CN115156926A - Automatic welding and polishing equipment for vehicle body assembly - Google Patents
Automatic welding and polishing equipment for vehicle body assembly Download PDFInfo
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- CN115156926A CN115156926A CN202210996900.0A CN202210996900A CN115156926A CN 115156926 A CN115156926 A CN 115156926A CN 202210996900 A CN202210996900 A CN 202210996900A CN 115156926 A CN115156926 A CN 115156926A
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- 238000003466 welding Methods 0.000 title claims abstract description 135
- 238000005498 polishing Methods 0.000 title claims abstract description 59
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 238000003754 machining Methods 0.000 claims abstract description 12
- 230000000007 visual effect Effects 0.000 claims abstract description 12
- 238000007667 floating Methods 0.000 claims description 18
- 238000012545 processing Methods 0.000 claims description 18
- 238000000034 method Methods 0.000 claims description 11
- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 2
- 230000006872 improvement Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000007517 polishing process Methods 0.000 description 2
- 229910000975 Carbon steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000010962 carbon steel Substances 0.000 description 1
- 230000001595 contractor effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/06—Metal-working plant comprising a number of associated machines or apparatus
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses an automatic welding and polishing device for a vehicle body assembly, which comprises: the welding robot control system comprises horizontal ground rails arranged on two sides of a vehicle body, wherein a robot lifting mechanism is arranged at one end of each horizontal ground rail, a welding robot is arranged on each robot lifting mechanism, a welding seam tracking system is arranged at the end part of each welding robot, and a welding robot control cabinet is matched with the welding robot and the welding seam tracking system; a grinding robot is arranged at the other end of the horizontal ground rail, and a force control device and a visual detection device for acquiring an image of a welding seam area are arranged at the end part of the grinding robot; the force control device is provided with an abrasive belt machine, and the polishing robot and the visual detection device are provided with a polishing robot control cabinet; the main electric control cabinet is in signal connection with the robot lifting mechanism and is used for receiving a machining station signal output by the electric control cabinet and driving the welding robot to reach a preset machining station; the robot control cabinet is in signal connection with the main electric control cabinet.
Description
Technical Field
The invention relates to automatic welding and polishing equipment for a vehicle body assembly, and belongs to the technical field of welding and polishing of industrial intelligent robots.
Background
With the development of economy and the improvement of technology, the automatic welding and grinding technology of the robot is widely applied to the production of factories and enterprises, and rail vehicles are also developed rapidly in recent years. The automobile body is the panel splice, has many welding seams and needs welding and polishing, and its required precision is high, and domestic mode of polishing to the automobile body welding still limits to manual welding and polishes. Manual welding polishes and has had very big drawback at the welding of automobile body and the in-process of polishing, and at first dust and noise cause very big influence to workman's physical and mental health, and secondly manual welding polishes greatly reduced the efficiency that welding was polished, has lengthened the welding time of polishing, and the work piece flaw that manual welding polished in addition is more, shape error is great, and the performance of automobile body is influenced to these flaws. All these disadvantages reduce the production efficiency of factories and enterprises to a certain extent and increase the production cost.
Disclosure of Invention
The invention aims to provide automatic welding and polishing equipment for a vehicle body assembly, which aims to overcome the defects of low efficiency and large error of manual welding and polishing in the prior art.
The utility model provides an automatic welding equipment of polishing of automobile body assembly, includes:
the welding robot control system comprises a horizontal ground rail, a robot lifting mechanism, a welding robot tracking system and a welding robot control cabinet, wherein the horizontal ground rail is arranged on two sides of a vehicle body, the robot lifting mechanism is arranged at one end of the horizontal ground rail, the welding robot is arranged on the robot lifting mechanism, the welding robot is arranged at the end part of the welding robot, and the welding robot and the welding tracking system are provided with the welding robot control cabinet;
a grinding robot is arranged at the other end of the horizontal ground rail, and a force control device and a visual detection device for acquiring an image of a welding seam area are arranged at the end part of the grinding robot; the force control device is provided with an abrasive belt machine, and the polishing robot and the visual detection device are provided with a polishing robot control cabinet;
the main electric control cabinet is in signal connection with the robot lifting mechanism and is used for receiving a machining station signal output by the electric control cabinet and driving the welding robot to reach a preset machining station; and the robot control cabinet is in signal connection with the main electric control cabinet.
Furthermore, the welding robot is in signal connection with the welding robot control cabinet and is used for receiving the machining track signal output by the robot control cabinet.
Furthermore, the polishing robot is in signal connection with the polishing robot control cabinet and is used for receiving a processing track signal output by the robot control cabinet.
Furthermore, the robot lifting mechanism comprises an upright post, a sliding plate, a linear guide rail, a rack and a servo motor;
the welding robot is characterized in that the linear guide rail and the rack and pinion are arranged on the surface of the stand column, the sliding plate is matched with the linear guide rail, the servo motor is arranged at the bottom of the bottom plate, the bottom plate is connected with the sliding plate, the welding robot is arranged on the bottom plate, and the output end of the servo motor is meshed with the rack and pinion through the gear.
Furthermore, the force control device comprises two groups of floating assemblies, proportional valves with the same number as the floating assemblies and polishing heads arranged on the floating assemblies, wherein each proportional valve is connected with the corresponding floating assembly and used for controlling the extending or contracting action of the floating assembly; when a flat plane is polished, the force control device is used for controlling all polishing heads to simultaneously compensate the position of the plane with the unevenness, and the polishing heads are controlled to stretch and retract through the reciprocating floating assembly to compensate the position.
Furthermore, the vision detection device analyzes, processes and calculates the detection data and corrects the track deviation of the robot to finish the polishing process.
Furthermore, the welding seam tracking system collects the spatial position and installation error of the welding seam, the deviation of the welding seam in the horizontal direction and the vertical direction is obtained after the welding seam information is subjected to real-time operation processing, and the deviation data is fed back to the welding robot, so that the welding robot drives the welding gun to correct the original track.
Compared with the prior art, the invention has the following beneficial effects:
the invention is composed of two sets of processing systems, each set of system comprises a horizontal ground rail, a robot lifting mechanism, a welding robot and a control cabinet thereof, a polishing robot and a control cabinet thereof, a main electric control cabinet, a force control device, a visual detection device, an abrasive belt machine and a weld joint tracking system, wherein the ground rail shared by the robots is laid on two sides of a landing platform position, two robots, namely the layout of the welding robot and the polishing robot, are respectively arranged on one side, the robot systems on the two sides simultaneously process a vehicle body, the welding robot on one side is firstly welded, then the polishing robot polishes the welded weld joint, the processing efficiency is improved, and the working conditions of workers are improved;
the welding robot acquires groove information by using a welding seam tracking system connected with a welding robot control cabinet, realizes welding operation of an integral welding seam by using a track signal and a coordinate signal output by the robot control cabinet, covers the self-adaptive swing welding operation of a vehicle body within a 25M length range and within a welding seam error range of 0mm-10mm, completes one-time welding, and is realized for the first time in the industry;
the welding seam characteristic information is acquired by a visual detection device connected with a polisher robot control cabinet, and a polishing path of a polishing robot is intelligently adjusted by a system through a track signal and a coordinate signal output by the robot control cabinet, so that the full-length 25M vehicle body welding seam polishing operation is realized, the welding path error is automatically compensated in the polishing process, the vehicle body welding seam polishing automation is realized, and the machining precision and the machining efficiency are ensured;
the high-precision linear horizontal ground rail mechanism is adopted to drive the robot to move linearly, so that the robot is assisted to process different positions of the vehicle body, compared with the traditional processing method, the working time is at least shortened by 50%, the manual assistance is reduced by 80%, the blade forming efficiency is obviously improved, and the method is safe, reliable, efficient and environment-friendly;
the system adopts a position-based and image-based mixed vision servo method to realize the control of the position of the robot arm and simultaneously carry out corresponding control on the contact force between the robot arm and an operation object, namely the mixed control of vision and force sense information, so that the grinding is ensured not to be over-cut, and the surface processing quality is further improved.
Drawings
FIG. 1 is a schematic structural diagram of an automated welding and polishing apparatus for a vehicle body assembly according to an embodiment of the present invention;
FIG. 2 is an enlarged view of a portion A of FIG. 1;
FIG. 3 is an enlarged view of a portion B of FIG. 1;
FIG. 4 is a diagram of the elevator mechanism numbered 2 in FIG. 1;
in the figure: 1. horizontal ground rails, 2, a robot lifting mechanism; 3. polishing the robot; 4. a welding robot; 5. polishing the robot control cabinet; 6. a main electric control cabinet; 7. a force control device; 8. a weld tracking system; 9. an abrasive belt machine; 10. a visual inspection device; 11. a vehicle body; 12. a welding machine robot control cabinet; 13. a column; 14. a slide plate; 15. a linear guide rail; 16. a rack and pinion; 17. a servo motor.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained by combining the specific embodiments.
As shown in fig. 1 to 4, disclosed is an automatic welding and polishing device for a vehicle body assembly, comprising:
the welding robot control system is characterized in that horizontal ground rails 1 on two sides of a vehicle body 11 are arranged, a robot lifting mechanism 2 is arranged at one end of each horizontal ground rail 1, a welding robot 4 is arranged on each robot lifting mechanism 2, a welding seam tracking system 8 is arranged at the end part of each welding robot 4, and a welding robot control cabinet 12 is formed by matching the welding robot 4 and the welding seam tracking system 8;
a grinding robot 3 is arranged at the other end of the horizontal ground rail 1, and a force control device 7 and a visual detection device 10 for acquiring an image of a welding seam area are arranged at the end part of the grinding robot 3; the force control device 7 is provided with an abrasive belt machine 9, and the polishing robot 3 and the visual detection device 10 are provided with a polishing robot control cabinet 5 in a matching way;
the main electric control cabinet 6 is in signal connection with the robot lifting mechanism 2 and is used for receiving a machining station signal output by the electric control cabinet and driving the welding robot 4 to reach a preset machining station; the robot control cabinets 12 and 5 are in signal connection with the main control cabinet 6.
The automatic welding and polishing machine consists of two sets of processing systems, wherein each set of system comprises a horizontal ground rail, a robot lifting mechanism, a welding robot and a control cabinet thereof, a polishing robot and a control cabinet thereof, a main electric control cabinet, a force control device, a visual detection device, an abrasive belt machine and a weld joint tracking system;
the horizontal ground rail 1 of the present embodiment is composed of a base and two sliding tables, and has two sets, which are respectively located on both sides of the vehicle body 11. Two slipways are installed on the horizontal slide rail from front to back. The horizontal sliding rail is driven by a servo motor, and the linear guide rail and the gear rack are used for transmission; the horizontal slide rail 1 is in signal connection with the main electric control cabinet 6 and is used for receiving a designated processing station signal output by the electric control cabinet 6.
In this embodiment, the welding robot 4 is in signal connection with the welding robot control cabinet 12, and is configured to receive the processing track signal output by the robot control cabinet 12.
In the present embodiment, the polishing robot 3 is in signal connection with the polishing robot control cabinet 5, and is configured to receive a processing track signal output by the robot control cabinet 5.
In this embodiment, the robot lifting mechanism 2 includes a column 13, a sliding plate 14, a linear guide 15, a rack 16 and a servo motor 17; linear guide 15 and rack and pinion 16 locate stand 13 surface, slide 14 and linear guide 15 cooperation, servo motor 17 locates the bottom plate bottom, and the bottom plate is connected with slide 14, welding robot 4 locates on the bottom plate, servo motor 17's output passes through the gear and the meshing of rack and pinion 16. The servo motor 17 rotates by engaging the gear with the rack 16, and the slide 14 ascends or descends along the linear guide 15.
In this embodiment, the force control device 7 includes two sets of floating assemblies, proportional valves equal in number to the floating assemblies, and polishing heads disposed on the floating assemblies, and each proportional valve is connected to a corresponding floating assembly for controlling the extending or retracting action of the floating assembly; when the smooth plane is polished, the force control device is used for controlling all polishing heads to simultaneously compensate the position of the plane with the unevenness, the polishing heads are controlled to stretch and retract through the reciprocating floating assembly to compensate the position, the force control device 7 is an integrated constant force control device, the prior art is adopted, when the robot path deviates, the force control device automatically compensates polishing errors, and the consistency of the polishing precision of welding seams is ensured.
The vision detection device 10 analyzes, processes, calculates and corrects the trajectory deviation of the robot by detecting data, and finishes polishing processing, in the embodiment, the vision detection device 10 adopts a laser intelligent line camera, and the laser intelligent line camera is in signal connection with the polishing robot control cabinet 5, and transmits the acquired welding seam characteristics to the robot control cabinet; and the grinding robot 3 is in signal connection with the robot control cabinet 5 and is used for receiving a processing track signal output by the robot control cabinet 5. And the robot control cabinet 5 is in signal connection with the main electric control cabinet 6.
The visual detection device integrates an industrial 3D laser camera at the front end of the belt sander, realizes the function of scanning the spatial position of a welding seam, determines the spatial position coordinate of the welding seam, gives a spatial polishing path of the robot through an algorithm, guides the robot to polish intelligently, and meets the requirement of vehicle body polishing precision.
In this embodiment, the seam tracking system 8 acquires the spatial position and the installation error of the seam, performs real-time operation on the seam information to obtain the deviation of the seam in the horizontal direction and the vertical direction, and feeds the deviation data back to the welding robot 4, so that the welding robot 4 drives the welding gun to correct the original trajectory. The welding seam tracking system 8 is in signal connection with the welding robot control cabinet 12, acquires groove information, outputs a track signal and a coordinate signal to the welding robot 4 through the welding robot control cabinet 12, scans the spatial position and installation error of a welding seam by utilizing the welding seam tracking system, and adopts a unique algorithm to guide the robot to adaptively adjust a welding path and welding parameters within the error range of 0mm-10mm, so that one-step swing welding forming of a full-length straight welding seam of 25m is realized. The intelligent welding processing with large error range and large length of the car body is realized for the first time in the processing of the carbon steel car body.
The belt sander 9 adopts a triangular belt sander structure, and is driven by a servo drive system consisting of a supporting wheel, a contact wheel, a tension wheel and a frame. Circular stop device has at contact wheel both ends face, designs the size of spacing boss according to abrasive band thickness, ensures that the abrasive band machine is not cut excessively at the in-process of polishing, and the supplementary abrasive band machine operation in-process does not fall the area simultaneously, has both guaranteed grinding precision and increase equipment safety in utilization.
The equipment comprises the following operation steps:
signals are transmitted to a first sliding table of the horizontal ground rail 1 and the robot lifting mechanism 2 through the main electric control cabinet 6, the processing station of the welding robot 4 is adjusted, and a first welding line is welded;
after a first welding line is welded for a certain length, a signal is transmitted to a second sliding table of the horizontal ground rail 1 through the main electronic control cabinet 6, a machining station of the polishing robot 3 is adjusted, and the polishing robot 3 polishes the first welded welding line;
after the first welding seam is welded, the polishing robot 3 and the welding robot 4 return to the initial positions, the second welding seam is welded and polished, and the rest is done, and the third welding seam is welded and polished;
the processing system for the two sides of the vehicle body is used for simultaneously carrying out the steps to process the two sides of the vehicle body;
the above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, it is possible to make various improvements and modifications without departing from the technical principle of the present invention, and those improvements and modifications should be considered as the protection scope of the present invention.
Claims (7)
1. The utility model provides an automatic welding equipment of polishing of automobile body assembly which characterized in that includes:
the welding robot control system is characterized in that horizontal ground rails (1) on two sides of a vehicle body (11) are arranged, a robot lifting mechanism (2) is arranged at one end of each horizontal ground rail (1), a welding robot (4) is arranged on each robot lifting mechanism (2), a welding seam tracking system (8) is arranged at the end part of each welding robot (4), and a welding robot control cabinet (12) is matched with each welding robot (4) and each welding seam tracking system (8);
a polishing robot (3) is arranged at the other end of the horizontal ground rail (1), and a force control device (7) and a visual detection device (10) for acquiring an image of a welding seam area are arranged at the end part of the polishing robot (3); the force control device (7) is provided with an abrasive belt machine (9), and the polishing robot (3) and the visual detection device (10) are provided with a polishing robot control cabinet (5) in a matching way;
the main electric control cabinet (6) is in signal connection with the robot lifting mechanism (2) and is used for receiving a machining station signal output by the electric control cabinet and driving the welding robot (4) to reach a preset machining station; the robot control cabinets (12) and (5) are in signal connection with the main control cabinet (6).
2. The automated welding and grinding equipment for vehicle body assemblies according to claim 1, characterized in that the welding robot (4) is in signal connection with the welding robot control cabinet (12) for receiving the processing track signal output by the robot control cabinet (12).
3. The automated welding and grinding equipment for the vehicle body assembly according to claim 1, characterized in that the grinding robot (3) is in signal connection with a grinding robot control cabinet (5) and is used for receiving a processing track signal output by the robot control cabinet (5).
4. The automatic welding and grinding equipment for the vehicle body assembly according to claim 1, wherein the robot lifting mechanism (2) comprises an upright post (13), a sliding plate (14), a linear guide rail (15), a rack (16) and a servo motor (17);
upright (13) surface is located in linear guide (15) and rack and pinion (16), slide (14) and linear guide (15) cooperation, bottom plate bottom is located in servo motor (17), and the bottom plate is connected with slide (14), welding robot (4) are located on the bottom plate, the output of servo motor (17) passes through wheel and rack (16) meshing.
5. The automated welding and grinding equipment for the vehicle body assembly according to claim 1, characterized in that the force control device (7) comprises two groups of floating components, proportional valves with the same number as the floating components and grinding heads arranged on the floating groups, wherein each proportional valve is connected with the corresponding floating component and is used for controlling the extending or retracting action of the floating component; when a flat plane is polished, the force control device is used for controlling all polishing heads to simultaneously compensate the position of the uneven plane, and the polishing heads are controlled to stretch and retract through the reciprocating floating assembly to compensate the position.
6. The automatic welding and grinding equipment for the vehicle body assembly according to claim 1, wherein the vision detection device (10) analyzes and processes detection data to calculate and correct robot track deviation so as to finish grinding.
7. The automatic welding and polishing equipment for the car body assembly according to claim 1, wherein the welding seam tracking system (8) collects the spatial position and installation error of the welding seam, obtains the deviation of the welding seam in the horizontal direction and the vertical direction after real-time operation processing of welding seam information, and feeds back the deviation data to the welding robot (4), so that the welding robot (4) drives a welding gun to correct the original track.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210996900.0A CN115156926B (en) | 2022-08-19 | 2022-08-19 | Automatic welding and polishing equipment for car body assembly |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210996900.0A CN115156926B (en) | 2022-08-19 | 2022-08-19 | Automatic welding and polishing equipment for car body assembly |
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| CN115156926A true CN115156926A (en) | 2022-10-11 |
| CN115156926B CN115156926B (en) | 2024-08-02 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115791620A (en) * | 2022-12-08 | 2023-03-14 | 上汽通用五菱汽车股份有限公司 | Visual detection method and device for welding quality of laser welding |
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