CN112077496B - Automatic welding system for bulldozer trolley frame - Google Patents
Automatic welding system for bulldozer trolley frame Download PDFInfo
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- CN112077496B CN112077496B CN202010893200.XA CN202010893200A CN112077496B CN 112077496 B CN112077496 B CN 112077496B CN 202010893200 A CN202010893200 A CN 202010893200A CN 112077496 B CN112077496 B CN 112077496B
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- trolley
- welding
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- bulldozer
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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
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
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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
- 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
Abstract
An automatic welding system for a bulldozer trolley frame relates to the technical field of automatic welding, solves the problem of low efficiency of manual welding of the trolley frame, and comprises a trolley welding robot workstation and an automatic conveying system, wherein the trolley welding robot workstation comprises a portal frame, a robot, a welding system, a hydraulic clamping tool and a positioner, and the automatic conveying system comprises an RGV trolley, a running track system, a feeding buffer storage table, a discharging buffer storage table, a power supply system and a control system; the automatic welding device replaces manual stall type welding, the labor intensity of workers is reduced, universal clamping can be realized by 11 different machine types, the repeated positioning precision is high, the robot welding locating deviation is avoided, and the welding quality of welding seams is guaranteed.
Description
Technical Field
The invention relates to an automatic welding system, in particular to an automatic welding system for a bulldozer trolley frame.
Background
The mountain push engineering machinery member company is the leading enterprise of bulldozers in China, and in recent years, according to the trends of economic development and social progress at home and abroad, the intelligent manufacturing level is continuously improved, and the labor intensity of workers is reduced. The development design of engineering machinery products and welding structures tend to develop in the directions of high parameter, modularization, wear resistance, dynamic load resistance and light weight. The welding component is designed to meet the requirements of higher reliability and practicability of products and also have good welding manufacturability and economy.
The bogie frame is the core part of the walking mechanism of the bulldozer, plays an important role in supporting the walking of the crawler of the bulldozer and the weight of the whole bulldozer, and is welded by steel castings and blanking plates. With the upgrading of intelligent manufacturing, the bogie frame of the bulldozer is upgraded into full hydraulic transmission from hydraulic transmission and mechanical transmission along with products, the structure of the bogie frame is changed into a box-type supporting structure from a splayed beam structure, the installation is simpler, and the invention is mainly suitable for 11 types of the bogie frame in the two structural forms, wherein the main structures are shown in an attached figure 1 and an attached figure 2.
The eight-beam trolley structure is mainly used for hydraulic transmission and mechanical transmission type bulldozers, the length specification of the trolley is 3250mm-4132mm, the length specification of the trolley is totally 9 types, and the structural size and the weight span are large; the box type supporting structure is mainly used for 2 types of full hydraulic transmission bulldozers with trolley lengths of 2555mm and 2815 mm. The difference of the two structures is large, the difficulty of 11-model universal welding and clamping is higher, and the automatic feeding and discharging devices of the RGV trolley and the positioner need to consider the rotation, the gravity center and the clamping of each model.
In the field production process, the machine types are all welded manually, the welding time of each trolley is 145-270 min according to the machine type, the manual labor intensity is high, and the welding seam quality is unstable. In addition, due to the fact that the trolleys are various in variety, complex in structure and poor in universality, welding of the positioner cannot be achieved, manual driving is needed in the welding process to overturn the trolley frame, potential safety hazards are large, and operation efficiency is low. How to ensure the universality and quick clamping of various machine types and realize the large difficulty in automatic feeding, discharging and automatic welding, so that the special, reasonable and universal automatic welding system is necessary to design.
Disclosure of Invention
In order to solve the problems, the invention provides an automatic welding system for a bulldozer trolley frame, and provides a system capable of automatically welding the bulldozer trolley frame. In order to achieve the purpose, the invention adopts the technical scheme that: an automatic welding system for a bulldozer trolley frame comprises a trolley welding robot workstation and an automatic conveying system, the trolley welding robot workstation comprises a portal frame, a robot, a welding system, a hydraulic clamping tool and a positioner, the robot is arranged on the portal frame, the welding system is connected with the robot, the hydraulic clamping tool is arranged on the positioner, the automatic conveying system comprises an RGV trolley, a running track system, a feeding buffer platform, a discharging buffer platform, a power supply system and a control system, the RGV is arranged on the running track system, the RGV is fed through the feeding buffer platform, the RGV is discharged through the discharging buffer platform, the power supply system realizes the sliding power taking of the RGV trolley through a sliding contact line, and the control system is in communication connection with the trolley welding robot workstation, the RGV trolley and the power supply system.
Furthermore, the robot is set as a six-axis inverted robot, the six-axis inverted robot has the sixth-axis load of 10kg, the repeated positioning precision is +/-0.03 mm, the control system is stable, the robot comprises multilayer welding software, template welding line software, arc pit filling software, welding line length software, programmed welding gun swinging software, single-point locating software, a power-off memory function, an external starting/stopping function and fault self-diagnosis display software, and the full-digital control of a robot body, a three-axis portal frame, a positioner and a welding power supply can be realized.
Further, the portal frame is set to be a three-axis portal frame, the three-axis portal frame comprises an X-direction guide rail, a Y-direction guide rail and a Z-direction guide rail, the X-direction guide rail is arranged on a stand column of the three-axis portal frame, the X-direction guide rail is provided with a walking Y-direction guide rail, and the Y-direction guide rail is provided with a sliding Z-direction guide rail.
Furthermore, the positioner is provided with an L-shaped +/-360-degree double-rotation mechanism, bears 5 tons, can meet the welding requirement, is used as an external shaft control of the robot, and moves (is linked) with the robot synchronously in the welding process; the structural size of the positioner meets the requirements of system welding, normal welding of the robot can be guaranteed through various postures of the positioner after rotation, and simulation stress analysis of the positioner is performed to guarantee that the load of the positioner meets the requirements. The analysis result is as follows: the maximum stress of the positioner is 46.88MPa when the positioner is loaded with 5000KG, which is less than the allowable stress of the material 235MPa, and the use requirement is met.
Further, the hydraulic clamping tool comprises a general hydraulic tool and a follow tool, the follow tool is of an I-shaped structure, the upper end of the follow tool is connected with the general hydraulic tool in an opposite taper hole clamping mode, a mounting hole is formed in the lower end of the follow tool, and the follow tool is connected with the side face of the trolley frame through a bolt. The following tools are connected, different machine types are converted into the same clamping, and the problem of universal clamping of 11 different machine types is solved.
Further, the welding system comprises an E500 welding power supply, a water-cooled welding gun, a gun cleaning and wire cutting mechanism, an anti-collision system and a wire feeding system. The wire feeding system adopts an electrically-driven one-stage wire feeding mode, is different from the traditional two-stage wire feeding mode, and directly carries out one-stage wire feeding by poking the welding wire below the portal frame, so that the influence on the wire feeding stability caused by the overlong distance from a wire outlet of the welding wire to a welding gun is avoided, the welding quality is ensured, and the convenience in cleaning and replacing is also ensured.
The RGV comprises an RGV sub-vehicle, an RGV main vehicle, a lifting driving assembly, a vehicle-mounted control system, a vehicle-mounted tooling platform and a safety warning device, wherein the RGV sub-vehicle is arranged in the middle of the RGV main vehicle, the vehicle-mounted tooling platform is connected with the RGV sub-vehicle through the lifting driving assembly, the vehicle-mounted control system is arranged at the rear part of the RGV main vehicle, and the safety warning device is arranged at the front part of the RGV main vehicle.
Furthermore, the control system comprises a visual billboard, the control system is in communication connection with the vehicle-mounted control system and the trolley welding robot workstation, and related control information can be displayed on the visual billboard, so that the control of the whole welding production line is realized.
Further, material loading buffer memory platform, unloading buffer memory platform set up to the structure respectively, and material loading buffer memory platform is provided with quick retooling assistance-localization real-time dog, realizes that different model dog positions change, and material loading buffer memory platform, unloading buffer memory platform are provided with laser detection signal respectively, guarantee the work piece position through the retinue frock location, guarantee the accuracy of unloading on the RGV dolly, communicate with control system, show on visual billboard.
Furthermore, safety fences are arranged around the automatic welding system of the bulldozer trolley frame and are in communication connection with the control system, light curtain control is added, non-operators are prevented from entering the automatic welding system in the production process, and automatic production safety is guaranteed.
Compared with the prior art, the invention has the following beneficial effects: the automatic welding device replaces manual stall type welding, the labor intensity of workers is reduced, universal clamping can be realized by 11 different machine types, the repeated positioning precision is high, the robot welding locating deviation is avoided, and the welding quality of welding seams is guaranteed. The invention can realize 11 model universal clamping of the bulldozer, and the whole production welding automation level of the bogie frame is improved from 0 to 60 percent; after the hydraulic clamping mode is designed, the welding rate of the bulldozer bogie frame robot is increased from 0 to 90 percent; the RGV trolley primary-secondary vehicle design has a right-angle rail changing function, and ensures safe and reliable workpiece transportation.
Drawings
The present invention is described in further detail below with reference to the attached drawings.
FIG. 1 is a schematic structural view of a splayed beam trolley structure;
FIG. 2 is a schematic structural view of a box-type support structure;
FIG. 3 is a schematic structural view of the present invention;
FIG. 4 is a schematic structural view of a trolley welding robot workstation;
FIG. 5 is a schematic structural diagram of a positioner;
FIG. 6 is a schematic structural view of a hydraulic clamping tool;
FIG. 7 is a schematic diagram of the RGV cart configuration;
FIG. 8 is a schematic structural diagram of a loading buffer table;
in the drawings: 1. trolley welding robot workstation, 11, portal frame, 12, robot, 13, hydraulic clamping frock, 131, general hydraulic frock, 132, retinue frock, 14, the machine of shifting, 2, the RGV dolly, 21, RGV son car, 22, RGV mother's car, 23, lift drive assembly, 24, on-vehicle control system, 25, on-vehicle frock platform, 26, safety warning device, 3, the orbit system, 4, material loading buffer platform, 5, unloading buffer platform, 6, control system, 7, safety fence.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the present invention is further described with reference to fig. 3-8 and the specific embodiments.
As shown in the attached figure 3, the automatic welding system for the trolley frame of the bulldozer comprises 2 trolley welding robot workstations 1 and an automatic conveying system, wherein each trolley welding robot workstation 1 comprises a portal frame 11, a robot 12, a welding system, a hydraulic clamping tool 13 and a positioner 14, the robot 12 is arranged on the portal frame 11, the welding system is connected with the robot 12, the hydraulic clamping tool 13 is arranged on the positioner 14, the automatic conveying system comprises an RGV trolley 2, a running track system 3, a feeding cache table 4, a blanking cache table 5, a power supply system and a control system 6, the RGV trolley 2 is arranged on the running track system 3, the RGV trolley 2 is fed through the feeding cache table 4, the RGV trolley 2 is discharged through the blanking cache table 5, the power supply system realizes that the RGV slides through a trolley contact line to obtain electricity, and the control system 6 is in communication connection with the trolley welding robot workstation 1, the RGV trolley 2 and the power supply system.
Further, as shown in fig. 4, the robot 12 is a six-axis inverted robot, the six-axis inverted robot has a load of 10kg on the sixth axis, a repeated positioning accuracy of ± 0.03mm, and a stable control system, and includes multi-layer welding software, template welding line software, crater filling software, welding line length software, programmed welding gun swinging software, single-point locating software, a power-off memory function, an external start/stop function, and fault self-diagnosis display software, so that full digital control of the robot body, the three-axis gantry, the positioner, and the welding power supply can be realized.
Further, as shown in fig. 4, the gantry 11 is a three-axis gantry, the three-axis gantry includes an X-direction guide rail, a Y-direction guide rail and a Z-direction guide rail, the X-direction guide rail is disposed on a column of the three-axis gantry, the X-direction guide rail is provided with a traveling Y-direction guide rail, and the Y-direction guide rail is provided with a sliding Z-direction guide rail.
Further, as shown in fig. 5, the positioner 14 is provided with an L-shaped ± 360 ° double-swing mechanism, bears 5 tons, can meet the welding requirement, is used as an external shaft control of the robot, and moves (links) synchronously with the robot during welding; the structural size of the positioner meets the requirements of system welding, normal welding of the robot can be guaranteed through various postures of the positioner after rotation, and simulation stress analysis of the positioner is performed to guarantee that the load of the positioner meets the requirements. The analysis result is as follows: the maximum stress of the positioner is 46.88MPa when the positioner is loaded with 5000KG, which is less than the allowable stress of the material 235MPa, and the use requirement is met.
Further, as shown in fig. 6, the hydraulic clamping tool 13 includes a general hydraulic tool 131 and a follow tool 132, the follow tool 132 is configured to be an i-shaped structure, the upper end of the follow tool 132 is connected with the general hydraulic tool 131 by means of butt taper hole clamping, the lower end of the follow tool 132 is provided with a mounting hole, and the follow tool 132 is connected with the side surface of the bogie frame by means of a bolt. The following tools are connected, different machine types are converted into the same clamping, and the problem of universal clamping of 11 different machine types is solved.
Further, the welding system comprises an E500 welding power supply, a water-cooled welding gun, a gun cleaning and wire cutting mechanism, an anti-collision system and a wire feeding system. The wire feeding system adopts an electrically-driven one-stage wire feeding mode, is different from the traditional two-stage wire feeding mode, and directly carries out one-stage wire feeding by poking the welding wire below the portal frame, so that the influence on the wire feeding stability caused by the overlong distance from a wire outlet of the welding wire to a welding gun is avoided, the welding quality is ensured, and the convenience in cleaning and replacing is also ensured.
Further, as shown in fig. 7, the RGV trolley 2 includes an RGV sub-trolley 21, an RGV main trolley 22, a lifting driving assembly 23, a vehicle-mounted control system 24, a vehicle-mounted tooling platform 25 and a safety warning device 26, the RGV sub-trolley 21 is disposed in the middle of the RGV main trolley 22, the vehicle-mounted tooling platform 25 is connected with the RGV sub-trolley 21 through the lifting driving assembly 23, the vehicle-mounted control system 24 is disposed at the rear of the RGV main trolley 22, and the safety warning device 26 is disposed at the front of the RGV main trolley 22.
Further, the control system 6 comprises a visual billboard, the control system 6 is in communication connection with the vehicle-mounted control system 24 and the trolley welding robot workstation 1, and relevant control information can be displayed on the visual billboard, so that the control of the whole welding production line is realized.
Further, as shown in fig. 8, a feeding buffer table 4 and a discharging buffer table 5 are respectively arranged as structural members, the feeding buffer table 4 is provided with a quick die change auxiliary positioning stop block to realize the position change of the stop blocks of different machine types, the feeding buffer table 4 and the discharging buffer table 5 are respectively provided with laser detection signals, the position of a workpiece is ensured through the positioning of a follow-up tool, the accuracy of feeding and discharging of the RGV trolley is ensured, and the laser detection signals are communicated with a control system and displayed on a visual display board.
Furthermore, a safety fence 7 is arranged around the automatic welding system of the bulldozer trolley frame, the safety fence 7 is in communication connection with the control system 6, light curtain control is added, non-operators are prevented from entering the automatic welding system in the production process, and automatic production safety is ensured.
The production process flow of the invention is as follows: the following tooling clamping → the feeding of the feeding buffer table → the selection of the machine type by the control system → the automatic material taking of the RGV → the automatic feeding of the RGV to the position changing machine → the automatic clamping of the position changing machine → the automatic welding of the robot welding workstation → the automatic blanking of the RGV → the conveying of the RGV to the blanking buffer table → the hoisting to the repair welding station.
The technical solutions of the present invention or similar technical solutions designed by those skilled in the art based on the teachings of the technical solutions of the present invention are all within the scope of the present invention.
Claims (8)
1. An automatic welding system of a bulldozer trolley frame comprises a trolley welding robot workstation (1) and an automatic conveying system, and is characterized in that the trolley welding robot workstation (1) comprises a portal frame (11), a robot (12), a welding system, a hydraulic clamping tool (13) and a positioner (14), the robot (12) is arranged on the portal frame (11), the welding system is connected with the robot (12), the hydraulic clamping tool (13) is arranged on the positioner (14), the automatic conveying system comprises an RGV trolley (2), a running track system (3), a feeding buffer storage table (4), a blanking buffer storage table (5), a power supply system and a control system (6), the RGV trolley (2) is arranged on the running track system (3), and the RGV trolley (2) is fed through the feeding buffer storage table (4), the RGV trolley (2) is fed through a feeding buffer platform (5), the power supply system realizes the sliding power taking of the RGV trolley (2) through a sliding contact line, and the control system (6) is in communication connection with the trolley welding robot workstation (1), the RGV trolley (2) and the power supply system;
the hydraulic clamping tool (13) comprises a general hydraulic tool (131) and a follow tool (132), the follow tool (132) is arranged to be of an I-shaped structure, the upper end of the follow tool (132) is connected with the general hydraulic tool (131) in a butt taper hole clamping mode, a plurality of mounting holes are formed in the lower end of the follow tool (132), and the follow tool (132) is connected with the connecting holes in the side faces of the trolley frame in a matched mode through bolts.
2. The automatic welding system for bulldozer trolley frame according to claim 1, characterized in that robot (12) is set up as a six-axis upside down robot, the sixth axis of which is loaded with 10kg, and the repeated positioning accuracy is ± 0.03 mm.
3. The automatic welding system for bulldozer trolley frame according to claim 1, characterized in that portal frame (11) is a three-axis portal frame, said three-axis portal frame comprising an X-direction guide rail, a Y-direction guide rail and a Z-direction guide rail, said X-direction guide rail being disposed on a column of said three-axis portal frame, said X-direction guide rail being provided with a traveling Y-direction guide rail, and said Y-direction guide rail being provided with a sliding Z-direction guide rail.
4. The automatic welding system of bulldozer trolley frame according to claim 1, characterized in that said positioner (14) is set up as an L-shaped ± 360 ° double slewing mechanism, bearing 5 tons.
5. The automatic welding system for the bogie of the bulldozer according to claim 1, wherein the welding system comprises an E500 welding power supply, a water-cooled welding gun, a gun cleaning and wire cutting mechanism, an anti-collision system and a wire feeding system, and the wire feeding system performs wire feeding operation by means of electrically driving a first-stage wire feeding.
6. The automatic welding system for the bulldozer bogie frame according to claim 1, wherein the RGV trolley (2) comprises an RGV sub-trolley (21), an RGV main trolley (22), a lifting driving assembly (23), a vehicle-mounted control system (24), a vehicle-mounted tooling platform (25) and a safety warning device (26), the RGV sub-trolley (21) is arranged in the middle of the RGV main trolley (22), the vehicle-mounted tooling platform (25) is connected with the RGV sub-trolley (21) through the lifting driving assembly (23), the vehicle-mounted control system (24) is arranged at the rear of the RGV main trolley (22), and the safety warning device (26) is arranged at the front of the RGV main trolley (22).
7. The automatic welding system of the bulldozer trolley frame according to claim 1, characterized in that the feeding buffer table (4) and the blanking buffer table (5) are respectively provided as structural members, and the feeding buffer table (4) is provided with a quick die change auxiliary positioning stop.
8. The automatic welding system of bulldozer trolley frame according to claim 1, characterized in that a safety fence (7) is arranged around the automatic welding system of bulldozer trolley frame, and the safety fence (7) is in communication connection with the control system (6).
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| CN202010893200.XA CN112077496B (en) | 2020-08-31 | 2020-08-31 | Automatic welding system for bulldozer trolley frame |
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| CN202010893200.XA CN112077496B (en) | 2020-08-31 | 2020-08-31 | Automatic welding system for bulldozer trolley frame |
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