CN114406578B - Automobile welding flexible production line based on digital factory and welding method - Google Patents
Automobile welding flexible production line based on digital factory and welding method Download PDFInfo
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- CN114406578B CN114406578B CN202210133419.9A CN202210133419A CN114406578B CN 114406578 B CN114406578 B CN 114406578B CN 202210133419 A CN202210133419 A CN 202210133419A CN 114406578 B CN114406578 B CN 114406578B
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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
- B23K37/0461—Welding tables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
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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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/006—Vehicles
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Abstract
The invention discloses an automobile welding flexible production line based on a digital factory, which comprises an automobile body conveying mechanism and a welding control center, wherein the automobile body conveying mechanism comprises a conveying mechanism body and a welding control center; welding workstations are arranged on two sides of the vehicle body conveying mechanism, and each welding workstation comprises a joint robot, a welding tongs, a detection unit and a pair of deformable welding heads; the welding tongs are connected to the output end of the joint robot, the detection unit is installed on the welding tongs, and the pair of deformable welding heads is installed on the free end of the welding tongs; the pair of deformable welding heads has a spot welding form, an equal-spacing spot welding form and a full welding form; the welding control center is electrically connected with each welding workstation; the invention adjusts the shape of the deformable welding head in a targeted manner, realizes the white car body welding which adapts to different car types and different welding requirements by the same pair of deformable welding heads at the same station, increases the flexibility degree of the whole white car body welding production line, does not need to replace welding electrodes midway, and improves the welding efficiency.
Description
Technical Field
The invention relates to an automobile welding flexible production line based on a digital factory.
Background
The existing welding production line of the white automobile body of the automobile adopts a spot welding process to splice the automobile body metal plates, gaps exist at the welding positions of the metal plates, and water leakage can be caused by the existence of the gaps at positions, contacted with rainwater for a long time, of an automobile body ceiling, a water flowing groove and the like, so that a roll welding mode is needed to obtain a completely sealed welding line at the positions, having straight regular welding lines, of the automobile body ceiling, the water flowing groove and the like, and the welding line is more suitable for spot welding at the positions with complex geometric shapes of the welding lines, so that the welding efficiency is improved.
However, the existing automobile welding production line needs to realize the welding of the body in white at different stations or adopt a mode of replacing welding electrodes, so that the flexibility degree of the automobile welding production line is low.
Disclosure of Invention
The invention aims to overcome the defects and provide a digital factory-based automobile welding flexible production line.
In order to achieve the purpose, the invention adopts the following specific scheme:
a flexible production line for automobile welding based on a digital factory comprises an automobile body conveying mechanism and a welding control center; welding workstations are arranged on two sides of the vehicle body conveying mechanism, and each welding workstation comprises a joint robot, a welding tongs, a detection unit and a pair of deformable welding heads; the welding tongs are connected to the output end of the joint robot, the detection unit is installed on the welding tongs, and the pair of deformable welding heads are installed on the free end of the welding tongs; the pair of deformable welding heads has a spot welding form, an equal-spacing spot welding form and a full welding form; the welding control center is electrically connected with each welding workstation.
Furthermore, each deformable welding head comprises a first support, a rotating shaft, a first motor, a second motor and a screw rod;
the first support is fixedly connected to the soldering pliers, two ends of the rotating shaft are rotatably connected to the first support, two ends of the rotating shaft are fixedly connected with end covers, the screw rod is coaxially arranged in the rotating shaft, two ends of the screw rod are correspondingly and rotatably connected to the end covers, the first motor is arranged on the first support, an output end of the first motor is correspondingly in transmission connection with one end cover, the second motor is fixedly arranged on the other end cover, and an output end of the second motor is in transmission connection with one end of the screw rod;
two pairs of first guide grooves which correspond up and down are arranged on the rotating shaft at intervals, the first guide grooves of each pair are symmetrically distributed at two ends of the rotating shaft, a plurality of pairs of second guide grooves are arranged at two sides of the rotating shaft between the two pairs of first guide grooves at equal intervals, the plurality of pairs of second guide grooves at two sides are symmetrically arranged one by one, and the second guide grooves of each pair are symmetrically distributed at two ends of the rotating shaft; the first guide groove is of a linear structure, and the second guide groove is provided with a linear section and a spiral section far away from the end part of the rotating shaft;
every first guide way and every equal sliding connection has the slider on the second guide way, and each slider activity joint that is located same end is on an adjusting nut, adjusting nut profile cover locate in the revolving axle and with screw rod threaded connection, the screw thread at screw rod both ends revolves to opposite, all articulates on every slider has the swing arm, and articulates between the free end of two swing arms on a pair of slider and has welding electrode.
The middle part of the peripheral wall of the rotating shaft is convexly provided with a boss along the circumferential direction, and the boss is concavely provided with a limiting hole corresponding to each welding electrode one by one;
each welding electrode is convexly provided with a limiting column, and the limiting column correspondingly extends into the limiting hole when the deformable welding head is in a full-welding state.
Furthermore, each sliding block comprises a sliding part matched with the first guide groove or the second guide groove, a lug hinged with the swing arm and a connecting rod part movably clamped with the adjusting nut, and the peripheral wall of the adjusting nut is circumferentially provided with an annular clamping groove matched with the connecting rod part.
Further, the outer side surface of the welding electrode is a circular arc surface.
Further, a plurality of welding stations are provided at equal intervals on both sides of the vehicle body conveying mechanism.
The beneficial effects of the invention are as follows: the invention can adjust the shape of the deformable welding head in a targeted way according to the requirements of different parts of the vehicle body on welding strength, sealing performance and welding efficiency by arranging the deformable welding head with spot welding shape, equal-spacing spot welding shape and full welding shape on the welding workstation and matching the joint robot, the detection center and the welding control center, thereby realizing the white vehicle body welding which can adapt to different vehicle types and different welding requirements by one pair of deformable welding heads at the same station, increasing the flexibility degree of the whole white vehicle body welding production line, avoiding the midway replacement of welding electrodes and improving the welding efficiency.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a perspective view of the welding station of the present invention;
FIG. 3 is a perspective view of the deformable weld head of the present invention in a spot weld configuration;
FIG. 4 is a schematic view of the deformable weld head of the present invention in a spot weld configuration;
FIG. 5 is a perspective view of the deformable weld head of the present invention in an equally spaced spot weld configuration;
FIG. 6 is a schematic cross-sectional view of a deformable weld head of the present invention in an equidistant spot welding configuration;
FIG. 7 is a perspective view of the deformable weld head of the present invention in a full weld configuration;
FIG. 8 is a perspective view of the rotating shaft of the present invention;
FIG. 9 is a perspective view of the slider of the present invention;
description of reference numerals: 1. a vehicle body conveying mechanism; 2. a welding control center; 3. a welding workstation; 31. an articulated robot; 32. welding tongs; 33. a detection unit; 34. a deformable welding head; 340. welding an electrode; 3401. a limiting post; 341. a first bracket; 342. a rotating shaft; 3421. a first guide groove; 3422. a second guide groove; 3423. a boss; 343. a first motor; 344. a second motor; 345. a screw; 346. an end cap; 347. a slider; 3471. a sliding part; 3472. a lug; 3473. a link section; 348. adjusting the nut; 349. and (4) swinging arms.
Detailed Description
The present invention will be described in further detail with reference to the drawings and specific examples, which should not be construed as limiting the scope of the invention.
As shown in fig. 1 to 9, the flexible production line for automobile welding based on a digital factory in the embodiment includes a vehicle body conveying mechanism 1 and a welding control center 2; welding workstations 3 are arranged on two sides of the vehicle body conveying mechanism 1, and each welding workstation 3 comprises a joint robot 31, a welding clamp 32, a detection unit 33 and a pair of deformable welding heads 34; the welding tongs 32 is connected to the output end of the joint robot 31, the detection unit 33 is mounted on the welding tongs 32, and the pair of deformable welding heads 34 is mounted on the free end of the welding tongs 32; the pair of deformable weld joints 34 have a spot weld configuration, an equidistant spot weld configuration, and a full weld configuration; the welding control centre 2 is electrically connected to the respective welding station 3. In this embodiment, preferably, a plurality of welding stations 3 are arranged on both sides of the vehicle body conveying mechanism 1 at equal intervals, and specifically, the welding stations 3 between both sides are arranged in a one-to-one correspondence manner, so that a plurality of vehicle body-in-white welding operations can be performed at a time, and the vehicle body-in-white welding operation is suitable for mass production, and the production efficiency is greatly improved.
The working mode of the embodiment is as follows: during working, the body-in-white is fixedly placed on the body conveying mechanism 1, the body-in-white conveying mechanism 1 conveys the body-in-white to a position corresponding to the welding workstation 3, and before welding, the welding process type adopted by each welding line of the body-in-white of each vehicle type and 3D data of the welding line of the body-in-white are stored in the welding control center 2 in advance;
during welding, the joint robot 31 drives the pair of deformable welding heads 34 to move to a welding position through the welding tongs 32, meanwhile, the joint robot 31 transmits coordinate data of the current welding position back to the welding control center 2, the welding control center 2 compares the transmitted coordinate data with coordinate data of a vehicle body according to the transmitted coordinate data, meanwhile, the detection unit 33 takes a picture from the current welding position and transmits the picture back to the welding control center 2, the welding control center 2 performs visual algorithm analysis through the transmitted picture and a prestored picture, corrects the error between the pair of deformable welding heads 34 and an actual welding seam of the vehicle body, transmits error correction data, the type of the welding process required by the welding seam and welding process parameters to the welding workstation 3, and after receiving the error correction data, the type of the welding process and the welding process parameters, the joint robot 31 adjusts the positions of the pair of deformable welding heads 34 and synchronously adjusts the shapes of the deformable welding heads 34;
if the current welding area is a welding line with a complex geometric shape, the required welding process is single spot welding, the pair of deformable welding heads 34 is adjusted to be in a spot welding form, and then the deformable welding heads 34 carry out single spot welding on the welding line of the white automobile body under the driving of the joint robot 31;
if the current welding area is a straight welding line and the required welding process is equidistant spot welding, the pair of deformable welding heads 34 is adjusted to be in an equidistant spot welding form, and then the deformable welding heads 34 carry out equidistant welding on the welding line of the white vehicle body under the driving of the joint robot 31 to obtain welding spots with equal intervals;
if the current welding area is a straight welding seam and the required welding process is a full welding mode, the pair of deformable welding heads 34 is adjusted to be in a full welding state, and then the deformable welding heads 34 carry out continuous seam welding on the welding seam of the white car body under the driving of the joint robot 31 so as to obtain a continuous welding seam with continuous sealing performance.
In the embodiment, the deformable welding heads 34 with the spot welding form, the equal-spacing spot welding form and the full welding form are arranged on the welding workstation 3, and the joint robot 31, the detection center and the welding control center 2 are matched, so that the shapes of the deformable welding heads 34 can be adjusted in a targeted manner according to the requirements of different parts of the vehicle body on welding strength, sealing performance and welding efficiency, the white vehicle body welding with the same pair of deformable welding heads 34 adapting to different vehicle types and different welding requirements is realized, the flexibility degree of the whole white vehicle body welding production line is increased, the welding electrodes 340 do not need to be replaced midway, and the welding efficiency is improved.
In this embodiment, specifically, each of the deformable welding heads 34 includes a first bracket 341, a rotation shaft 342, a first motor 343, a second motor 344, and a screw 345; the first bracket 341 is fixedly connected to the welding tongs 32, two ends of the rotating shaft 342 are rotatably connected to the first bracket 341, two ends of the rotating shaft 342 are fixedly connected to end covers 346, the screw 345 is coaxially arranged in the rotating shaft 342, two ends of the screw 345 are correspondingly rotatably connected to the end covers 346, the first motor 343 is mounted on the first bracket 341, an output end of the first motor 343 is correspondingly in transmission connection with one of the end covers 346, the second motor 344 is fixedly mounted on the other end cover 346, and an output end of the second motor 344 is in transmission connection with one end of the screw 345;
two pairs of first guide grooves 3421 which correspond up and down are arranged on the rotating shaft 342 at intervals, the first guide grooves 3421 of each pair are symmetrically distributed at two ends of the rotating shaft 342, a plurality of pairs of second guide grooves 3422 are arranged on two sides of the rotating shaft 342 between the two pairs of first guide grooves 3421 at equal intervals, the plurality of pairs of second guide grooves 3422 on the two sides are symmetrically arranged one by one, and the second guide grooves 3422 of each pair are symmetrically distributed at two ends of the rotating shaft 342; the first guide groove 3421 is a straight line structure, and the second guide groove 3422 has a straight line section and a spiral section away from the end of the rotation shaft 342;
each of the first guiding grooves 3421 and each of the second guiding grooves 3422 are slidably connected with a sliding block 347, each sliding block 347 at the same end is movably clamped on an adjusting nut 348, the profile of the adjusting nut 348 is sleeved in the rotating shaft 342 and is in threaded connection with the screw 345, the thread directions of the two ends of the screw 345 are opposite, each sliding block 347 is hinged with a swinging arm 349, and a welding electrode 340 is hinged between the free ends of the two swinging arms 349 hinged on a pair of sliding blocks 347.
Specifically, when the required welding process is single spot welding, the second motor 344 drives the screw 345 to rotate, and since the two ends of the screw 345 are provided with threads with opposite turning directions, the screw 345 drives the left and right adjusting nuts 348 to move towards the middle, the adjusting nuts 348 simultaneously drive the sliding blocks 347 positioned at the same end to slide along the first guide groove 3421 or the second guide groove 3422, so that the two swing arms 349 hinged with the same pair of sliding blocks 347 drive the welding electrode 340 to extend outwards, and when the sliding blocks 347 in the second guide groove 3422 enter the spiral section from the straight line section, the sliding blocks 347 drive the swing arms 349 to rotate at a certain angle along the turning direction of the spiral section under the guidance of the spiral section, because the second guide grooves 3422 on the two sides are symmetrically arranged one by one, the welding electrodes 340 on the two sides are far away from one pair of the first guide grooves 3421 and close to the other pair of the first guide grooves 3421, so that the distance between one welding electrode 340 and the two adjacent welding electrodes 340 is increased, the separated welding electrodes 340 are used as welding working electrodes, the space near the welding working electrodes is increased, the interference between the rest welding electrodes 340 and the vehicle body sheet metal in the spot welding process is avoided, at the moment, the deformable welding head 34 is in a spot welding shape, and then the joint robot 31 drives the deformable welding head 34 to perform single spot welding operation on the welding seams through the welding working electrodes;
when an equidistant spot welding process is needed, the second motor 344 drives the screw 345 to rotate, the adjusting nut 348 drives each sliding block 347 to move along the first guide groove 3421 or the second guide groove 3422, the distance between each welding electrode 340 can be adjusted by adjusting the position of the adjusting nut 348, so as to obtain the needed welding point distance, after the adjustment of the deformable welding head 34 is completed, each welding electrode 340 is in an equidistant spot welding mode, at the moment, each welding electrode 340 is equidistantly distributed on the circumference formed by the top ends of the swing arms 349, then the joint robot 31 drives the adjusted welding electrode 340 of the deformable welding head 34 to press against the surface of a metal plate at the welding line, then the first motor 343 drives the revolving shaft 342 to roll along the welding line, each welding electrode 340 is sequentially contacted with the metal plate, and the metal plate is welded at equal intervals, so as to obtain welding points with equal distances;
when a full-welding process is needed, the second motor 344 drives the screw 345 to rotate, each sliding block 347 is driven to move to the outermost side of the first guide groove 3421 or the second guide groove 3422 through the adjusting nut 348, at this time, each swinging arm 349 drives each welding electrode 340 to contract inwards to a state with the smallest radius, and the end faces of the adjacent welding electrodes 340 are attached to each other to form a continuous equivalent annular electrode; after the adjustment of the deformable welding head 34 is completed, each welding electrode 340 is in a roll welding mode, then the articulated robot 31 drives the equivalent annular electrode of the adjusted deformable welding head 34 to press against the surface of the metal plate at the welding seam, and then the first motor 343 drives the rotating shaft 342 to roll along the welding seam, so that the metal plate is continuously roll welded, and a continuous welding seam with sealing performance is obtained.
Based on the above embodiment, further, a boss 3423 is convexly provided at the middle of the circumferential wall of the rotating shaft 342 along the circumferential direction, and the boss 3423 is concavely provided with a limiting hole corresponding to each welding electrode 340 one by one; each welding electrode 340 is convexly provided with a limiting column 3401, and the limiting column 3401 correspondingly extends into the limiting hole when the deformable welding head 34 is in a full-welding state. So set up, under the cooperation of spacing post 3401 and spacing hole, carry on spacingly to welding electrode 340 for welding electrode 340's position is more reliable and more stable in welding process.
Based on the above embodiment, each of the sliding blocks 347 further includes a sliding portion 3471 configured to be matched with the first guide groove 3421 or the second guide groove 3422, a lug 3472 configured to be hinged to the swing arm 349, and a link portion 3473 configured to be movably clamped with the adjusting nut 348, and an annular clamping groove configured to be matched with the link portion 3473 is formed in a circumferential wall of the adjusting nut 348 along the circumferential direction. This is provided to facilitate the coupling of the slider 347 with the swing arm 349, the adjustment nut 348, and the fitting of the slider 347 with the first guide groove 3421 or the second guide groove 3422.
Based on the above embodiment, further, the outer side surface of the welding electrode 340 is a circular arc surface. The arrangement is such that when the welding electrodes 340 are in a full-length welding mode, each welding electrode 340 can form a continuous equivalent annular electrode, and the welding quality is higher.
The above description is only a preferred embodiment of the present invention, and therefore, all equivalent changes or modifications of the structure, characteristics and principles described in the present patent application are included in the protection scope of the present patent application.
Claims (6)
1. A flexible production line for automobile welding based on a digital factory is characterized by comprising an automobile body conveying mechanism (1) and a welding control center (2); welding workstations (3) are arranged on two sides of the vehicle body conveying mechanism (1), and each welding workstation (3) comprises a joint robot (31), a welding tongs (32), a detection unit (33) and a pair of deformable welding heads (34);
the welding tongs (32) is connected to the output end of the joint robot (31), the detection unit (33) is installed on the welding tongs (32), and the pair of deformable welding heads (34) is installed on the free end of the welding tongs (32); the pair of deformable welding heads (34) has a spot welding form, an equidistant spot welding form and a full welding form;
the welding control center (2) is electrically connected with each welding workstation (3);
each deformable welding head (34) comprises a first support (341), a rotating shaft (342), a first motor (343), a second motor (344) and a screw (345);
the first support (341) is fixedly connected to the welding tongs (32), two ends of the rotating shaft (342) are rotatably connected to the first support (341), two ends of the rotating shaft (342) are fixedly connected with end covers (346), the screw (345) is coaxially arranged in the rotating shaft (342), two ends of the screw (345) are correspondingly and rotatably connected to the end covers (346), the first motor (343) is installed on the first support (341), the output end of the first motor (343) is correspondingly in transmission connection with one end cover (346), the second motor (344) is fixedly installed on the other end cover (346), and the output end of the second motor (344) is in transmission connection with one end of the screw (345);
two pairs of first guide grooves (3421) which are vertically corresponding are arranged on the rotating shaft (342) at intervals, the first guide grooves (3421) of each pair are symmetrically distributed at two ends of the rotating shaft (342), a plurality of pairs of second guide grooves (3422) are arranged on two sides of the rotating shaft (342) between the two pairs of first guide grooves (3421) at equal intervals, the second guide grooves (3422) of each pair are symmetrically arranged between the second guide grooves (3422) of the two sides one by one, and the second guide grooves (3422) of each pair are symmetrically distributed at two ends of the rotating shaft (342); the first guide groove (3421) is a straight line structure, and the second guide groove (3422) has a straight line section and a spiral section far away from the end of the rotating shaft (342);
each first guide groove (3421) and each second guide groove (3422) are connected with a sliding block (347) in a sliding mode, each sliding block (347) located at the same end is movably clamped on an adjusting nut (348), the profile of each adjusting nut (348) is sleeved in the rotating shaft (342) and is in threaded connection with the screw (345), the thread turning directions of two ends of the screw (345) are opposite, each sliding block (347) is hinged with a swing arm (349), and a welding electrode (340) is hinged between the free ends of the two swing arms (349) hinged to the pair of sliding blocks (347).
2. The automobile welding flexible production line based on the digital factory as claimed in claim 1, wherein a boss (3423) is convexly provided at the middle part of the peripheral wall of the rotating shaft (342) along the circumferential direction, and the boss (3423) is concavely provided with a limiting hole corresponding to each welding electrode (340);
each welding electrode (340) is convexly provided with a limiting column (3401), and the limiting column (3401) correspondingly extends into the limiting hole when the deformable welding head (34) is in a full-welding state.
3. The automobile welding flexible production line based on the digital factory is characterized in that each sliding block (347) comprises a sliding part (3471) matched with the first guide groove (3421) or the second guide groove (3422), a lug (3472) hinged with the swinging arm (349), and a connecting rod part (3473) movably clamped with the adjusting nut (348), and the peripheral wall of the adjusting nut (348) is circumferentially provided with an annular clamping groove matched with the connecting rod part (3473).
4. The digital factory based automobile welding flexible production line according to claim 1, characterized in that the outer side surface of the welding electrode (340) is a circular arc surface.
5. The automotive welding flexible production line based on the digital factory is characterized in that a plurality of welding workstations (3) are arranged on two sides of the automobile body conveying mechanism (1) at equal intervals.
6. A welding method for utilizing the digital factory based automobile welding flexible production line is characterized by comprising the following steps:
s100: the white body is fixedly placed on the body conveying mechanism (1), the body conveying mechanism (1) conveys the white body to a position corresponding to the welding workstation (3), and before welding, the welding process type adopted by each welding line of the white body of each vehicle type and 3D data of the welding line of the body are stored in the welding control center (2) in advance;
s200: the joint robot (31) drives a pair of deformable welding heads (34) to move to a welding position through a welding tongs (32), meanwhile, the joint robot (31) transmits coordinate data of the current welding position back to the welding control center (2), the welding control center (2) compares the transmitted coordinate data with coordinate data of a vehicle body, and the detection unit (33) shoots a picture from the current welding position and transmits the picture back to the welding control center (2);
s300: the welding control center (2) performs visual algorithm analysis on the returned picture and the picture stored in advance, corrects the error between the pair of deformable welding heads (34) and the actual welding seam of the vehicle body, and sends error correction data, the type of the welding process required by the welding seam and welding process parameters to the welding workstation (3);
s400: after receiving the error correction data, the welding process type and the welding process parameters, the joint robot (31) adjusts the position of the pair of deformable welding heads (34), and simultaneously the deformable welding heads (34) synchronously adjust the form:
when the welding process required by the welding line is single spot welding, the pair of deformable welding heads (34) is adjusted to be in a spot welding form, and then the deformable welding heads (34) carry out single spot welding on the welding line of the body-in-white under the driving of the joint robot (31); the second motor (344) drives the screw rod (345) to rotate, because the two ends of the screw rod (345) are provided with threads with opposite rotating directions, so that the screw rod (345) drives the left and the right adjusting nuts (348) to move towards the middle, the adjusting nuts (348) simultaneously drive each sliding block (347) at the same end to slide along the first guide groove (3421) or the second guide groove (3422), so that two swing arms (349) hinged with the same pair of sliding blocks (347) drive the welding electrode (340) to extend outwards, when the slider (347) in the second guide groove (3422) enters the spiral section from the straight section, under the guidance of the spiral section, the sliding block (347) drives the swinging arm (349) to rotate for a certain angle along the rotation direction of the spiral section, because the second guide grooves (3422) on both sides are symmetrically arranged one by one, the welding electrodes (340) on both sides are far away from one pair of the first guide grooves (3421) to rotate, and approaching to the other pair of first guide grooves (3421) so that the spacing between one welding electrode (340) and its adjacent two welding electrodes (340) is increased, and using the separated welding electrodes (340) as welding working electrodes, thus increasing the space near the welding working electrode, avoiding the interference between the rest welding electrodes (340) and the vehicle body metal plate in the spot welding process, and at the moment, the deformable welding head (34) is in the spot welding form, then the joint robot (31) drives the deformable welding head (34) to perform single spot welding operation on the welding line through the welding working electrode;
when the welding process required by the welding line is equal-spacing spot welding, the pair of deformable welding heads (34) is adjusted to be in an equal-spacing spot welding form, and then the deformable welding heads (34) carry out equal-spacing welding on the welding line of the white automobile body under the driving of the joint robot (31) to obtain welding spots with equal spacing; a second motor (344) drives a screw rod (345) to rotate, each sliding block (347) is driven to move along a first guide groove (3421) or a second guide groove (3422) through an adjusting nut (348), each welding electrode (340) is in an equidistant spot welding mode after the adjustment of a deformable welding head (34) is completed by adjusting the position of the adjusting nut (348), the welding electrodes (340) are distributed on the circumference formed by the top ends of swing arms (349) at the moment at equal intervals, then the joint robot (31) drives the welding electrodes (340) of the adjusted deformable welding head (34) to be pressed against the surface of a metal plate at the welding seam, then the first motor (343) drives a rotating shaft (342) to roll along the welding seam, and the welding electrodes (340) are sequentially contacted with the metal plate to weld the metal plate at equal intervals;
when the welding process required by the welding line is a full-welding mode, the pair of deformable welding heads (34) is adjusted to be in a full-welding state, and then the deformable welding heads (34) carry out continuous seam welding on the welding line of the body-in-white under the driving of the joint robot (31) so as to obtain a continuous welding line with sealing property; the second motor (344) drives the screw (345) to rotate, each sliding block (347) is driven to move to the outermost side of the first guide groove (3421) or the second guide groove (3422) through the adjusting nut (348), each swinging arm (349) drives each welding electrode (340) to contract inwards to a minimum radius state, and the end faces of adjacent welding electrodes (340) are attached to each other to form a continuous equivalent annular electrode; after the adjustment of the deformable welding head (34) is completed, each welding electrode (340) is in a roll welding mode, then the joint robot (31) drives the equivalent annular electrode of the adjusted deformable welding head (34) to press against the surface of the metal plate at the welding seam, and then the first motor (343) drives the rotating shaft (342) to roll along the welding seam to perform continuous roll welding on the metal plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN110977260A (en) * | 2019-12-17 | 2020-04-10 | 易思维（杭州）科技有限公司 | Intelligent repair welding system and follow-up repair welding method for body-in-white |
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| JPH10180471A (en) * | 1996-12-25 | 1998-07-07 | Honda Motor Co Ltd | Laser welding equipment |
| CN102632356A (en) * | 2012-04-17 | 2012-08-15 | 黄一淼 | Linear single-head multipoint weld joint automatic welding device |
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