CN115502630A - Workpiece assembly welding workstation and control method thereof - Google Patents

Abstract

The invention relates to the technical field of industrial intelligent manufacturing welding, in particular to a workpiece assembly welding workstation and a control method thereof, wherein the workpiece assembly welding workstation comprises: a frame; the truss carrying robot comprises a first moving part and a mechanical gripper, wherein the first moving part is arranged on the rack and is in transmission connection with the mechanical gripper so as to drive the mechanical gripper to move along an x axis, a y axis and a z axis; the bearing platform is suitable for bearing the workpiece; the assembly welding platform is suitable for receiving a workpiece grabbed by the mechanical gripper; the overhead traveling welding robot is movably arranged on the rack and is suitable for welding the workpieces which are assembled; the 3D vision scanning system is in transmission connection with the first moving part so as to scan and acquire the shape and position information of the workpiece on the bearing platform and feed the information back to the truss carrying robot; and the distance measuring sensor is arranged on the overhead traveling welding robot to correct the error of the workpiece on the mechanical gripper. The invention has high automation degree and assembly welding precision.

Description

Workpiece group butt welding workstation and control method thereof

technical field

The invention relates to the technical field of industrial intelligent manufacturing welding, in particular to a workpiece group pair welding workstation and a control method thereof.

Background technique

With the rapid development of industrial intelligent manufacturing, various industries are developing towards Industry 4.0. In the current domestic construction machinery industry, the general level of automation and intelligence is relatively low. For complex welding structural parts, most of them still use manual line drawing for group welding.

Specifically, the form of manual alignment is line drawing, and the steel ruler and angle ruler are used together to ensure the accuracy of product alignment. For parts weighing more than 10KG, it is necessary to cooperate with KBK (Kombiniert Kran, combined crane) for auxiliary handling, relying on manual experience and auxiliary tools to ensure workpiece assembly and welding accuracy.

The above method has the following defects: all parts need to be manually measured and drawn, grouped, transported and welded one by one, which is labor-intensive and low in production efficiency; it is difficult to guarantee the accuracy of manual operation and welding; The situation that the workpiece falls and hurts the workers and other safety accidents occurs, and the risk factor is high.

Contents of the invention

Therefore, the technical problem to be solved by the present invention is to overcome the defects of high labor intensity, low production efficiency and safety, and difficulty in guaranteeing the accuracy of welding of workpiece groups in the prior art, thereby providing a high degree of automation and safety. Good, high-precision workpiece group welding workstation and its control method.

In order to solve the above problems, the present invention provides a workpiece group butt welding workstation, including: a frame with a work station below; On the frame, the first moving part is in transmission connection with the mechanical gripper to drive the mechanical gripper to move along the x-axis, y-axis and z-axis; the carrying platform is arranged in the working station , is suitable for carrying workpieces; the paired welding platform is set in the working station and is suitable for receiving the workpieces grabbed by the mechanical gripper; the upside-down welding robot is movably installed on the frame, suitable for For welding the paired workpieces on the paired welding platform; the 3D vision scanning system is connected with the first moving part to scan and obtain the shape and position information of the workpieces on the supporting platform and feed it back to The handling truss robot; the ranging sensor is arranged on the upside-down welding robot to perform benchmark measurement on the workpiece on the mechanical gripper, and feed back the measured actual position data of the workpiece to the control system. The control system calculates and obtains the deviation value between the actual position data of the workpiece and the theoretical data, and feeds back the deviation value to the truss handling robot, and the truss handling robot controls the movement of the mechanical gripper according to the deviation value fed back To complete the error correction.

Optionally, the carrying platform includes: a support; a floating frame, which is arranged on the support, and the side of the floating frame is provided with a support plate, which is suitable for supporting the side of the workpiece, and the floating frame can Transverse movement relative to the support.

Optionally, the carrying platform further includes a sliding mechanism arranged laterally between the support and the floating frame, and the floating frame is slidably connected to the support through the sliding mechanism.

Optionally, the sliding mechanism includes: a linear guide rail disposed on the support; a slider slidably installed on the linear guide rail, and the slider is connected to the floating frame.

Optionally, the carrying platform further includes an elastic reset mechanism, the elastic reset mechanism is connected to both the support and the floating frame, and the elastic reset mechanism can be elastically expanded and contracted along the moving direction of the floating frame.

Optionally, the elastic reset mechanism includes: an elastic member connected to both the support and the floating frame; a guide rod arranged parallel to the moving direction of the floating frame, and the guide rod is connected to the support It is fixedly connected with one of the floating frames, and the guide rod is slidably connected with the support and the other of the floating frames.

Optionally, the bearing platform further includes a plurality of rolling support parts, and the rolling support parts are arranged between the support and the floating frame to provide rolling support for the floating frame.

Optionally, the mechanical gripper is a magnetic fixed gripper.

Optionally, the truss handling robot further includes a rotation mechanism connected to the first moving part, and the rotation mechanism is connected to the mechanical gripper in transmission, so as to drive the robotic gripper to rotate around its own center.

Optionally, the truss handling robot further includes an overturning mechanism that is transmission-connected to the rotation mechanism, the overturning mechanism is hinged to the mechanical gripper, and the overturning mechanism can drive the mechanical gripper to overturn around the hinge point.

Optionally, the workpiece group pair welding workstation further includes a second moving part arranged on the frame, and the second moving part is connected to the upside-down welding robot in transmission to drive the upside-down welding The robot moves along the x-axis, y-axis and z-axis.

Optionally, the group butt welding platform includes: a flat group butt welding platform, which is suitable for the group butt welding of flat plate workpieces; a heavy-duty rotary welding platform, which can rotate around itself, and is suitable for undertaking the grasping of the mechanical gripper the workpiece and drive it to rotate.

Optionally, the flat plate group butt welding station includes: a welding seat; a pressing mechanism, arranged on the welding seat at intervals along the circumference of the welding seat; a magnetic fixing member, arranged on the welding seat; A cooling backing plate is arranged in the middle of the welding seat, and the cooling backing plate is arranged corresponding to the welding seam formed by the pair of workpieces.

Optionally, the heavy-duty rotary welding station includes: a rotary seat, a tooling platform, which is rotatably arranged on the rotary seat; a driving mechanism, which is arranged on the rotary seat, and the driving mechanism and the tooling platform transmission connection to drive the tooling platform to rotate around its own center.

Optionally, the drive mechanism includes: an external drive shaft; a reducer fixedly connected to the slewing seat, the reducer is in transmission connection with the external drive shaft, and the output end of the reducer is connected to a driving gear; The driven gear is rotatably arranged on the revolving seat, the driven gear meshes with the driving gear, and the driven gear is in drive connection with the tooling platform.

Optionally, the workpiece group pair welding workstation further includes a ground welding robot, and the ground welding robot can selectively weld the workpieces of the group pair welding platform.

Optionally, the control system is connected with the truss handling robot, the upside-down welding robot, the second moving part, the 3D vision scanning system, the ground welding robot, the ranging sensor and the Signal connections for external drive shafts.

Optionally, the workpiece group welding workstation further includes a gravity centering station, and the gravity centering station is suitable for gravity centering the workpieces grasped by the mechanical gripper.

Optionally, the gravity centering platform includes: a base; an inclined plane, provided on the base, on which a plurality of spaced universal balls are arranged; a centering baffle, arranged on the base and Set opposite to the low end of the slope.

Optionally, the ranging sensor includes a line-scan laser sensor and/or a point laser sensor.

The present invention also provides a method for controlling the welding workstation by the workpiece group as described above, comprising the following steps:

The 3D visual scanning system scans to obtain the shape and position information of the workpiece on the carrying platform and feeds it back to the handling truss robot;

The handling truss robot drives the mechanical gripper to move and grab the workpiece according to the acquired information;

The ranging sensor performs benchmark measurement on the workpiece, and feeds back the measured actual position data of the workpiece to the control system. The control system calculates and obtains the deviation value between the actual position data of the workpiece and the theoretical data, and feeds back the deviation value to the The transporting truss robot, the transporting truss robot controls the movement of the mechanical gripper according to the feedback deviation value to complete error correction;

The handling truss robot transfers the workpieces to the pair welding platform for pairing;

The upside-down welding robot welds the paired workpieces on the paired welding platform.

The present invention has the following advantages:

1. For the workpiece group welding workstation of the present invention, during operation, the 3D visual scanning system first scans and obtains the shape and position information of the workpiece on the carrying platform and feeds it back to the handling truss robot. The handling truss robot starts according to the obtained information, and the mechanical gripper Driven by the first moving part, it moves along the frame to the workpiece and grabs and transports the workpiece to the butt welding platform. The obtained workpiece actual position data is fed back to the control system, the control system calculates and obtains the deviation value between the workpiece actual position data and the theoretical data, and feeds the deviation value back to the handling truss robot, and the handling truss robot controls the mechanical gripper according to the feedback deviation value Move to complete the error correction, the mechanical gripper is released and the workpiece is placed on the butt welding platform. When the workpiece forms a butt joint on the butt welding platform, the upside-down welding robot starts to weld the butt joint of the workpiece to complete the entire workpiece The automatic group welding operation improves the automation degree, operation safety and production efficiency of the whole operation, reduces labor intensity, and uses the 3D visual scanning system to initially position the workpiece in the whole process, so as to improve the accuracy of workpiece grasping and reuse The distance measuring sensor performs benchmark measurement on the workpiece to realize the error correction of the position of the workpiece, so that it can be accurately placed on the assembly welding platform, and the assembly and welding accuracy is improved.

2. In the workpiece group pair welding workstation of the present invention, the carrying platform includes a support and a floating frame. The floating frame is arranged on the support. Move laterally relative to the support. When the mechanical gripper approaches and grabs the workpiece, it will generate a transverse collision force on the workpiece, which acts on the floating frame to push the floating frame to move laterally along the support, so that the mechanical gripper and the workpiece are in flexible contact, avoiding mechanical gripping. The workpiece is damaged during the hand grabbing process to ensure the quality of the workpiece.

3. In the workpiece group butt welding workstation of the present invention, the carrying platform further includes a sliding mechanism arranged laterally between the support and the floating frame, and the floating frame is slidably connected to the support through the sliding mechanism. The horizontal sliding of the floating frame on the support can be realized by setting the sliding mechanism, and the structure is simple and the setting is convenient.

4. In the workpiece group welding workstation of the present invention, the carrying platform further includes an elastic reset mechanism, which is connected to both the support and the floating frame, and the elastic reset mechanism can be elastically expanded and contracted along the moving direction of the floating frame. When the mechanical gripper grabs the workpiece, the floating frame is forced to move laterally along the sliding mechanism and compress the elastic reset mechanism, and at the same time the elastic reset mechanism provides a reverse support force for the workpiece, which is convenient for the mechanical gripper to better grab the workpiece. When the mechanical gripper grabs the workpiece and leaves, the elastic reset mechanism drives the floating frame to slide along the sliding mechanism under its own elastic force to realize automatic reset, which plays the role of automatic reset of the floating frame and elastic shock absorption.

5. In the workpiece group pair welding workstation of the present invention, the elastic reset mechanism includes an elastic member and a guide rod, the elastic member is connected to the support and the floating frame, the guide rod is arranged parallel to the moving direction of the floating frame, the guide rod and the support and the floating frame One of the frames is fixedly connected, and the guide rod is slidably connected with the support and the other of the floating frames. The elastic part elastically expands and contracts during the process of grabbing the workpiece by the mechanical gripper, and the guide rod limits the moving direction of the floating frame, so that the floating frame can only slide back and forth along the axial direction of the guide rod, improving the accuracy and controllability of the floating frame movement sex.

6. In the workpiece assembly butt welding workstation of the present invention, the bearing platform further includes a plurality of rolling support parts, and the rolling support parts are arranged between the support and the floating frame to support the floating frame rollingly. The plurality of rolling support parts can improve the support stability of the floating frame, and the friction force can also drive the rolling support parts to roll during the moving process of the floating frame, thereby reducing the movement resistance of the floating frame.

7. In the workpiece group pair welding workstation of the present invention, the mechanical gripper is a magnetically fixed gripper, which can improve the stability of workpiece grasping, has a high safety factor, and the magnetically fixed type makes the workpiece and The grippers are tightly fitted to ensure that the workpiece does not shake during the process of grasping and assembling, thereby improving the overall accuracy of the product after assembling.

8. In the workpiece group pair welding workstation of the present invention, the transporting truss robot also includes a rotating mechanism connected to the first moving part, and the rotating mechanism is connected to the mechanical gripper to drive the mechanical gripper to rotate around its own center; it also includes a rotating mechanism connected to the first moving part The overturning mechanism connected by transmission is hinged with the mechanical gripper, and the overturning mechanism can drive the mechanical gripper to overturn around the hinge point. The mechanical gripper can move along the X-axis, Y-axis and Z-axis with the first moving part, and the turning mechanism can drive the mechanical gripper to turn around the hinge point, and the rotation mechanism can drive the turning mechanism and the mechanical gripper on it to turn around itself Center rotation, therefore, under the truss handling robot of the present invention retains the heavy-duty characteristics of the truss, its mechanical gripper can realize the movement of five degrees of freedom, that is, the movement along the X axis, the Y axis and the Z axis, and the rotation around its own center And flipping along the hinge point, the overall flexibility of the multi-axis truss robot is improved, and the flexibility and degree of freedom are high.

9. The workpiece group butt welding workstation of the present invention, the group butt welding platform includes a flat group butt welding station and a heavy-duty rotary welding station, the flat group butt welding station is suitable for group butt welding of flat plate workpieces, and the heavy-duty rotary welding station can Rotating around itself, it is suitable for receiving the workpiece grabbed by the mechanical gripper and driving it to rotate. The mechanical gripper grabs the flat-plate workpieces to the flat-plate group to assemble the welding table, the upside-down welding robot welds the grouped flat-type workpieces, and then the mechanical gripper grabs the pre-welded flat-type workpieces and moves them to the heavy load The rotary welding table, the heavy-duty rotary welding table drives the flat workpieces to rotate to the preset position, the mechanical gripper grabs other workpieces and connects them with the flat workpieces, and the upside-down welding robot welds the assembled workpieces, and this cycle , until the welding of the workpiece is completed, the whole process continuously adjusts the welding position through the rotation of the heavy-duty rotary welding table, which has high efficiency and high welding precision, and the heavy-duty rotary welding table can bear more than 3T workpieces except tooling, and has a high bearing capacity.

10. In the workpiece group butt welding workstation of the present invention, the flat group butt welding station includes a welding seat, a pressing mechanism, a magnetic fixing piece and a cooling backing plate, and the pressing mechanism is arranged on the welding seat at intervals along the circumferential direction of the welding seat, and the magnetic The suction fixture is arranged on the welding seat, the cooling backing plate is arranged in the middle of the welding seat, and the cooling backing plate is arranged correspondingly to the welding seam formed by pairing the workpieces. When the workpiece is placed on the welding seat, the pressing mechanism presses down to compress the workpiece and the magnetic fixing part magnetically fixes the workpiece to prevent the deformation of the workpiece during the welding process and cause the welding seam to be dislocated. The cooling backing plate cools the welding seam during welding Lower the temperature to ensure that the back of the welding seam is formed well, and at the same time prevent the workpiece from sticking to the welding seat.

11. In the workpiece group welding workstation of the present invention, the heavy-duty rotary welding station includes a rotary seat, a tooling platform and a driving mechanism. The tooling platform is rotatably arranged on the rotary seat, and the driving mechanism is arranged on the rotary seat. The driving mechanism and the tooling platform The transmission connection is used to drive the tooling platform to rotate around its own center. The driving mechanism drives the tooling platform to rotate relative to the slewing seat, thereby driving the workpiece on the tooling platform to rotate to adjust the welding position, which is convenient and simple.

12. In the workpiece group pair welding workstation of the present invention, the control system is connected to the truss handling robot, the upside-down welding robot, the second moving part, the 3D visual scanning system, the ground welding robot, the distance measuring sensor and the external drive shaft. The start-up and operation of the above mechanisms can be controlled by the same control system, which can realize the unified setting of the overall work area, ensure that each part does not collide and interfere when working at the same time, and the components of each axis can cooperate with each other, and the data between the axis groups can be accurately transmitted and coordinated at a high speed. Execute the welding work of the group, avoid the situation of interactive waiting, and greatly improve the work efficiency.

13. The workpiece group alignment welding workstation of the present invention further includes a gravity centering platform, which is suitable for gravity centering the workpieces grasped by the mechanical gripper. The workpiece grasped by the mechanical gripper can be centered twice on the gravity centering platform to better ensure the grasping accuracy of the workpiece, eliminate the deviation of the grasping accuracy of the workpiece due to the system error of the mechanical gripper, and further improve the assembly and welding precision.

14. The method for controlling the workpiece group to the welding workstation of the present invention includes the following steps: the 3D visual scanning system scans and obtains the shape and position information of the workpiece on the carrying platform, and feeds back to the handling truss robot; the handling truss robot drives the machine according to the acquired information. The gripper moves and grabs the workpiece; the distance measuring sensor performs benchmark measurement on the workpiece, and feeds back the measured actual position data of the workpiece to the control system. The control system calculates and obtains the deviation value between the actual position data of the workpiece and the theoretical data, and sends The deviation value is fed back to the handling truss robot, and the handling truss robot controls the movement of the mechanical gripper according to the feedback deviation value to complete the error correction; the handling truss robot transfers the workpiece to the pair welding platform for pairing; the upside-down welding robot pairs the pair welding The workpieces that have been assembled on the platform are welded. The assembly and welding of the entire workpiece has a high degree of automation, good operation safety, high production efficiency, and low labor intensity. In the whole process, the cooperation of the 3D vision scanning system and the distance sensor is used to accurately position the workpiece, which improves the assembly and welding process. welding precision.

Description of drawings

In order to more clearly illustrate the specific implementation of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the specific implementation or description of the prior art. Obviously, the accompanying drawings in the following description The drawings show some implementations of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative work.

Fig. 1 shows the top view structure schematic diagram of the welding workstation of the workpiece group of the embodiment of the present invention;

Fig. 2 shows the schematic diagram of the front view structure of the workpiece group to the welding workstation in the embodiment of the present invention;

Fig. 3 shows the schematic diagram of the front view structure of the workpiece group in the welding workstation, the robot carrying the truss and the upside-down welding robot in cooperation with each other;

Fig. 4 shows a top view structural diagram of the cooperation of the workpiece group with the frame in the welding workstation, the handling truss robot and the upside-down welding robot in the embodiment of the present invention;

Fig. 5 shows the side view structural schematic diagram of the cooperation of the workpiece group with the frame in the welding workstation, the handling truss robot and the upside-down welding robot in the embodiment of the present invention;

Fig. 6 shows a partially enlarged structural schematic diagram of a robot carrying a truss in a workpiece group pair welding workstation according to an embodiment of the present invention;

Fig. 7 shows a partial side view structure schematic diagram of the workpiece group pair welding workstation in the handling truss robot according to the embodiment of the present invention;

Fig. 8 shows a schematic diagram of the calculation of the flip angle of the mechanical gripper in the workpiece group pair welding workstation according to the embodiment of the present invention;

Fig. 9 shows a structural schematic view of the carrying platform in the welding workstation of the workpiece group according to the embodiment of the present invention;

Figure 10 shows a schematic diagram of the enlarged structure at A in Figure 9;

Fig. 11 shows the schematic structural view of the plate group butt welding station in the workpiece group butt welding workstation according to the embodiment of the present invention;

Fig. 12 shows a schematic structural view of the heavy-duty rotary welding station in the workpiece group pair welding workstation according to the embodiment of the present invention;

Fig. 13 shows a schematic structural view of the gravity centering platform in the workpiece group pair welding workstation according to the embodiment of the present invention.

Explanation of reference signs:

1. Rack; 2. Truss handling robot; 21. First moving part; 22. Rotating mechanism; 23. Turning mechanism; 231. Fixing seat; 232. Turning drive part; 233. Flip seat; 24. Mechanical gripper; 241. Electric permanent magnet; 242. Electric permanent magnet control box; 25. Quick change plate; 3. Upside-down welding robot; 31. Second moving part; 41. Support; 42. Floating frame; 421. Support plate; 43. Sliding mechanism; 431. Linear guide rail; 432. Slider; 44. Elastic return mechanism; 441. Elastic member; 442. Guide rod; 45. Rolling support 5. Butt welding table of flat plate group; 51. Welding seat; 52. Compression mechanism; 53. Magnetic fixing piece; 54. Cooling pad; 6. Heavy-duty rotary welding table; 61. Swivel seat; Platform; 63, driving mechanism; 631, external drive shaft; 632, reducer; 633, driving gear; 634, driven gear; 64, fixture; 7, 3D visual scanning system; 8, gravity centering platform; 81, Base; 82, slope; 821, universal ball; 83, centering baffle; 9, ground welding robot; 10, fence; 20, unloading platform; 100, workpiece.

detailed description

The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, or in a specific orientation. construction and operation, therefore, should not be construed as limiting the invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as there is no conflict with each other.

As shown in Figures 1 to 5, this embodiment discloses a work station for group butt welding of workpieces, including a frame 1, a truss handling robot 2, a carrying platform 4, a pair welding platform, an upside-down welding robot 3, and a 3D visual scanning system 7 and a distance measuring sensor, wherein, a work station is provided under the frame 1, and the handling truss robot 2 includes a first moving part 21 and a mechanical gripper 24, the first moving part 21 is arranged on the frame 1, and the first moving part 21 is connected with the mechanical gripper 24 to drive the mechanical gripper 24 to move along the x-axis, y-axis and z-axis. The carrying platform 4 is arranged in the working station, which is suitable for carrying the workpiece 100. The assembly welding platform is arranged in the working station Inside, it is suitable to undertake the workpiece 100 grasped by the mechanical gripper 24. The upside-down welding robot 3 is movably installed on the frame 1, and is suitable for welding the workpiece 100 that has been paired on the paired welding platform. 3D visual scanning The system 7 is connected to the first moving part 21 by transmission to scan and obtain the shape and position information of the workpiece 100 on the carrying platform 4 and feed it back to the handling truss robot 2. The ranging sensor is arranged on the upside-down welding robot 3 to grasp The workpiece 100 on the hand 24 performs benchmark measurement, and feeds back the measured actual position data of the workpiece 100 to the control system. The control system calculates and obtains the deviation value between the actual position data and the theoretical data of the workpiece 100, and feeds the deviation value back to the handling The truss robot 2 and the transport truss robot 2 control the movement of the mechanical gripper 24 according to the deviation value fed back to complete error correction.

During operation, the 3D visual scanning system 7 first scans and obtains the shape and position information of the workpiece 100 on the carrying platform 4 and feeds it back to the transport truss robot 2. 21 drives and moves along the frame 1 to the workpiece 100 and grabs and transports the workpiece 100 to the paired welding platform. The ranging sensor moves with the upside-down welding robot 3 and performs benchmark measurement on the workpiece 100 on the mechanical gripper 24, and Feedback the measured actual position data of the workpiece 100 to the control system, the control system calculates and obtains the deviation value between the actual position data of the workpiece 100 and the theoretical data, and feeds back the deviation value to the handling truss robot 2, and the handling truss robot 2 according to the feedback The deviation value controls the movement of the mechanical gripper 24 to complete the error correction. The mechanical gripper 24 is released to place the workpiece 100 on the butt welding platform. When the workpiece 100 forms a pair butt joint on the butt welding platform, the upside-down welding robot 3 starts Weld the butt joints of the workpieces 100, thereby completing the automatic group butt welding operation of the entire workpiece 100, which improves the automation degree of the entire operation, operation safety and production efficiency, and reduces labor intensity. 100 for initial positioning to improve the accuracy of the workpiece 100 grasping, and then use the ranging sensor to perform benchmark measurement on the workpiece 100 to realize the error correction of the position of the workpiece 100, so that it can be accurately placed on the assembly welding platform and improve assembly For and welding accuracy.

In the following, the structure of the welding workstation for the workpiece group will be introduced in detail in conjunction with the drawings in the description.

In this embodiment, the frame 1 supports the first moving part 21 and the structures thereon. Specifically, the frame 1 includes a support frame and a plurality of support legs disposed at the bottom of the support frame at intervals along the horizontal and vertical directions of the support frame, so as to provide good stable support.

The first moving part 21 can move along the X-axis, Y-axis and Z-axis on the frame 1 . In this embodiment, the first moving part 21 includes an X-direction linear drive mechanism, a Y-direction linear drive mechanism, and a Z-direction linear drive mechanism (not shown in the figure), wherein the Z-direction linear drive mechanism is connected to the mechanical gripper 24 in transmission. The mechanical gripper 24 is driven to move along the Z direction, the Y-direction linear drive mechanism is connected to the Z-direction linear drive mechanism to drive the Z-direction linear drive mechanism to move along the Y direction, and the X-direction linear drive mechanism is connected to the Y-direction linear drive mechanism. The linear drive mechanism is driven in the Y direction to move in the X direction, so as to drive the mechanical gripper 24 to move along the X axis, the Y axis and the Z axis.

Specifically, the X-direction linear drive mechanism, the Y-direction linear drive mechanism and the Z-direction linear drive mechanism can be set in the form of a linear cylinder or a combined drive of a motor and a lead screw, which can be set according to needs, and will not be described in this embodiment.

As shown in Figures 5 and 6, in this embodiment, the mechanical gripper 24 is a magnetically fixed gripper, which can improve the gripping stability of the workpiece 100, has a high safety factor, and is magnetically attracted. The fixed type makes the workpiece 100 fit closely with the gripper, ensuring that the workpiece 100 does not shake during the grasping and pairing process, thereby improving the overall accuracy of the product after grouping. More specifically, the magnetically fixed gripper is an electro-permanent magnet gripper. When the workpiece 100 is suddenly cut off during transportation, the electro-permanent magnet gripper can ensure that the workpiece 100 does not fall off, and has a high safety factor. In this embodiment, the mechanical gripper 24 is an electro-permanent magnetic gripper, which includes a plurality of evenly distributed electro-permanent magnets 241 to improve the stability of the adsorption on the workpiece 100 . Further, the mechanical gripper 24 also includes an electro-permanent magnet control box 242 to control a plurality of electro-permanent magnets 241 .

The truss handling robot 2 also includes a rotating mechanism 22 connected to the first moving part 21 , and the rotating mechanism 22 is connected to the mechanical gripper 24 in transmission to drive the mechanical gripper 24 to rotate around its own center. Specifically, the rotating mechanism 22 is connected with the Z-direction linear drive mechanism in the first moving part 21, therefore, the rotary mechanism 22 can be driven by the Z-direction linear drive mechanism to move along the Z-axis and move along the X-axis and Y-axis with the Z-direction linear drive mechanism. Axis movement. Optionally, the rotating mechanism 22 may be a rotating cylinder or a rotating motor cooperating with a rotating shaft.

Further, the truss handling robot 2 also includes an overturning mechanism 23 that is in transmission connection with the rotation mechanism 22 , the overturning mechanism 23 is hinged to the mechanical gripper 24 , and the overturning mechanism 23 can drive the mechanical gripper 24 to overturn around the hinge point. Therefore, the mechanical gripper 24 of this embodiment can move along the X-axis, Y-axis and Z-axis along with the first moving part 21, and the turning mechanism 23 can drive the mechanical gripper 24 to turn around the hinge point, and the rotating mechanism 22 can drive turning The mechanism 23 and the mechanical gripper 24 on it rotate around its own center together, and the mechanical gripper 24 can realize the movement of five degrees of freedom, that is, the movement along the X axis, the Y axis and the Z axis, as well as the rotation around its own center and along the hinge The point flip improves the overall flexibility of the multi-axis truss robot, with high flexibility and freedom.

In this embodiment, the turning mechanism 23 includes a fixed seat 231 and a turning driving part 232, wherein the fixing seat 231 is connected to the rotating mechanism 22 in transmission, and the fixing seat 231 is hinged to the mechanical gripper 24, and the turning driving part 232 is arranged on the fixing seat 231 , and the overturn driving part 232 is in transmission connection with the mechanical gripper 24 to drive the mechanical gripper 24 to turn over around the hinge point between the fixing seat 231 and the mechanical gripper 24 .

In the above arrangement, the fixing seat 231 is hinged to the mechanical gripper 24, and the turning drive part 232 drives the mechanical gripper 24 to turn over around the hinge point, so as to form a lever principle to realize the turning movement of the mechanical gripper 24, which has a high safety factor and high reliability. it is good.

Specifically, the fixing base 231 is a fixing plate, which can be connected with the rotating mechanism 22 through parts such as bolts or screws, which is convenient for disassembly and assembly.

The turning mechanism 23 also includes a turning seat 233 , the turning seat 233 is hinged to the fixing seat 231 , and the mechanical gripper 24 is connected to the turning seat 233 , and the turning driving part 232 is connected to the turning seat 233 through transmission. The mechanical gripper 24 is hinged with the fixed seat 231 through the turning seat 233, and the turning drive part 232 drives the turning seat 233 and the mechanical gripper 24 on it to rotate around the hinge point together to realize the turning movement, and the overall control is reliable. The turning seat 233 is a turning plate, which is arranged under the fixing seat 231 , and one end of the turning seat 233 is hinged to the fixing seat 231 through a pin.

The overturn driving part 232 specifically includes a servo motor and an overturn electric cylinder 2321, wherein the overturn electric cylinder 2321 is hinged on the fixed seat 231, the overturn electric cylinder 2321 is electrically connected to the servo motor, and the overturn seat 233 is hinged to the telescopic rod 23211 of the overturn electric cylinder 2321 . The set servo motor controls the movement of the turning electric cylinder 2321, thereby controlling the turning seat 233 and the mechanical gripper 24 on it to turn over together, and the turning electric cylinder 2321 can adapt to the fixed seat 231 as the turning angle of the mechanical gripper 24 changes. It can be tilted to ensure normal flipping and reset of the mechanical gripper 24, and the servo motor can realize precise control of the flipping angle, with good controllability and high precision.

Specifically, the overturning electric cylinder 2321 is inverted and hinged on the fixed seat 231, the telescopic rod 23211 of the overturning electric cylinder 2321 passes through the fixed seat 231 and is hinged on the top of the overturning seat 233, and the servo motor is fixedly connected with the overturning electric cylinder 2321 and can be turned over The electric cylinder 2321 is inclined.

The angle range of the mechanical gripper 24 rotating around the hinge point is 0° to 95°, which can realize the gripping of the workpiece 100 with different inclination angles by the mechanical gripper 24, and drive the workpiece 100 to perform multi-angle flips, such as flipping or turning upright, etc. .

The overturning angle of the mechanical gripper 24 is positively correlated with the extension length of the telescopic rod 23211 of the overturning electric cylinder 2321. The longer the extension length of the telescopic rod 23211 is, the larger the overturning angle of the mechanical gripper 24 is, the longer the extension of the telescopic rod 23211 is. The shorter the length, the smaller the turning angle of the mechanical gripper 24, so the precise control of the turning angle can be realized by controlling the extension length of the telescopic rod 23211.

As shown in Figures 6 to 8, specifically, when the turning angle of the mechanical gripper 24 is 0°, the extension length of the telescopic rod 23211 of the turning electric cylinder 2321 is 0 mm, and when the turning angle of the mechanical gripper 24 is 0°- At 95°, the relationship between the extended length of the telescopic rod 23211 of the flip electric cylinder 2321 and the flip angle can be calculated by the following formula:

L ² =a ² +b ² -2abcscα

Wherein, L is the protruding length of the turning electric cylinder 2321; a is the length from the hinge point of the fixing seat 231 and the turning seat 233 to the hinge point of the turning electric cylinder 2321 and the fixing seat 231; b is the length of the fixing seat 231 and the turning seat 233 The length from the hinge point to the hinge point between the telescopic rod 23211 and the flip seat 233, α is the flip angle, that is, the angle between a and b.

In addition, in order to facilitate the assembly or replacement of the mechanical gripper 24, the handling truss robot 2 also includes a quick-change disc 25, and the mechanical gripper 24 is connected to the flip seat 233 through the quick-change disc 25, so as to realize the fast and high-precision operation of the mechanical gripper 24. Switch, easy to install. Specifically, the quick-change disc 25 is a quick-change disc commonly used in the field of robotics, which is convenient for hand replacement and disassembly. Since the structure of the quick-change disc is a prior art, it will not be repeated here.

The upside-down welding robot 3 can specifically be a six-axis industrial robot. The six-axis industrial robot is installed upside down on the frame 1 to realize the welding operation of the workpiece 100, integrate the handling and welding operations of the frame 1, and have a compact structure and high operating efficiency.

Further, the workpiece group pair welding workstation also includes a second moving part 31 connected to the frame 1, and the second moving part 31 is in transmission connection with the upside-down welding robot 3, so as to drive the upside-down welding robot 3 along the X-axis, Y-axis and Z-axis movement. The second moving part 31 can drive the upside-down welding robot 3 to move along the X-axis, Y-axis and Z-axis, so as to improve the operation flexibility of the upside-down welding robot 3 and adapt to different operation scenarios.

It should be noted here that since the specific structure of the second moving part 31 is the same as that of the first moving part 21, it can be composed of three linear drive mechanisms along the X direction, Y direction and Z direction. repeat.

As shown in Fig. 2, Fig. 9 and Fig. 10, the carrying platform 4 is used to carry the workpiece 100, and the carrying platform 4 is driven by the AGV trolley to move to the work station under the frame 1, and the AGV trolley descends to unload the carrying platform 4. Down.

Specifically, the carrying platform 4 includes a support 41 and a floating frame 42, the floating frame 42 is arranged on the support 41, and the side of the floating frame 42 is provided with a support plate 421, which is suitable for supporting the side of the workpiece 100, and the floating frame 42 It can move laterally relative to the support 41 . When the mechanical gripper 24 approaches and grabs the workpiece 100, a lateral collision force will be generated on the workpiece 100, and this force acts on the floating frame 42 to push the floating frame 42 to move laterally along the support 41, so that the mechanical gripper 24 and The workpiece 100 is in flexible contact, avoiding damage to the workpiece 100 during the grasping process by the mechanical gripper 24 and ensuring the quality of the workpiece 100 .

The carrying platform 4 also includes a sliding mechanism 43 arranged laterally between the support 41 and the floating frame 42 , and the floating frame 42 is slidably connected to the support 41 through the sliding mechanism 43 . By setting the sliding mechanism 43, the floating frame 42 can slide laterally on the support 41, the structure is simple and the setting is convenient.

In this embodiment, the sliding mechanism 43 includes a linear guide rail 431 and a slider 432 , wherein the linear guide rail 431 is disposed on the support 41 , the slider 432 is slidably installed on the linear guide rail 431 , and the slider 432 is connected to the floating frame 42 . When the mechanical gripper 24 grabs the workpiece 100 , the floating frame 42 is forced to drive the slider 432 to slide along the linear guide rail 431 , so as to realize the flexible contact between the mechanical gripper 24 and the workpiece 100 . In order to improve the stability of the sliding process, there are two sliding mechanisms 43 arranged in parallel in this embodiment.

The bearing platform 4 also includes an elastic reset mechanism 44 connected to both the support 41 and the floating frame 42 , and the elastic reset mechanism 44 can elastically expand and contract along the moving direction of the floating frame 42 . When the mechanical gripper 24 grabs the workpiece 100, the floating frame 42 is forced to move laterally along the sliding mechanism 43 and compress the elastic return mechanism 44, and at the same time the elastic return mechanism 44 provides a reverse support force for the workpiece 100, which is convenient for the mechanical gripper. 24 to better grab the workpiece 100. When the mechanical gripper 24 grabs the workpiece 100 and leaves, the elastic reset mechanism 44 drives the floating frame 42 to slide along the sliding mechanism 43 under its own elastic force to realize automatic reset, so that the floating frame 42 automatically resets. and elastic shock absorption.

Specifically, the elastic reset mechanism 44 includes an elastic member 441 and a guide rod 442, wherein the elastic member 441 is connected to the support 41 and the floating frame 42, the guide rod 442 is arranged parallel to the moving direction of the floating frame 42, and the guide rod 442 is connected to the support. One of the seat 41 and the floating frame 42 is fixedly connected, and the guide rod 442 is slidably connected with the other of the support 41 and the floating frame 42 . The elastic member 441 elastically expands and contracts when the mechanical gripper 24 grabs the workpiece 100, and the guide rod 442 limits the moving direction of the floating frame 42, so that the floating frame 42 can only slide back and forth along the axial direction of the guide rod 442, thereby improving the floating frame. 42 Accuracy and controllability of movement.

In this embodiment, the elastic reset mechanism 44 is arranged on both sides of the floating frame 42, and the sliding mechanism 43 is arranged in the middle of the floating frame 42, so that when the floating frame 42 moves along any direction on both sides, the elastic reset mechanism 44 can be used to perform elastic resetting. reset.

The bearing platform 4 further includes a plurality of rolling support parts 45 , and the rolling support parts 45 are arranged between the support 41 and the floating frame 42 to support the floating frame 42 in a rolling manner. The plurality of rolling support parts 45 can improve the support stability of the floating frame 42 , and the friction force can also drive the rolling support parts 45 to roll during the moving process of the floating frame 42 , thereby reducing the movement resistance of the floating frame 42 .

As shown in Fig. 1, Fig. 11 and Fig. 12, in this embodiment, the group butt welding platform includes a flat group butt welding station 5 and a heavy-duty rotary welding station 6, wherein the flat group butt welding station 5 is suitable for flat plate workpieces 100 butt welding, the heavy-duty rotary welding table 6 can rotate around itself, and is suitable for receiving the workpiece 100 grasped by the mechanical gripper 24 and driving it to rotate. The mechanical gripper 24 grabs flat-plate workpieces 100 to the flat-plate group to assemble the welding table 5, and the upside-down welding robot 3 pairs of the paired flat-plate workpieces 100 are welded, and then the mechanical gripper 24 grabs the pre-welded flat plate The workpiece 100 moves to the heavy-duty rotary welding table 6, and the heavy-duty rotary welding table 6 drives the flat-type workpiece 100 to rotate to a preset position, and the mechanical gripper 24 grabs other workpieces 100 and connects them with the flat-type workpiece 100 for upside-down welding The robot 3 welds the well-matched workpieces 100 and repeats this cycle until the welding of the workpieces 100 is completed. During the whole process, the welding position is continuously adjusted by the rotation of the heavy-duty rotary welding table 6, which has high efficiency and high welding precision, and the heavy-duty rotary The welding table 6 can bear a workpiece 100 of more than 3T except tooling, and has a high bearing capacity.

Flat group butt welding station 5 comprises welding seat 51, pressing mechanism 52, magnetic suction fixture 53 and cooling backing plate 54, and pressing mechanism 52 is arranged on the welding seat 51 along the circumferential interval of welding seat 51, and magnetic attraction fixture 53 is arranged on the welding seat 51 , the cooling backing plate 54 is arranged in the middle of the welding seat 51 , and the cooling backing plate 54 is arranged corresponding to the welding seam formed by the pair of workpieces 100 . After the workpiece 100 is placed on the welding seat 51, the pressing mechanism 52 presses down on the workpiece 100 and the magnetic fixing member 53 fixes the workpiece 100 magnetically, preventing the workpiece 100 from being deformed during the welding process and causing the welding seam to be dislocated, and cooling the backing plate 54 Cool down the welding seam during welding to ensure that the back of the welding seam is well formed and prevent the workpiece 100 from sticking to the welding seat 51 at the same time.

Exemplarily, the welding seat 51 is a welding plate, the pressing mechanism 52 is a hydraulic pressing mechanism, the magnetic fixing member 53 is an electromagnet, and the cooling backing plate 54 is a water-cooled copper backing plate.

The heavy-duty rotary welding table 6 includes a rotary seat 61, a tooling platform 62 and a driving mechanism 63. The tooling platform 62 is rotatably arranged on the rotary seat 61, and the driving mechanism 63 is arranged on the rotary seat 61. The driving mechanism 63 and the tooling platform 62 are transmitted Connect to drive the tooling platform 62 to rotate around its own center. The driving mechanism 63 drives the tooling platform 62 to rotate relative to the swivel base 61 , thereby driving the workpiece 100 on the tooling platform 62 to rotate to adjust the welding position, which is convenient and simple.

The slewing seat 61 is fixed in the work station, and the tooling platform 62 is used to carry the workpiece 100. Along the circumferential direction of the tooling platform 62, a plurality of tooling fixtures 64 are arranged on it at intervals to clamp the workpiece 100 to avoid movement and deformation during the welding process. .

The drive mechanism 63 specifically includes an external drive shaft 631, a speed reducer 632 and a driven gear 634, wherein the speed reducer 632 is fixedly connected to the revolving base 61, the speed reducer 632 is connected to the external drive shaft 631 in transmission, and the output end of the speed reducer 632 is connected with The driving gear 633 and the driven gear 634 are rotatably arranged on the revolving base 61 , the driven gear 634 meshes with the driving gear 633 , and the driven gear 634 is in transmission connection with the tooling platform 62 . The external drive shaft 631 drives the reducer 632 to rotate to achieve deceleration, the reducer 632 drives the driving gear 633 to rotate, thereby driving the driven gear 634 to rotate, and finally drives the tooling platform 62 and the workpiece 100 on it to rotate together to realize the adjustment of the position of the workpiece 100 , to facilitate the operation of the mechanical gripper 24 and the upside-down welding robot 3 .

The 3D visual scanning system 7 can specifically be a 3D visual scanning camera, which can simultaneously photograph and scan the shape of the workpiece 100 and obtain the position coordinates of the workpiece 100 and transmit it to the execution components such as the handling truss robot 2 and the upside-down welding robot 3, so that The executing part performs the operation according to the shape and position information of the workpiece 100, so as to improve the operation accuracy. For example, the shape of the workpiece 100 obtained by the handling truss robot 2 is a flat workpiece 100 placed on the floating frame 42 with an inclination of 45°, then the mechanical gripper 24 can be turned 45° along the hinge point by the turning mechanism 23, and then rotated by the rotating mechanism 22 to make The grasping surface of the mechanical gripper 24 is parallel to the workpiece 100, and the first moving part 21 drives the mechanical gripper 24 to move close to the workpiece 100 according to the acquired position coordinates of the workpiece 100 and completes the grasping of the workpiece 100. The whole process is automated, with high precision and can be Good control.

Distance measuring sensors include line-scan laser sensors and/or spot laser sensors. The line-scanning laser sensor can scan the boundary of the workpiece 100, and the point laser sensor can scan the reference hole on the workpiece 100. By scanning the boundary of the workpiece 100 or the position of the reference hole, the actual position of the workpiece 100 can be obtained, and the actual position of the workpiece 100 can be analyzed by the control system. According to the deviation value of the theoretical position (system preset position coordinates), the transporting truss robot 2 can control the movement of the mechanical gripper 24 according to the feedback deviation value to complete the error correction, so that the actual position of the workpiece 100 is consistent with the theoretical position. The placement position of the butt welding platform is fixed. At this time, the mechanical gripper 24 places the workpiece 100 on the butt welding platform according to the preset trajectory, so as to realize the precise placement of the workpiece 100 and improve the accuracy of the pair and subsequent welding operations.

As shown in FIG. 1 , FIG. 2 and FIG. 13 , in addition, the workpiece group welding workstation also includes a gravity centering platform 8 , which is suitable for gravity centering the workpiece 100 grasped by the mechanical gripper 24 . The workpiece 100 grasped by the mechanical gripper 24 can be centered twice on the gravity centering platform 8 to better ensure the grasping accuracy of the workpiece 100 and eliminate the deviation of the grasping accuracy of the workpiece 100 caused by the mechanical gripper 24 due to system errors. Further improve the assembly and welding accuracy.

Specifically, the gravity centering platform 8 includes a base 81, an inclined surface 82 and a centering baffle 83, wherein the inclined surface 82 is arranged on the base 81, and a plurality of universal balls 821 arranged at intervals are arranged on the inclined surface 82, and the centering baffle 83 is disposed on the base 81 and opposite to the lower end of the slope 82 . The plate-shaped workpiece 100 is placed on the inclined plane 82 and supported by a plurality of universal balls 821 at the bottom. Under the action of gravity, the workpiece 100 moves down along the inclined plane 82 and makes one side of the workpiece 100 contact the centering baffle plate 83 connected, so as to realize the gravity centering of the workpiece 100, the structure is simple, and the operation is convenient.

In addition, the workpiece group pair welding workstation in this embodiment further includes a ground welding robot 9, and the ground welding robot 9 can selectively weld the workpieces 100 of the group pair welding platform. The ground welding robot 9 is used to assist the upside-down welding robot 3 to perform welding operations, so as to improve the flexibility and efficiency of welding operations.

Further, the control system is connected to the truss handling robot 2 , the upside-down welding robot 3 , the second moving part 31 , the 3D vision scanning system 7 , the ground welding robot 9 , the ranging sensor and the external drive shaft 631 . The start-up and operation of the above mechanisms can be controlled by the same control system, which can realize the unified setting of the overall work area, ensure that each part does not collide and interfere when working at the same time, and the components of each axis can cooperate with each other, and the data between the axis groups can be accurately transmitted and coordinated at a high speed. Execute the welding work of the group, avoid the situation of interactive waiting, and greatly improve the work efficiency.

The entire set of workpiece group welding workstations is completed by the automation system without manual participation, and the data measurement, calculation and transmission between equipment are performed quickly and accurately. The overall system has a total of 21 axis groups, the data between the axis groups is transmitted accurately, and 100 sets of butt welding work of workpieces are performed precisely and at high speed. Therefore, this embodiment adopts precise measurement tools such as vision and laser to accurately measure the alignment workpiece 100 and its reference position deviation, and through the cooperation of the robot axis group, the alignment accuracy is guaranteed to be ≤2mm.

In addition to the above-mentioned settings, as shown in Figure 1, this embodiment is also equipped with a fence 10 around the work station to play a protective role and prevent personnel from entering by mistake, which greatly improves the safety factor of personnel. Also be provided with unloading platform 20 in work station, to undertake the workpiece 100 that welding completes, realize workpiece 100 unloading.

In order to facilitate the understanding of the welding workstation of the workpiece group in this embodiment, the operation process is described as follows:

The carrying platform 4 carries the workpiece 100 and is transported by the AGV trolley to the work station under the frame 1;

The 3D visual scanning system 7 scans and acquires the shape and position information of the workpiece 100 on the carrying platform 4 and feeds it back to the control system. The control system controls the truss handling robot 2 to start according to the acquired information, and the mechanical gripper 24 is driven by the first moving part 21 Move along the frame 1 to the workpiece 100 and grab the workpiece 100 for handling;

If the size of the workpiece 100 is too large (judging according to the 3D visual scanning system 7), the workpiece 100 will be transported to the gravity centering platform for secondary centering, and the workpiece 100 will be placed on the slope 82. Move down and make one side of the workpiece 100 abut against the centering baffle 83 to complete the gravity centering of the workpiece 100, and the mechanical gripper 24 grabs and transports the workpiece 100 again;

If the workpiece 100 is a flat panel (judging according to the 3D visual scanning system 7), the workpiece 100 is transported to the flat group butt welding station 5;

The ranging sensor moves with the upside-down welding robot 3 and performs benchmark measurement on the workpiece 100 on the mechanical gripper 24, and feeds back the measured actual position data of the workpiece 100 to the control system, and the control system calculates and obtains the actual position data of the workpiece 100 The deviation value from the theoretical data, and the deviation value is fed back to the handling truss robot 2, and the handling truss robot 2 controls the movement of the mechanical gripper 24 according to the feedback deviation value to complete the error correction;

The mechanical gripper 24 moves the workpiece 100 and places it on the flat group butt welding table 5, the pressing mechanism 52 compresses the workpiece 100, and the magnetic suction fixture 53 magnetically fixes the workpiece 100. When the workpiece 100 is placed on the flat group butt welding table When forming a group butt joint on 5, the upside-down welding robot 3 starts to weld the joints of the workpiece 100, and the cooling backing plate 54 cools the welding place;

The mechanical gripper 24 grabs and moves the workpiece 100 that has been preliminarily welded to the heavy-duty rotary welding table 6. During this process, the distance measuring sensor is used for error correction (the process is as above, and will not be described in detail);

The heavy-duty rotary welding table 6 drives the workpiece 100 on it to rotate according to the rotation of the welding point, and the mechanical gripper 24 then reciprocates to grab other workpieces 100 and move to the heavy-duty rotary welding table 6 to dock with the workpiece 100 on it;

The upside-down welding robot 3 cooperates with the ground welding robot 9 to weld the docked workpieces 100 on the heavy-duty rotary welding table 6, and this cycle continues until all the workpieces 100 are welded.

This embodiment also discloses a method for controlling a welding workstation by a workpiece group, which includes the following steps: 3D visual scanning system 7 scans and acquires the shape and position information of workpiece 100 on the carrying platform 4 and feeds back to the handling truss robot 2; The robot 2 drives the mechanical gripper 24 to move and grab the workpiece 100 according to the acquired information; the ranging sensor performs a benchmark measurement on the workpiece 100, and feeds back the measured actual position data of the workpiece 100 to the control system, and the control system calculates and obtains the 100 the deviation value between the actual position data and the theoretical data, and feed back the deviation value to the handling truss robot 2, and the handling truss robot 2 controls the movement of the mechanical gripper 24 according to the feedback deviation value to complete the error correction; the handling truss robot 2 transfers the workpiece 100 Go to the group pair welding platform for group pairing; the upside-down welding robot 3 pairs of group paired workpieces 100 on the group pair welding platform are welded.

The assembly welding operation of the entire workpiece 100 has a high degree of automation, good operation safety, high production efficiency, and low labor intensity, and the entire process utilizes the cooperation of the 3D vision scanning system 7 and the distance sensor to accurately position the workpiece 100, which improves the Assembly and welding accuracy.

To sum up, the advantages of the present invention are: through the mutual cooperation of the 3D visual scanning system 7 and the distance measuring sensor and the handling and welding robots, the automatic pair welding of the complex welding workpiece 100 is realized, with a high degree of automation and high precision of pair welding , high production efficiency and high safety factor.

Apparently, the above-mentioned embodiments are only examples for clear description, rather than limiting the implementation. For those of ordinary skill in the art, other changes or changes in different forms can be made on the basis of the above description. It is not necessary and impossible to exhaustively list all the implementation manners here. And the obvious changes or changes derived therefrom are still within the scope of protection of the present invention.

Claims (21)

1. A workpiece group welding workstation, characterized in that, comprising: Frame (1), below is provided with operating station; The truss-carrying robot (2) includes a first moving part (21) and a mechanical gripper (24), the first moving part (21) is arranged on the frame (1), and the first moving part ( 21) transmission connection with the mechanical gripper (24) to drive the mechanical gripper (24) to move along the x-axis, y-axis and z-axis; a carrying platform (4), arranged in the working station, suitable for carrying workpieces (100); A butt welding platform is arranged in the work station and is suitable for receiving the workpiece (100) grasped by the mechanical gripper (24); An upside-down welding robot (3), which is movably installed on the frame (1), and is suitable for welding the paired workpieces (100) on the paired welding platform; A 3D visual scanning system (7), which is connected in transmission with the first moving part (21), to scan and obtain the shape and position information of the workpiece (100) on the carrying platform (4) and feed it back to the truss handling robot (2); A ranging sensor is arranged on the upside-down welding robot (3) to perform benchmark measurement on the workpiece (100) on the mechanical gripper (24), and feed back the measured actual position data of the workpiece (100) To the control system, the control system calculates and obtains the deviation value between the actual position data of the workpiece (100) and the theoretical data, and feeds back the deviation value to the handling truss robot (2), and the handling truss robot (2 ) controlling the movement of the mechanical gripper (24) according to the fed-back deviation value to complete error correction. 2. workpiece group butt welding workstation according to claim 1, is characterized in that, described bearing platform (4) comprises: support (41); The floating frame (42) is arranged on the support (41), and the side of the floating frame (42) is provided with a support plate (421), which is suitable for supporting the side of the workpiece (100). The frame (42) is movable laterally relative to said support (41). 3. The workpiece group butt welding workstation according to claim 2, characterized in that, the carrying platform (4) also includes a sliding slide horizontally arranged between the support (41) and the floating frame (42). mechanism (43), the floating frame (42) is slidingly connected with the support (41) through the sliding mechanism (43). 4. The workpiece group butt welding workstation according to claim 3, characterized in that, the sliding mechanism (43) comprises: a linear guide rail (431), arranged on the support (41); The slider (432) is slidably installed on the linear guide rail (431), and the slider (432) is connected with the floating frame (42). 5. The workpiece group butt welding workstation according to claim 2, characterized in that, the carrying platform (4) also includes an elastic return mechanism (44), and the elastic return mechanism (44) is connected to the support (41 ) and the floating frame (42) are connected, and the elastic reset mechanism (44) can elastically expand and contract along the moving direction of the floating frame (42). 6. The workpiece group butt welding workstation according to claim 5, characterized in that, the elastic return mechanism (44) comprises: an elastic member (441), connected to both the support (41) and the floating frame (42); A guide rod (442), arranged parallel to the moving direction of the floating frame (42), the guide rod (442) is fixedly connected to one of the support (41) and the floating frame (42), The guide rod (442) is slidingly connected with the other one of the support (41) and the floating frame (42). 7. The workpiece group butt welding workstation according to claim 2, characterized in that, the carrying platform (4) further comprises a plurality of rolling support parts (45), and the rolling support parts (45) are arranged on the support between the seat (41) and the floating frame (42), to provide rolling support for the floating frame (42). 8. The workpiece group butt welding workstation according to any one of claims 2 to 7, characterized in that the mechanical gripper (24) is a magnetically fixed gripper. 9. The workpiece group butt welding workstation according to any one of claims 1 to 7, characterized in that, the truss handling robot (2) further includes a rotation mechanism connected to the first moving part (21) (22), the rotating mechanism (22) is in transmission connection with the mechanical gripper (24) to drive the mechanical gripper (24) to rotate around its own center. 10. The workpiece group butt welding workstation according to claim 9, characterized in that, the truss-carrying robot (2) further comprises an overturning mechanism (23) that is transmission-connected to the rotating mechanism (22), and the overturning mechanism (23) is hinged to the mechanical gripper (24), and the turning mechanism (23) can drive the mechanical gripper (24) to turn over around the hinge point. 11. The workpiece group butt welding workstation according to claim 10, further comprising a second moving part (31) arranged on the frame (1), and the second moving part (31) It is transmission connected with the upside-down welding robot (3) to drive the upside-down welding robot (3) to move along the x-axis, y-axis and z-axis. 12. The workpiece group butt welding workstation according to claim 11, wherein the group butt welding platform comprises: Flat plate group butt welding station (5), suitable for group butt welding of flat plate workpieces (100); The heavy-duty rotary welding table (6) can rotate around itself, and is suitable for receiving the workpiece (100) grasped by the mechanical gripper (24) and driving it to rotate. 13. The workpiece group butt welding workstation according to claim 12, characterized in that, the flat group butt welding station (5) comprises: Welding seat (51); The pressing mechanism (52) is arranged on the welding seat (51) at intervals along the circumference of the welding seat (51); A magnetic fixing member (53), arranged on the welding seat (51); The cooling backing plate (54) is arranged in the middle of the welding seat (51), and the cooling backing plate (54) is arranged corresponding to the welding seam formed by pairing the workpieces (100). 14. The workpiece group butt welding workstation according to claim 12, characterized in that, the heavy-duty rotary welding table (6) comprises: Swivel seat (61), Tooling platform (62), which is rotatably arranged on the rotary seat (61); The driving mechanism (63) is arranged on the revolving base (61), and the driving mechanism (63) is connected to the tooling platform (62) in transmission to drive the tooling platform (62) to rotate around its own center. 15. The workpiece group butt welding workstation according to claim 14, characterized in that, the drive mechanism (63) comprises: External drive shaft (631); The reducer (632) is fixedly connected with the slewing base (61), the reducer (632) is connected with the external drive shaft (631) in transmission, and the output end of the reducer (632) is connected with a driving gear (633); The driven gear (634) is rotatably arranged on the revolving base (61), the driven gear (634) meshes with the driving gear (633), and the driven gear (634) meshes with the Tooling platform (62) transmission connection. 16. workpiece group butt welding workstation according to claim 15, is characterized in that, also comprises ground welding robot (9), and described ground welding robot (9) can selectively be to the workpiece of described group butt welding platform ( 100) Perform welding. 17. The workpiece group butt welding workstation according to claim 16, characterized in that the control system is connected with the truss handling robot (2), the upside-down welding robot (3), and the second moving part ( 31), the 3D visual scanning system (7), the ground welding robot (9), the distance measuring sensor and the external drive shaft (631) are all signal-connected. 18. The workpiece group butt welding workstation according to any one of claims 1 to 7, characterized in that, it also comprises a gravity centering platform (8), and the gravity centering platform (8) is suitable for the Gravity centering is performed on the workpiece (100) grasped by the mechanical gripper (24). 19. The workpiece group butt welding workstation according to claim 18, characterized in that, the gravity centering platform (8) comprises: base (81); The slope (82) is arranged on the base (81), and the slope (82) is provided with a plurality of universal balls (821) arranged at intervals; The centering baffle (83) is arranged on the base (81) and opposite to the lower end of the slope (82). 20. The workpiece group butt welding workstation according to any one of claims 1 to 7, wherein the distance measuring sensor comprises a line-scanning laser sensor and/or a point laser sensor. 21. A method for controlling a workpiece group to a welding workstation according to any one of claims 1-20, characterized in that it comprises the following steps: The 3D visual scanning system (7) scans and obtains the shape and position information of the workpiece (100) on the carrying platform (4) and feeds back to the handling truss robot (2); The truss handling robot (2) drives the mechanical gripper (24) to move and grab the workpiece (100) according to the acquired information; The distance measuring sensor performs benchmark measurement on the workpiece (100), and feeds back the measured actual position data of the workpiece (100) to the control system, and the control system calculates and obtains the deviation value between the actual position data of the workpiece (100) and the theoretical data , and feed back the deviation value to the handling truss robot (2), and the handling truss robot (2) controls the movement of the mechanical gripper (24) according to the feedback of the deviation value to complete error correction; The handling truss robot (2) transfers the workpiece (100) to the pair welding platform for pairing; The upside-down welding robot (3) welds the paired workpieces (100) on the paired welding platform.

Images