;

8. The corn harvesting and returning machine shell welding system of claim 7, wherein the positioner side tooling is provided with a connecting plate for fixed connection with the positioner.

9. The corn harvesting and returning machine housing welding system of claim 7, wherein the inclined plane of the inverted trapezoidal guide groove forms an angle of 120 degrees with the inner bottom surface;

or a plurality of positioning holes are formed in the base.

10. A method of operating a corn harvesting field machine hull welding system, using the welding system of any of claims 1-9, comprising the steps of:

and circulating the above processes.