CN116175028B - Welding bus and welding method for steel grating edge wrapping - Google Patents
Welding bus and welding method for steel grating edge wrapping Download PDFInfo
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- CN116175028B CN116175028B CN202310486549.5A CN202310486549A CN116175028B CN 116175028 B CN116175028 B CN 116175028B CN 202310486549 A CN202310486549 A CN 202310486549A CN 116175028 B CN116175028 B CN 116175028B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0408—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work for planar work
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to the technical field of steel grating processing, in particular to a welding bus and a welding method for steel grating edge wrapping. The welding bus that steel grating bordures includes feed mechanism, transmission mechanism, two feed mechanisms that bordure, welding mechanism and unloading mechanism, feed mechanism includes the feed bin, transition microscope carrier and transfer robot, transition microscope carrier has spacing subassembly, transmission mechanism includes transmission frame and anchor clamps subassembly, the transmission frame is close to the setting of transition microscope carrier, anchor clamps subassembly sets up the border department in transmission frame middle section, two bordure feed mechanisms set up respectively in transmission frame both sides correspond the position department of anchor clamps subassembly, have transmission subassembly and transfer robot, welding mechanism strides to establish in transmission mechanism top, have two welding robots along the length direction round trip movement of transmission frame, unloading mechanism has the material frame and shifts the finished product on the transmission frame to the transplanting robot in the material frame. The whole welding process is full-automatic, low in cost and good in welding quality.
Description
Technical Field
The invention relates to the technical field of steel grating processing, in particular to a welding bus and a welding method for steel grating edge wrapping.
Background
The steel grating is a steel product with square lattices in the middle, which is formed by intersecting and arranging flat steels with cross bars (twisted square steels, round steels, flat steels and the like) at certain intervals. In order to ensure the flatness of the periphery of the steel grating, the periphery of the steel grating is subjected to edge-covering welding treatment by using edge-covering materials. The existing steel grating plate edge-covering welding device cannot weld two edges at the same time; the relative positions (namely welding seams) of the steel grating plate to be covered and the covering material are scanned through the vision scanning assembly and converted into coordinate data, the coordinate data are fed back to the welding robot to carry out covering welding operation, and as the positions of the vision scanning assembly (a plurality of cameras) are fixed, the welding points in the images shot by the cameras are positioned at the edge positions, the images shot by the adjacent cameras are required to be combined for adjustment, which is equivalent to reprogramming a welding track every time, and the cost is high; in addition, the camera cannot sense the position to be covered, and if the position to be covered or covered cannot be shot by the camera, the welding work cannot be performed.
Disclosure of Invention
The invention aims to solve the technical problems that: overcomes the defects in the prior art and provides a welding bus for steel grating edge wrapping.
The technical scheme adopted for solving the technical problems is as follows: a welding bus for steel lattice plate cladding, comprising:
a feeding mechanism comprising a stock bin, a transition carrying platform and a transfer robot, wherein the transition carrying platform is provided with a limiting component for limiting the semi-finished steel grating products transferred in the stock bin,
a transmission mechanism, which comprises a transmission frame and a clamp component, wherein the transmission frame is arranged close to the transition carrier and is used for transmitting the steel grating semi-finished product which is carried by the carrying robot from the transition carrier, the clamp component is arranged at the edge of the middle section of the transmission frame,
two edge-covering feeding mechanisms which are respectively arranged at the two sides of the transmission frame and correspond to the positions of the clamp assemblies and are provided with a transmission assembly and a transfer robot for conveying the edge covering to the two side edges of the steel grating semi-finished product,
a welding mechanism which is arranged above the transmission mechanism in a crossing way and is provided with two welding robots which move back and forth along the length direction of the transmission frame, the two welding robots finish welding the edge cover to the two side edges of the steel grating semi-finished product at the same time,
and the blanking mechanism is provided with a material frame and a transplanting robot for transferring the finished product on the transmission frame into the material frame.
Further, the transition carrier comprises a bench and a table top fixed on the bench, a limiting component is arranged on the table top, the limiting component is a plurality of stop blocks fixed on four sides of a semi-finished steel grating plate on the table top, a grating is arranged in an area surrounded by the stop blocks, a buffer strip is arranged on the grating, and a proximity switch is arranged on the stop blocks.
Still further, the both sides of mesa are equipped with sweeps the subassembly, it includes jacking cylinder, trachea and sweeps the head to sweep the subassembly, the lower part at the rack is installed to the jacking cylinder, and arc jack catch is connected to its push rod, the trachea card is established in the arc jack catch, and a plurality of through-holes have been seted up towards the position of mesa on the trachea, install on the through-hole and sweep the head.
Further, two bins are arranged and move back and forth on two sections of guide rails positioned on a straight line respectively, the outer side ends of the guide rails are charging areas, the inner side ends of the guide rails are charging areas, the charging areas are supporting platforms higher than the guide rails, and the first positioning blocks of the limiting bins are arranged in front of and behind the supporting platforms.
Further, the clamp assembly comprises four lifting cylinders, two limiting plates and two pressing plates, wherein the two lifting cylinders are arranged on the outer wall of one side of the transmission frame at a certain distance from front to back, the other two lifting cylinders are correspondingly arranged on the outer wall of the other side of the transmission frame, the limiting plates are connected to push rods of the lifting cylinders in front according to the transmission direction, the pressing plates are connected to push rods of the lifting cylinders in back, and the limiting plates are in a right-angle structure; and a proximity switch is also arranged on the transmission frame close to the clamp assembly.
Further, the transmission subassembly includes storage silo, work or material rest, transmission platform, upset piece and compresses tightly the piece, the work or material rest is arranged in the storage silo, and it is vertically placed to transmission platform by hoist and mount mechanism, transmission platform includes transmission chain and drive transmission chain pivoted power supply, and the work or material rest is including supporting the chassis in transmission chain both sides and being located the pole setting on chassis both sides edge, offer the slot that supplies the end portion of borduring to stretch into on the pole setting inside wall, the upset piece sets up the end at transmission platform, and it includes upset motor, pivot and supporting cylinder, the upset motor passes through the motor cabinet and installs the end at transmission platform, and the pivot is connected to its output, the supporting cylinder is connected on the pivot, and supporting block is connected to its push rod, compress tightly the piece and including propelling movement cylinder and briquetting, propelling movement cylinder horizontal mounting is in the terminal both sides border of transmission platform, and briquetting is connected to its push rod.
Further, welding mechanism is including setting up the door type frame in transmission mechanism both sides, be equipped with the slide rail on the door type frame, be equipped with on the slide rail along its gliding backup pad that makes a round trip, two welding robots are installed to backup pad lower surface handstand side by side, and the backup pad upper surface is provided with welding wire bucket and welding control cabinet, three-dimensional laser vision system is installed to welding robot's welding end, and one end upper portion of door type frame is provided with clear rifle station.
Further, two material frames are arranged and move back and forth on two sections of right-angle linear guide rails, the outer side ends of the linear guide rails are unloading areas, the inner side ends of the right-angle linear guide rails are receiving areas, the receiving areas are supporting tables higher than the linear guide rails, and positioning blocks II of limiting material frames are arranged in front of and behind the supporting tables.
The invention also provides a welding method for the steel grating plate edge covering, which comprises the following steps:
s1, feeding: the steel grating semi-finished product is carried from the stock bin to the grating of the transition carrying platform through the hoisting mechanism, the proximity switch transmits in-place signals to the production system control cabinet, and the production system control cabinet controls the carrying robot to carry the steel grating semi-finished product to the transmission frame;
s2, transmitting: the production system control cabinet controls the transmission frame to convey the steel grating semi-finished product until reaching the position corresponding to the clamp assembly;
s3, limiting: when a proximity switch on the transmission frame detects the semi-finished steel grating, an in-place signal is transmitted to a production system control cabinet, the production system control cabinet controls the transmission frame to stop conveying, meanwhile, four lifting cylinders of the clamp assembly push out push rods, the limiting plate stops the semi-finished steel grating from continuing to move forward, the pressing plate assists the limiting plate to limit the semi-finished steel grating until the transmission frame completely stops, and the lifting cylinders retract;
s4, edge-covering and feeding: the lifting mechanism vertically places a material rack in the storage bin on two sides of a transmission chain on a transmission platform, a production system control cabinet controls the transmission chain to start rotating, a binding edge on the material rack automatically falls onto the transmission chain under the action of gravity and is driven by the transmission chain to be transmitted to a supporting block of a supporting cylinder, a turnover motor is started to drive a turnover shaft to rotate, the supporting cylinder rotates along with the turnover shaft, the binding edge is vertically rotated to be horizontal, a transfer robot grabs the binding edge and places the binding edge on the side edge of a steel grid plate semi-finished product, a pushing cylinder extends out of a push rod, and a pressing block presses the binding edge;
s5, welding: the production system control cabinet controls the supporting plate to move along the sliding rail, the three-dimensional laser vision system of the welding robot acquires three-dimensional data of a part to be welded, the control system in the welding control cabinet performs positioning and operation for correcting a welding track, then controls the welding robot to weld according to the operated welding track, and the welding robot is matched with the movement of the supporting plate to finish welding the edge to the side edge of the steel grating semi-finished product, and the production system control cabinet controls the transmission frame to convey the steel grating finished product until reaching the tail end of the transmission frame;
s6, blanking: and the production system control cabinet controls the transplanting robot to put the steel grating finished product into the material frame.
Further, the step S5 includes the following steps:
s51: the method comprises the steps of firstly placing a steel grating semi-finished product to be processed at a welding position of a transmission frame, controlling rotation of a joint of a welding robot through a welding control cabinet, driving a three-dimensional laser vision system to scan the steel grating semi-finished product, obtaining three-dimensional data information of an area where the steel grating semi-finished product is located, constructing a three-dimensional processing scene through software, setting processing parameters, automatically generating a motion track of the welding robot, simulating and adjusting the motion track in the software, and generating an execution program to be transmitted to the welding robot;
s52, a production system control cabinet controls the supporting plate to move along the sliding rail, a three-dimensional laser vision system of the welding robot acquires three-dimensional data of a part to be welded, the three-dimensional data comprises a set of coordinates (x, y and z) of each point to be welded, and the coordinates (x, y and z) of each point are combined with corresponding welding point coordinates (x) set in an execution program 0 、y 0 、z 0 ) Comparing, executing program to automatically adjust the deviation value into the coordinates (x, y, z) to generate new coordinates (x) of each point of welding 1 、y 1 、z 1 ) The welding motion trail of the welding robot at this time;
s53, controlling a welding robot to weld according to the welding motion track of the step S52 by a welding control cabinet, and completing simultaneous welding of two covered edges to two side edges of a steel grating semi-finished product by matching with the movement of a supporting plate;
s54, the production system control cabinet controls the transmission frame to convey the steel grating finished product until reaching the tail end of the transmission frame.
The beneficial effects of the invention are as follows: according to the invention, the steel grating semi-finished product is carried onto the transmission frame of the transmission mechanism through the carrying robot of the feeding mechanism, the transmission frame drives the steel grating semi-finished product to move to the welding position, the clamp assembly is used for limiting, the edge wrapping feeding mechanisms on two sides of the transmission frame simultaneously send the edge wrapping to two sides of the steel grating semi-finished product, the three-dimensional laser vision system of the welding robot carries out laser locating, a required welding motion track is formed by comparing with the off-line programmed welding execution program, the two welding robots simultaneously carry out accurate welding operation, and finally the welding operation is transferred into the material frame through the transplanting robot.
Drawings
The invention will be further described with reference to the drawings and examples.
Fig. 1 is a schematic structural view of a steel lattice plate semi-finished product to be processed according to the present invention.
Fig. 2 is a schematic structural view of the present invention.
Fig. 3 is a schematic structural view of a transition stage according to the present invention.
Fig. 4 is a schematic structural view of the silo in the present invention.
Fig. 5 is a schematic view of the structure of the clamp assembly of the present invention.
Fig. 6 is a schematic diagram of a transmission assembly according to the present invention.
Fig. 7 is a schematic view of the structure of the welding mechanism in the present invention.
Fig. 8 is a schematic structural view of a material frame in the present invention.
In the figure:
1. the steel grating plate semi-finished product is manufactured,
2. the edge of the steel plate is covered by a border,
3. the feeding mechanism comprises 31 parts of a feed bin, 32 parts of a transition carrier, 320 parts of a grille, 321 parts of a limiting assembly, 322 parts of a rack, 323 parts of a table top, 324 parts of a purging assembly, 3241 parts of a jacking cylinder, 3242 parts of an air pipe, 3243 parts of a purging head, 3244 parts of an arc-shaped claw, 33 parts of a carrying robot, 34 parts of a guide rail, 35 parts of a positioning block,
4. the conveying mechanism, 41, the conveying frame, 42, the clamp assembly, 421, the lifting cylinder, 422, the limiting plate, 423, the pressing plate,
5. the edge-covering feeding mechanism 51, the transmission assembly 511, the storage bin 512, the material rack 5121, the underframe 5122, the vertical rod 513, the transmission platform 5131, the transmission chain 514, the turnover piece 5141, the turnover motor 5142, the turnover shaft 5143, the supporting cylinder 5144, the supporting block 515, the pressing piece 5151, the pushing cylinder 5152, the pressing block 52, the transfer robot,
6. welding mechanism 60, door-shaped frame 61, welding robot 62, supporting plate 63, welding wire barrel 64, welding control cabinet 65, three-dimensional laser vision system 66, gun cleaning station,
7. a blanking mechanism 71, a material frame 72, a transplanting robot 73, a linear guide rail 74, a positioning block II,
8. and a production system control cabinet.
Detailed Description
The invention will now be further described with reference to the drawings and preferred embodiments. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.
As shown in FIG. 1, the steel grating plate semi-finished product 1 to be processed in this example has a length X width X height of 1500mm X1005 mm X50 mm and a weight of about 180kg, and the length X width X height of the cladding 2 is 1500mm X5 mm X50 mm, requiring that the weld height of the cladding 2 and the steel grating plate semi-finished product be equal to or greater than 2/3 of the height of the cladding 2.
Embodiment one.
As shown in fig. 2, a welding bus for steel grating cladding includes a feeding mechanism 3, a transmission mechanism 4, two cladding feeding mechanisms 5, a welding mechanism 6 and a blanking mechanism 7, wherein the feeding mechanism 3 includes a bin 31, a transition carrying platform 32 and a transfer robot 33, the transition carrying platform 32 has a limiting component 321 for limiting the steel grating semi-finished product 1 carried in the bin 31, the transmission mechanism 4 includes a transmission frame 41 (composed of a transmission belt, a transmission roller and a power source) and a clamp component 42, the transmission frame 41 is arranged near the transition carrying platform 32 for transmitting the steel grating semi-finished product 1 carried by the transfer robot 33 from the transition carrying platform 32, the clamp component 42 is arranged at the edge of the middle section of the transmission frame 41, the two cladding feeding mechanisms 5 are respectively arranged at the positions of the two sides of the transmission frame 41 corresponding to the clamp component 42, the transmission component 51 and the transfer robot 52 are provided for conveying the cladding 2 to the two sides of the steel grating semi-finished product 1, the welding mechanism 6 spans over the transmission mechanism 4 and has two welding robots 61 moving back and forth along the length direction of the transmission frame 41, and the blanking mechanism 7 is provided with the transfer robot 71 and the transfer robot 71 is arranged in the transmission frame 71. Guard bars are arranged around the whole welding bus, safety gates are arranged on the guard bars for feeding and discharging materials, gratings are arranged on the safety gates, and a production system control cabinet 8 of the welding bus is further arranged.
As shown in fig. 3, the transition carrier 32 includes a rack 322 and a table top 323 fixed on the rack 322, a limiting component 321 is disposed on the table top 323, the limiting component 321 is a plurality of stoppers fixed on the table top and limiting four sides of the semi-finished steel grating plate 1, a grating 320 is disposed in an area surrounded by the stoppers, a buffer strip (which may be a rubber strip, preventing the grating 320 from rigidly contacting the semi-finished steel grating plate 1 and causing deformation of the semi-finished steel grating plate 1) is disposed on the grating 320, and a proximity switch is mounted on the stoppers. The steel grating semi-finished product 1 is placed and positioned, so that the transfer robot 33 can conveniently and uniformly grasp the steel grating semi-finished product, the transfer carrier 32 is required to be arranged, and the transfer robot 33 is arranged on one side of the transfer carrier 32.
In addition, the both sides of mesa 323 are equipped with sweeps subassembly 324, and sweep subassembly 324 includes jacking cylinder 3241, trachea 3242 and sweeps first 3243, and jacking cylinder 3241 installs in the lower part of rack 322, and arc jack catch 3244 is connected to its push rod, and trachea 3242 card is established in arc jack catch 3244, and has seted up a plurality of through-holes towards the position of mesa 323 on the trachea 3242, installs on the through-hole and sweeps first 3243. The air pipe 3242 is connected with an air pump, pressure gas generated by the air pump flows into the air pipe 3242 and is blown out through the blowing head 3243 to blow out the edge of the steel grating plate semi-finished product 1, blown dust can pass through the grating 320, and a dust hopper can be arranged on the back of the table top 323 to prevent dust from flying.
As shown in fig. 4, two bins 31 are provided, the two bins 31 respectively move back and forth on two sections of guide rails 34 positioned on a straight line, the outer side end of the guide rails 34 is a loading area a, the inner side end of the guide rails 34 is a loading area B, the loading area B is a supporting platform higher than the guide rails 34, and a first positioning block 35 for limiting the bins 31 is arranged in front of and behind the supporting platform. The two bins 31 are used alternately: when one bin 31 moves to the middle feeding area B, the other bin 31 is used for manually placing the steel grating semi-finished product 1 in the charging area A, the bin 31 in the feeding area B is moved to the charging area A along the guide rail 34 to manually start feeding after being emptied, and the other full bin 31 is automatically moved to the middle feeding area B to be fed. The bottom of the storage bin 31 is provided with rollers, the rollers are driven to rotate through a motor, the storage bin 31 is further enabled to move along the guide rail 34, and an operator can operate through a remote controller.
As shown in fig. 5, the fixture assembly 42 includes four lifting cylinders 421, two limiting plates 422 and two pressing plates 423, wherein two lifting cylinders 421 are mounted on the outer wall of one side of the transmission frame 41 at a certain distance from front to back, the other two lifting cylinders 421 are correspondingly mounted on the outer wall of the other side of the transmission frame 41, the push rods of the lifting cylinders 421 in front according to the transmission direction are connected with the limiting plates 422, the push rods of the lifting cylinders 421 in back are connected with the pressing plates 423, and the limiting plates 422 are in a right-angle structure; a proximity switch is also provided on the transport carriage 41 adjacent the clamp assembly 42. When the proximity switch detects the steel grating semi-finished product 1, the transmission frame 41 stops transmitting, the transmission belt does not stop vertically, the transmission belt has inertia and moves a small section, and the limiting plate 422 with the right-angle structure can well limit the steel grating semi-finished product 1. Of course, other clamping assemblies can be used to clamp or limit the steel grating semi-finished product 1.
As shown in fig. 6, the conveying assembly 51 includes a storage bin 511, a material frame 512, a conveying platform 513, a turnover member 514 and a pressing member 515, the material frame 512 is arranged in the storage bin 511, and is vertically placed on the conveying platform 513 by a hoisting mechanism, the conveying platform 513 includes a conveying chain 5131 and a power source for driving the conveying chain 5131 to rotate, the material frame 512 includes a bottom frame 5121 supported on two sides of the conveying chain 5131 and vertical rods 5122 located on two sides of the bottom frame 5121, slots for the end portions of the wrapping edges 2 to extend into are formed in the inner side walls of the vertical rods 5122, the turnover member 514 is arranged at the tail end of the conveying platform 513, the turnover member comprises a turnover motor 5141, a turnover shaft 5142 and a supporting cylinder 5143, the turnover motor 5141 is installed at the tail end of the conveying platform 513 through a motor base, the output end of the turnover motor is connected with the turnover shaft 5142, the supporting cylinder 5143 is connected with the turnover shaft 5144, the pressing member 515 includes a pushing cylinder 5151 and a pressing block 5152, and the pushing cylinder 5151 is horizontally installed on two side edges of the tail end of the conveying platform 513, and the pushing rod is connected with the pressing block 5152.
The transfer robot 52 is disposed at one side of the end of the transfer assembly 51. The edge covering feeding mechanism 5 sequentially comprises a storage bin 511, a transmission platform 513, a turnover part 514 and a pressing part 515 from left to right, a material rack 512 is manually placed outside the guard rail into the storage bin 511, the lifting mechanism sequentially sends the material rack 512 to the transmission platform 513, the transmission platform 513 moves each out-of-order edge covering 2 to the position of the turnover part 514, and the turnover part 514 adjusts the edge covering 2 to a position which is convenient for the transfer robot 52 to recognize grabbing (namely, the transfer robot 52 grabs a designated position), so that safe work and efficient production are realized. The pressing pieces 515 of the two wrapping feeding mechanisms 5 press the wrapping edges 2 to be attached to two side edges of the steel grating semi-finished product 1.
As shown in fig. 7, the welding mechanism 6 comprises a gate-shaped frame 60 arranged at two sides of the transmission mechanism 4, a sliding rail is arranged on the gate-shaped frame 60, a supporting plate 62 sliding back and forth along the sliding rail is arranged on the sliding rail, two welding robots 61 are installed on the lower surface of the supporting plate 62 in parallel and inverted mode, a welding wire barrel 63 and a welding control cabinet 64 are arranged on the upper surface of the supporting plate 62, a three-dimensional laser vision system 65 is installed at the welding end of the welding robot 61, and a gun cleaning station 66 is arranged at the upper portion of one end of the gate-shaped frame 60. The two upside-down welding robots 61 move back and forth along with the supporting plate 62, and the welding control cabinet 64 and the welding wire barrel 63 which cooperate with the welding work move along with each other. The gun cleaning station 66 automatically cleans the slag, prolongs the protection nozzle, and increases the service life. When two flip-chip welding robots 61 are used for welding, an off-line programming and laser locating mode is adopted.
As shown in fig. 8, two material frames 71 are provided, the two material frames 71 move back and forth on two sections of rectilinear guide rails 73 with right angles, the outer side ends of the rectilinear guide rails 73 are a discharging area C, the inner side ends of the rectilinear guide rails are receiving areas D, the receiving areas D are supporting tables higher than the rectilinear guide rails 73, and the front and rear of the supporting tables are provided with positioning blocks two 74 for limiting the material frames. After the steel grating finished product is transferred in place by the transfer frame 41, the transplanting robot 72 receives the instruction and carries the steel grating finished product into the designated material frame 71. Two material frames 71 are used alternately, one material frame 71 is full of moving to the discharging area C along the linear guide rail 73, and the other material frame 71 is moving to the receiving area D, so that the placing positions of the transplanting robots 72 are uniform.
Example two
A welding method for steel grating edge wrapping comprises the following steps:
s1, feeding: the steel grating semi-finished product 1 is carried from the storage bin 31 to the grating 320 of the transition carrier 32 through the hoisting mechanism, the proximity switch transmits in-place signals to the production system control cabinet 8, and the production system control cabinet 8 controls the carrying robot to carry the steel grating semi-finished product 1 to the transmission frame 41;
s2, transmitting: the production system control cabinet 8 controls the transmission frame 41 to convey the steel grating semi-finished product 1 until reaching the position corresponding to the clamp assembly 42;
s3, limiting: when the proximity switch on the transmission frame 41 detects the steel grating semi-finished product 1, an in-place signal is transmitted to the production system control cabinet 8, the production system control cabinet 8 controls the transmission frame 41 to stop conveying, meanwhile, the four lifting cylinders 421 of the clamp assembly 42 push out push rods, the limiting plate 422 blocks the steel grating semi-finished product 1 from continuing to move forward, and the pressing plate 423 assists the limiting plate 422 to limit the steel grating semi-finished product 1 until the transmission frame 41 completely stops, and the lifting cylinders 421 retract;
s4, edge-covering and feeding: the lifting mechanism vertically places a material rack 512 in a storage bin 511 on two sides of a transmission chain on a transmission platform 513, a production system control cabinet 8 controls the transmission chain 5131 to start rotating, a binding 2 on the material rack 512 automatically falls onto the transmission chain 5131 under the action of gravity, the material rack is driven by the transmission chain 5131 to be transmitted to a supporting block 5144 of a supporting cylinder 5143, a turnover motor 5141 is started to drive a turnover shaft 5142 to rotate, the supporting cylinder 5143 rotates along with the turnover shaft, the binding 2 is vertically rotated to be horizontal, a transfer robot 52 grabs the binding 2 and places the binding 2 on the side edge of a steel grid plate semi-finished product 1, a pushing cylinder 5151 stretches out of a push rod, and a pressing block 5152 presses the binding 2;
s5, welding: the production system control cabinet 8 controls the supporting plate 62 to move along the sliding rail, the three-dimensional laser vision system 65 of the welding robot 61 acquires three-dimensional data of a part to be welded, a control system in the welding control cabinet 64 performs positioning and operation for correcting a welding track, the welding robot 61 is controlled to weld according to the operated welding track, the supporting plate 62 is matched with movement to finish welding the covered edge 2 onto the side edge of the steel grating semi-finished product 1, and the production system control cabinet 8 controls the transmission frame 41 to convey the steel grating finished product until reaching the tail end of the transmission frame 41;
s6, blanking: the production system control cabinet 8 controls the transplanting robot 72 to put the steel grating finished product into the material frame 71.
The steel grating semi-finished product 1 to be processed in the embodiment has the advantages of more welding lines, large difference, long manual programming time, large workload and no unified standard of point positions, so that the mode of off-line teaching of welding tracks is adopted to realize the programming of the welding tracks of the workpieces and the detachment of the welding sites, and the welding efficiency of the whole workpieces and the welding process quality can be improved while the safety of personnel is ensured.
The off-line programming comprises the following specific steps: the steel grating semi-finished product 1 to be processed is placed at the welding position of the transmission frame 41 in advance, the welding control cabinet 64 controls the joint of the welding robot 61 to rotate, the three-dimensional laser vision system 65 is driven to scan the steel grating semi-finished product 1, three-dimensional data information of the area where the steel grating semi-finished product 1 is located is obtained, a three-dimensional processing scene is constructed through software, processing technological parameters are set, a motion track of the welding robot is automatically generated, the motion track is simulated and adjusted in the software, and an execution program is generated and transmitted to the welding robot 61.
During a specific welding operation, the production system control cabinet 8 controls the support plate 62 to move along the slide rail, the three-dimensional laser vision system 65 on the welding robot 61 acquires three-dimensional data for a part to be welded, the three-dimensional data comprises a set of coordinates (x, y, z) of each point to be welded, and the coordinates (x, y, z) of each point are combined with corresponding welding point coordinates (x 0 、y 0 、z 0 ) Comparing, executing program to automatically adjust the deviation value into the coordinates (x, y, z) to generate new coordinates (x) of each point of welding 1 、y 1 、z 1 ) I.e. the welding motion trajectory of the welding robot 61 this time; the welding control cabinet 64 controls the welding robot 61 to weld according to the welding motion track of the step at this time, and the supporting plate 62 moves cooperatively to finish welding the two covered edges 2 to the two side edges of the steel grating semi-finished product 1 at the same time; finally, the production system control cabinet 8 controls the transport frame 41 to transport the steel grating finished product until reaching the end of the transport frame 41.
The welding method can correct the welding position and compensate the welding posture, and the sensor of the three-dimensional laser vision system 65 is used for locating the placing position of the steel grating semi-finished product 1, so that the three-dimensional laser vision system 65 is guided to correct the steel grating semi-finished product 1 in real time, and the compensation of the size inconsistency among the steel grating semi-finished products 1 is realized. The three-dimensional laser vision system 65 has strong interference resistance and can realize position compensation in real time. The three-dimensional laser vision system 65 of this embodiment adopts SmartEye LDW, the detection distance is 80-180 mm, the horizontal detection precision is 0.06mm, the vertical detection precision is 0.1mm, and the detection period is 20 m/s. The three-dimensional laser vision system 65 includes a sensor for real-time data acquisition, a light source that emits infrared laser light, a protective glass for protecting an optical lens, a jig for mounting the sensor onto the welding robot 61, and a protective cover for protecting the sensor from arc light and spatter.
In the embodiment, the welding speed of the welding robot 61 is 10mm/s, the gun jump posture changing time is 1.2s, the welding arcing time is 0.7s, the steel grating semi-finished product 1 enters the welding station for 5s, the feeding time of the wrapping 2 is 20s (both sides are simultaneously fed), and the steel grating semi-finished product leaves the welding station for 5s. The total welding time of single products=the length of the welding lines/the welding time+the number of welding lines×the jump time+the number of welding lines×the arcing time, calculated as about 111s, the productivity can be close to 4000 according to the production for 22 days in one month for 8 hours each day.
The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and to implement the same, but are not intended to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of the present invention.
Claims (5)
1. A method of welding a steel lattice plate hemming welding bus, the steel lattice plate hemming welding bus comprising:
a feeding mechanism comprising a stock bin, a transition carrying platform and a transfer robot, wherein the transition carrying platform is provided with a limiting component for limiting the semi-finished steel grating products transferred in the stock bin,
a transmission mechanism, which comprises a transmission frame and a clamp component, wherein the transmission frame is arranged close to the transition carrier and is used for transmitting the steel grating semi-finished product which is carried by the carrying robot from the transition carrier, the clamp component is arranged at the edge of the middle section of the transmission frame,
two edge-covering feeding mechanisms which are respectively arranged at the two sides of the transmission frame and correspond to the positions of the clamp assemblies and are provided with a transmission assembly and a transfer robot for conveying the edge covering to the two side edges of the steel grating semi-finished product,
a welding mechanism which is arranged above the transmission mechanism in a crossing way and is provided with two welding robots which move back and forth along the length direction of the transmission frame, the two welding robots finish welding the edge cover to the two side edges of the steel grating semi-finished product at the same time,
the blanking mechanism is provided with a material frame and a transplanting robot for transferring the finished product on the transmission frame into the material frame;
the clamp assembly comprises four lifting cylinders, two limiting plates and two pressing plates, wherein the two lifting cylinders are arranged on the outer wall of one side of the transmission frame at a certain distance from front to back, the other two lifting cylinders are correspondingly arranged on the outer wall of the other side of the transmission frame, the limiting plates are connected to push rods of the lifting cylinders in front according to the transmission direction, the pressing plates are connected to push rods of the lifting cylinders in back, and the limiting plates are in a right-angle structure; a proximity switch is also arranged on the transmission frame close to the clamp assembly;
the conveying assembly comprises a storage bin, a material frame, a conveying platform, a turnover part and a pressing part, wherein the material frame is arranged in the storage bin and is vertically placed on the conveying platform through a hoisting mechanism, the conveying platform comprises a conveying chain and a power source for driving the conveying chain to rotate, the material frame comprises an underframe supported on two sides of the conveying chain and upright rods positioned on two sides of the underframe, slots for enabling edge wrapping ends to extend in are formed in the inner side walls of the upright rods, the turnover part is arranged at the tail end of the conveying platform and comprises a turnover motor, a turnover shaft and a supporting cylinder, the turnover motor is installed at the tail end of the conveying platform through a motor seat, the output end of the turnover motor is connected with the turnover shaft, the supporting cylinder is connected with the turnover shaft, a push rod of the turnover motor is connected with a supporting block, the pressing part comprises a pushing cylinder and a pressing block, and the pushing cylinder is horizontally installed on two side edges of the tail end of the conveying platform and is connected with the pressing block;
the welding mechanism comprises door-shaped frames arranged on two sides of the transmission mechanism, sliding rails are arranged on the door-shaped frames, supporting plates sliding back and forth along the sliding rails are arranged on the sliding rails, two welding robots are installed on the lower surfaces of the supporting plates in parallel in an inverted mode, welding wire barrels and a welding control cabinet are arranged on the upper surfaces of the supporting plates, a three-dimensional laser vision system is installed at the welding ends of the welding robots, and a gun cleaning station is arranged at the upper portion of one end of each door-shaped frame;
the welding method comprises the following steps:
s1, feeding: the steel grating semi-finished product is carried from the stock bin to the grating of the transition carrying platform through the hoisting mechanism, the proximity switch transmits in-place signals to the production system control cabinet, and the production system control cabinet controls the carrying robot to carry the steel grating semi-finished product to the transmission frame;
s2, transmitting: the production system control cabinet controls the transmission frame to convey the steel grating semi-finished product until reaching the position corresponding to the clamp assembly;
s3, limiting: when a proximity switch on the transmission frame detects the semi-finished steel grating, an in-place signal is transmitted to a production system control cabinet, the production system control cabinet controls the transmission frame to stop conveying, meanwhile, four lifting cylinders of the clamp assembly push out push rods, the limiting plate stops the semi-finished steel grating from continuing to move forward, the pressing plate assists the limiting plate to limit the semi-finished steel grating until the transmission frame completely stops, and the lifting cylinders retract;
s4, edge-covering and feeding: the lifting mechanism vertically places a material rack in the storage bin on two sides of a transmission chain on a transmission platform, a production system control cabinet controls the transmission chain to start rotating, a binding edge on the material rack automatically falls onto the transmission chain under the action of gravity and is driven by the transmission chain to be transmitted to a supporting block of a supporting cylinder, a turnover motor is started to drive a turnover shaft to rotate, the supporting cylinder rotates along with the turnover shaft, the binding edge is vertically rotated to be horizontal, a transfer robot grabs the binding edge and places the binding edge on the side edge of a steel grid plate semi-finished product, a pushing cylinder extends out of a push rod, and a pressing block presses the binding edge;
s5, welding: the production system control cabinet controls the supporting plate to move along the sliding rail, the three-dimensional laser vision system of the welding robot acquires three-dimensional data of a part to be welded, the control system in the welding control cabinet performs positioning and operation for correcting a welding track, then controls the welding robot to weld according to the operated welding track, and the welding robot is matched with the movement of the supporting plate to finish welding the edge to the side edge of the steel grating semi-finished product, and the production system control cabinet controls the transmission frame to convey the steel grating finished product until reaching the tail end of the transmission frame;
s6, blanking: the production system control cabinet controls the transplanting robot to put the steel grating finished product into a material frame;
the step S5 includes the following steps:
s51: the method comprises the steps of firstly placing a steel grating semi-finished product to be processed at a welding position of a transmission frame, controlling rotation of a joint of a welding robot through a welding control cabinet, driving a three-dimensional laser vision system to scan the steel grating semi-finished product, obtaining three-dimensional data information of an area where the steel grating semi-finished product is located, constructing a three-dimensional processing scene through software, setting processing parameters, automatically generating a motion track of the welding robot, simulating and adjusting the motion track in the software, and generating an execution program to be transmitted to the welding robot;
s52, a production system control cabinet controls the supporting plate to move along the sliding rail, a three-dimensional laser vision system of the welding robot acquires three-dimensional data of a part to be welded, the three-dimensional data comprises a set of coordinates (x, y and z) of each point to be welded, and the coordinates (x, y and z) of each point are combined with corresponding welding point coordinates (x) set in an execution program 0 、y 0 、z 0 ) Comparing, executing program to automatically adjust the deviation value into the coordinates (x, y, z) to generate new coordinates (x) of each point of welding 1 、y 1 、z 1 ) The welding motion trail of the welding robot at this time;
s53, controlling a welding robot to weld according to the welding motion track of the step S52 by a welding control cabinet, and completing simultaneous welding of two covered edges to two side edges of a steel grating semi-finished product by matching with the movement of a supporting plate;
s54, the production system control cabinet controls the transmission frame to convey the steel grating finished product until reaching the tail end of the transmission frame.
2. The welding method of the steel grating covered edge welding bus line according to claim 1, wherein: the transition carrying platform comprises a platform frame and a platform surface fixed on the platform frame, wherein a limiting assembly is arranged on the platform surface and is a plurality of stop blocks fixed on the platform surface and used for limiting four sides of a semi-finished steel grating plate, a grating is arranged in an area surrounded by the stop blocks, a buffer strip is arranged on the grating, and a proximity switch is arranged on the stop blocks.
3. The welding method of the steel grating covered edge welding bus according to claim 2, wherein: the utility model discloses a table-board, including mesa, the both sides of mesa are equipped with sweeps the subassembly, it includes jacking cylinder, trachea and sweeps the head to sweep the subassembly, the lower part at the rack is installed to the jacking cylinder, and arc jack catch is connected to its push rod, the trachea card is established in arc jack catch, and has seted up a plurality of through-holes towards the position of mesa on the trachea, install on the through-hole and sweep the head.
4. The welding method of the steel grating covered edge welding bus line according to claim 1, wherein: the feed bin is provided with two, and two feed bins are respectively on two sections of guide rails that are located on a straight line and move back and forth, the outside end of guide rail is the charging zone, and the inboard end of guide rail is the material loading district, the material loading district is the supporting platform that exceeds the guide rail, the locating piece one of spacing feed bin is equipped with around the supporting platform.
5. The welding method of the steel grating covered edge welding bus line according to claim 1, wherein: the material frame is provided with two, and two material frames round trip movement are on two sections of rectilinear guide rails that are the right angle shape, rectilinear guide rail's outside end is the district of unloading, and rectilinear guide rail's inboard end is the material district that connects, connect the material district to be the brace table that exceeds rectilinear guide rail, be equipped with the locating piece second of spacing material frame around the brace table.
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