CN114043057A - Automatic assembling equipment for bogie frame - Google Patents
Automatic assembling equipment for bogie frame Download PDFInfo
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- CN114043057A CN114043057A CN202111546596.1A CN202111546596A CN114043057A CN 114043057 A CN114043057 A CN 114043057A CN 202111546596 A CN202111546596 A CN 202111546596A CN 114043057 A CN114043057 A CN 114043057A
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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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/10—Spot welding; Stitch welding
- B23K11/11—Spot welding
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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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/36—Auxiliary equipment
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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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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Abstract
The invention provides automatic assembly equipment for a bogie frame, which relates to the technical field of rail transit vehicle manufacturing and comprises the following components: the automatic assembling equipment for the bogie frame provided by the invention combines the assembling and welding processes with intelligent process equipment and a control system, realizes full-period automatic production, and improves the product quality and the manufacturing efficiency.
Description
Technical Field
The invention relates to the technical field of rail transit vehicle manufacturing, in particular to automatic assembling equipment for a bogie frame.
Background
The bogie is one of the most important parts of the rail transit vehicle, is equivalent to the chassis of the rail transit vehicle, is a determinant factor of the safety, comfort and reliability of rail transit products, and relates to the running quality of the vehicle and the safety of passenger transportation.
Bogie frames are the most important load bearing structures, and are designed in a large number of conventional products using box-type structures, such as: side beams, cross beams, and bolster beams (bolster).
Traditional framework box part assembly and welding process are all manual work, but along with the continuous progress of science and technology, the level of equipment of domestic manufacturing is constantly promoted, and some mills have successively introduced framework welding robot for the welding of big welding seam, super large welding seam in the framework manufacturing process. However, the welding robots are in the form of a single workstation, and the degree of mechanization and automation of welding is improved, but the degree of intellectualization is reflected; the traditional robot workstation has poor applicability in framework welding, is only suitable for welding long straight welding beads and relatively regular parts, has a welding rate of about 20-50%, and needs manual welding for 50-80% of irregular welding beads; the welding position of the robot has very high requirements on product assembly, and especially has very strict requirements on the assembly consistency of the product; and the traditional welding workstation only adapts to a single welding function, and is still blank in the field of automatic assembly.
However, in the batch assembly process of the traditional components, the product structure is complex, the assembly steps are multiple, the product precision is not easy to control, the difficulty of the assembly process is high, the workpieces are positioned and assembled through various complex tools manually, the process is complex, the efficiency is low, the product quality is uneven, the consistency is affected, the welding process is greatly affected, particularly, the welding robot is involved in the welding process, the product assembly consistency is poor, the workpiece assembly gap and the position error are large, the defects of molten pool burning-through, welding bead deviation, fusion failure, undercut, poor forming and the like can occur in the welding process of the robot, and the fatal hidden danger exists for the product quality.
At present, for a complex process flow of a framework production process, automation and intelligent integration are not completely realized, a large number of manual stations are still needed to be inserted to carry out manual treatment on the whole manufacturing flow so as to realize single-station automatic equipment production, the problems are not thoroughly solved, in particular to an automatic assembly process, and the problems of complex assembly process, high tool input, low assembly efficiency, poor assembly product consistency and the like can directly restrict the production of subsequent processes; that is to say, the problem of automatic assembly of a framework is urgently needed to be solved at present, the defects of the traditional manual assembly process are thoroughly solved, the product quality and the efficiency are improved, and the assembly and welding processes are combined by intelligent process equipment and a control system to realize full-period automatic production.
Disclosure of Invention
The invention aims to provide automatic assembling equipment for a bogie frame, which is used for solving the problems in the prior art and improving the product quality and the manufacturing efficiency.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides automatic assembling equipment for a bogie frame, which comprises:
the central control system is used for controlling the operation of the whole line equipment;
the bulk pallet rack is used for bearing a plurality of workpieces required by assembling the whole workpiece;
the assembling welding positioner comprises a welding station, an assembling station and at least two assembling welding tool sets; the welding station and the assembling station are respectively provided with one group welding tool set, the positions of the group welding tool sets can be switched, each group welding tool set comprises at least two group welding tools, each group welding tool comprises a plurality of fixing tools, and each fixing tool is used for fixing each workpiece according to the posture required by assembling the whole workpiece; the positions of the plurality of assembling and welding tools can be mutually converted;
the assembly and transportation robot is used for transporting the workpieces on the bulk pallet rack to the fixed tooling for assembly and transporting the workpieces on the assembly welding tooling in the same assembly welding tooling group to other assembly welding tooling in the assembly welding tooling group;
the welding robot is used for welding the workpieces in the welding station and positioned on the same assembly welding tool;
the central control system is in communication connection with the assembling welding positioner, the assembling carrying robot and the welding robot and can control the assembling welding positioner, the assembling carrying robot and the operation of the welding robot.
Preferably, the spot welding machine further comprises a spot welding robot, the spot welding robot is in communication connection with the central control system, and the central control system is used for controlling the spot welding robot to perform spot welding treatment on the workpiece on the assembly welding tool and located in the assembly station.
Preferably, the assembly welding positioner comprises two supporting plates, two supports, an intermediate part, a base and a driving device, each assembly welding tool set comprises two assembly welding tools, one supporting plate corresponds to one assembly welding tool set, the same assembly welding tool set comprises two assembly welding tools, the two assembly welding tools are respectively arranged on one of the front and the back of the supporting plate, the intermediate part can be rotationally connected to the base along a first shaft, under the working state, the first shaft is a vertical shaft, the two supports can be rotationally arranged on the two sides of the intermediate part respectively around a second shaft, the supporting plate can be rotationally arranged on the support around a third shaft, the second shaft, the third shaft and the first shaft are perpendicular and intersect at one point, and the driving device can drive the supporting plate, the support and the intermediate part to rotate around the third shaft respectively, The second shaft and the first shaft rotate.
Preferably, the assembly welding tool comprises a positioning mechanism, a pressing mechanism, an automatic edge finder and a material in-place recognition sensor, the positioning mechanism is provided with a positioning surface for positioning the workpiece, the automatic edge finder can sense the position of the workpiece, the automatic edge finder is in communication connection with the central control system and can provide the position of the workpiece for the central control system, the central control system controls the assembly and handling robot to move the position of the workpiece to the position where the workpiece is in contact with the positioning surface according to the position information of the workpiece, and the material in-place recognition sensor recognizes that the workpiece is in place and then controls the pressing mechanism to press the workpiece.
Preferably, the assembling and carrying robot and the tack welding robot share a walking track, the central control system is in butt joint with a data center through MES and ERP systems, automatically receives orders and issues order tasks to the assembling and welding positioner, the assembling and carrying robot and the welding robot.
Preferably, the welding device further comprises a finished product workpiece storage mechanism, the finished product workpiece storage mechanism is used for storing whole finished products, and the assembly and transportation robot is used for transporting the welded whole finished products from the assembly and welding tool to the finished product workpiece storage mechanism.
Preferably, including a plurality of equipment positioner and with the same quantity of equipment positioner bulk cargo tray work or material rest, equipment positioner arranges in proper order along a straight line, and is a plurality of bulk cargo tray work or material rest arrange in proper order in one side of equipment positioner, the walking track set up in bulk cargo tray work or material rest with between the equipment positioner and along the direction of arrangement extension of equipment positioner, equipment transfer robot with the spot welding robot can move on the walking track.
Preferably, the equipment positioner is kept away from orbital one side of walking is provided with outside walking axle, outside walking axle also along the direction of arrangement of equipment positioner extends, welding robot can along outside walking axle removes, the equipment positioner is close to orbital one side of walking is the equipment station, the equipment positioner is close to one side of outside walking axle is the welding station.
Preferably, the bulk pallet rack comprises a pallet support frame, a material storage pallet and material positioning fixtures, the pallet support frame is used for fixing the material storage pallet, the material positioning fixtures are fixed on the upper portion of the material storage pallet through bolts, and different materials are placed in the corresponding material positioning fixtures according to respective appearance characteristics.
Preferably, the power structure of the pressing mechanism is an electric mechanism, a pneumatic mechanism or a hydraulic mechanism.
Compared with the prior art, the invention has the following technical effects:
the automatic assembling equipment for the bogie frame comprises a central control system, a spare part tray material rack, an assembling welding positioner, an assembling carrying robot and a welding robot, wherein the central control system is in communication connection with the assembling welding positioner, the assembling carrying robot and the welding robot and can control the operations of the assembling welding positioner, the assembling carrying robot and the welding robot, and the assembling and welding processes are combined by intelligent process equipment and a control system, so that full-period automatic production is realized, and the product quality and the manufacturing efficiency are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of an assembly welding positioner according to the present invention;
FIG. 3 is a schematic illustration of a product according to an embodiment of the invention;
FIG. 4 is a schematic view of a structure of a group welding tool according to the present invention;
FIG. 5 is a schematic view of a one-time assembly welding axial measurement structure of a first station of the assembly welding tool of the present invention;
FIG. 6 is a schematic view of an assembly welding tool, a station and a secondary assembly welding axial measurement structure in the invention;
in the figure, 1 is a bulk pallet rack; 2 is a walking track; 3, assembling and carrying robot; 4 is a spot welding robot; 5 is an assembly station; 6, assembling a welding positioner; 7 is a welding station; 8 is a welding robot; 9 is a welding robot portal frame; 10, a finished workpiece product; 11 is a supporting frame of the storage mechanism; 12 is a conveying chain; 13 is an assembly welding tool; 14, assembling a Z-direction rotating shaft of the welding positioner; 15. 17 is a Y-direction rotating shaft of the positioner; 16. 18 is an X-direction rotating shaft of the positioner; 19 is a tooling pallet; 20 is a first station of an assembly welding tool; 21 is an assembly welding tool II station; 22 is a positioning mechanism; 23 is an automatic edge finder; 24 is a material in-place identification sensor; and 25, a pressing mechanism.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide automatic assembling equipment for a bogie frame, which aims to solve the problems in the prior art and improve the product quality and the manufacturing efficiency.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The invention provides automatic assembling equipment for a bogie frame, which comprises the following components as shown in figures 1-6:
the central control system is used for controlling the operation of the whole line equipment;
the bulk pallet rack 1 is used for bearing a plurality of workpieces required by assembling the whole piece, and different workpieces can be respectively placed at different parts of the bulk pallet rack 1;
the assembling welding positioner 6 comprises a welding station 7, an assembling station 5 and at least two assembling welding tool sets; a group welding tool set is arranged in each of the welding station 7 and the assembling station 5, the positions of the group welding tool sets are switchable, each group welding tool set comprises at least two group welding tools 13, each group welding tool 13 comprises a plurality of fixing tools, and each fixing tool is used for fixing each workpiece according to the posture required by assembling the whole workpiece; the positions of the plurality of assembly welding tools 13 can be mutually converted; the structure of the assembling and welding positioner 6 can realize the process of assembling and welding a plurality of complex assemblies for a plurality of times, and the welding and assembling processes are independent and simultaneous, so that the assembling efficiency is improved;
the assembly and transportation robot 3 is used for transporting the workpieces on the bulk pallet rack 1 to a fixed tool for assembly and transporting the workpieces on the assembly welding tools 13 in the same assembly welding tool set to other assembly welding tools 13 in the assembly welding tool set; the assembly and transportation robot 3 carries a workpiece clamping fixture by a robot body, and can realize accurate grabbing on workpieces in the bulk pallet rack 1 through the clamping fixture;
the welding robot 8 is used for welding the workpieces in the welding station 7 and on the same assembly welding tool 13;
the central control system is in communication connection with the assembly welding positioner 6, the assembly transfer robot 3 and the welding robot 8 and can control the operation of the assembly welding positioner 6, the assembly transfer robot 3 and the welding robot 8.
The automatic assembling equipment for the bogie frame provided by the invention combines the assembling and welding processes with intelligent process equipment and a control system, realizes full-period automatic production, and improves the product quality and the manufacturing efficiency.
Further, bogie frame automatic assembly equipment still includes tack welding robot 4, welding equipment is installed to 4 ends of tack welding robot, tack welding robot 4 and central control system communication connection, central control system is arranged in control tack welding robot 4 and carries out the tack welding processing to the work piece that just is located same assembly welding frock 13 in assembly station 5, the tack welding is handled and is carried out the point connection between two work pieces, with the preliminary connection relation of work piece after the equipment, prevent that equipment welding positioner 6 from changing its relative position at the in-process that shifts, the great improvement of the precision of assembly of the aforesaid setting.
Further, as shown in fig. 2, the assembly welding positioner 6 includes two support plates, two supports, an intermediate part, a base and a driving device, the support plates are rectangular plates, the supports are C-shaped, the support plates are arranged at the open ends of the supports, the ends of the supports far away from the open ends are arranged on the intermediate part, each assembly welding tool set includes two assembly welding tools 13, one support plate corresponds to one assembly welding tool set, the two assembly welding tools 13 in the same assembly welding tool set are respectively arranged at the front and the back of one support plate, the intermediate part is rotatably connected to the base along a first axis, in a working state, the first axis is a vertical axis, namely a Z axis, the two supports are respectively rotatably arranged at two sides of the intermediate part around a second axis, the support plates are rotatably arranged on the supports around a third axis, the second axis, the third axis and the first axis are two pairs of vertical axes and intersect at one point, the driving device can drive the supporting plate, the support and the middleware respectively rotate around the third shaft, the second shaft and the first shaft, the supporting plate rotates to realize the conversion of the positions of two assembly welding tools 13 in the same assembly welding tool set, and the middleware rotates to realize the conversion of the positions between the two assembly welding tool sets, so that the structure can realize the conversion of the positions of the assembly welding tools 13, the independent assembling and welding processes of workpieces in the assembly welding tools 13 are facilitated, the rotating structure can realize the change of the structure of the assembly welding tools 13 and the inclination angles of the workpieces on the assembly welding tools, the assembly carrying robot 3 carries the workpieces to the assembly welding tools 13, the tack welding robot 4 carries out tack welding on the workpieces, and the welding robot 8 carries out welding on the workpieces on the assembly welding tools 13.
Further, the assembly welding tool 13 includes a positioning mechanism 22, a pressing mechanism 25, an edge finder 23, and a material in-place recognition sensor 24, the positioning mechanism 22 is provided with a positioning surface for positioning the workpiece, as shown in the figure, the positioning mechanism 22 in the embodiment of the present invention can position the workpiece through holes, surfaces, and sides of the steering frame member, the edge finder 23 can sense the position of the workpiece, the edge finder 23 includes a plurality of position or distance sensors, the edge finder 23 is in communication connection with a central control system, after the assembly transfer robot 3 clamps the workpiece and contacts the edge finder 23 in a plurality of directions, the central control system can automatically calculate the position of the workpiece, the central control system controls the assembly transfer robot 3 to move the position of the workpiece to contact the workpiece and the positioning surface according to the position information of the workpiece, the in-place recognition sensor 24 recognizes that the workpiece is in place and controls the pressing mechanism 25 to press the workpiece, the process of carrying out automatic handling, assembling and compressing tightly fixed to the workpiece is realized through the arrangement.
Further, the assembly transfer robot 3 and the tack welding robot 4 share one walking track 2, the assembly transfer robot 3 and the tack welding robot 4 move on the walking track 2, the central control system is in butt joint with a data center through MES and ERP systems, automatically receives orders and issues order tasks to the assembly welding positioner 6, the assembly transfer robot 3 and the welding robot 8, and the assembly welding positioner 6, the assembly transfer robot 3 and the welding robot 8 perform corresponding operations according to the issued order tasks.
Further, the automatic bogie frame assembling equipment further comprises a finished product workpiece storage mechanism, the finished product workpiece storage mechanism is used for storing whole finished products, the assembling and carrying robot 3 is used for carrying the welded whole finished products from the assembling and welding tool 13 to the finished product workpiece storage mechanism, and the finished product workpiece storage mechanism is a caching mechanism and realizes regular batch storage and taking of the workpieces.
Further, bogie framework automatic assembly equipment includes a plurality of equipment positioner 6 and the spare part tray work or material rest 1 with the same quantity of equipment positioner 6, equipment positioner 6 arranges in proper order along a straight line, a plurality of equipment positioner 6 independent operation, work efficiency has been improved, a plurality of spare part tray work or material rest 1 arrange in one side of equipment positioner 6 in proper order, walking track 2 sets up between spare part tray work or material rest 1 and equipment positioner 6 and extends along the array direction of equipment positioner 6, equipment transfer robot 3 and some solid welding robot 4 can move on walking track 2.
Further, one side of the assembly welding positioner 6, which is far away from the walking rail 2, is provided with an external walking shaft, the external walking shaft also extends along the arrangement direction of the assembly welding positioner 6, the welding robot 8 can move along the external walking shaft, one side of the assembly welding positioner 6, which is close to the walking rail 2, is an assembly station 5, and one side of the assembly welding positioner 6, which is close to the external walking shaft, is a welding station 7.
Further, the bulk material tray rack 1 comprises a tray support frame, a material storage tray and a material positioning clamp, the tray support frame is used for fixing the material storage tray, the material positioning clamp is fixed on the upper portion of the material storage tray through bolts, different materials are placed in the corresponding material positioning clamp according to respective appearance characteristics, the uniqueness of the placement positions of the materials with different characteristics can be achieved through the material positioning clamp, and the assembly and carrying robot 3 can conveniently and accurately identify the position of a workpiece.
Further, the power structure of the pressing mechanism 25 is an electric mechanism, a pneumatic mechanism or a hydraulic mechanism.
The invention provides a concrete application method of automatic assembling equipment of a bogie frame, which comprises the following steps:
the process flow comprises the following steps: primary assembling → secondary assembling → primary welding → tertiary assembling → secondary welding → finishing.
Primary assembly: the central control system automatically receives the current day order and arranges the production through MES and ERP systems, according to the current day order task, the materials in the bulk pallet 1 are filled with related materials according to the tooling positioning requirement, the finished information is input into the system, after the finished information is received, the assembly and transport robot 3 system is started, the No. 001 workpiece in the bulk pallet 1 is clamped and moved to the front of the assembly station 5 of the assembly welding positioner 6, the assembly welding positioner 6 rotates the X axis and the Y axis to the assembly angular position, the assembly and transport robot 3 clamps the workpiece, the No. 001 workpiece is placed in the position corresponding to the assembly welding tool 20 through the automatic edge finder 23 in the set orientation contact assembly welding tool 20 after the workpiece central position is aligned, the No. 001 workpiece is accurately positioned through the positioning mechanism 22, the material in-position identification sensor 24 detects the workpiece falling position, the pressing mechanism 25 is started to press the No. 001 workpiece; the assembling and carrying robot 3 continuously clamps and moves the No. 002 workpiece in the bulk pallet rack 1 to the front of an assembling station 5 of the assembling and welding positioner 6, the assembling and welding positioner 6 rotates an X axis and a Y axis to an assembling angular position, the assembling and carrying robot 3 clamps and clamps the workpiece 002, the workpiece 002 is contacted with an automatic edge finder 23 in a first station 20 through a set direction, after the central position of the workpiece is aligned, the No. 002 workpiece is placed in a position corresponding to the first station 20 of the assembling and welding tool, an automatic pressing mechanism 25 is started to press the No. 002 workpiece, and the tack welding robot 4 is started to operate to the assembling station 5 to tack weld the No. 001 and the No. 002 workpiece; repeating the operation for assembling the No. 003 and No. 004 once until the assembly for one time is finished;
secondary assembly: an assembling station 5 in an assembling and welding positioner 6 rotates an X axis, an assembling and welding tool is switched between a station 20 and a station 21, an assembling and carrying robot 3 grabs a secondary assembling 101 workpiece in a bulk material tray and moves to the front of the assembling station 5, the workpiece is assembled in the assembling and welding tool station 21, the assembling and carrying robot 3 clamps the workpiece 101, the workpiece is contacted with an automatic edge finder 23 in the assembling and welding tool station 21 through a set direction, the workpiece 101 is placed in a corresponding position of the assembling and welding tool station 21 after the central position of the workpiece is aligned, the workpiece 101 is accurately positioned through a positioning mechanism 22, and an automatic pressing mechanism 25 is started to press the workpiece 101 after a material in-place recognition sensor 24 detects the falling position of the workpiece; the X-axis of an assembly station 5 of an assembly welding positioner 6 rotates, an assembly welding tool is switched between a first station 20 and a second station 21, an assembly transfer robot 3 clamps a product which is assembled in the first station 20 once, the X-axis of the assembly welding positioner 6 in the assembly station 5 continues to rotate, the assembly welding tool is switched between the first station 20 and the second station 21, the assembly transfer robot 3 clamps a finished assembly product, the automatic edge finder 23 in the second station 21 is contacted through setting of the orientation, the workpiece center position is aligned, the workpiece which is assembled once is placed in a position corresponding to the assembly welding tool 21, an automatic pressing mechanism 25 is started to press the workpiece, and meanwhile, an tack welding robot 4 is started to operate to the assembly station 5 to tack weld the workpiece, and secondary assembly is completed;
primary welding: after the secondary assembly is finished, the assembly welding positioner 6 is started, a Z-direction rotating shaft of the assembly welding positioner 6 rotates, the assembly station 5 and the welding station 7 are switched, the secondary assembly product is positioned in the welding station 7 at the moment, and the welding robot 8 is started to weld the secondary assembly product; simultaneously, the assembly station 5 starts to carry out primary assembly and secondary assembly operation on the second set of products, and the primary assembly and secondary assembly operation steps are repeated;
and (3) assembling for three times: after primary welding of a first set of products and secondary assembly of two sets of products are completed, an assembly welding positioner 6 rotates in a Z-direction rotating shaft, an assembly station 5 and a welding station 7 are switched, at the moment, the first set of products is assembled for three times in the assembly station 5, an assembly and carrying robot 3 grabs a No. 201 workpiece assembled for three times in a bulk material tray and moves to the front of the assembly station 5, the workpiece is assembled in a No. 21 assembly tool, the assembly and carrying robot 3 clamps the workpiece 201, the workpiece is contacted with an automatic edge finder 23 in the assembly and carrying tool 21 through a set direction, after the central position of the workpiece is aligned, the No. 201 workpiece is placed in a position corresponding to the assembly and welding tool 21, an automatic pressing mechanism 25 is started to press the No. 201 workpiece, and meanwhile, a tack welding robot 4 is started to operate to the assembly station 5 to tack weld the workpiece, and the three times of assembly is completed; when the first set of workpieces is assembled for three times, the second set of workpieces is welded at a welding station 7 for one time;
and (3) secondary welding: after the first set of products are assembled for three times and the second set of products are welded for one time, the Z-direction rotating shaft of the assembling and welding positioner 6 rotates to switch the assembling station 5 and the welding station 7, the first set of products are moved to the welding station 7 for secondary welding, and the second set of products are moved to the assembling station 5 for three-time assembling;
the first set of products is completed: after the second welding of the first set of products is completed and the third assembly of the second set of products is completed, the Z-direction rotating shaft of the assembly welding positioner 6 rotates, the assembly station 5 and the welding station 7 are switched, the first set of products are moved to the assembly station 5 at the moment, the second set of products are moved to the welding station 7, the assembly and carrying robot 3 clamps the first set of products, moves the first set of products to a side of a finished product workpiece storage mechanism, places the workpieces on the conveying chain 12, and the first set of products are completed and are led out; then, carrying out primary assembly operation on a third set of workpieces, repeating the steps, and simultaneously carrying out secondary welding on the two sets of workpieces at a welding station 7; and repeating the steps to perform circulating operation on the workpiece.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. The utility model provides a bogie frame automatic assembly equipment which characterized in that: the method comprises the following steps:
the central control system is used for controlling the operation of the whole line equipment;
the bulk pallet rack is used for bearing a plurality of workpieces required by assembling the whole workpiece;
the assembling welding positioner comprises a welding station, an assembling station and at least two assembling welding tool sets; the welding station and the assembling station are respectively provided with one group welding tool set, the positions of the group welding tool sets can be switched, each group welding tool set comprises at least two group welding tools, each group welding tool comprises a plurality of fixing tools, and each fixing tool is used for fixing each workpiece according to the posture required by assembling the whole workpiece; the positions of the plurality of assembling and welding tools can be mutually converted;
the assembly and transportation robot is used for transporting the workpieces on the bulk pallet rack to the fixed tooling for assembly and transporting the workpieces on the assembly welding tooling in the same assembly welding tooling group to other assembly welding tooling in the assembly welding tooling group;
the welding robot is used for welding the workpieces in the welding station and positioned on the same assembly welding tool;
the central control system is in communication connection with the assembling welding positioner, the assembling carrying robot and the welding robot and can control the assembling welding positioner, the assembling carrying robot and the operation of the welding robot.
2. The truck frame automatic assembly machine of claim 1, characterized in that: still include the tack welding robot, the tack welding robot with central control system communication connection, central control system is used for controlling the tack welding robot is right in the equipment station and be located same on the assembly welding frock the work piece carries out the tack welding and handles.
3. The truck frame automatic assembly machine of claim 2, characterized in that: the equipment positioner includes two backup pads, two supports, middleware, base and drive arrangement, each the assembly welding frock group all includes two assembly welding frocks, one the backup pad is corresponding to one the assembly welding frock group, it is same two in the assembly welding frock group the assembly welding frock set up respectively in one the front and the back of backup pad, the middleware along the primary shaft can pivoted connect in on the base, under the operating condition, the primary shaft is vertical axle, two the support can set up in around the secondary shaft pivoted respectively in the both sides of middleware, the backup pad can set up in around the third axle pivoted on the support, the secondary shaft the third axle with the primary shaft two liang of vertically just intersect in a bit, drive arrangement can drive the backup pad the support and the middleware are respectively around the third axle, The second shaft and the first shaft rotate.
4. The truck frame automatic assembly machine of claim 1, characterized in that: the assembly welding tool comprises a positioning mechanism, a pressing mechanism, an automatic edge finder and a material in-place recognition sensor, wherein the positioning mechanism is provided with a positioning surface for positioning the workpiece, the automatic edge finder can sense the position of the workpiece, the automatic edge finder is in communication connection with the central control system and can provide the position of the workpiece for the central control system, the central control system controls the assembly carrying robot to move the position of the workpiece to the position where the workpiece is in contact with the positioning surface according to the position information of the workpiece, and the material in-place recognition sensor recognizes that the workpiece is in place and then controls the pressing mechanism to press the workpiece.
5. The truck frame automatic assembly machine of claim 2, characterized in that: the assembling and carrying robot and the tack welding robot share a walking track, the central control system is in butt joint with a data center through MES and ERP systems, automatically receives orders and issues order tasks to the assembling and welding positioner, the assembling and carrying robot and the welding robot.
6. The truck frame automatic assembly machine of claim 1, characterized in that: the assembly and welding robot is characterized by further comprising a finished product workpiece storage mechanism, wherein the finished product workpiece storage mechanism is used for storing whole finished products, and the assembly and transportation robot is used for transporting the welded whole finished products from the assembly and welding tool to the finished product workpiece storage mechanism.
7. The truck frame automatic assembly machine of claim 5, characterized in that: including a plurality of equipment positioner and with the same quantity of equipment positioner parts tray work or material rest, equipment positioner arranges in proper order along a straight line, and is a plurality of parts tray work or material rest arrange in proper order in one side of equipment positioner, the walking track set up in parts tray work or material rest with between the equipment positioner and along the direction of arrangement of equipment positioner extends, equipment transfer robot with the point solid welding robot can the walking track is gone up and is removed.
8. The truck frame automatic assembly machine of claim 5, characterized in that: equipment positioner keeps away from orbital one side of walking is provided with outside walking axle, outside walking axle also along the direction of arrangement of equipment positioner extends, welding robot can along outside walking axle removes, equipment positioner is close to orbital one side of walking is the equipment station, equipment positioner is close to one side of outside walking axle is the welding station.
9. The truck frame automatic assembly machine of claim 1, characterized in that: the bulk pallet material rack comprises a pallet support frame, a material storage pallet and material positioning fixtures, wherein the pallet support frame is used for fixing the material storage pallet, the material positioning fixtures are fixed on the upper portion of the material storage pallet through bolts, and different materials are placed in the corresponding material positioning fixtures according to respective appearance characteristics.
10. The truck frame automatic assembly machine of claim 4, characterized in that: the power structure of the pressing mechanism is an electric mechanism, a pneumatic mechanism or a hydraulic mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111546596.1A CN114043057A (en) | 2021-12-16 | 2021-12-16 | Automatic assembling equipment for bogie frame |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111546596.1A CN114043057A (en) | 2021-12-16 | 2021-12-16 | Automatic assembling equipment for bogie frame |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114043057A true CN114043057A (en) | 2022-02-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111546596.1A Pending CN114043057A (en) | 2021-12-16 | 2021-12-16 | Automatic assembling equipment for bogie frame |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114043057A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115106670A (en) * | 2022-08-12 | 2022-09-27 | 宝鸡合力叉车有限公司 | Automatic assembling and welding system and welding method for fork frame robot |
| CN115592327A (en) * | 2022-11-11 | 2023-01-13 | 山推工程机械股份有限公司（Cn） | Automatic welding production line of steel wheel |
-
2021
- 2021-12-16 CN CN202111546596.1A patent/CN114043057A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115106670A (en) * | 2022-08-12 | 2022-09-27 | 宝鸡合力叉车有限公司 | Automatic assembling and welding system and welding method for fork frame robot |
| CN115592327A (en) * | 2022-11-11 | 2023-01-13 | 山推工程机械股份有限公司（Cn） | Automatic welding production line of steel wheel |
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