CN113210945A - Middle assembly welding device, plane segmentation assembly line and middle assembly welding method - Google Patents
Middle assembly welding device, plane segmentation assembly line and middle assembly welding method Download PDFInfo
- Publication number
- CN113210945A CN113210945A CN202110558338.9A CN202110558338A CN113210945A CN 113210945 A CN113210945 A CN 113210945A CN 202110558338 A CN202110558338 A CN 202110558338A CN 113210945 A CN113210945 A CN 113210945A
- Authority
- CN
- China
- Prior art keywords
- welding
- assembly
- robot
- sliding
- assembling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000003466 welding Methods 0.000 title claims abstract description 357
- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000011218 segmentation Effects 0.000 title abstract description 8
- 238000004519 manufacturing process Methods 0.000 claims abstract description 31
- 230000007935 neutral effect Effects 0.000 claims abstract 6
- 230000007246 mechanism Effects 0.000 claims description 20
- 238000004088 simulation Methods 0.000 claims description 16
- 238000004140 cleaning Methods 0.000 claims description 12
- 230000000903 blocking effect Effects 0.000 claims description 8
- 238000007726 management method Methods 0.000 claims description 4
- 238000009826 distribution Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 description 13
- 230000033001 locomotion Effects 0.000 description 7
- 210000000988 bone and bone Anatomy 0.000 description 6
- 230000009194 climbing Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 230000003014 reinforcing effect Effects 0.000 description 5
- 238000004458 analytical method Methods 0.000 description 4
- 230000000712 assembly Effects 0.000 description 4
- 238000000429 assembly Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000005094 computer simulation Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 238000012916 structural analysis Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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
-
- 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
Abstract
The invention belongs to the technical field of ships, and particularly discloses a middle assembly welding device, a plane segmentation assembly line and a middle assembly welding method. Wherein, well assemblage welding set includes: the two rails extend along the Y direction and are arranged at intervals along the X direction; welding frock is provided with two at least along Y direction interval, and every welding frock all includes portal and welding robot, and welding robot is provided with two at least along X direction interval, and every welding robot homoenergetic slides along X direction, Y direction and Z direction on the portal. The plane subsection production line comprises the assembling and welding device. The neutral assembly welding method performs welding of the neutral assembly member using the neutral assembly welding apparatus as described above. The assembling and welding device, the plane subsection production line and the assembling and welding method disclosed by the invention can improve the welding efficiency and the welding quality of the assembling and welding component.
Description
Technical Field
The invention relates to the technical field of ships, in particular to a middle assembly welding device, a plane segmentation assembly line and a middle assembly welding method.
Background
In the manufacturing process of ship sections or steel structures, the ship sections or the steel structures are generally divided into a plurality of middle assemblies to be processed and then assembled into complete sections, and for shipyards, the middle assemblies in straight areas are generally arranged on a plane section production line to be manufactured so as to form beat-type production.
On the plane segmentation production line, efficient welding equipment is arranged on a plate splicing station and a longitudinal rib welding station for automatic welding, and rib plate welding work of the middle assembly is arranged on the rib plate welding station. The rib plate welding of assemblage in current adopts artifical manual work to go on usually, and welding efficiency is low, and welding quality has great relation with welder's technical level, and the welding seam shaping is relatively poor and unstable, is difficult to guarantee the processingquality and the processing uniformity of assemblage in, and can influence the whole takt of production of plane segmentation assembly line.
Disclosure of Invention
One object of the present invention is to provide a welding device for central assembly, which can automatically weld the rib plates on the central assembly members, and improve the welding quality, the welding efficiency and the welding automation.
Another object of the present invention is to provide a flat sectional flow line to improve the production efficiency and production automation of the flat sectional flow line.
Still another object of the present invention is to provide a welding method for intermediate assembly to improve welding efficiency, welding quality and welding automation of the intermediate assembly member.
In order to achieve the purpose, the invention adopts the following technical scheme:
a mid-assembly welding device comprising:
the two rails extend along the Y direction and are arranged at intervals along the X direction;
welding frock is provided with two at least along Y direction interval, and every welding frock all includes portal and welding robot, and the portal strides and establishes two on the track and two lower extremes respectively with the track sliding connection that corresponds, welding robot is provided with two at least along X direction interval, and every welding robot homoenergetic follow on the portal X direction Y direction and Z direction slide.
As a preferred technical scheme of the assembling and welding device, the gantry comprises two longitudinal support frames which are opposite along the X direction and are arranged at intervals, each longitudinal support frame comprises two upright columns which are opposite along the Y direction and are arranged at intervals and a bottom beam which is connected between the lower ends of the two upright columns, and the bottom beam is connected with the track in a sliding manner;
two the top of indulging the support frame is connected with the horizontal braces frame, the horizontal braces frame is the rectangular frame structure, welding robot is located the inboard of rectangular frame structure.
As a preferred technical solution of the intermediate assembly welding device, each of the welding robots is slidably connected to the gantry through a sliding mechanism, and the sliding mechanism includes:
the sliding beam is arranged along the Y direction, and two ends of the sliding beam are respectively connected with the two top cross beams of the transverse supporting frame in a sliding manner;
the X-direction driving assembly is used for driving the sliding beam to slide along the X direction;
the mounting frame is arranged on the sliding beam in a sliding mode, and the welding robot is arranged on the mounting frame in a sliding mode;
the Y-direction driving assembly is used for driving the mounting rack to slide along the Y direction;
and the Z-direction driving assembly is used for driving the welding robot to slide along the Z direction relative to the mounting frame.
As a preferred technical scheme of assembling the welding device in the middle, the mounting frame includes a bottom frame portion and a blocking frame portion vertically arranged on the periphery of the bottom frame portion, the blocking frame portion and the bottom frame portion surround to form an accommodating space with an opening facing the welding robot, a welding control box is arranged in the accommodating space, and the welding control box is electrically connected with the X-direction driving assembly, the Y-direction driving assembly, the Z-direction driving assembly and the welding robot.
The utility model provides a plane segmentation assembly line, includes makeup station, longitudinal bone welding station and the floor welding station that set gradually along the assembly line direction, be provided with on the floor welding station as above well assemblage welding set.
An intermediate assembly welding method for welding intermediate assembly members using the intermediate assembly welding device as described above, comprising the steps of:
constructing a three-dimensional simulation model of the middle assembly component;
generating a welding program in a simulation way;
conveying the assembled middle assembling component to the lower part of the door frame;
carrying out position calibration on the middle assembly component;
and automatically welding, wherein the welding robots synchronously and automatically weld the welding seams to be welded in the middle assembly component according to the position calibration and the welding program.
As a preferred technical solution of the intermediate assembly welding method, before the automatic welding and after the position calibration, the method further includes: and adjusting the positions of two adjacent welding tools according to the dimension of the middle assembly component in the Y direction and the position calibration.
As a preferred technical solution of the intermediate assembly welding method, the simulation generation welding program includes:
determining the number of welding seams, the positions of the welding seams and the characteristic parameters of each welding seam based on the three-dimensional simulation model;
confirming the welding area of each welding robot according to the number of the welding seams, the positions of the welding seams and the number and distribution of the welding robots;
and planning a welding path of each welding robot based on the welding area.
As a preferred technical scheme of the assembling welding method, when the welding robot performs welding, the data acquisition module automatically monitors and acquires welding data;
and after the automatic welding is finished, storing the welding data into a database of a workshop management and control system.
As a preferable technical solution of the intermediate assembly welding method, the intermediate assembly welding method further includes the steps of:
the automatic gun cleaning device comprises a welding robot, a gun cleaning device and a control device, wherein the welding robot finishes the gun cleaning work of a welding gun head according to a set welding program after completing the welding of a plurality of welding seams;
and after the automatic gun cleaning operation is finished, the welding robot automatically searches the next welding line and welds the welding line based on the welding program.
The invention has the beneficial effects that:
according to the middle assembly welding device provided by the invention, when the middle assembly component is required to be welded, the middle assembly component is conveyed between the two rails and is positioned below the portal, and the welding robot can slide along the direction X, Y and the Z direction, so that the automatic welding of a longitudinal welding seam and a vertical welding seam on the middle assembly component can be realized, and the welding efficiency and the welding quality of a rib plate on the middle assembly component are improved; more than two welding tools capable of sliding on the rail are arranged at intervals in the Y direction, and more than two welding robots are arranged on each welding tool at intervals in the X direction, so that the plurality of welding robots can weld the same assembly member at the same time, and the welding efficiency is further improved; and because the welding tool is provided with more than two welding tools, the sliding of the welding tools on the rail can be reduced or avoided in the process of assembling and welding, and the welding efficiency is improved.
According to the plane subsection production line provided by the invention, the rib plates are welded by arranging the middle assembling and welding device on the rib plate welding station, so that the production efficiency, the production automation and the production quality of the plane subsection production line can be improved.
According to the intermediate assembly welding method provided by the invention, the ribbed plates on the intermediate assembly are welded by adopting the intermediate assembly welding device, so that the ribbed plate welding efficiency, the welding quality and the welding automation can be improved.
Drawings
Fig. 1 is a schematic structural diagram of a middle assembly welding device according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a middle assembly member provided in the second embodiment of the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 2 at I;
FIG. 4 is a schematic view of a part of a welding apparatus for assembling a welding device according to an embodiment of the present invention;
FIG. 5 is an enlarged view of a portion of FIG. 4 at J;
fig. 6 is a flowchart of a method for assembly welding according to a second embodiment of the present invention.
The figures are labeled as follows:
100. assembling a welding device; 200. a middle assembling component; 201. an outer plate; 202. an outsole longitudinal bone; 203. a stringer plate; 204. longitudinal rib plates; 205. a cross rib plate; 206. a vertical weld; 207. longitudinal weld seams; 208. longitudinal reinforcing ribs; 209. transverse reinforcing rib plates;
1. a track; 11. a base; 12. a guide rail; 2. a gantry; 21. a longitudinal support frame; 211. a column; 212. a bottom beam; 22. a transverse support frame; 221. a top beam; 222. a top stringer; 23. a fence; 24. climbing a ladder; 25. a guardrail; 3. a welding robot; 31. a cantilever beam; 32. welding a manipulator; 4. a sliding mechanism; 41. a sliding beam; 411. a main beam portion; 412. a sliding mounting portion; 42. a mounting frame; 421. a bottom frame portion; 422. a frame retaining portion; 423. a mounting frame portion; 43. an elastic buffer member; 5. a gantry drive mechanism; 51. a gantry drive motor; 52. a rack; 53. an electric cabinet; 6. a guide roller; 7. a control panel; 8. and (4) welding a control box.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
Example one
As shown in fig. 1, the present embodiment provides a middle assembly welding device 100, which can be applied to the field of ship production and manufacturing, and is used for automatically welding middle assembly members in ship segment production, and can better integrate the welding process of the middle assembly members into a plane segment production line, thereby improving the production efficiency of the plane segment production line and ensuring the production tact of the plane segment production line.
As an example, fig. 2 provides a typical intermediate erection member 200 in ship production, which includes an outer plate secondary intermediate erection, a stringer small erection, a longitudinal rib plate 204, a transverse rib plate 205, and the like. Wherein, assemblage includes the outer panel 201 that sets up along the XY plane and sets up the outsole longitudinal bone 202 on outer panel 201 along X direction interval in the outer panel secondary, and outer panel 201 is formed by a plurality of boards concatenation, and outer panel 201 is assembled the welding at the makeup station of plane segmentation assembly line. The outer bottom longitudinal bone 202 extends along the Y direction, and the outer bottom longitudinal bone 202 is assembled on the outer plate 201 and welded at a longitudinal bone welding station of the plane section production line; the small stringer assembly comprises a stringer plate 203 extending along the Y direction, and a longitudinal reinforcing rib 208 and a transverse reinforcing rib plate 209 which are arranged on the stringer plate 203, wherein the stringer plate 203 can be formed by welding a plurality of rectangular plates assembled along the Y direction; the longitudinal rib plates 204 extend along the Y direction, at least two longitudinal rib plates are arranged at intervals along the X direction, and a longitudinal girder small assembly is arranged between every two adjacent longitudinal rib plates 204; the plurality of cross ribs 205 are provided at intervals in the Y direction, and are connected between the adjacently provided longitudinal rib 204 and the longitudinal girder 203, and each cross rib 205 is connected to a side of the longitudinal girder 203 on which the longitudinal reinforcing rib 208 is not provided.
As shown in fig. 2 and 3, a longitudinal weld 207 extending in the Y direction is formed at the joint of the longitudinal rib plate 204 and the outer plate 201, a vertical weld 206 extending in the Z direction is formed at the joint of the transverse rib plate 205 and the longitudinal rib plate 204 and at the joint of the transverse rib plate 205 and the longitudinal girder plate 203, and the longitudinal weld 207 and the vertical weld 206 are welded by the intermediate erection welding device 100 provided in this embodiment.
It should be noted that the structure of the intermediate assembly member 200 provided in fig. 2 is an exemplary structure, and the intermediate assembly welding device 100 provided in this embodiment can also weld intermediate assembly members 200 of other structural forms, for example, as long as the intermediate assembly structure does not have a stringer group or a stringer group arrangement structure different from that in fig. 2, or as long as the intermediate assembly structure does not have a cross rib plate, and the like, as long as the rib plate and the outer plate form a longitudinal weld seam or a transverse weld seam, the specific structure of the intermediate assembly member 200 is not further limited in the present invention.
As shown in fig. 1, 4 and 5, the intermediate assembly welding device 100 includes a rail assembly and a welding tool. The track assembly comprises two tracks 1 arranged at intervals along the X direction, and each track 1 extends along the Y direction; at least two welding tools are arranged at intervals along the Y direction, each welding tool comprises a portal frame 2 and a welding robot 3, the portal frames 2 are arranged on the two rails 1 in a spanning mode, and the two lower ends of each portal frame are respectively connected with the corresponding rail 1 in a sliding mode; welding robot 3 is provided with two at least along the X direction interval, and every welding robot 3 homoenergetic slides along X direction, Y direction and Z direction on portal 2.
In the intermediate assembling and welding device 100 provided by the embodiment, when the intermediate assembling and welding member 200 needs to be welded, the intermediate assembling and welding member 200 is conveyed between the two rails 1 and below the gantry 2, and the welding robot 3 can slide along the direction X, Y and the direction Z, so that the longitudinal welding seam 207 and the vertical welding seam 206 on the intermediate assembling and welding member 200 can be automatically welded, and the welding efficiency and the welding quality of the rib plates (including the cross rib plate 205 and the longitudinal rib plate 204) on the intermediate assembling and welding member 200 are improved; more than two welding tools capable of sliding on the rail 1 are arranged at intervals along the Y direction, and more than two welding robots 3 are arranged at intervals along the X direction on each welding tool, so that the plurality of welding robots 3 can weld the same middle assembly component 200 at the same time, and the welding efficiency is further improved; and because be provided with more than two welding frock, can assemble the component 200 welding process in the centre, reduce or avoid the slip of welding frock on track 1, improve welding efficiency.
In this embodiment, the welding tool is provided with two, and each welding tool is provided with two welding robots 3. In other embodiments, the number of the welding tools may also be more than two, or the number of the welding robots 3 on the same welding tool may also be more than two, and the number of the welding tools and the number of the welding robots 3 on each welding tool may be set as required, for example, the number of the welding robots 3 on each welding tool may be determined according to the number of the longitudinal ribs 204 on the middle assembling member 200.
Specifically, the gantry 2 includes two longitudinal support frames 21 arranged at intervals along the X direction and a transverse support frame 22 connected between the top ends of the two longitudinal support frames 21, and the lower end of each longitudinal support frame 21 is slidably arranged on the corresponding track 1. The longitudinal support frame 21 comprises two vertical columns 211 arranged at intervals along the Y direction and a bottom beam 212 connected between the lower ends of the two vertical columns 211, the bottom beam 212 is welded with the lower ends of the vertical columns 211, and the bottom beam 212 is connected with the track 1 in a sliding manner.
Preferably, in order to improve the operation stability of the gantry 2, a longitudinal guide assembly is arranged between the track 1 and the bottom beam 212. In this embodiment, the longitudinal guide assembly comprises a guide roller 6, the end of the bottom beam 212 is connected with a mounting plate, the guide roller 6 is rotatably mounted on the mounting plate, the rotating shaft of the guide roller 6 is vertically arranged, and the guide roller 6 is in rolling connection with the side wall of the track 1. One guide roller 6 is provided on each of opposite sides of the track 1.
By providing the guide roller 6, the movement of the bottom beam 212 can be guided, and friction when the bottom beam 212 moves can be reduced. In other embodiments, a slider slidably engaged with the rail 1 may be attached to the base beam 212 for sliding guidance. Further, the longitudinal guide assemblies are provided in groups at both ends of the bottom beam 212, respectively, to further improve the guiding stability and the moving reliability of the gantry 2.
The track 1 preferably comprises a base 11 laid on the ground and a guide rail 12 detachably arranged on the upper surface of the base 11, the guide roller 6 being located above the base 11 and slidably connected to the side wall of the guide rail 12. Through setting up base 11 and guide rail 12, can improve track 1's whole bearing capacity, and convenient processing and equipment.
To achieve the automatic movement of the gantry 2 on the track 1, the intermediate assembly welding apparatus 100 further includes a gantry driving mechanism 5, and the gantry driving mechanism 5 is configured to drive the gantry 2 to move in the Y direction. In the present embodiment, the gantry driving mechanism 5 is provided one for each longitudinal support frame 21, so as to reduce the driving force required by each gantry driving mechanism 5, and avoid providing a synchronous transmission structure between the two rails 1.
Preferably, the gantry driving mechanism 5 includes a gantry driving motor 51, a driving gear connected to an output shaft of the gantry driving motor 51, and a rack 52 laid on one side of the guide rail 12, the gantry driving motor 51 is mounted on the base beam 212, the output shaft thereof is disposed in the Z direction, and the driving gear is engaged with the rack 52. That is, the gantry driving mechanism 5 provided in the present embodiment drives the driving gear to rotate through the gantry driving motor 51, so as to move the driving gear along the rack 52, that is, the gantry 2 moves along the Y direction.
Further, the middle of the bottom beam 212 is concavely provided with a mounting groove, and the gantry driving motor 51 is mounted in the mounting groove, so that the exposure of the gantry driving motor 51 can be reduced, and the gantry driving motor 51 is protected. A speed reducer is connected between the gantry driving motor 51 and the driving gear, and is used for reducing the running speed of the bottom beam 212 and increasing the transmitted torque. The bottom beam 212 is further provided with an electric cabinet 53, and the electric cabinet 53 is electrically connected with the gantry driving motor 51 to control the operation of the gantry driving motor 51.
It is understood that other structural forms of the existing gantry driving mechanism 5 may also be adopted to realize the movement of the gantry 2 along the Y direction, such as the driving motor cooperating with the screw-nut mechanism, the driving motor cooperating with the sprocket-chain mechanism, or the driving motor cooperating with the belt transmission mechanism, and the like, which is not limited in this respect.
The lateral bracing frame 22 is a rectangular frame structure, and the welding robot 3 is located inside the rectangular frame structure and can slide on the lateral bracing frame 22 in the X direction, the Y direction, and the Z direction. Specifically, the horizontal support frame 22 includes two top longitudinal beams 222 that are opposite and spaced apart from each other along the X direction and two top cross beams 221 that are opposite and spaced apart from each other along the Y direction, the top longitudinal beams 222 extend along the Y direction, the top cross beams 221 extend along the X direction, both ends of the top longitudinal beams 222 are connected with the two top cross beams 221, and both ends of the top cross beams 221 are connected with the top ends of the two upright columns 211, respectively. The connection between the top cross beam 221 and the top longitudinal beam 222 and the connection between the top longitudinal beam 222 and the upright 211 are preferably welded to improve the structural stability of the portal 2. The spacing between the two top cross beams 221 is less than the spacing between the two top longitudinal beams 222.
In order to facilitate the disassembly, assembly and maintenance of the welding robot 3 on the gantry 2, the gantry 2 is further provided with a vertical climbing ladder 24 outside one of the upright posts 211, and the upper part of the climbing ladder 24 is surrounded by a guardrail 25 for preventing the worker from falling. Further, for providing protection to the staff, the rail 23 is enclosed to the outside of the horizontal support frame 22, and the rail 23 is formed with a notch facing the climbing ladder 24, so that the staff can conveniently go up and down the horizontal support frame 22 through the climbing ladder 24.
The welding robot 3 is connected with the gantry 2 in a sliding manner through a sliding mechanism 4. The sliding mechanism 4 includes a sliding beam 41, an X-direction driving assembly, a Y-direction driving assembly, a Z-direction driving assembly, and a mounting bracket 42. Wherein, the sliding beam 41 is arranged along the Y direction, and both ends are respectively connected with the two top beams 221 in a sliding manner; the X-direction driving assembly is used for driving the sliding beam 41 to move along the X direction; the mounting frame 42 is slidably arranged on the sliding beam 41, and the Y-direction driving assembly is used for driving the mounting frame 42 to move along the sliding beam 41; the welding robot 3 extends in the Z direction, and the welding robot 3 is attached to the mounting frame 42, and the Z-direction driving assembly is used for driving the welding robot 3 to slide in the Z direction with respect to the mounting frame 42.
The sliding beam 41 comprises a main beam portion 411 extending along the Y direction and sliding installation portions 412 arranged at two ends of the main beam portion 411, the mounting frame 42 is arranged on the main beam portion 411, the sliding installation portions 412 are in sliding connection with the top cross beams 221 on the corresponding sides, the width of the sliding installation portions 412 in the X direction is larger than that of the main beam portion 411 in the X direction, so that the contact area between the sliding installation portions 412 and the top cross beams 221 is increased, and the running stability of the sliding beam 41 is improved.
X can but not be limited to adopt the drive structure of driving motor cooperation sprocket chain to drive assembly and Y drive assembly, or adopt the drive structure of driving motor cooperation rack and pinion, and can realize linear motion's drive structure's form is comparatively common, and the specific structure of X to drive assembly and Y to drive assembly is not restricted to this embodiment. Preferably, the X-direction driving assemblies of the two sliding mechanisms 4 are respectively located on the two top beams 221, so as to avoid structural interference between the two sliding mechanisms 4 and improve the structural compactness.
In order to prevent the sliding beam 41 from colliding with another sliding beam 41 or a structure on the gantry 2 during the movement, elastic buffer members 43 are convexly disposed at two ends of the sliding mounting portion 412 of each sliding beam 41, and the elastic buffer members 43 are used for relieving collision impact and avoiding the sliding beam 41 from rigidly colliding with an external structure during the sliding process.
Further preferably, the two ends of each top beam 221 are provided with the elastic buffer 43, and the elastic buffer 43 on the top beam 221 is opposite to the elastic buffer 43 on the sliding installation portion 412, so as to avoid the sliding beam 41 from impacting or damaging the fence 23, and meanwhile, the sliding stroke of the sliding beam 41 can be better limited.
Further, in order to prevent the mounting bracket 42 from rigidly colliding with other structures during the moving process, an elastic buffer 43 is also arranged at the top of each sliding mounting portion 412 and at a position facing the main beam portion 411, and the elastic buffer 43 is used for buffering collision impact between the mounting bracket 42 and the sliding beam 41, and meanwhile, the movement limit of the mounting bracket 42 along the Y direction can also be realized.
The elastic buffer 43 may be, but is not limited to, an elastic washer, a hydraulic buffer, etc., and the present invention is not limited to a specific type and structure of the elastic buffer 43.
In this embodiment, the mounting frame 42 is a frame structure, and includes a bottom frame portion 421 and a blocking frame portion 422 vertically arranged around the periphery of the mounting bottom frame portion 421, and the blocking frame portion 422 is a U-shaped structure with an opening facing the welding robot 3. The bottom frame portion 421 and the blocking frame portion 422 surround to form an accommodating space with an opening facing the welding robot 3. The bottom frame portion 421 has a mounting frame portion 423 extending downward from an opening side of the blocking frame portion 422, the mounting frame portion 423 is connected to the welding robot 3, and the mounting frame portion 423 is slidably connected to the main beam portion 411.
The welding robot 3 comprises a cantilever beam 31 and a welding manipulator 32, the cantilever beam 31 is slidably connected with the mounting rack 42, the driving component drives the cantilever beam 31 to move along the Z direction relative to the mounting rack 42, and the welding manipulator 32 is connected to the lower end of the cantilever beam 31 and used for welding a welding seam. The welding robot 3 may adopt an existing mature product, and the present embodiment does not specifically limit the type and specific structure of the welding robot 3.
Preferably, for the realization to welding robot 3's welding control, well assemblage welding frock still includes welding control system, and it can realize actions such as automatic seek position, striking, welding seam tracking, arc-closing through welding control system welding robot 3, accomplishes the automatic weld of well assemblage welding seam.
The welding control system comprises a control panel 7 arranged on the upright post 211 and a welding control box 8 arranged in the accommodating space, and the welding control panel 7, the X-direction driving assembly, the Y-direction driving assembly, the Z-direction driving assembly and the welding manipulator 32 are electrically connected with the welding control box 8. The control panel 7 is used for storing, inputting or loading a welding program, and sending a control command to the welding control box 8 based on the welding program to control the actions of each part, so as to realize the automatic operation of welding.
Preferably, in order to monitor the welding process, the welding control system further comprises a data acquisition module, and the data acquisition module is used for acquiring welding process data to facilitate subsequent checking of the welding process. The data acquisition module may be a visual acquisition module that can be connected to the cantilever beam 31 of the welding robot 3 to acquire the welding action of the welding robot 32. The data acquisition module may also be other existing modules capable of realizing data acquisition, and the present invention is not limited in this respect.
The embodiment of the invention also provides a plane subsection production line, which comprises a plate splicing station, a longitudinal frame welding station and a rib plate welding station which are sequentially arranged along the direction of the production line, wherein the rib plate welding station is provided with the middle assembling welding device.
Example two
As shown in fig. 6, the present embodiment provides a middle-assembling welding method, which uses the middle-assembling welding device provided in the first embodiment to perform a welding operation on a rib plate in a middle-assembling member.
The intermediate assembling welding method provided by the embodiment mainly comprises the following steps:
step S1, constructing a three-dimensional simulation model of the assembly member 200
In the production design stage, three-dimensional simulation modeling and structural analysis are carried out on the assembled component needing to be welded through three-dimensional modeling software.
The three-dimensional simulation modeling is to establish a three-dimensional virtual model in the same proportion as the medium assemblage component 200, and the three-dimensional modeling can be generated by integrated software for designing and constructing ships and marine projects, or by software construction such as three-dimensional mechanical design software.
Step S2, simulation generation welding program
The established three-dimensional simulation model of the well-established middle assembly component 200 is imported into welding simulation software, and simulation analysis is carried out on the three-dimensional simulation model through the welding simulation software, wherein the simulation analysis mainly comprises the following contents: structural element analysis, welding seam calculation, welding seam tracking, start and stop point locating, welding seam path planning and the like.
The structural element analysis mainly analyzes the positions and the connection relations of the parts in the assembly member 200, and confirms the number of the welding seams and the positions of the welding seams according to the positions and the connection relations of the parts.
The weld calculation is mainly used for calculating characteristic parameters of each weld, such as weld azimuth, groove form, weld width, the radius of an overweld hole at the start and stop point of the weld, the thickness of plates connected by the weld and the like.
In this embodiment, preferably, the simulation generation welding program further includes: and determining the welding area of each welding robot according to the number of the welding seams, the positions of the welding seams and the number and distribution of the welding robots.
In principle, the welding areas of each welding robot do not interfere to avoid collision of the welding robots 3 during welding. As in the present embodiment, since there are two longitudinal ribs 204, two welding robots 3 on the same welding tool can be respectively responsible for welding the two longitudinal ribs 204. In other embodiments, two welding robots 3 on the same welding tool may be respectively responsible for welding the welding seams on two sides of the same rib plate.
After the welding area planning is completed, based on the welding area, the welding parameters and the welding path are planned for each welding robot 3.
The welding parameters comprise the selection of welding materials, the selection of a welding mode, the positions of a start point and a stop point and the like, and the determination of the welding parameters can be confirmed according to the characteristic parameters of a welding seam in a welding area.
And generating a welding program according to the simulation result.
And step S4, conveying the assembling and erecting component 200 to the lower part of the door frame 2.
In this embodiment, the intermediate assemblage member 200 is preferably conveyed below the portal 2 using an automatic conveying device in a flat sectional line.
Step S4, calibrating workpiece
The assembly component 200 to be welded is calibrated by means of a visual recognition device.
The base point, the X direction, and the Y direction are specified on the intermediate assembling member 200 by the visual recognition device. Specifically, as shown in fig. 3, the O point position is calibrated on the outer plate 201 side of the middle assembling member 200, the X point is selected in the X direction and the Y point is selected in the Y direction with the O point as a base point, and the distance between OX and OY is selected within the controllable range of the welding robot 3. And a coordinate system is constructed through O, X and the Y point, and the position and the coordinate of the assembled component 200 are calibrated.
Step S5, automatic welding
The welding program generated in step S2 is imported into the control panel 7 of the intermediate-assemblage welding device 100, and the corresponding welding process parameters are loaded. After the welding robot 3 automatically reads the welding program, the welding robot automatically confirms the welding starting point and the welding track according to the welding program and the coordinate system calibrated by the assembly members.
In the welding process, the welding robot 3 completes the seam tracking according to the arc tracking technology, and during welding, after the current longitudinal seam 207 or vertical seam 206 is welded, automatically searches the next longitudinal seam 207 or vertical seam 206 for automatic welding.
Preferably, before automatic welding, the welding area of the welding robot 3 can be calibrated according to the position of the middle assembling component 200, and the distance between two adjacent welding tools is adjusted, so that the welding tools are located at the most suitable welding position, and preferably, the welding area corresponding to the welding robot is located in the moving range of the welding robot, that is, the welding of all welding seams in the welding area can be realized only by the movement of the welding robot 3 in the X direction, the Y direction and the Z direction on the gantry 2, and the moving frequency of the welding tools in the welding process is reduced, so that the welding efficiency is improved, and the welding cost is reduced.
Step S6, automatic gun cleaning
In the welding process, after the welding robot 3 completes the welding of a plurality of welding seams (including the longitudinal welding seam 207 or the vertical welding seam 206), the welding robot 3 completes the gun cleaning work of the welding gun head according to a preset welding program, and after the gun cleaning is completed, the next welding seam is automatically searched and the welding is continued.
The time interval for cleaning the welding gun may be determined according to the type of flux, etc., and the present invention does not specifically set this.
Step S7, data acquisition
After welding, the welding process data packet is automatically formed through the data acquisition module, stored in a database of the welding control system, can be accessed by a workshop management and control system, realizes data acquisition, interconnection and display, realizes accurate manufacturing, and realizes digital management and control and intelligent manufacturing with data and information traceable and displayable.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. An intermediate assembly welding device, comprising:
the rail (1) extends along the Y direction, and two rails are arranged at intervals along the X direction;
welding frock is followed the Y direction interval is provided with two at least, every welding frock all includes portal (2) and welding robot (3), establish in portal (2) stride track (1) are gone up and two lower extremes respectively with correspond track (1) sliding connection, welding robot (3) are followed the X direction interval is provided with two at least, and every welding robot (3) homoenergetic is followed on portal (2) the X direction Y direction and Z direction slide.
2. The assembly welding device according to claim 1, characterized in that the gantry (2) comprises two longitudinal support frames (21) which are arranged oppositely and at intervals along the X direction, each longitudinal support frame (21) comprises two upright columns (211) which are arranged oppositely and at intervals along the Y direction and a bottom beam (212) which is connected between the lower ends of the two upright columns (211), and the bottom beam (212) is connected with the track (1) in a sliding way;
two the top of indulging support frame (21) is connected with horizontal bracing frame (22), horizontal bracing frame (22) are the rectangular frame structure, welding robot (3) are located the inboard of rectangular frame structure.
3. The assembly welding device according to claim 2, characterized in that each welding robot (3) is slidingly connected to the gantry (2) by means of a sliding mechanism (4), said sliding mechanism (4) comprising:
the sliding beam (41) is arranged along the Y direction, and two ends of the sliding beam are respectively connected with the two top cross beams (221) of the transverse supporting frame (22) in a sliding manner;
an X-direction driving assembly for driving the sliding beam (41) to slide along the X direction;
a mounting frame (42) slidably disposed on the sliding beam (41), the welding robot (3) being slidably disposed on the mounting frame (42);
the Y-direction driving assembly is used for driving the mounting rack (42) to slide along the Y direction;
and the Z-direction driving component is used for driving the welding robot (3) to slide along the Z direction relative to the mounting frame (42).
4. The welding device of claim 3, wherein the mounting frame (42) comprises a bottom frame portion (423) and a blocking frame portion (421) vertically arranged at the periphery of the bottom frame portion (423), the blocking frame portion (421) and the bottom frame portion (423) surround to form an accommodating space with an opening facing the welding robot (3), a welding control box (9) is arranged in the accommodating space, and the welding control box (9) is electrically connected with the X-direction driving assembly, the Y-direction driving assembly, the Z-direction driving assembly and the welding robot (3).
5. A plane subsection production line is characterized by comprising a plate splicing station, a longitudinal rib welding station and a rib plate welding station which are sequentially arranged along the direction of the production line, wherein the rib plate welding station is provided with a middle assembly welding device as claimed in any one of claims 1 to 4.
6. A welding method for assembling, characterized in that welding of an assembling member (200) is performed using the assembling welding device according to any one of claims 1-4, and comprising the steps of:
constructing a three-dimensional simulation model of the medium assembling component (200);
generating a welding program in a simulation way;
conveying the assembled middle assembling component (200) to the lower part of the portal frame (2);
carrying out position calibration on the middle assembly component (200);
and (3) automatic welding, wherein the welding robots (3) synchronously and automatically weld the welding seams to be welded in the middle assembling component (200) according to the position calibration and the welding program.
7. The gang welding method of claim 6, further comprising, before the automatic welding and after the position calibration: and adjusting the positions of two adjacent welding tools according to the dimension of the middle assembling component (200) in the Y direction and the position calibration.
8. The neutral welding method of claim 6, wherein the simulation generating welding program comprises:
determining the number of welding seams, the positions of the welding seams and the characteristic parameters of each welding seam based on the three-dimensional simulation model;
confirming the welding area of each welding robot (3) according to the number of welding seams, the positions of the welding seams and the number and distribution of the welding robots (3);
based on the welding area, a welding path planning is performed for each of the welding robots (3).
9. The neutral welding method according to claim 6, characterized in that the data acquisition module automatically monitors and acquires welding data while the welding robot (3) performs welding;
and after the automatic welding is finished, storing the welding data into a database of a workshop management and control system.
10. Welding method of neutral assembly according to any of claims 6-9, characterized in that it further comprises the steps of:
the automatic gun cleaning device comprises a welding robot (3), a gun cleaning device and a control device, wherein the welding robot (3) finishes the gun cleaning work of a welding gun head according to a set welding program after the welding robot (3) finishes the welding of a plurality of welding seams;
and after the automatic gun cleaning operation is finished, the welding robot (3) automatically searches the next welding line and welds the next welding line based on the welding program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110558338.9A CN113210945B (en) | 2021-05-21 | 2021-05-21 | Middle assembly welding device, plane segmentation assembly line and middle assembly welding method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110558338.9A CN113210945B (en) | 2021-05-21 | 2021-05-21 | Middle assembly welding device, plane segmentation assembly line and middle assembly welding method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113210945A true CN113210945A (en) | 2021-08-06 |
| CN113210945B CN113210945B (en) | 2023-03-28 |
Family
ID=77093821
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110558338.9A Active CN113210945B (en) | 2021-05-21 | 2021-05-21 | Middle assembly welding device, plane segmentation assembly line and middle assembly welding method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113210945B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201535736U (en) * | 2009-08-10 | 2010-07-28 | 鞍钢股份有限公司 | Fixture for clamping hardness test specimen |
| CN104191606A (en) * | 2014-09-25 | 2014-12-10 | 江苏大学 | Ball type laser transmission welding clamping device |
| CN108453356A (en) * | 2018-03-29 | 2018-08-28 | 江苏新时代造船有限公司 | A kind of complexity Zhong Zuli robots compression arc MAG welding methods |
| CN108465967A (en) * | 2018-05-29 | 2018-08-31 | 苏州五圣通机器人自动化有限公司 | A kind of high-efficient production line and its working method for the processing of angle steel Turbogrid plates |
| CN109352217A (en) * | 2018-10-29 | 2019-02-19 | 上海船舶工艺研究所(中国船舶工业集团公司第十研究所) | Robot on-line automatic welding equipment and weld job method are found by a kind of group |
| CN110711962A (en) * | 2019-10-24 | 2020-01-21 | 上海中船临港船舶装备有限公司 | Assembly robot welding device in boats and ships |
| CN110877687A (en) * | 2019-11-15 | 2020-03-13 | 沪东中华造船(集团)有限公司 | Intelligent manufacturing-oriented double-layer bottom segmentation design method for LNG ship |
| CN210464766U (en) * | 2019-11-05 | 2020-05-05 | 中信戴卡股份有限公司 | Spring pretightening force detection device |
| CN112404652A (en) * | 2020-11-09 | 2021-02-26 | 安徽博昌精密制造有限公司 | Sound barrier steel upright post robot automation equipment and welding process thereof |
| CN213105245U (en) * | 2020-09-26 | 2021-05-04 | 常州卓毅焊接设备有限公司 | Well assemblage robot welding set |
-
2021
- 2021-05-21 CN CN202110558338.9A patent/CN113210945B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201535736U (en) * | 2009-08-10 | 2010-07-28 | 鞍钢股份有限公司 | Fixture for clamping hardness test specimen |
| CN104191606A (en) * | 2014-09-25 | 2014-12-10 | 江苏大学 | Ball type laser transmission welding clamping device |
| CN108453356A (en) * | 2018-03-29 | 2018-08-28 | 江苏新时代造船有限公司 | A kind of complexity Zhong Zuli robots compression arc MAG welding methods |
| CN108465967A (en) * | 2018-05-29 | 2018-08-31 | 苏州五圣通机器人自动化有限公司 | A kind of high-efficient production line and its working method for the processing of angle steel Turbogrid plates |
| CN109352217A (en) * | 2018-10-29 | 2019-02-19 | 上海船舶工艺研究所(中国船舶工业集团公司第十研究所) | Robot on-line automatic welding equipment and weld job method are found by a kind of group |
| CN110711962A (en) * | 2019-10-24 | 2020-01-21 | 上海中船临港船舶装备有限公司 | Assembly robot welding device in boats and ships |
| CN210464766U (en) * | 2019-11-05 | 2020-05-05 | 中信戴卡股份有限公司 | Spring pretightening force detection device |
| CN110877687A (en) * | 2019-11-15 | 2020-03-13 | 沪东中华造船(集团)有限公司 | Intelligent manufacturing-oriented double-layer bottom segmentation design method for LNG ship |
| CN213105245U (en) * | 2020-09-26 | 2021-05-04 | 常州卓毅焊接设备有限公司 | Well assemblage robot welding set |
| CN112404652A (en) * | 2020-11-09 | 2021-02-26 | 安徽博昌精密制造有限公司 | Sound barrier steel upright post robot automation equipment and welding process thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113210945B (en) | 2023-03-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109108542A (en) | A kind of motor-car single-track turnout beam weldering robot workstation | |
| CN107498163B (en) | Production process and production equipment of steel plate wall component | |
| CN111618493A (en) | U rib welding system | |
| CN109794712A (en) | A kind of numerical control gantry welding connects marking machine and its welding tracking method | |
| CN112589444B (en) | Automatic welding production line for civil air defense door and welding method thereof | |
| CN110711962A (en) | Assembly robot welding device in boats and ships | |
| CN112355453A (en) | Passenger car side wall skin spot welding autonomous mobile robot system and working method | |
| CN110449800A (en) | U rib inside bottom position welding system | |
| CN115958322A (en) | Steel structure bridge member general assembly line and assembly method thereof | |
| CN112809129A (en) | Curved surface jointed board welding device and method based on line laser welding seam detection and tracking | |
| CN210209160U (en) | H shaped steel structure fast assembly welding set | |
| CN113210945B (en) | Middle assembly welding device, plane segmentation assembly line and middle assembly welding method | |
| CN108772580B (en) | H-shaped steel column bidirectional double-head horizontal drilling system | |
| US20040238507A1 (en) | Multi-head lasers cutting/welding cell with vibration control | |
| CN111112889A (en) | Automatic welding device | |
| CN115958337A (en) | Welding system and welding method for steel structure bridge member final assembly production line | |
| CN208840754U (en) | A kind of flexible connection component of motor-car single-track turnout beam soldering apparatus people's work station | |
| CN212858291U (en) | A guider for U rib outer welding | |
| CN211759145U (en) | Passenger car side wall skin spot welding autonomous mobile robot system | |
| CN110303223A (en) | A kind of planer-type welding robot and technique | |
| CN113770611A (en) | Intelligent welding robot for ship cabin | |
| CN113237468B (en) | Rapid measurement device for mounting of track interval bracket and measurement rechecking method | |
| CN115070277A (en) | Teaching-free intelligent special welding machine for welding symmetrical plates and control method | |
| CN113830668A (en) | Movable multi-layer guide rail device and installation and adjustment precision control method thereof | |
| CN205967767U (en) | Guide tracked automatic weld equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20210806 Assignee: Zhanjiang Nanhai Shipbuilding High tech Service Co.,Ltd. Assignor: CSSC HUANGPU WENCHONG SHIPBUILDING Co.,Ltd. Contract record no.: X2023980048830 Denomination of invention: A middle assembly welding device, a planar segmented assembly line, and a middle assembly welding method Granted publication date: 20230328 License type: Common License Record date: 20231130 |