CN113210933A - Automatic tailor-welding production unit of structure - Google Patents
Automatic tailor-welding production unit of structure Download PDFInfo
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- CN113210933A CN113210933A CN202110333671.XA CN202110333671A CN113210933A CN 113210933 A CN113210933 A CN 113210933A CN 202110333671 A CN202110333671 A CN 202110333671A CN 113210933 A CN113210933 A CN 113210933A
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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
- B23K37/02—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
Abstract
The invention discloses an automatic tailor-welding production unit for a structural part, which comprises a positioning tailor-welding station table, a grabbing and stacking mechanical arm, an automatic tailor-welding mechanical arm and an automatic tailor-welding electric control device. The invention completely adopts a computer to control automatic operation, can avoid the influence on the production progress caused by human factors such as responsibility, emotion and the like of operators, and can avoid the limitation of the proficiency of the operating skills of the operators; the pre-adjustment of the welding seam reverse welding deformation can be automatically realized, and the influence of the welding deformation is reduced; the mode that each part is spliced in situ welding on the spot is adopted, on one hand, the stable positioning of the parts in the welding process can be ensured, on the other hand, the integral welding of a structural part product can be completed after the parts of the structural part are welded in sequence, the problem that the hoisting of the traditional production mode of integral spot welding and integral welding is scattered can be avoided, the production efficiency can be greatly improved, and the welding process is assembled on the structural part, which is particularly suitable for a digital bus factory.
Description
Technical Field
The invention relates to an automatic tailor-welding production unit, in particular to an automatic tailor-welding production unit for a structural member of a digital bus factory, and belongs to the technical field of tailor-welding processing of the structural member.
Background
The structural member in the mechanical industry refers to a structural entity which is made of a rigid material, has a certain shape and can bear load, and generally has structural forms such as a box structure, a frame structure, a barrel structure, a rod structure and the like, such as parts of a frame, an oil tank, a mechanical arm, a working machine and the like of engineering machinery, parts such as a bogie, a chassis and the like of a train, parts such as a chassis, a container and the like of a logistics vehicle, and all belong to structural members.
The structural member is generally a structural entity formed by positioning, splicing and welding steel plate parts of various shapes. The existing structural part manufacturing process is that the part is firstly subjected to spot welding according to spot welding process in sequence and spliced, and then the structural part of a spliced spot welding integrated structure is welded according to welding process, namely, integral spot welding is firstly carried out and integral welding is carried out later, and the box-type structural part with a plurality of welded rib plates is arranged in the box-type structural part, so that rib plates are convenient to weld, the box-type structural part and the internal rib plates are firstly welded, the splicing spot welding of the top cover plate is carried out after the welding of the box body and the rib plates is completed, and the spot splicing and the welding are required for multiple times. At present, steel plate parts of different shapes can be subjected to numerical control blanking with more accurate size through a numerical control cutting machine, and when a structural part of a splicing spot welding integrated structure is welded, the automatic welding of the structural part by a welding robot can be realized after corresponding automatic welding data including process parameters such as welding paths are input to the welding robot, but the splicing spot welding process of the structural part can not be automated generally. On one hand, due to the high melting temperature during welding, size deviation caused by welding is easy to occur in the spot-welding process of the structural part, welding deformation is usually controlled through a spot-welding sequence process, and a riveting operator is required to correct and adjust the splicing size, otherwise deformation and size out-of-tolerance caused by welding stress are often caused after the integral welding of the structural part is finished; on the other hand, in order to further ensure the splicing size and realize quick positioning and splicing, particularly for structural members with relatively complex structures, different types of splicing point tools are usually used. Therefore, the splicing and spot welding process of the structural part still adopts a large amount of manual operation modes at present, and automation cannot be realized.
The traditional structural member manufacturing and producing method has the following defects:
1. the production mode of integral spot welding and integral welding needs to carry out spot welding at a spot welding station and welding at a welding station, but in order to improve the efficiency of spot welding and welding, the spot welding station and the welding station are not always the same station, especially for a structural part needing tooling to carry out spot splicing, the spot welding station and the welding station are usually independently and respectively arranged, so that the structural part needing to be spliced and spot welded into an integral structure is hoisted to the welding station, the time consumption, the efficiency and the production period are prolonged, and the parts of the structural part spliced and spot welded into the integral structure are connected through a plurality of welding spots, so that the frame scattering phenomenon is easy to occur in the hoisting process;
2. the manual spot splicing operation mode of the riveter operator has high labor intensity and potential safety hazards, and meanwhile, the influence of the artificial factors such as responsibility, emotion and the like of the riveter operator on the spot splicing progress is high.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the automatic splicing and welding production unit for the structural part, which has higher automation degree, can realize the automatic splicing and welding of the structural part product, can improve the production efficiency and simultaneously avoid the potential safety hazard of manual operation and the influence of human factors, and is particularly suitable for the assembling and welding process of the structural part of a digital bus factory.
In order to achieve the purpose, the automatic tailor-welding production unit of the structural part comprises a positioning tailor-welding station table, a grabbing and stacking mechanical arm, an automatic tailor-welding mechanical arm and an automatic tailor-welding electric control device;
the positioning and splicing welding station platform comprises a base, a splicing welding platform, a reference positioning vertical plate and a splicing welding station platform electric control mechanism;
the base is fixedly arranged on the ground;
the horizontally arranged splicing welding platform is installed on the base, the reference center position of the splicing welding platform is installed and connected with the base through a C coordinate rotation driving assembly, a plurality of part positioning mechanisms I are arranged on the top plane of the splicing welding platform, and each part positioning mechanism I comprises a positioning reference surface matched with the outline dimension of a part;
the device comprises a splicing welding platform, a plurality of vertical panel structures, a plurality of component positioning mechanisms and a plurality of component positioning mechanisms, wherein a reference positioning vertical plate of each vertical panel structure is arranged on a top plane of the splicing welding platform, the reference positioning vertical plate is at least arranged in a front-back opposite mode or a left-right opposite mode relative to a reference central position of the splicing welding platform and comprises two parts, the reference positioning vertical plate is provided with a plurality of component positioning mechanisms II, each component positioning mechanism II comprises a positioning reference surface matched with the outline dimension of the component, and the positioning reference surface is arranged on the reference positioning vertical plate through a translation coordinate driving assembly perpendicular to the vertical plate surface of the reference positioning vertical plate;
the splicing welding station platform electric control mechanism comprises a station platform controller, a splicing welding platform rotation control loop and a part positioning mechanism II telescopic control loop, wherein the station platform controller is respectively and electrically connected with a C coordinate rotation driving assembly of the splicing welding platform and a translation coordinate driving assembly of the part positioning mechanism II;
the grabbing and stacking mechanical arm is arranged near the positioning splicing welding station platform, a part grabbing station and a welded workpiece stacking station are arranged near the grabbing and stacking mechanical arm, the grabbing and stacking mechanical arm at least comprises an X coordinate driving assembly and a Z coordinate driving assembly, or the grabbing and stacking mechanical arm at least comprises a Y coordinate driving assembly and a Z coordinate driving assembly, the grabbing and stacking mechanical arm is arranged on the tail section of the grabbing and stacking mechanical arm at least through a B coordinate rotation driving assembly, or the grabbing and stacking manipulator is arranged on the tail section of the grabbing and stacking manipulator through at least an A coordinate rotation driving assembly, the grabbing and stacking manipulator is provided with a grabbing mechanism, the grabbing and stacking manipulator further comprises a grabbing and stacking controller, and the grabbing and stacking controller is respectively and electrically connected with the coordinate driving assembly of the grabbing and stacking manipulator, the coordinate driving assembly of the grabbing and stacking manipulator and the grabbing mechanism;
the automatic splicing welding mechanical arm is arranged near the positioning splicing welding station table and at least comprises an X coordinate driving assembly and a Z coordinate driving assembly, or the automatic splicing welding mechanical arm at least comprises a Y coordinate driving assembly and a Z coordinate driving assembly, the welding mechanical arm is at least arranged on the tail section of the automatic splicing welding mechanical arm through an A coordinate rotation driving assembly, or the welding mechanical arm is at least arranged on the tail section of the automatic splicing welding mechanical arm through a B coordinate rotation driving assembly, an automatic welding gun is arranged on the welding mechanical arm, the automatic splicing welding mechanical arm further comprises an automatic splicing welding controller, and the automatic splicing welding controller is respectively and electrically connected with the coordinate driving assembly of the automatic splicing welding mechanical arm, the coordinate driving assembly of the welding mechanical arm and the automatic welding gun;
the automatic tailor-welding electric control device comprises an industrial control computer and an automatic tailor-welding control loop, wherein the industrial control computer is respectively and electrically connected with a station platform controller of the positioning tailor-welding station platform, a grabbing and stacking controller of the grabbing and stacking mechanical arm and an automatic tailor-welding controller of the automatic tailor-welding mechanical arm.
As a further improvement of the invention, the datum locating vertical plate is arranged on the top plane of the splicing welding platform through a C coordinate rotation driving assembly which can independently rotate relative to the datum central position of the splicing welding platform.
As a further improvement scheme of the invention, the splicing welding platform is connected with the base through the A coordinate rotation driving assembly or the B coordinate rotation driving assembly, and when the splicing welding platform rotates through the A coordinate rotation driving assembly or the B coordinate rotation driving assembly, the height size of the reference center position of the splicing welding platform relative to the base is unchanged.
As a further improvement scheme of the invention, the grabbing and stacking mechanical arm comprises an X coordinate driving assembly, a Y coordinate driving assembly and a Z coordinate driving assembly, and the grabbing and stacking mechanical arm is arranged on the tail section of the grabbing and stacking mechanical arm through an A coordinate rotation driving assembly and a B coordinate rotation driving assembly.
As a further improvement scheme of the invention, the automatic splicing welding mechanical arm comprises an X coordinate driving assembly, a Y coordinate driving assembly and a Z coordinate driving assembly, and the welding mechanical arm is arranged on the tail section of the automatic splicing welding mechanical arm through an A coordinate rotation driving assembly and a B coordinate rotation driving assembly.
As a further improvement scheme of the invention, a distance sensor electrically connected with the grabbing and stacking controller is arranged on the grabbing and stacking manipulator, and a distance sensor electrically connected with the automatic splicing welding controller is arranged on the welding manipulator.
As a further improvement scheme of the invention, the grabbing and stacking manipulator is provided with a mode identification sensor electrically connected with the grabbing and stacking controller, and the welding manipulator is provided with a mode identification sensor electrically connected with the automatic splicing welding controller.
As a further improvement scheme of the invention, the automatic tailor-welding production unit of the structural part further comprises a negative pressure smoke exhaust device, the negative pressure smoke exhaust device comprises an exhaust fan and a smoke exhaust pipeline connected with the exhaust fan, an exhaust outlet of the smoke exhaust pipeline is connected with the smoke purification mechanism, an exhaust inlet of the smoke exhaust pipeline is arranged on the welding manipulator through a hose, and the exhaust fan is electrically connected with the automatic tailor-welding controller.
As a further improvement scheme of the invention, the reference center position of the reference positioning vertical plate relative to the splicing welding platform is arranged on the top plane of the splicing welding platform through a translation coordinate assembly, and the translation coordinate assembly of the reference positioning vertical plate is electrically connected with the station table controller.
As a further improvement scheme of the invention, a part positioning mechanism I of the splicing welding platform is a plurality of positioning blocks arranged relative to a reference center position of the splicing welding platform, the positioning blocks are arranged on a top plane of the splicing welding platform through a translation coordinate assembly, and the translation coordinate assembly of the part positioning mechanism I is electrically connected with a station platform controller.
Compared with the prior art, the automatic tailor-welding production unit of the structural part adopts a mode of grabbing and stacking mechanical arms for grabbing, positioning and stacking structural part parts, and adopts a mode of cooperative operation of the part positioning mechanism II of the datum positioning vertical plate and the grabbing and stacking mechanical arms, namely, the parts to be welded are positioned on the parts to be butt-welded by the grabbing and stacking mechanical arms, are attached to the positioning datum surface of the part positioning mechanism II of the datum positioning vertical plate, and then are subjected to spot welding and welding, the automatic operation is completely controlled by a computer, the influence of artificial factors such as responsibility and emotion of operators on the production progress can be avoided, meanwhile, the limitation of the operating skill proficiency of the operators can be avoided, and the defects of manual operation can be completely avoided; aiming at the unilateral welding seam, the part can be in a reverse welding deformation pose slightly inclined relative to the standard pose by controlling the extending distance of a part positioning reference surface of a part positioning mechanism II of a reference positioning vertical plate before splicing welding, and then the pose of the part can be shifted to form the standard pose by welding deformation after the welding of the part is finished, namely, the reverse welding deformation pre-adjustment of the unilateral welding seam can be automatically realized; aiming at bilateral welding seams, the synchronous spot welding and welding at the same position of the two welding manipulators can be controlled so as to reduce the influence of welding deformation; adopt the mode of welding on the spot promptly on the spot is pieced together to every spare part, promptly, treat that spare part welds the mode that the spare part positioning mechanism II of back benchmark location riser and snatch the pile-up manipulator and remove again completely, can guarantee the firm location of welding process spare part on the one hand, on the other hand can accomplish the holistic welding of structure product promptly after the welding in proper order of structure spare part again, not only can avoid traditional earlier whole spot welding, the scattered frame problem of hoist and mount of back whole welding production mode, and can improve production efficiency greatly, the welding process is assembled to the structure that is particularly useful for the digital bus mill.
Drawings
FIG. 1 is a schematic three-dimensional structure of the present invention;
FIG. 2 is a three-dimensional schematic diagram of the automatic tailor-welding production unit for the structural member when the structural member is adopted to automatically tailor-weld the structural member of the oil tank of the engineering machinery.
In the figure: 1. the automatic splicing and welding device comprises a positioning and splicing welding station platform, 11, a base, 12, a splicing welding platform, 13, a datum positioning vertical plate, 2, a grabbing and stacking mechanical arm, 21, a grabbing and stacking mechanical arm, 3, an automatic splicing and welding mechanical arm, 31, a welding mechanical arm and 4, and a transfer tray.
Detailed Description
The present invention will be further described below with reference to the drawings (hereinafter, a coordinate movement in the horizontal left-right direction is referred to as an X coordinate direction, a coordinate movement in the horizontal front-back direction is referred to as a Y coordinate direction, a coordinate movement in the vertical up-down direction is referred to as a Z coordinate direction, a rotational coordinate movement in the X coordinate axis as a rotational axis is referred to as an a coordinate direction, a rotational coordinate movement in the Y coordinate axis as a rotational axis is referred to as a B coordinate direction, and a rotational coordinate movement in the Z coordinate axis as a rotational axis is referred to as a C coordinate direction).
As shown in fig. 1, the automatic tailor-welding production unit of the structural member comprises a positioning tailor-welding station platform 1, a grabbing and stacking mechanical arm 2, an automatic tailor-welding mechanical arm 3 and an automatic tailor-welding electric control device.
The positioning splicing welding station platform 1 comprises a base 11, a splicing welding platform 12, a reference positioning vertical plate 13 and a splicing welding station platform electric control mechanism;
the base 11 is fixedly arranged on the ground;
the horizontally arranged splicing welding platform 12 is arranged on the base 11, the reference center position of the splicing welding platform 12 is preferably the geometric center position of the splicing welding platform 12 through a C coordinate rotation driving assembly, a plurality of part positioning mechanisms I are arranged on the top plane of the splicing welding platform 12 and comprise positioning reference surfaces matched with the shape and the size of parts, the part positioning mechanisms I can be positioning grooves or positioning bulges which are simply positioned on the top plane of the splicing welding platform 12 relative to the reference center position of the splicing welding platform 12 and aim at specific single parts, accurate coordinate positioning of the specific single parts is realized by placing the specific single parts into the positioning grooves or the space surrounded by the positioning bulges, the part positioning mechanism I can also be a plurality of positioning blocks which are arranged corresponding to the reference center position of the splicing welding platform 12 for realizing universality, the positioning blocks are arranged on the top plane of the splicing welding platform 12 through an X coordinate driving assembly or a Y coordinate driving assembly, the coordinate positions of the positioning blocks can be controlled to change the space size between the positioning blocks, and further, the part can be placed in the space surrounded by the positioning blocks to realize accurate coordinate positioning of the part;
the datum positioning vertical plate 13 of the vertical panel structure is arranged on the top plane of the splicing welding platform 12, the datum positioning vertical plate 13 is at least arranged in a front-back opposite mode or a left-right opposite mode to be two relative to a datum central position of the splicing welding platform 12, for a box-shaped structural member, the datum positioning vertical plate 13 can be arranged in four in a front-back opposite mode or a left-right opposite mode to be four relative to the datum central position of the splicing welding platform 12, a plurality of part positioning mechanisms II are arranged on the datum positioning vertical plate 13, each part positioning mechanism II comprises a positioning datum surface matched with the outline size of a part, the positioning datum surface is arranged on the datum positioning vertical plate 13 through a translation coordinate driving assembly (an X coordinate driving assembly or a Y coordinate driving assembly) perpendicular to the vertical plate surface of the datum positioning vertical plate 13, for a specific single part, the datum positioning vertical plate 13 can be fixedly arranged on the top plane of the splicing welding platform 12 in a positioning mode, In order to realize universality, the reference positioning vertical plate 13 can also be arranged on the top plane of the splicing welding platform 12 through a translation coordinate assembly (an X coordinate driving assembly or a Y coordinate driving assembly), and the accurate position positioning of the part is realized by controlling the positioning reference surface of the part positioning mechanism II and the total telescopic distance of the reference positioning vertical plate 13;
the splicing welding station platform electric control mechanism comprises a station platform controller, a splicing welding platform rotation control loop and a part positioning mechanism II telescopic control loop, wherein the station platform controller is electrically connected with a C coordinate rotation driving assembly of the splicing welding platform 12 and a translation coordinate driving assembly of the part positioning mechanism II respectively.
The grabbing and stacking mechanical arm 2 is arranged near the positioning and splicing welding station platform 1, the grabbing and stacking mechanical arm 2 at least comprises an X coordinate driving assembly and a Z coordinate driving assembly, or the grabbing and stacking mechanical arm 2 at least comprises a Y coordinate driving assembly and a Z coordinate driving assembly, the grabbing and stacking mechanical arm 21 is at least arranged on the tail section of the grabbing and stacking mechanical arm 2 through a B coordinate rotation driving assembly, or the grabbing and stacking mechanical arm 21 is at least arranged on the tail section of the grabbing and stacking mechanical arm 2 through an A coordinate rotation driving assembly, the grabbing and stacking mechanical arm 21 is provided with a grabbing mechanism which can be an electromagnetic control magnetic adsorption grabbing structure or other grabbing structures such as a clamping grabbing structure for clamping through controlling the opening and closing of a mechanical finger or a positioning clamping block, and the grabbing and stacking mechanical arm 2 further comprises a grabbing and stacking controller, the grabbing and stacking controller is respectively and electrically connected with the coordinate driving assembly of the grabbing and stacking mechanical arm 2, the coordinate driving assembly of the grabbing and stacking mechanical arm 21 and the grabbing mechanism; a part grabbing station and a welding finished product workpiece stacking station are arranged near the grabbing and stacking mechanical arm 2.
The automatic splicing welding mechanical arm 3 is arranged near the positioning splicing welding station platform 1, the automatic splicing welding mechanical arm 3 at least comprises an X coordinate driving assembly and a Z coordinate driving assembly, or the automatic splicing welding mechanical arm 3 at least comprises a Y coordinate driving assembly and a Z coordinate driving assembly, the welding manipulator 31 is at least arranged on the tail section of the automatic splicing welding mechanical arm 3 through an A coordinate rotation driving assembly, or the welding manipulator 31 is at least arranged on the tail section of the automatic splicing welding mechanical arm 3 through a B coordinate rotation driving assembly, an automatic welding gun connected with a wire feeding mechanism is arranged on the welding manipulator 31, in order to realize the welding of double-sided welding seams, the automatic splicing welding mechanical arm 3 can be oppositely arranged to be two relative to the positioning splicing welding station platform 1, the automatic splicing welding mechanical arm 3 also comprises an automatic splicing welding controller, and the automatic splicing controller is respectively arranged with the coordinate driving assembly of the automatic splicing welding mechanical arm 3, The coordinate drive assembly of the welding robot 31 is electrically connected to the automatic welding gun.
The automatic tailor-welding electric control device comprises an industrial control computer and an automatic tailor-welding control loop, wherein the industrial control computer is respectively and electrically connected with a station platform controller of the positioning tailor-welding station platform 1, a grabbing and stacking controller of the grabbing and stacking mechanical arm 2 and an automatic tailor-welding controller of the automatic tailor-welding mechanical arm 3. Aiming at a digital bus factory, the industrial control computer can be seamlessly connected with the digital bus of the factory to realize centralized digital management.
The oil tank of an engineering machine such as an excavator, a loader, a road roller and the like generally comprises a fuel tank and a hydraulic oil tank, and both the fuel tank and the hydraulic oil tank are typical box-shaped structural members which are enclosed by a bottom plate, a top cover plate and a coaming together to form an oil liquid containing cavity. Because of the characteristics of a closed box structure of the oil tank, particularly for a heavy oil tank structural member needing a double-sided fillet weld, the splicing and welding of the oil tank generally comprises the steps of splicing and welding a coaming and a bottom plate, splicing and welding a supporting plate, a partition plate and other components inside the oil tank, and finally splicing and welding a top cover plate. Therefore, the oil tank structural member is different from other structural members such as mechanical arms, working machines and the like which can be integrally welded by point splicing and welding at one time, and the oil tank structural member generally needs to be subjected to point splicing and welding for many times, so that the oil tank structural member can not be automatically spliced and welded. The working process of the automatic tailor-welding production unit of the structural member is described by taking the tailor-welding and welding of the structural member product of the oil tank of the engineering machinery as an example, as shown in fig. 2.
Automatic splicing and welding production preparation: the core of automated production is orderly production, namely, the sequencing of accurate position location is the most crucial process in automated production, for realizing to splice the spot welding to the accurate snatching of oil tank structure spare part, need to fix a position the sequencing and put things in good order and pile up on transporting tray 4 with oil tank structure spare parts such as bottom plate, lamina tecti, bounding wall, baffle and ring flange, will transport tray 4 coordinate removal again and transport to the setting for spare part near location splice welding station platform 1 and snatch the station. In order to facilitate the positioning, sorting and stacking of the components of the structural member of the oil tank, the transfer tray 4 is provided with a workpiece positioning mechanism which can be a positioning groove or a positioning bulge which is simply positioned and arranged on the top plane of the transfer tray 4 aiming at a specific single component, the specific single part is placed in the positioning groove or the space formed by the plurality of positioning bulges to realize the accurate positioning and stacking of the specific single part, the workpiece positioning mechanism can also be a plurality of positioning blocks arranged for realizing the universality, and the positioning blocks are arranged on the top plane of the transfer tray 4 through an X coordinate driving assembly or a Y coordinate driving assembly, the coordinate positions of the plurality of positioning blocks can be controlled to change the space size between the positioning blocks, and then the parts can be accurately positioned and stacked by placing the parts into the space surrounded by the plurality of positioning blocks. To the plate type spare part that does not need secondary operation, can set up near the numerical control blanking machine spare part blanking and snatch the pile-up station, and snatch near the pile-up station spare part blanking and set up the spare part and snatch the pile-up arm, transport tray 4 with unloaded through AGV or RGV or digital fork truck coordinate removal support transportation and coordinate location to the spare part blanking snatchs the pile-up station, can snatch the pile-up arm through the spare part after the blanking of plate type spare part is accomplished and snatch the setting location position that the plate type spare part snatched one by one in proper order and pile-up on transporting tray 4 one by one. To the board type spare part of secondary operation such as need bend, punch a hole, can set up near secondary operation equipment such as bender, punch press that the spare part secondary operation snatchs the pile-up station, and snatch near the pile-up station and also set up the spare part and snatch the pile-up arm at spare part secondary operation, transport tray 4 with no-load through AGV or RGV or digital fork truck coordinate removal support transport and coordinate positioning to spare part secondary operation snatchs the pile-up station, can snatch the pile-up arm through the spare part and snatch the setting for the locating position that the pile-up arm snatched the spare part on transporting tray 4 one by one in proper order one by one after the spare part accomplishes secondary operation. After the positioning, sequencing and stacking of the parts are completed, the transfer tray 4 loaded with the parts can move, support, transport and position the parts to the position where the parts set near the stacking mechanical arm 2 are picked by the automatic tailor-welding production unit of the structural part through AGV or RGV or digital forklift coordinates, the empty transfer tray 4 moves through AGV or RGV or digital forklift coordinates and positions the parts to the position where the workpieces set near the stacking mechanical arm 2 are picked by the automatic tailor-welding production unit of the structural part, and automatic splicing and welding can be performed through the automatic tailor-welding production unit of the structural part.
Automatic splicing and welding: the industrial control computer obtains the product data information of the oil tank structural member including a mathematical model, the associated dimension information of the parts, the spot welding process information, the welding process information and the like, and the stacking information of the parts such as the part stacking position information of the transfer tray 4 carrying the parts and the part quantity information and the like through manual input or a digital bus mode, and then starts the automatic tailor-welding control loop. The characteristic of the closed box structure of the structural member of the oil tank, in order to facilitate the splicing welding, can adopt the order of splicing welding from inside to outside, namely, on the basis of the spare part location of bottom plate, splice the baffle spare part that is located inside the space that the spare part encloses of bounding wall, need with the bottom plate splicing point and welded first, splice the point and weld the spare part of bounding wall that needs with the bottom plate, then splice the point and weld the spare part of the top cover plate on the basis that the spare part splicing point and welding of bounding wall finishes, splice the flange plate at the flange hole position of the spare part of bounding wall and/or spare part of the top cover plate finally. Specifically, the industrial control computer controls the grabbing and stacking mechanical arm 2 to move to a part grabbing station through the grabbing and stacking controller according to oil tank structural part product data information and part stacking information, the grabbing and stacking controller adjusts the position of the grabbing and stacking mechanical arm 21 and then grabs the bottom plate part through the grabbing mechanism, the grabbing and stacking controller controls the grabbing and stacking mechanical arm 21 to grab the bottom plate part and move to the splicing welding platform 12 along the coordinates, the grabbing and stacking mechanical arm 21 is adjusted in position and then positions and stacks the bottom plate part in a space defined by positioning reference surfaces of a plurality of part positioning mechanisms I of the splicing welding platform 12, and the grabbing and stacking mechanical arm 2 is reset to complete positioning grabbing and stacking of the bottom plate part; then an industrial control computer controls a translation coordinate driving assembly of a plurality of part positioning mechanisms II at corresponding positions of a reference positioning vertical plate 13 to synchronously move to enable a positioning reference surface to extend to a set distance and position coordinates through a station platform controller according to positioning data information of the partition parts on the bottom plate parts, simultaneously a grabbing and stacking controller controls a grabbing and stacking mechanical arm 2 to move to enable a grabbing and stacking mechanical arm 21 to move to a part grabbing station, adjust the pose of the grabbing and stacking mechanical arm 21 and grab the partition parts through a grabbing mechanism, then the grabbing and stacking controller controls the grabbing and stacking mechanical arm 21 to grab the partition part coordinates to move to a splicing welding platform 12, then the grabbing and stacking controller adjusts the pose of the grabbing and stacking mechanical arm 21 to position the partition parts on the bottom plate parts and attach the partition parts to the positioning reference surface of the part positioning mechanisms II, the accurate position positioning of the partition plate part relative to the bottom plate part is realized, then the industrial control computer controls the automatic splicing welding mechanical arm 3 to act according to the splicing process parameters of the partition plate part so that the automatic welding gun of the welding manipulator 31 directly faces the welding position between the partition plate part and the bottom plate part for sequential multi-point spot welding, and controls the automatic splicing welding mechanical arm 3 to act according to the welding process parameters of the partition plate part so that the automatic welding gun of the welding manipulator 31 carries out continuous welding along the welding path between the partition plate part and the bottom plate part, aiming at the unilateral welding seam, the partition plate part can be in the reverse welding deformation pose slightly inclined relative to the partition plate reference pose by controlling the extension distance of the positioning reference surface of the part positioning mechanism II before splicing, and further the welding deformation after the welding of the partition plate part can lead the pose of the partition plate part to be displaced to form the partition plate reference pose, aiming at bilateral welding seams, the synchronous spot welding and welding at the same position of the two welding manipulators 31 can be controlled to reduce the influence of welding deformation, and after the welding of the welding seams is finished, the automatic spot welding mechanical arm 3, the grabbing and stacking mechanical arm 2 and the part positioning mechanism II of the reference positioning vertical plate 13 are reset in sequence to finish the spot welding and welding of the partition parts; by analogy, the grabbing and stacking manipulator 21 grabs the coordinate movement of the parts and abuts the parts against the positioning reference surface of the part positioning mechanism II of the reference positioning vertical plate 13 to perform stable and sequential point splicing and welding, so that the point splicing and welding of the surrounding plate parts are completed; then, coordinate positioning and splicing points are carried out on the coaming part splicing points and the welded parts of the top cover plate, and finally, flange plates are welded in the flange hole positions of the coaming part and/or the top cover plate part in a coordinate positioning and splicing manner; before the splicing and welding of the parts, in order to avoid the motion interference of the automatic splicing and welding mechanical arm 3 relative to the grabbing and stacking mechanical arm 2, the positions of the part positioning mechanism II of the datum positioning vertical plate 13 and the grabbing and stacking mechanical arm 21 which grabs the parts relative to the welding mechanical arm 31 can be changed by controlling the C coordinate rotation driving assembly of the splicing and welding platform 12, and the coordinate moving position and the path of the welding mechanical arm 31 are calculated by taking the datum center of the splicing and welding platform 12 as a relative coordinate origin.
Outputting a finished product: after the oil tank structural members are completely welded, the industrial control computer controls the grabbing and stacking mechanical arm 2 to move through the grabbing and stacking controller, so that the grabbing and stacking mechanical arm 21 moves in coordinates, the grabbing mechanism grabs the top cover plate of the welded oil tank structural member after the position of the grabbing and stacking mechanical arm 21 is adjusted, then the grabbing and stacking controller controls the grabbing and stacking mechanical arm 21 to grab the welded oil tank structural member to move integrally in coordinates to a welding workpiece stacking station, and the welded oil tank structural member is integrally positioned and stacked on the idle-load transfer tray 4.
In order to further avoid the motion interference between the automatic splicing welding mechanical arm 3 and the grabbing and stacking mechanical arm 2, as a further improvement scheme of the invention, the reference positioning vertical plate 13 is installed on the top plane of the splicing welding platform 12 through a C coordinate rotation driving assembly which can rotate independently relative to the reference center position of the splicing welding platform 12, and the rotation position change of the reference positioning vertical plate 13 can be realized on the premise that the splicing welding platform 12 does not rotate by independently controlling the action of the C coordinate rotation driving assembly of the reference positioning vertical plate 13, that is, the rotation position change of the reference positioning vertical plate 13 relative to a structural member on the splicing welding platform 12 can be realized. In the process of splicing and welding parts, the industrial control computer can control the action of the C coordinate rotation driving assembly of the splicing welding platform 12 or independently control the action of the C coordinate rotation driving assembly of the datum position vertical plate 13 according to data information such as associated dimension information, spot welding process information and welding process information of structural part products and the like in combination with a mathematical model, so as to avoid the motion interference of the automatic splicing welding mechanical arm 3 relative to the grabbing and stacking mechanical arm 2.
In order to ensure the welding quality of the fillet weld, as a further improvement of the invention, the splicing welding platform 12 is connected with the base 11 through an a coordinate rotation driving assembly or a B coordinate rotation driving assembly, and when the splicing welding platform 12 rotates through the a coordinate rotation driving assembly or the B coordinate rotation driving assembly, the reference center position of the splicing welding platform 12 is unchanged relative to the height dimension of the base 11. In the process of splicing and welding parts, after the part to be welded is positioned on the part to be butt-welded and attached to the positioning reference surface of the part positioning mechanism II by the to-be-grabbed stacking manipulator 21, the industrial control computer can control the rotation driving assembly of the coordinate A or the rotation driving assembly of the welding platform 12 to overturn for a set angle along the reference center position of the splicing platform 12 according to the relevant dimension information, the spot welding process information, the welding process information and other data information of the part of a structural product in combination with a mathematical model, so that the part to be welded and the part to be butt-welded can be in a V shape, the vertical welding line can be changed into an inclined welding line or even a flat welding line, and the industrial control computer calculates the position coordinates of the part to be welded and the part to be butt-welded according to the rotation angle of the splicing platform 12 along the coordinate A or the coordinate B coordinate, And then the automatic splicing welding mechanical arm 3 is controlled to act to enable an automatic welding gun of the welding mechanical arm 31 to perform spot welding and then weld the part to be welded and the part to be welded in a welding position, so that the welding difficulty is reduced, and the welding quality is ensured.
In order to realize the flexibility of grabbing and stacking by the grabbing and stacking manipulator 21, as a further improvement scheme of the invention, the grabbing and stacking manipulator 2 comprises an X coordinate driving assembly, a Y coordinate driving assembly and a Z coordinate driving assembly, and the grabbing and stacking manipulator 21 is arranged on the tail section of the grabbing and stacking manipulator 2 through an A coordinate rotation driving assembly and a B coordinate rotation driving assembly.
In order to realize flexibility of spot welding and welding of the welding manipulator 31, as a further improvement scheme of the invention, the automatic spot welding mechanical arm 3 comprises an X coordinate driving assembly, a Y coordinate driving assembly and a Z coordinate driving assembly, and the welding manipulator 31 is arranged on the tail section of the automatic spot welding mechanical arm 3 through an A coordinate rotation driving assembly and a B coordinate rotation driving assembly.
In order to realize accurate grabbing and stacking of the grabbing and stacking manipulator 21 and accurate spot welding and welding of the welding manipulator 31, as a further improvement scheme of the invention, a distance sensor electrically connected with the grabbing and stacking controller is arranged on the grabbing and stacking manipulator 21, and a distance sensor electrically connected with the automatic spot welding controller is arranged on the welding manipulator 31. In the process of positioning, grabbing and stacking by the grabbing and stacking manipulator 21, the grabbing and stacking controller can accurately control the grabbing distance and the stacking distance according to the feedback of the distance sensor; in the process of spot welding and welding of the welding manipulator 31, the automatic splicing welding controller can accurately control the distance between the automatic welding gun and the welding line according to the feedback of the distance sensor.
In order to realize accurate grabbing and stacking of the grabbing and stacking manipulator 21 and accurate spot welding and welding of the welding manipulator 31, as a further improvement scheme of the invention, a mode identification sensor electrically connected with the grabbing and stacking controller is arranged on the grabbing and stacking manipulator 21, and a mode identification sensor electrically connected with the automatic spot welding controller is arranged on the welding manipulator 31. In the process of positioning, grabbing or stacking by the grabbing and stacking manipulator 21, the grabbing and stacking controller compares image information fed back by the mode identification sensor with an input structure member mathematical model, if the deviation exists, the grabbing and stacking controller controls the grabbing and stacking manipulator 2 and the grabbing and stacking manipulator 21 to perform micro-motion for pose adjustment, and then the grabbing and stacking controller controls grabbing or stacking; in the process of spot welding or welding of the welding manipulator 31, the automatic splicing welding controller compares image information fed back by the mode recognition sensor with an input structure mathematical model, if deviation exists, the automatic splicing welding controller controls the automatic splicing welding manipulator 3 and the welding manipulator 31 to perform micro-motion pose adjustment, and then the automatic splicing welding controller controls spot welding or welding.
As a further improvement scheme of the invention, the automatic tailor-welding production unit of the structural part further comprises a negative pressure smoke exhaust device, the negative pressure smoke exhaust device comprises an exhaust fan and a smoke exhaust pipeline connected with the exhaust fan, an air outlet of the smoke exhaust pipeline is connected with a smoke dust purification mechanism, in order to realize better smoke exhaust effect, an air suction inlet of the smoke exhaust pipeline is arranged on the welding manipulator 31 through a hose, and the exhaust fan is electrically connected with the automatic tailor-welding controller. The smoke generated in the spot welding or welding process of the welding manipulator 31 can be discharged to the smoke purification mechanism through the smoke exhaust pipeline for purification.
The grabbing and stacking mechanical arm 2 can adopt a multi-joint centralized control mechanical arm, a frame type split control mechanical arm shown in figure 1 or other mechanical arms such as a Delta mechanical arm, and the like, because the control of the multi-joint mechanical arm of the first scheme and the Delta mechanical arm of the third scheme is centralized control, the precise coordinate control is complex, a large amount of calculation and software control programs need to be processed by an industrial control computer, the manufacturing cost is high, the computer control burden is heavy, and faults are easy to occur; the second scheme adopts split control, namely a plurality of coordinate systems are respectively controlled, the control is relatively simple and direct, the fault is not easy to occur, and the motion interference with the automatic splicing welding mechanical arm 3 can be avoided to the maximum extent, so that the second scheme is preferred, namely, as the preferred scheme of the invention, the grabbing and stacking mechanical arm 2 is a frame type split control portal structure mechanical arm.
The automatic tailor-welding production unit of the structural member is a digital control system, can be seamlessly connected with a digital bus of a factory to realize centralized digital management, and is not limited to the specific control mode.
The automatic tailor-welding production unit of the structural part completely adopts computer control automation operation, can avoid the influence on the production progress caused by human factors such as responsibility and emotion of operators, can avoid the limitation of proficiency of the operating skills of the operators, and completely avoids the defects of manual operation; the pre-adjustment of the welding seam reverse welding deformation can be automatically realized, and the influence of the welding deformation is reduced; the mode that each part is spliced in situ welding on the spot is adopted, on one hand, the stable positioning of the parts in the welding process can be ensured, on the other hand, the integral welding of a structural part product can be completed after the parts of the structural part are welded in sequence, the problem that the hoisting of the traditional production mode of integral spot welding and integral welding is scattered can be avoided, the production efficiency can be greatly improved, and the welding process is assembled on the structural part, which is particularly suitable for a digital bus factory.
Claims (10)
1. An automatic tailor-welding production unit of a structural part is characterized by comprising a positioning tailor-welding station table (1), a grabbing and stacking mechanical arm (2), an automatic tailor-welding mechanical arm (3) and an automatic tailor-welding electric control device;
the positioning and splicing welding station platform (1) comprises a base (11), a splicing welding platform (12), a reference positioning vertical plate (13) and a splicing welding station platform electric control mechanism;
the base (11) is fixedly arranged on the ground;
the horizontally arranged splicing welding platform (12) is installed on the base (11), the reference center position of the splicing welding platform (12) is installed and connected with the base (11) through a C coordinate rotation driving assembly, a plurality of part positioning mechanisms I are arranged on the top plane of the splicing welding platform (12), and each part positioning mechanism I comprises a positioning reference surface matched with the outline dimension of a part;
a reference positioning vertical plate (13) of the vertical panel structure is arranged on the top plane of the splicing welding platform (12), the reference positioning vertical plate (13) is at least arranged in a front-back opposite mode or a left-right opposite mode relative to the reference central position of the splicing welding platform (12) to form two pieces, a plurality of part positioning mechanisms II are arranged on the reference positioning vertical plate (13), each part positioning mechanism II comprises a positioning reference surface matched with the outline size of a part, and the positioning reference surface is arranged on the reference positioning vertical plate (13) through a translation coordinate driving assembly perpendicular to the vertical plate surface of the reference positioning vertical plate (13);
the splicing welding station platform electric control mechanism comprises a station platform controller, a splicing welding platform rotation control loop and a part positioning mechanism II telescopic control loop, wherein the station platform controller is respectively electrically connected with a C coordinate rotation driving assembly of the splicing welding platform (12) and a translation coordinate driving assembly of the part positioning mechanism II;
the grabbing and stacking mechanical arm (2) is arranged near the positioning splicing welding station platform (1), a part grabbing station and a welded workpiece stacking station are arranged near the grabbing and stacking mechanical arm (2), the grabbing and stacking mechanical arm (2) at least comprises an X coordinate driving assembly and a Z coordinate driving assembly, or the grabbing and stacking mechanical arm (2) at least comprises a Y coordinate driving assembly and a Z coordinate driving assembly, the grabbing and stacking mechanical arm (21) is at least arranged on the tail section of the grabbing and stacking mechanical arm (2) through a B coordinate rotation driving assembly, or the grabbing and stacking mechanical arm (21) is at least arranged on the tail section of the grabbing and stacking mechanical arm (2) through an A coordinate rotation driving assembly, a grabbing mechanism is arranged on the grabbing and stacking mechanical arm (21), the grabbing and stacking mechanical arm (2) further comprises a grabbing and stacking controller, and the grabbing and stacking controller is respectively connected with the coordinate driving assembly of the grabbing and stacking mechanical arm (2), The coordinate driving assembly of the grabbing and stacking manipulator (21) is electrically connected with the grabbing mechanism;
the automatic splicing welding mechanical arm (3) is arranged near the positioning splicing welding station platform (1), the automatic splicing welding mechanical arm (3) at least comprises an X coordinate driving assembly and a Z coordinate driving assembly, or the automatic splicing welding mechanical arm (3) at least comprises a Y coordinate driving assembly and a Z coordinate driving assembly, a welding manipulator (31) is at least arranged on the tail section of the automatic splicing welding mechanical arm (3) through an A coordinate rotation driving assembly, or the welding manipulator (31) is at least arranged on the tail section of the automatic splicing welding mechanical arm (3) through a B coordinate rotation driving assembly, an automatic welding gun is arranged on the welding manipulator (31), the automatic splicing welding mechanical arm (3) further comprises an automatic splicing welding controller, and the automatic splicing welding controller is respectively connected with the coordinate driving assembly of the automatic splicing welding mechanical arm (3), The coordinate driving assembly of the welding manipulator (31) is electrically connected with the automatic welding gun;
the automatic tailor-welding electric control device comprises an industrial control computer and an automatic tailor-welding control loop, wherein the industrial control computer is respectively and electrically connected with a station platform controller of the positioning tailor-welding station platform (1), a grabbing and stacking controller of the grabbing and stacking mechanical arm (2) and an automatic tailor-welding controller of the automatic tailor-welding mechanical arm (3).
2. Automatic tailored blank production unit for structural members according to claim 1, characterized in that the reference positioning risers (13) are mounted on the top plane of the tailor welding platform (12) by means of a C-coordinate rotary drive assembly that is individually rotatable with respect to a reference central position of the tailor welding platform (12).
3. The automatic tailor-welding production unit for structural members according to claim 1, wherein the tailor-welding platform (12) is installed and connected with the base (11) by an a-coordinate rotation driving assembly or a B-coordinate rotation driving assembly, and when the tailor-welding platform (12) rotates by the a-coordinate rotation driving assembly or the B-coordinate rotation driving assembly, the reference center position of the tailor-welding platform (12) is unchanged relative to the height dimension of the base (11).
4. The automatic tailor-welding production unit for structural members according to claim 1, 2 or 3, wherein the grabbing and stacking mechanical arm (2) comprises an X coordinate driving assembly, a Y coordinate driving assembly and a Z coordinate driving assembly, and the grabbing and stacking mechanical arm (21) is installed on the end section of the grabbing and stacking mechanical arm (2) through an A coordinate rotation driving assembly and a B coordinate rotation driving assembly.
5. The structural member automated tailor-welding production unit according to claim 1, 2 or 3, wherein the automated tailor-welding robot arm (3) comprises an X-coordinate drive assembly, a Y-coordinate drive assembly and a Z-coordinate drive assembly, and the welding robot (31) is mounted on the end section of the automated tailor-welding robot arm (3) through an a-coordinate rotation drive assembly and a B-coordinate rotation drive assembly.
6. The automatic tailor-welding production unit for structural members according to claim 1, 2 or 3, wherein a distance sensor electrically connected to the grabbing and placing controller is provided on the grabbing and placing manipulator (21), and a distance sensor electrically connected to the automatic tailor-welding controller is provided on the welding manipulator (31).
7. The automatic tailor-welding production unit for structural members according to claim 1, 2 or 3, wherein the grabbing and stacking manipulator (21) is provided with a pattern recognition sensor electrically connected with the grabbing and stacking controller, and the welding manipulator (31) is provided with a pattern recognition sensor electrically connected with the automatic tailor-welding controller.
8. The automatic tailor-welding production unit for structural members according to claim 1, 2 or 3, wherein the automatic tailor-welding production unit for structural members further comprises a negative pressure fume extractor, the negative pressure fume extractor comprises an exhaust fan and a fume exhaust pipeline connected with the exhaust fan, an exhaust outlet of the fume exhaust pipeline is connected with the fume purification mechanism, an exhaust inlet of the fume exhaust pipeline is arranged on the welding manipulator (31) through a hose, and the exhaust fan is electrically connected with the automatic tailor-welding controller.
9. The automatic tailor-welding production unit for structural members according to claim 1, 2 or 3, wherein the datum locator vertical plate (13) is installed on the top plane of the tailor-welding platform (12) through a translational coordinate assembly with respect to the datum central position of the tailor-welding platform (12), and the translational coordinate assembly of the datum locator vertical plate (13) is electrically connected with the station controller.
10. The automatic tailor-welding production unit for structural members according to claim 1, 2 or 3, wherein the part positioning mechanism I of the tailor-welding platform (12) is a plurality of positioning blocks arranged relative to a reference center position of the tailor-welding platform (12), and the positioning blocks are mounted on a top plane of the tailor-welding platform (12) through a translational coordinate assembly, and the translational coordinate assembly of the part positioning mechanism I is electrically connected with the station controller.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113977054A (en) * | 2021-12-17 | 2022-01-28 | 江阴中南重工有限公司 | Plasma automatic welding device and processing method thereof |
| CN114406559A (en) * | 2022-01-26 | 2022-04-29 | 中国铁建电气化局集团有限公司 | Mechanical arm zero returning device and method for automatic welding equipment |
| CN114842079A (en) * | 2022-04-23 | 2022-08-02 | 四川大学 | Device and method for measuring pose of prefabricated intermediate wall in shield tunnel |
| CN115070289A (en) * | 2022-08-05 | 2022-09-20 | 芜湖行健智能机器人有限公司 | Intelligent short straight pipe flange welding system and method |
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2021
- 2021-03-29 CN CN202110333671.XA patent/CN113210933A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113977054A (en) * | 2021-12-17 | 2022-01-28 | 江阴中南重工有限公司 | Plasma automatic welding device and processing method thereof |
| CN114406559A (en) * | 2022-01-26 | 2022-04-29 | 中国铁建电气化局集团有限公司 | Mechanical arm zero returning device and method for automatic welding equipment |
| CN114842079A (en) * | 2022-04-23 | 2022-08-02 | 四川大学 | Device and method for measuring pose of prefabricated intermediate wall in shield tunnel |
| CN114842079B (en) * | 2022-04-23 | 2023-09-19 | 四川大学 | Equipment and method for measuring pose of prefabricated intermediate wall in shield tunnel |
| CN115070289A (en) * | 2022-08-05 | 2022-09-20 | 芜湖行健智能机器人有限公司 | Intelligent short straight pipe flange welding system and method |
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