CN112045287A - Rotary intelligent automatic welding workstation for five large sheets of passenger car body framework - Google Patents
Rotary intelligent automatic welding workstation for five large sheets of passenger car body framework Download PDFInfo
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- CN112045287A CN112045287A CN202011030308.2A CN202011030308A CN112045287A CN 112045287 A CN112045287 A CN 112045287A CN 202011030308 A CN202011030308 A CN 202011030308A CN 112045287 A CN112045287 A CN 112045287A
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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
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
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Abstract
The utility model provides a rotary intelligent automatic weld workstation for five big pieces of passenger train automobile body skeleton, including the welding worker room, the rotary machine of shifting can be rotatory around the main shaft, the place ahead of rotary machine of shifting is provided with the grating protector, the left and right sides of rotary machine of shifting is provided with at least one welding robot respectively in the welding worker room, be provided with laser separately on the welding robot and seek a tracking means and an anti-collision device, one side of welding robot is provided with separately and send a machine, a welding wire section of thick bamboo and clear rifle cut wire silicone oil spray device, the place ahead in welding worker room is provided with the supplementary hoist device of KBK. The welding process of the large-size new energy bus body framework is automated, manual welding is replaced, welding quality is improved, consistency of the welding quality of the bus body framework is guaranteed, welding efficiency of the bus body framework is improved, and working environment of workers is improved.
Description
Technical Field
The invention relates to the field of machinery, in particular to a passenger car body welding technology, and specifically relates to a rotary intelligent automatic welding workstation suitable for five large sheets of new energy passenger car body frameworks of different specifications.
Background
In recent years, the national development reform committee and other departments jointly issue implementation opinions about promoting consumption, expanding capacity, improving quality and accelerating formation of strong domestic markets, put forward to implement the current policies of promotion, application, subsidy and infrastructure establishment, reward and subsidy of central finance new energy automobiles, promote the local fund support range of various regions to be changed from the purchasing link to the operating link according to regulations, and mainly support urban public transportation. Therefore, new discovery opportunities are met for new energy passenger cars, and passenger car manufacturers at home and abroad actively arrange intelligent factories of the new energy passenger cars, so that flexible production of the passenger cars is realized, and various requirements such as batch and personalized customization are considered.
In order to realize the intelligent production of the new energy passenger car, the market demands are flexibly met, and the structure of the passenger car is properly classified, so that the automatic and flexible production and processing of the body structure of the new energy passenger car are realized. Structurally, the new energy passenger car body bearing mode can be divided into a non-bearing type, a half-bearing type and a full-bearing type. The full-bearing structure is adopted, so that the passenger car has the advantages of agility, stability, comfort, economy and safety in driving, low floor design, humanized configuration, low emission, environmental protection, large passenger space and the like. Because of the whole structure of the full bearing, the strength of the torsion and the bending of the whole car is stronger than that of a common car body, and the good reliability of the passenger car is ensured. The structure of the full-bearing vehicle body is similar to that of a bird nest, the whole vehicle body bears the load integrally, when the full-bearing vehicle body is impacted by a certain point, the full-bearing vehicle body can rapidly disperse the stress, and the whole vehicle body can absorb the energy of the impact.
The fully-loaded body structure of the passenger car is completely different from the semi-loaded body structure, the whole body participates in loading, the bottom-up closed loop structure is emphasized, and the stress form of the fully-loaded body structure is completely different from that of the existing semi-loaded body structure. The body structure of the full-bearing passenger car mainly comprises a car body framework and a car body skin. In the manufacturing process of the passenger car, the skin of the passenger car body is usually connected with the framework in a spot welding mode, and the framework is fixedly connected with the skin.
Five big pieces of full-bearing formula passenger train body skeleton are the important component of passenger train automobile body, and five big piece welded structure of body skeleton roughly can divide into: the front wall framework assembly, the rear wall framework assembly, the left side wall framework assembly, the right side wall framework assembly and the roof framework assembly. The car body framework is mainly formed by welding a plurality of sectional materials and rectangular square tubes. And connecting the five-piece structure of the framework with the chassis in a welding mode to finally form the body structure of the passenger car.
The automobile body skeleton is to the link, is with many square pipes of different length, section bar according to the good skeleton texture drawing of design, and the manual work is placed every pipe fitting in proper order on the welding frock, then rationally fixes a position the work piece through the active grab. And after the workpieces are all positioned, the assembly of the vehicle body framework is completed.
In the skeleton welding step, a plurality of discrete beams arranged on a welding tool are connected in an arc welding mode to form a fixed grid structure capable of bearing a certain load. This welding link, present mode mostly rely on manual welding, and some enterprises try to replace artifical the completion welding seam through the robot, then further accomplish the welding of other faces after artifical the upset.
After the skeleton welding is finished, the quick clamp is manually loosened, the welded body skeleton is taken out from the welding tool in a manual fit mode, and the welded body skeleton flows into the next procedure after further inspection of welding quality.
For the field of full-load passenger cars, the market is smaller than that of passenger cars, and the size of a passenger car body is larger. The welding of five large sheet frameworks of the passenger car body is particularly directed at the welding of large-size passenger car body frameworks, the automation degree is low, the manual welding of a welding worker is basically depended on, and the welding precision depends on the welding level of the welding worker. The manual welding of workman not only reflects in that the uniformity of welding quality is difficult to guarantee, and welding efficiency is lower moreover, can not be applicable to batched order production. In addition, the field working environment of welding workers is poor, and the labor intensity is high. The adaptability to different vehicle types and frameworks with different sizes is insufficient, and the replacement auxiliary welding time is longer.
The prior art has the following disadvantages:
(1) the welding modes of the front and rear walls, the side walls, the top frame and the bottom frame of the five large frameworks of the passenger car body are mostly manually welded, the welding quality is not high, the consistency is poor, and the welding precision is limited by the welding level of workers; the welding quality is controlled by the welding technology of a welder, and the welding precision is low.
(2) The existing manual welding mode of the vehicle body framework has the disadvantages of low welding speed, low efficiency and poor adaptability to batch orders;
(3) when a large-size passenger car framework is welded manually, multiple persons are needed to assist in overturning after single-side welding is completed, the beam unit is easy to dislocate in a small range in the welding process, and the size deviation of the welded framework is large;
(4) manually welding a passenger car body framework, waiting for feeding after finishing a finished passenger car framework structure, having few stations and weak connectivity, and causing longer beat of single welding;
(5) the size of the passenger car framework is large, when the passenger car framework is welded manually, a plurality of persons are required to be welded in a matching way, the number of skilled welding workers is large, and the cost is high;
(6) the existing welding platform for the vehicle body framework has insufficient adaptability to frameworks of different vehicle types and different sizes, and the replacement auxiliary welding time is longer;
(7) the welding platform of the existing passenger car body framework is simple and crude, a welding smoke discharge pipeline is not arranged in smoke generated in the welding process, and the field working environment is poor;
(8) at present, the safety protection measures of the welding platform of the passenger car framework on the periphery are insufficient, and the mechanism of mistaken entry in some working areas is not sound.
(9) Aiming at the welding of a large-size steel frame structure, particularly the welding of a large-size passenger car framework completely depends on the manual welding of operators, and automatic welding is rare.
Disclosure of Invention
The invention aims to provide a rotary intelligent automatic welding workstation for five large passenger car body frameworks, which aims to solve the technical problems of low welding quality, poor consistency and low welding efficiency of the five large passenger car body frameworks in the prior art.
The invention relates to a rotary intelligent automatic welding workstation for five large sheets of a passenger car body framework, which comprises a welding work room and a rotary positioner, wherein a feeding and discharging station is arranged in front of the welding work room, a welding station is arranged in the welding work room, the front half part of the rotary positioner is arranged in front of the welding work room, the rear half part of the rotary positioner is arranged below the welding work room, the front half part of the rotary positioner is arranged as a first station, the rear half part of the rotary positioner is arranged as a second station, welding tools are respectively arranged on the first station and the second station, the lower side of the rotary positioner is connected with a rotary main shaft, the rotary main shaft is connected with a driving device through a transmission mechanism, the rotary positioner can rotate around the rotary main shaft, a grating protection device is arranged in front of the rotary positioner, and at least one welding robot is respectively arranged in the welding work room and on the left side and the right side, welding robot sets up on a base separately, be provided with the special welder of robot on arbitrary welding robot's the arm separately, be provided with laser on the arbitrary welding robot separately and seek position tracking device and collision device, one side of arbitrary welding robot is provided with the thread feeder separately, a welding wire section of thick bamboo and clear rifle shear wire spout silicon oil device, the place ahead in welding workshop is provided with hoist device, be provided with in the welding workshop and weld the room monitoring device, the outside in welding workshop is provided with the welding workshop monitoring system display, welding workshop top is provided with dust removal piping installation, the trailing flank in welding workshop is provided with the safety protection door, be provided with the installation in the welding workshop and maintain the passageway, one side in welding workshop is provided with the robot control cabinet, the pneumatic system switch board, workstation total control cabinet.
Preferably, the rotary positioner adopts a three-shaft rotary positioner.
Preferably, the rotary positioner is arranged in a pit.
Preferably, a loading and unloading stepping platform is arranged in front of the rotary positioner.
Preferably, the side of welding worker's room constitute by the isolation board of arc light, the place ahead of welding worker's room is provided with two observation platform, the observation platform front side is provided with the staircase, two observation platform are located the left and right sides of last unloading station respectively, one side of one of them observation platform is provided with safe grating.
Preferably, a safety fence is arranged on the periphery of the observation platform.
Preferably, a man-machine operation panel is arranged in front of the welding workshop.
Preferably, the rear side surface of the welding workshop is provided with an overhaul window.
Preferably, an arc baffle plate is arranged between the first station and the second station on the rotary positioner.
Compared with the prior art, the invention has positive and obvious effect. The rotary intelligent automatic welding workstation for the five large sheets of the passenger car body framework realizes automation of a welding process of the large-size new energy passenger car body framework, replaces manual welding, improves welding quality, improves working environment of workers, and ensures consistency of the welding quality of the passenger car body framework. The welding efficiency of passenger train automobile body skeleton has been improved, not only reflects in the automatic welding efficiency height of welding robot, reflects in the quick butt joint material loading of triaxial rotary positioner in addition. The feeding and the discharging are carried out on one side of the three-axis rotary positioner, and the welding robot is welded on the other side of the three-axis rotary positioner, so that the overall span is reduced. Realize automatic welding through welding robot and replace the manual welding of welding workman, reduced workman's the operation degree of difficulty, improved workman's operational environment, set up arc baffle and dust removal piping installation, alleviateed the injury to workman's health. In addition, by adding the laser locating and tracking device, high-precision locating of the welding line can be realized, and the welding quality of the welding line of the body framework structure of the new energy passenger car is greatly improved.
Drawings
FIG. 1 is a schematic view of a first three-dimensional structure of a rotary intelligent automatic welding workstation for five large sheets of a passenger car body framework.
FIG. 2 is a second structural schematic diagram of a rotary intelligent automatic welding workstation for five large sheets of a passenger car body framework.
FIG. 3 is a third perspective view of a rotary intelligent automatic welding workstation for five large panels of a passenger car body frame according to the present invention.
FIG. 4 is a schematic perspective view of four welding robots in a welding workshop of a rotary intelligent automatic welding workstation for five major passenger car body frames according to the present invention.
Fig. 5 is a schematic three-dimensional structure diagram of two welding robots in the welding workshop of the rotary intelligent automatic welding workstation for five large passenger car body frameworks.
FIG. 6 is a schematic structural diagram of a three-axis rotary positioner used in a rotary intelligent automatic welding workstation for five large sheets of a passenger car body framework.
FIG. 7 is a schematic structural diagram of a welding tool used in a rotary intelligent automatic welding workstation for five large sheets of a passenger car body framework.
FIG. 8 is a schematic structural diagram of a rear frame structure of a passenger car body in a rotary intelligent automatic welding workstation for five large passenger car body frames.
Detailed Description
The present invention will be further described with reference to the drawings and examples, but the present invention is not limited to the examples, and all similar structures and similar variations using the present invention shall fall within the scope of the present invention.
Example 1
As shown in fig. 1 to 8, the rotary intelligent automatic welding workstation for five large sheets of a passenger car body framework comprises a welding workshop 1 and a rotary positioner 5, wherein a feeding and discharging station 4 is arranged in front of the welding workshop 1, a welding station 38 is arranged in the welding workshop 1, the front half part of the rotary positioner 5 is arranged in front of the welding workshop 1, the rear half part of the rotary positioner 5 is arranged below the welding workshop 1, the front half part of the rotary positioner 5 is arranged as a first station 30, the rear half part is arranged as a second station 34, welding tools 3 are respectively arranged on the first station 30 and the second station 34, a rotary main shaft 32 is connected to the lower side of the rotary positioner 5, the rotary main shaft 32 is connected with a driving device through a transmission mechanism, the rotary positioner 5 can rotate around the rotary main shaft 32, a grating protection device 9 is arranged in front of the rotary positioner 5, at least one welding robot 26 is respectively arranged in the welding workshop 1 and on the left side and the right side of the rotary positioner 5, the welding robots 26 are respectively arranged on a base 27, a special welding gun 24 for the robot is respectively arranged on the mechanical arm of any one welding robot 26, a laser locating tracking device and an anti-collision device are respectively arranged on any one welding robot 26, a wire feeder, a welding wire cylinder 14 and a gun cleaning, wire cutting and silicone oil spraying device 25 are respectively arranged on one side of any one welding robot 26, a hoisting device 6 is arranged in front of the welding workshop 1, a welding workshop monitoring device is arranged in the welding workshop 1, a welding workshop monitoring system display 16 is arranged on the outer side of the welding workshop 1, a dust removal pipeline device 2 is arranged at the top of the welding workshop 1, a safety protection door 43 is arranged on the rear side of the welding workshop 1, and an installation and maintenance channel 21 is arranged in the welding workshop 1, and a robot control cabinet 15, a pneumatic system control cabinet 19 and a workstation master control cabinet 17 are arranged on one side of the welding workshop 1.
Preferably, the rotary positioner 5 adopts a three-axis rotary positioner.
Preferably, the rotary positioner 5 is arranged in a pit.
Preferably, a loading and unloading stepping platform 7 is arranged in front of the rotary positioner 5.
Preferably, the side of welding worker room 1 constitute by arc-shielding optical isolation plate 13, the place ahead of welding worker room 1 is provided with two observation platform 11, observation platform 11 front side is provided with staircase 10, two observation platform 11 are located the left and right sides of last unloading station 4 respectively, one side of one of them observation platform 11 is provided with safe grating 42.
Preferably, a safety fence 12 is arranged on the periphery of the observation platform 11.
Preferably, a man-machine operation panel 9 is arranged in front of the welding workshop 1.
Preferably, the rear side surface of the welding workshop 1 is provided with an access window 18.
Preferably, an arc baffle plate 40 is arranged between the first station 30 and the second station 34 of the rotary positioner 5.
Specifically, the installation and maintenance passage 21 is stepped. The hoisting device 6 is a KBK auxiliary hoisting device
Specifically, in this embodiment, the rotary positioner 5, the welding workshop 1, the welding tool 3, the grating protection device 9, the driving device, the welding robot 26, the welding gun 24 dedicated for the robot, the laser position-finding tracking device, the anti-collision device, the wire feeder, the welding wire cylinder 14, the gun-cleaning wire-cutting silicone oil-spraying device 25, the hoisting device 6, the welding workshop monitoring device, and the welding workshop monitoring system display 16, the dust removal pipeline device 2, the safety protection door 43, the installation and maintenance channel 21, the robot control cabinet 15, the pneumatic system control cabinet 19, the workstation master control cabinet 17, the three-axis rotary positioner, the loading and unloading tread platform 7, the arc-shielding optical isolation plate 13, the observation platform 11, the escalator 10, the safety fence 12, the man-machine operation panel 9, the inspection window 18 and the connection mode among the above all adopt the known scheme in the prior art, and the technical personnel in the field know all know and do not need to describe any more here.
The three-axis rotary positioner performs large rotary operation in the pit, so that the personnel safety is ensured, and the installation space is reduced. As shown in fig. 7, the welding fixture 3 on the three-axis rotary positioner is provided, the welding fixture 3 is composed of a fixture receiving plate, an L-shaped block and a quick clamp, and the quick clamp is used for positioning, locking a beam unit and a finished product structure and needs manual operation to complete loosening and clamping of a workpiece. The traditional fixed operation position welding is replaced to the unloading mode, utilizes hoist device 6 to go up unloading, has alleviateed workman's manipulation strength, and is lower to welding workman's operation level requirement, has reduced manufacturing cost. As shown in fig. 8, the rear frame structure 37 of the passenger car body taken off from the welding fixture 3 is fixedly connected by a plurality of beam units through arc welding. The grating protection device 9 comprises a transmitter and a receiver which are respectively arranged on the left side and the right side in front of the rotary positioner 5, the safety fence 12 and the grating protection device 9 ensure that workers can safely feed and discharge materials, and the man-machine interaction capacity of the intelligent automatic welding workstation is improved.
As shown in fig. 1 and 4, each welding robot 26 is individually equipped with a welding wire drum 14, a wire feeder, a gun cleaning, wire cutting and silicone oil spraying device 25, a welding gun 24, an anti-collision device, a laser positioning and tracking device, and a robot control cabinet 15. Four welding robots 26 are installed on independent steel frame base 27, and structure safe and reliable can realize better with the cooperation linkage of triaxial rotary positioner, the very big improvement of this kind of mounting means welding robot 26's reachability. Each welding robot 26 completes its own welding task, and finally, the automatic welding of the body frame of the passenger car is completed under the cooperative work of the four welding robots 26. The welding robot 26 can measure and automatically find the position of the welding line through the laser position finding tracking device, the welding precision of the passenger car body framework is improved, and the repeated positioning precision of the welding robot 26 system is less than or equal to 0.05 mm.
Adopt totally enclosed welding worker room 1, can weaken the welding noise, staff's accessible staircase 10 gets into observation platform 11, sees through arc-shielding light isolation plate 13 and observes the welding worker room 1 inside condition. The welding house monitoring device monitors the welding workshop 1, displays the welding workshop in real time through the welding house monitoring system display 16, and records the whole welding process of the welding robot 26 in the welding workshop 1. As shown in fig. 3, when the equipment needs maintenance, the safety protection door 43 may be opened to enter the welding workshop 1, and after the safety protection door 43 is closed, the equipment state is reset, and the equipment can only operate. As shown in fig. 4, the three-axis rotary positioner in the pit can be installed and maintained through the installation and maintenance channel 21 in the welding workshop 1, so that the workstation is more convenient to maintain. The dust removal pipe device 2 at the top of the welding workshop 1 can remove dust from smoke generated in the welding process through an off-plant exhaust fan, and reduces the noise of the operation environment.
The workstation is suitable for automatic welding of large-size framework units of passenger car bodies, is particularly suitable for the car body frameworks of 3400mm 3000mm square steel frames, is not only suitable for five-piece car body frameworks of passenger cars, but also can be used in other fields by automatic welding of large-size beam units. The automatic welding machine is suitable for automatic welding of vehicle body frameworks of different large-size vehicle types, is suitable for various vehicle types, and is particularly suitable for automatic welding of large-size square steel frames. The workstation not only can realize the automatic welding of the body frame of the passenger car, but also can adapt to the automatic welding of the pairing of the beam units of the same type. The automation of welding the large-size passenger car body framework is realized, manual welding is replaced, and the consistency of the welding quality of the passenger car body framework is ensured. The welding efficiency of passenger train body skeleton has been improved, not only reflects in the automatic welding of welding robot 26 efficient, reflects in the quick butt joint material loading of triaxial rotary positioner in addition. The feeding and the discharging are carried out on one side of the three-axis rotary positioner, and the welding robot 26 is welded on the other side of the three-axis rotary positioner, so that the overall span is reduced.
As shown in fig. 6, in an initial state, when the first station 30 of the three-axis rotary positioner rotates 180 degrees after loading and unloading at the loading and unloading station 4 and enters the welding station 38, the four welding robots 26 start to work and complete the welding process according to a given beat, the second station 34 of the three-axis rotary positioner is located at the loading and unloading station 4, and a worker completes loading and unloading of the passenger car body skeleton beam unit through the hoisting device 6. After the welding of the skeleton unit fixed on the three-axis rotary positioner through the welding tool 3 in fig. 6 is completed, the second station 34 of the three-axis rotary positioner is ready for loading and unloading, the main shaft of the three-axis rotary positioner rotates 180 degrees under the control of a program to switch the first station 30 and the second station 34 of the three-axis rotary positioner, and the four welding robots 26 automatically switch the welding program to weld the skeleton unit on the second station 34 of the three-axis rotary positioner. Two stations of the three-axis rotary positioner are respectively provided with two vertical overturning driving ends 31 and driven ends 36, the driving ends 31 drive, the driven ends 36 synchronously follow up, and the overturning action is linked with the robot to realize welding of vertical welding seams and back welding seams.
The welding robot 26 of the embodiment adopts a kukaki sitting type arc welding robot KR60L30-4KS, and comprises a robot control cabinet 15 and a demonstrator.
The workstation is configured as shown in the table below.
KR60L30-4KS robot specification parameters are shown in the following table.
The warehouse card industrial robot has the following characteristics
1. Reasonable mechanical structure and compact design.
2.6 degree of freedom AC servomotor.
3. An absolute position encoder.
4. All the shafts are provided with band-type brakes.
5. The speed and motion characteristics are optimized for a particular load and moment of inertia design.
6. The additional loading of the arm has no motion limitation on the rated load.
7. A 7m long cable is arranged between the body and the controller and can be expanded according to requirements.
8. The robot is provided with TCP calibration points, and the robot program comprises a pair of TCP alignment tracks.
9. The modular mechanical structure is designed, and any part can be replaced quickly.
10. The high-precision electronic zero calibration is the same as that of any person at any time, and after the calibration, the program can enter a production state without re-correction.
11. Adjustable mechanical arm, larger movement space and flexibility
12. The acceleration performance of the optimization of the dynamic model in the high-speed motion curve is 25% higher than that of a common robot, the system service life is prolonged, and the working rhythm is optimized.
The rotary positioner 5 of the embodiment adopts a three-axis rotary positioner, and has a structural form: fixed rotating spindle 32+ (two single-spindle headstock 39, compact double-station layout, middle arc baffle 40) + (two unpowered tailstock 41). The main shaft of the positioner rotates by adopting a KUKA servo motor to drive an RV reducer, and an external gear is in gapless transmission to realize stable and random position displacement on a workpiece. Because the rotary driving motor of the positioner and the KUKA robot body belong to the same series, the rotary driving motor and the KUKA robot body can be simultaneously controlled by the controller of the welding robot 26, the linkage operation of the welding robot 26 and the three-axis rotary positioner can be realized, the tailstock is in unpowered driving, and the tooling platform on the first station 30 and the second station 34 rotates with the headstock in a follow-up manner. The rotating main shaft 32 of the three-shaft rotary positioner is driven by the motor to rotate the high-precision indexer 180 degrees back and forth.
And the lower supporting mechanism is supported after the rotating main shaft 32 of the three-axis rotary positioner rotates to the position. The device is used for improving the rigidity of the device and prolonging the service life of the device. Two driving ends 31 are driven by a robot external shaft motor to cooperate with a high-precision speed reducer of a robot to perform displacement rotation. When the workpiece is manually loaded after the workpiece is rotated to the position, the safety bolt is driven by the cylinder to be inserted into the corresponding bolt position, so that the influence of vibration and the like generated by loading the workpiece by a plurality of people on the precision of the equipment is prevented, and other uncertain safety factors which possibly occur are prevented.
The driven end of the three-axis rotary positioner is internally provided with a conductive brush, and the inside of the driven end is compressed by a spring to ensure that the brush sheets are contacted. The safety bolt in the driven end is in a retreating state when the positioner is normally used, and when the driving end needs to be maintained, the cylinder action bolt is inserted to death to prevent a base plate of the brake force fixture from freely rotating to hurt people when being maintained.
Main design parameters of three-axis rotary positioner
1) Station number: 2.
2) the horizontal rotary large shaft adopts a servo motor and a servo driver, and the small shaft adopts an external shaft of the robot.
3) Rotation time: large axis, 8 seconds/180 degrees; the minor axis is 4 seconds/180 degrees;
4) vertically turning over a small shaft for rated weighing (Base + clamp + material); 3 tons, and a safety factor of 1.2 is reserved, namely the maximum allowable weighing of the small shaft is 3.6 tons.
5) The load allowance of the horizontal rotary table is at least 50%, and the rated load of the rotary table is not less than 22 tons.
6) The static unbalance loading bearing capacity of the horizontal rotating shaft is not less than 3 tons (the tilting moment is not less than 90KNm), and the dynamic unbalance loading bearing capacity is not less than 1.5 tons (the tilting moment is not less than 45 KNm). After the clamp and the Base are removed on one side, the positioner keeps stable and normal.
7) The rotating range is as follows: vertically turning over the small shaft: 360 degrees; horizontal rotation main shaft: +/-360 degrees.
8) The vertical overturning small shaft driving head adopts a robot external shaft servo motor and is in a single-head driving mode. The positioner is provided with a zero scale reference.
9) The vertical turning small-shaft speed reducer uses a high-precision speed reducer (the tooth clearance is less than 1arcmin) (such as an RV speed reducer), meets the requirements of acceleration and deceleration, bearing, reliability, maintenance convenience and the like, and can check the bending moment and the torque born by the motor and the speed reducer.
10) When the speed reducer is installed, the concentricity of the speed reducer and the flange plate is not more than 0.03 mm. The coaxiality of the driving end and the driven end of the vertical overturning small shaft is not more than 0.3 mm. And the flange plate of the positioner can be detached.
11) The wire passing hole or the threading device is reserved in the positioner, so that the electrical pipeline of the positioner and the electrical pipeline of the clamp can reasonably pass through the positioner, the action of the clamp and the action of the robot are not influenced, and the appearance is beautiful.
12) In order to improve the repeated positioning precision, the secondary positioning of horizontal rotation in place is also considered to be added.
13) A safety locking device is arranged on the positioner in a horizontal rotation in place, and a mechanical safety locking device is arranged on the small vertical turnover shaft at the position of the mounting part to prevent the frame from rotating.
14) And (3) rotating and repeatedly positioning precision: the Z-axis rotation is less than or equal to 0.15mm, and the X-axis rotation is less than or equal to 0.10 mm.
15) Maximum rotation speed: 10r/min (stepless adjustable).
16) Maximum load: not less than 2.5T.
27) The size of the positioner BASE of the front and rear welding workstations is as follows: not less than 3000mm 3400 mm.
28) The rotating diameter of the positioner meets the product size of 3000 × 3400mm, and is not more than 9 m.
Description of the welding workshop 1 and peripheral facilities of this workstation:
(1) this workstation is semi-enclosed workstation, and the four sides protection, welding area adopt the protection room, go up the unloading region and adopt the grating protection (protection level is not less than the second grade) to go up unloading and adopt and go up unloading and step on 7 protection personnel safety of platform. The welding area adopts a closed welding room.
The workstation is provided with perfect safety protection equipment, a grating protection device 9 is installed at a manual feeding and discharging station, other parts are protected by a safety fence 12, and under the condition of non-feeding, when a person intrudes into a grating protection area, a master control cabinet 17 of the workstation cuts off a power supply of an execution mechanism in the workstation, so that the equipment stops immediately, and the safety of the person and the equipment is ensured. The loading and unloading stepping table 7 reserves a position where a person stably stands, and the person is prevented from stepping down and falling during loading or abnormal processing.
(2) The height of the working table surface of the three-axis rotary positioner accords with the man-machine engineering, and the corresponding safety protection measures after pit digging are as follows: thick safety pedal has been laid to pit top material loading department, and the arrangement of going up unloading station 4 both sides is provided with observation platform 11, can be used for protecting pit both sides simultaneously, and observation platform 11 one side has configured safe grating 42, and after personnel withdraw, rotation positioner 5 side can work, plays the safety protection effect.
Claims (9)
1. The utility model provides a rotation intelligence automatic weld workstation for five big pieces of passenger train automobile body skeleton which characterized in that: comprises a welding work room (1) and a rotary positioner (5), wherein a feeding and discharging station (4) is arranged in front of the welding work room (1), a welding station (38) is arranged in the welding work room (1), the front half part of the rotary positioner (5) is arranged in front of the welding work room (1), the rear half part of the rotary positioner (5) is arranged below the welding work room (1), the front half part of the rotary positioner (5) is arranged as a first station (30), the rear half part is arranged as a second station (34), welding tools (3) are respectively arranged on the first station (30) and the second station (34), a rotary main shaft (32) is connected to the lower side of the rotary positioner (5), the rotary main shaft (32) is connected with a driving device through a transmission mechanism, the rotary positioner (5) can rotate around the rotary main shaft (32), a grating device (9) is arranged in front of the rotary positioner (5), at least one welding robot (26) is respectively arranged in a welding workshop (1) and on the left side and the right side of a rotary positioner (5), the welding robots (26) are respectively arranged on a base (27), a special welding gun (24) for the robot is respectively arranged on a mechanical arm of any one welding robot (26), a laser locating tracking device and an anti-collision device are respectively arranged on any one welding robot (26), a wire feeder, a welding wire cylinder (14) and a gun cleaning, wire cutting and silicone oil spraying device (25) are respectively arranged on one side of any one welding robot (26), a hoisting device (6) is arranged in front of the welding workshop (1), a welding workshop monitoring device is arranged in the welding workshop (1), a welding workshop monitoring system display (16) is arranged on the outer side of the welding workshop (1), and a dust removal pipeline device (2) is arranged at the top of the welding workshop (1), the rear side face of the welding workshop (1) is provided with a safety protection door (43), an installation and maintenance channel (21) is arranged in the welding workshop (1), and one side of the welding workshop (1) is provided with a robot control cabinet (15), a pneumatic system control cabinet (19) and a workstation master control cabinet (17).
2. The rotary intelligent automatic welding workstation for five large sheets of a passenger car body framework is characterized in that: the rotary positioner (5) adopts a three-axis rotary positioner.
3. The rotary intelligent automatic welding workstation for five large sheets of a passenger car body framework is characterized in that: the rotary positioner (5) is arranged in a pit.
4. The rotary intelligent automatic welding workstation for five large sheets of a passenger car body framework is characterized in that: a loading and unloading stepping platform (7) is arranged in front of the rotary positioner (5).
5. The rotary intelligent automatic welding workstation for five large sheets of a passenger car body framework is characterized in that: the side of welding worker room (1) constitute by arc light isolation board (13), the place ahead of welding worker room (1) is provided with two observation platform (11), observation platform (11) front side is provided with staircase (10), two observation platform (11) are located the left and right sides of unloading station (4) respectively, one side of one of them observation platform (11) is provided with safe grating (42).
6. The rotary intelligent automatic welding workstation for five large sheets of a passenger car body framework is characterized in that: a safety fence (12) is arranged around the observation platform (11).
7. The rotary intelligent automatic welding workstation for five large sheets of a passenger car body framework is characterized in that: a man-machine operation panel (9) is arranged in front of the welding workshop (1).
8. The rotary intelligent automatic welding workstation for five large sheets of a passenger car body framework is characterized in that: and an overhaul window (18) is arranged on the rear side surface of the welding workshop (1).
9. The rotary intelligent automatic welding workstation for five large sheets of a passenger car body framework is characterized in that: an arc baffle plate (40) is arranged between the first station (30) and the second station (34) on the rotary positioner (5).
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| CN202011030308.2A CN112045287A (en) | 2020-09-27 | 2020-09-27 | Rotary intelligent automatic welding workstation for five large sheets of passenger car body framework |
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| CN202011030308.2A CN112045287A (en) | 2020-09-27 | 2020-09-27 | Rotary intelligent automatic welding workstation for five large sheets of passenger car body framework |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113909779A (en) * | 2021-11-10 | 2022-01-11 | 江苏杰瑞信息科技有限公司 | Automatic welding fixture for steel box bridge engineering |
| CN114570568A (en) * | 2022-03-09 | 2022-06-03 | 伟尔泰克智造科技(苏州)有限公司 | Automotive interior spare PUR hot melt adhesive spraying equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113909779A (en) * | 2021-11-10 | 2022-01-11 | 江苏杰瑞信息科技有限公司 | Automatic welding fixture for steel box bridge engineering |
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