CN116618894A - Automatic welding production line and production method for movable arm of excavator - Google Patents

Abstract

The invention relates to an automatic welding production line and a production method for a movable arm of an excavator, which relate to the technical field of movable arm production of the excavator and comprise a feeding and discharging conveying device, wherein a feeding and discharging identification system is respectively arranged above the feeding and discharging conveying device, and a first welding workstation, a second welding workstation, a third welding workstation and a fourth welding workstation are sequentially arranged between the feeding and discharging conveying device, wherein the first welding workstation, the second welding workstation and the third welding workstation are main welding seam welding workstations, and the fourth welding workstation is a short welding seam welding workstation; and a first AGV carrying forklift and a second AGV carrying forklift which are convenient for carrying the excavator movable arm are further arranged on the automatic welding production line. According to the invention, the main welding line and the short welding line of the excavator movable arm are subjected to split operation, so that the welding operation of a plurality of excavator movable arms can be completed in the same time, the production cost of equipment is reduced, the automatic carrying operation can be realized, the manpower input is reduced, and the production efficiency is improved.

Description

Automatic welding production line and production method for movable arm of excavator

Technical Field

The invention relates to the technical field of excavator movable arm production, and particularly discloses an automatic welding production line and a production method for an excavator movable arm.

Background

The movable arm is a working device of the excavator, and is commonly called as a large arm because a connecting arm connected with the frame is long; the main function of the excavator boom is to govern the operations such as excavating and loading of the bucket. The movable arm of the excavator is generally of a box type structure and mainly comprises an upper main plate, a lower main plate, two side plates, a movable arm seat sleeve, a movable arm middle sleeve and other components. In the production process of the movable arm of the excavator, all components of the movable arm of the excavator are required to be assembled into a whole, then are reinforced by welding, and finally are polished, trimmed and formed.

The application publication number is: the invention patent of CN114161017A discloses automatic welding equipment and a welding method for a movable arm structural member of a large excavator, wherein the automatic welding equipment comprises a welding positioner, a lifting mechanism, a clamp mechanism and a welding mechanism; a lifting mechanism is arranged on the welding positioner; the lifting mechanism is provided with a clamp mechanism; the welding mechanism is movably arranged on the lifting cantilever mechanism.

The main board and the side board of the movable arm of the excavator are of main frame structures, and the contact surface between the main board and the side board is large, so that the welding seam between the main board and the side board is a main welding seam, long-time welding is needed, the connecting structures of the other components are short welding seams, and the welding time is short. The automatic welding equipment in the disclosed patent technology uses a welding positioner to integrally weld the main welding line and the short welding line of the movable arm of the excavator, and as the structural form of the short welding line of the movable arm of the excavator is diversified, the welding can be realized only by overturning the movable arm of the excavator at multiple angles in the welding process, the main welding line of the movable arm of the excavator is simple in structure, and the welding can be realized only by overturning the movable arm of the excavator, so that the welding positioner can realize complete welding operation only by adding an overturning mechanism. At present, a plurality of welding position changing machines are arranged in most welding production lines, and each welding position changing machine is additionally provided with a turnover mechanism, so that the production cost of equipment is high; and the excavator movable arm is large in size, the traditional manual carrying is time-consuming and labor-consuming, even if carrying equipment is used, complete automation cannot be achieved, so that the automation degree of a welding production line is low, the production efficiency is low, and the excavator movable arm has no competitiveness in the same industry.

Disclosure of Invention

Aiming at the problems of high production cost, low automation degree and low production efficiency of the existing excavator movable arm, the invention provides an automatic welding production line and a production method for the excavator movable arm.

In order to achieve the above object, in a first aspect, the present invention provides the following technical solutions:

an automatic welding production line for an excavator movable arm comprises a feeding conveying device and a discharging conveying device, wherein a feeding recognition system and a discharging recognition system are respectively arranged above the feeding conveying device and the discharging conveying device, a first welding workstation, a second welding workstation, a third welding workstation and a fourth welding workstation are sequentially arranged between the feeding conveying device and the discharging conveying device, the first welding workstation, the second welding workstation and the third welding workstation are main welding seam welding workstations, and the fourth welding workstation is a short welding seam welding workstation; the automatic handling device further comprises a first AGV handling forklift and a second AGV handling forklift which are convenient to handle the excavator movable arm. The loading conveyer and the unloading conveyer are responsible for storing and placing the movable arm of the excavator, the loading identification system and the unloading identification system can dynamically identify the movable arm of the excavator on the loading conveyer and the unloading conveyer, the AGV carrying forklift and the AGV carrying forklift are responsible for transferring work of the movable arm of the excavator, the welding work station is first carried out to the main welding seam, the welding work station is second carried out to the welding work station, and the welding work station is further carried out to the short welding seam. According to the automatic welding production line, the main welding line and the short welding line of the excavator movable arms are split, so that welding of a plurality of excavator movable arms can be completed in the same time, the production cost of equipment is reduced, automatic carrying operation can be realized by using the AGV to carry a forklift, the manpower input is reduced, and the production efficiency is improved.

Preferably, the feeding conveying device and the discharging conveying device comprise a pair of conveying bases which are arranged in parallel, a conveying table is fixedly installed on the conveying bases, a conveying belt capable of placing the movable arm of the excavator is connected inside the conveying table in a sliding mode, and a conveying belt controller for controlling the starting and stopping of the conveying belt is arranged on the side edge of the conveying table. The first AGV carrying forklift can carry the excavator movable arm to one end of the feeding conveying device in the previous working procedure, the excavator movable arm is enabled to move to the other end of the feeding conveying device under the movement of the conveying belt, the second AGV carrying forklift carries the excavator movable arm to a welding workstation, and after welding work is completed, the second AGV carrying forklift carries the excavator movable arm to the discharging conveying device. Through setting up material loading conveyer and unloading conveyer at automatic welding production line's end of a thread and end of a thread, can shorten the time that the excavator movable arm business turn over automatic welding production line, promote conveying efficiency to whole journey need not artifical the participation, can effectively reduce the cost of labor.

Preferably, the feeding recognition system and the discharging recognition system both comprise a bracket, a rodless cylinder is arranged on a top cross beam of the bracket, a 3D vision camera is arranged on a sliding table of the rodless cylinder in a sliding mode, and the 3D vision camera is connected with a piston of the rodless cylinder through a drag chain. The 3D vision cameras arranged in the feeding recognition system and the discharging recognition system can recognize the excavator movable arm, and after the excavator movable arm moves to the recognition area of the 3D vision camera, a control signal can be sent to the AGV carrying forklift No. two, so that the AGV carrying forklift No. two carries the excavator movable arm; and the 3D vision camera is connected with the piston of the rodless cylinder through the drag chain, so that the 3D vision camera can horizontally move on the top cross beam of the bracket, the recognition area of the 3D vision camera is enlarged, and the recognition capability of the feeding recognition system and the discharging recognition system is improved. Through setting up material loading identification system and unloading identification system and strengthened automatic welding production line degree of automation, the cooperation No. two AGVs that can be better carry fork truck and carry out the transport operation.

Preferably, the first welding workstation, the second welding workstation and the third welding workstation comprise a main welding seam welding mechanical arm, the main welding seam welding mechanical arm is arranged on a first support frame, a first gun cleaning station is arranged on the first support frame, the first gun cleaning station is arranged below the main welding seam welding mechanical arm, and the first support frame is arranged on a first sliding seat. The main welding seam welding mechanical arm can carry out welding operation on the excavator mechanical arm, a welding gun can generate splashes in the operation process of the main welding seam welding mechanical arm, so that the welding gun is blocked, and a gun cleaning agent can be sprayed onto the welding gun by arranging a first gun cleaning station below the main welding seam welding mechanical arm, so that the smoothness of the welding gun is ensured, the durability of the welding gun is improved, and the welding seam quality is improved; the first support frame can slide on the first sliding seat, so that the flexibility of the main welding line welding mechanical arm is improved, and the working area of the main welding line welding mechanical arm is increased.

Preferably, one side of the first sliding seat is provided with a positioner fixing base and a positioner sliding base, the positioner sliding base is slidably arranged in the positioner servo sliding table, and the positioner fixing base and the positioner sliding base are provided with first positioning clamping devices. The movable arm of the excavator can be firmly clamped through the first positioning clamping device, and the sliding base of the positioner can slide in the servo sliding table of the positioner, so that the movable arm of the excavator with different sizes can be clamped by the first positioning clamping device, and the movable arm of the excavator is suitable for various types of movable arms of the excavator.

Preferably, the fourth welding workstation comprises a short-welding-seam welding mechanical arm, the short-welding-seam welding mechanical arm is arranged on a second supporting frame, a second gun cleaning station is arranged on the second supporting frame, the second gun cleaning station is arranged below the short-welding-seam welding mechanical arm, and the second supporting frame is arranged on a second sliding seat.

Preferably, one side of the second slide seat is provided with a stand column fixing base and a stand column sliding base, the stand column sliding base is slidably installed in the stand column servo sliding table, stand columns are vertically installed on the stand column fixing base and the stand column sliding base, a second lifting servo motor and a second lifting speed reducer are installed at the top of the stand column, a wire rail is arranged on the inner side face of the stand column, a tool overturning mechanism is slidably installed on the wire rail, and a second positioning clamping device is installed on the tool overturning mechanism. The fourth welding workstation is a working platform for processing the short welding seams of the movable arm of the excavator, and the movable arm of the excavator clamped by the second positioning and clamping device can be turned over by installing a tool turning mechanism on the linear rail, so that the welding mechanical arm of the short welding seams can weld the short welding seams with different structural forms; and the tool turnover mechanism can slide up and down along the line rail, so that the tool turnover mechanism is more flexible, the short welding line welding mechanical arm can accurately weld the short welding line in the corner of the movable arm of the excavator, and the welding quality of the movable arm of the excavator is ensured.

Preferably, the first positioning clamping device and/or the second positioning clamping device comprise a clamping base, a first installation frame is installed on the clamping base, a lifting screw is arranged in the first installation frame, a second lifting servo motor and a second lifting speed reducer are installed at one end of the lifting screw, which protrudes out of the first installation frame, a lifting sliding block is arranged on the first installation frame, a positioning tool base is installed on the lifting sliding block, a second installation frame is installed on the positioning tool base, a clamping screw is arranged in the second installation frame, a clamping motor and a clamping speed reducer are installed at one end of the clamping screw, which protrudes out of the second installation frame, a first clamping sliding block and a second clamping sliding block are arranged on the second installation frame, clamping tools are installed on the first clamping sliding block and the second clamping sliding block, and one end of the excavator movable arm is firmly clamped by the two clamping tools on the first clamping sliding block and the second clamping sliding block. Through setting up first clamp slider and second clamp slider, can firmly press from both sides the one end of excavator movable arm in first location clamping device and/or second location clamping device, lift slider can follow first installation frame and slide from top to bottom to can adjust the high position of excavator movable arm, make the excavator movable arm more convenient when carrying out the welding work.

Preferably, the AGV carrying forklift and the AGV carrying forklift comprise a door frame, a lifting frame is arranged on the door frame in a sliding mode, and a transferring and positioning device is fixedly installed on the lifting frame. When the excavator movable arm is transported by the AGV transport forklift and the AGV transport forklift, the height of the transport positioning device can be adjusted through the lifting frame, so that the height of the transport positioning device is lower than that of the excavator movable arm, the excavator movable arm is further placed on the transport positioning device, and then the excavator movable arm is transported to a designated position by the AGV transport forklift and the AGV transport forklift. Through installing on the crane and transporting positioner, can ensure that the excavator movable arm can be transported by accurate steady, promoted the smoothness of No. one AGV transport fork truck and No. two AGV transport fork truck work, ensure the transportation speed of excavator movable arm.

In another aspect, the present invention also provides a method of manufacturing an automated welding line for excavator boom, comprising the steps of:

s1, after the excavator movable arm is processed in the previous working procedure, a first AGV (automatic guided vehicle) carries a forklift to transfer the excavator movable arm to a feeding conveying device;

s2, enabling the excavator movable arm to move horizontally along the conveyor belt, marking the excavator movable arm by the aid of the 3D vision camera when the excavator movable arm moves to the recognition range of the 3D vision camera, sending the state of the excavator movable arm to a production signboard on one side of a production line, sending in-place signals of the excavator movable arm to a master control system by the aid of the 3D vision camera, judging working states of a first welding workstation, a second welding workstation and a third welding workstation by the master control system, and sending signals to a second AGV carrying forklift when the master control system monitors that idle working stations exist in the first welding workstation, the second welding workstation and the third welding workstation, and placing the excavator movable arm in the idle working stations by the aid of the second AGV carrying forklift;

s3, after the first positioning clamping device clamps the excavator movable arm, the main welding seam welding mechanical arm welds the excavator movable arm, after the main welding seam welding mechanical arm finishes welding, a finishing signal is sent to a master control system, the state of the excavator movable arm is sent to a production billboard on one side of a production line, the master control system sends a signal to a second AGV carrying forklift, and the second AGV carrying forklift places the excavator movable arm in a fourth welding workstation;

s4, after the second positioning and clamping device clamps the excavator movable arm, the short-welding-line welding mechanical arm welds the excavator movable arm, after the short-welding-line welding mechanical arm finishes welding, a finishing signal is sent to the master control system, the master control system sends a signal to the AGV carrying forklift, and the AGV carrying forklift transfers the excavator movable arm to the blanking conveying device;

s5, when the 3D vision camera above the blanking conveying device monitors that the excavator movable arm is arranged, the blanking conveying device conveys the excavator movable arm to the next working procedure, and the welding work of the excavator movable arm is displayed on the production billboard.

From the above technical scheme, the invention has the following advantages:

1. according to the automatic welding production line, the main welding line and the short welding line of the excavator movable arms are subjected to splitting operation, and the welding operation of a plurality of excavator movable arms can be completed within the same time only by additionally arranging the tool reversing mechanism in the welding workstation for processing the short welding line, so that compared with the production line for integrally welding the main welding line and the short welding line, the equipment cost is greatly reduced;

2. according to the invention, the AGV carrying forklift I and the AGV carrying forklift II are configured in the production line, so that the transferring time of the movable arm of the excavator can be shortened, the transportation efficiency is improved, manual participation is not required in the whole process, and the labor cost can be effectively reduced;

3. the invention has simple configuration and flexible structure, can reasonably arrange welding workstations according to the demand of productivity, has easy disassembly and assembly of the whole production line, stable structure and strong universality, can be suitable for the movable arms of the excavators with various models, and has strong flexibility;

4. the automatic welding production line changes the original production mode of 'one person and one station', liberates the labor force of operators, improves the productivity, and has stronger competitiveness in the same industry.

In addition, the invention has reliable design principle, simple structure and very wide application prospect.

Drawings

In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed in the description will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of an overall structure of an automated welding line according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a loading and unloading conveyor according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a loading and unloading identification system according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a first, second and third welding station according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a fourth welding workstation according to an embodiment of the present invention;

FIG. 6 is a schematic view of a column structure according to an embodiment of the present invention;

FIG. 7 is a schematic view of a first and a second positioning and clamping device according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of a AGV handling fork truck in accordance with an embodiment of the present invention;

in the figure: 1. the system comprises a feeding conveyor 101, a conveyor base 102, a conveyor table 103, a conveyor 104, a conveyor controller 2, an AGV handling fork truck 201, a portal 202, a lifting frame 203, a transfer positioning device 3, a feeding identification system 301, a bracket 302, a rodless cylinder 303.3D vision camera 304, a tow chain 4, a welding workstation 401, a main welding mechanical arm 402, a first support frame 403, a first gun cleaning station 404, a first slide seat 405, a position changer fixing base 406, a position changer sliding base 407, a position changer servo sliding table 5, a welding workstation No. 6, a welding workstation No. three, a production board 7, a welding workstation No. 8, a welding workstation No. 801, a short welding mechanical arm 802, a second support frame 803, a second gun cleaning station 804, a second slide seat, 805 upright stationary base, 806 upright sliding base, 807 upright servo ramp, 808 upright, 809 first lift servo motor, 810 first lift reducer, 811 wire rail, 812 tool tipping mechanism, 9 AGV handling forklift, 10 blanking transfer apparatus, 11 blanking identification system, 12 excavator boom, 13 first positioning clamp apparatus 1301 clamp base, 1302 first mounting frame, 1303 lift screw, 1304 second lift servo motor, 1305 second lift reducer, 1306 lift slide, 1307 positioning tool base, 1308 second mounting frame, 1309 clamp screw, 1310 clamp motor, 1311 clamp reducer, 1312 first clamp slide, 1313 second clamp slide, 1314 clamp tool, 14 second positioning clamp apparatus.

Detailed Description

In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions of the present invention will be clearly and completely described below with reference to the drawings in this specific embodiment, and it is apparent that the embodiments described below are only some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, based on the embodiments in this patent, which would be within the purview of one of ordinary skill in the art without the particular effort to make the invention are intended to be within the scope of the patent protection.

Referring to fig. 1-8, the present embodiment provides an automatic welding production line for an excavator boom, which includes a feeding conveying device 1 and a discharging conveying device 10, wherein a feeding recognition system 3 and a discharging recognition system 11 are respectively arranged above the feeding conveying device 1 and the discharging conveying device 10, a first welding workstation 4, a second welding workstation 5, a third welding workstation 6 and a fourth welding workstation 8 are sequentially arranged between the feeding conveying device 1 and the discharging conveying device 10, the first welding workstation 4, the second welding workstation 5 and the third welding workstation 6 are main welding seam welding workstations, and the fourth welding workstation 8 is a short welding seam welding workstation; the automatic handling system also comprises a first AGV handling forklift 2 and a second AGV handling forklift 9 which are convenient for handling the excavator movable arm 12; one side of the automatic welding production line is also provided with a production signboard 7. The production billboard 7 can display the welding progress of the excavator movable arm 12 in real time, the feeding conveying device 1 and the discharging conveying device 10 are responsible for storing and placing the excavator movable arm, the feeding identification system 3 and the discharging identification system 11 can dynamically identify the excavator movable arm on the feeding conveying device 1 and the discharging conveying device 10, the AGV carrying forklift 2 and the AGV carrying forklift 9 are responsible for the transferring work of the excavator movable arm, the welding work station 4, the welding work station 5 and the welding work station 6 are firstly used for welding the main welding seam, and the welding work station 8 is used for welding the short welding seam. According to the automatic welding production line, the main welding line and the short welding line of the excavator movable arms are split, so that welding of a plurality of excavator movable arms can be completed in the same time, the production cost of equipment is reduced, automatic carrying operation can be realized by using the AGV to carry a forklift, the manpower input is reduced, and the production efficiency is improved.

The feeding and discharging conveying device 1 and 10 respectively comprise a pair of conveying bases 101 which are arranged in parallel, a conveying table 102 is fixedly installed on the conveying bases 101, a conveying belt 103 capable of placing the excavator movable arm 12 is connected inside the conveying table 102 in a sliding mode, and a conveying belt controller 104 for controlling the starting and stopping of the conveying belt 103 is arranged on the side edge of the conveying table 102. The last procedure of welding the excavator movable arm is assembly operation, and the main purpose is to combine the components of the excavator movable arm and connect the components into a whole by spot welding. After the excavator movable arm assembly process is completed, the first AGV carrying forklift 2 carries the excavator movable arm to one end of the feeding conveyor 1 through the assembly process, the excavator movable arm is moved to the other end of the feeding conveyor 1 through the movement of the conveyor belt 103, the second AGV carrying forklift 9 carries the excavator movable arm to a welding workstation, after the welding work is completed, the second AGV carrying forklift 9 carries the excavator movable arm to the blanking conveyor 10, and finally the blanking conveyor 10 carries the excavator movable arm out of the production line. Wherein, conveyor controller 104 can control the start and stop of conveyor 103, and when the excavator boom reaches saturation, conveyor controller 104 stops the conveying of conveyor 103, prevents the condition that the whole production line is saturated because of the excessive excavator boom. Through setting up material loading conveyer 1 and unloading conveyer 10 at automatic welding production line's end of a thread and end of a thread, can shorten the time that the excavator movable arm business turn over automatic welding production line, promote conveying efficiency to whole journey need not artifical the participation, can effectively reduce the cost of labor.

The feeding recognition system 3 and the discharging recognition system 11 comprise a bracket 301, a rodless cylinder 302 is arranged on a top cross beam of the bracket 301, a 3D vision camera 303,3D vision camera 303 is arranged on a sliding table of the rodless cylinder 302 in a sliding mode, and the 3D vision camera 303,3D vision camera 303 is connected with a piston of the rodless cylinder 302 through a drag chain 304. The 3D vision cameras 303 arranged in the feeding recognition system 3 and the discharging recognition system 11 can recognize the excavator movable arm, and after the excavator movable arm moves to the recognition area of the 3D vision camera 303, control signals can be sent to the AGV carrying forklift 9, so that the AGV carrying forklift 9 carries the excavator movable arm; and the 3D vision camera 303 is connected with the piston of the rodless cylinder 302 through the drag chain 304, so that the 3D vision camera 303 can horizontally move on the top cross beam of the bracket 301, the identification area of the 3D vision camera 303 is enlarged, and the identification capacities of the feeding identification system 3 and the discharging identification system 11 are improved. Through setting up material loading identification system 3 and unloading identification system 11, strengthened automatic welding production line degree of automation, the cooperation No. two AGVs that can be better carry fork truck 9 and carry out the transport operation.

The first welding workstation 4, the second welding workstation 5 and the third welding workstation 6 comprise a main welding seam welding mechanical arm 401, the main welding seam welding mechanical arm 401 is arranged on a first supporting frame 402, a first gun cleaning station 403 is arranged on the first supporting frame 402, the first gun cleaning station 403 is arranged below the main welding seam welding mechanical arm 401, and the first supporting frame 402 is arranged on a first sliding seat 404. The main welding seam welding mechanical arm 401 can carry out welding operation on the movable arm of the excavator, the welding gun can generate splashes in the operation process of the main welding seam welding mechanical arm 401, so that the welding gun is blocked, and a gun cleaning agent can be sprayed onto the welding gun by arranging the first gun cleaning station 403 below the main welding seam welding mechanical arm 401, so that the smoothness of the welding gun is ensured, the durability of the welding gun is increased, and the welding seam quality is improved; the first support frame 402 can slide on the first sliding seat 404, so that the flexibility of the main welding mechanical arm 401 is increased, and the working area of the main welding mechanical arm 401 is increased.

One side of the first slide base 404 is provided with a positioner fixing base 405 and a positioner sliding base 406, the positioner sliding base 406 is slidably mounted in a positioner servo sliding table 407, and the positioner fixing base 405 and the positioner sliding base 406 are both provided with the first positioning and clamping device 13. The movable arm of the excavator can be firmly clamped through the first positioning and clamping device 13, and the sliding base 406 of the positioner can slide in the servo sliding table 407 of the positioner, so that the first positioning and clamping device 13 can clamp the movable arms of the excavator with different sizes, and the movable arm is suitable for the movable arms of the excavator with various models.

The fourth welding workstation 8 comprises a short-welding-line welding mechanical arm 801, the short-welding-line welding mechanical arm 801 is arranged on a second supporting frame 802, a second gun cleaning station 803 is arranged on the second supporting frame 802, the second gun cleaning station 803 is arranged below the short-welding-line welding mechanical arm 801, and the second supporting frame 802 is arranged on a second sliding seat 804. One side of the second slide base 804 is provided with a column fixing base 805 and a column sliding base 806, the column sliding base 806 is slidably mounted in a column servo sliding table 807, a column 808 is vertically mounted on the column fixing base 805 and the column sliding base 806, a first lifting servo motor 809 and a first lifting speed reducer 810 are mounted on the top of the column 808, a wire rail 811 is arranged on the inner side surface of the column 808, a tool overturning mechanism 812 is slidably mounted on the wire rail 811, and a second positioning and clamping device 14 is mounted on the tool overturning mechanism 812. The fourth welding workstation 8 is a working platform for processing the short welding seams of the movable arm of the excavator, and the movable arm of the excavator clamped by the second positioning and clamping device 14 can be turned over by installing a tool turning mechanism 812 on the linear rail 811, so that the welding mechanical arm of the short welding seams can weld the short welding seams of different structural forms; the tool turnover mechanism 812 can slide up and down along the line rail 811, the first lifting servo motor 809 can provide power for the sliding of the tool turnover mechanism 812, and the first lifting speed reducer 810 can provide braking force to enable the tool turnover mechanism 812 to keep a fixed height along the line rail 811; by installing the tool turnover mechanism 812 on the wire rail 811, the tool turnover mechanism 812 is more flexible, the short welding line welding mechanical arm 801 is ensured to accurately weld the short welding line in the corner of the movable arm of the excavator, and the welding quality of the movable arm of the excavator is ensured.

The first positioning and clamping device 13 and/or the second positioning and clamping device 14 comprise a clamping base 1301, a first installation frame 1302 is installed on the clamping base 1301, a lifting screw 1303 is arranged in the first installation frame 1302, a second lifting servo motor 1304 and a second lifting speed reducer 1305 are installed at one end of the lifting screw 1303, which protrudes out of the first support frame 1301, a lifting slide block 1306 is arranged on the first support frame 1301, a positioning tool base 1307 is installed on the lifting slide block 1306, a second installation frame 1308 is installed on the positioning tool base 1307, a clamping screw 1309 is arranged in the second installation frame 1308, a clamping motor 1310 and a clamping speed reducer 1311 are installed at one end of the clamping screw 1309, which protrudes out of the second installation frame 1308, a first clamping slide block 1312 and a second clamping slide block 1313 are arranged on the second installation frame 1308, a clamping tool 1314 is installed on one end of the excavator boom 12 is clamped by two clamping tools 1314 on the first clamping slide block 1312 and the second clamping slide block 1313. By providing the first clamping slider 1312 and the second clamping slider 1313, one end of the excavator boom can be firmly clamped in the first positioning clamping device 13 and/or the first positioning clamping device 14, the second lifting servo motor 1304 and the second lifting speed reducer 1305 can control the height of the positioning tool base 1307, and the lifting slider 1306 can slide up and down along the first mounting frame 1302, so that the height position of the excavator boom can be adjusted, the excavator boom is more convenient when performing welding work, and the clamping distance between the first clamping slider 1312 and the second clamping slider 1313 can be controlled by the clamping motor 1310 and the clamping speed reducer 1311, so that the excavator boom is firmly clamped by the first clamping slider 1312 and the second clamping slider 1313.

In addition, the first AGV handling forklift 2 and the second AGV handling forklift 9 each include a door frame 201, a lifting frame 202 is slidably provided on the door frame 201, and a transfer positioning device 203 is fixedly mounted on the lifting frame 202. When the excavator movable arm is transported by the AGV transport forklift 2 and the AGV transport forklift 9, the height of the transport positioning device 203 can be adjusted through the lifting frame 202, so that the height of the transport positioning device 203 is lower than that of the excavator movable arm, the excavator movable arm is further placed on the transport positioning device 203, and then the excavator movable arm is transported to a designated position by the AGV transport forklift 2 and the AGV transport forklift 9. Through installing on the crane and transporting positioner 203 can ensure that the excavator movable arm can be transported by accurate smooth, promoted the smoothness of No. one AGV transport fork truck 2 and No. two AGV transport fork truck 9 work, ensure the transportation speed of excavator movable arm.

The embodiment of the invention provides an automatic welding production line for an excavator movable arm, which is characterized in that the automatic welding production line for the excavator movable arm comprises the following steps:

s1, after the excavator movable arm 12 is processed in the previous working procedure, the first AGV carries the forklift 2 to transfer the excavator movable arm 12 to the feeding conveyor 1;

s2, the excavator movable arm 12 moves horizontally on the conveyor belt 103, when the excavator movable arm 12 moves to the recognition range of the 3D vision camera 303, the 3D vision camera 303 marks the excavator movable arm 12 and sends the state of the excavator movable arm 12 to the production billboard 7 on one side of the production line, the 3D vision camera 303 sends the in-place signal of the excavator movable arm 12 to the master control system, the master control system judges the working states of the first welding workstation 4, the second welding workstation 5 and the third welding workstation 6, and when the master control system 14 monitors that idle work stations exist in the first welding workstation 4, the second welding workstation 5 and the third welding workstation 6, the AGV handling forklift 9 sends signals to the second AGV handling forklift 9 and places the excavator movable arm 12 in the idle work stations;

s3, after the first positioning clamping device 13 clamps the excavator movable arm 12, the main welding seam welding mechanical arm 401 welds the excavator movable arm 12, after the main welding seam welding mechanical arm 401 finishes welding, a finishing signal is sent to the master control system 14, the state of the excavator movable arm 12 is sent to the production signboard 7 on one side of the production line, the master control system 14 sends a signal to the AGV carrying forklift 9, and the AGV carrying forklift 9 places the excavator movable arm 12 into the welding workstation 8;

s4, after the second positioning and clamping device 14 clamps the excavator movable arm 12, the short-welding mechanical arm 801 welds the excavator movable arm 12, after the short-welding mechanical arm 801 finishes welding, a finishing signal is sent to the main control system 14, the main control system 14 sends a signal to the AGV carrying forklift 9, and the AGV carrying forklift 9 transfers the excavator movable arm 12 to the blanking conveying device 10;

s5, when the 3D vision camera 303 above the blanking conveying device 10 detects that the excavator movable arm 12 is arranged, the blanking conveying device 10 conveys the excavator movable arm 12 to the next process, and the production signboard 7 displays that the welding work of the excavator movable arm 12 is finished.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. An automatic welding production line for a movable arm of an excavator comprises a feeding conveying device (1) and a discharging conveying device (10), and is characterized in that a feeding recognition system (3) and a discharging recognition system (11) are respectively arranged above the feeding conveying device (1) and the discharging conveying device (10), a first welding workstation (4), a second welding workstation (5), a third welding workstation (6) and a fourth welding workstation (8) are sequentially arranged between the feeding conveying device (1) and the discharging conveying device (10), the first welding workstation (4), the second welding workstation (5) and the third welding workstation (6) are main welding seam welding workstations, and the fourth welding workstation (8) is a short welding seam welding workstation; the automatic handling device also comprises a first AGV handling forklift (2) and a second AGV handling forklift (9) which are convenient to handle the excavator movable arm (12).

2. An automated welding line for excavator movable arms according to claim 1, characterized in that the feeding conveyor (1) and the discharging conveyor (10) each comprise a pair of parallel arranged conveyor bases (101), a conveyor table (102) is fixedly mounted on the conveyor bases (101), a conveyor belt (103) capable of placing the excavator movable arms (12) is slidably connected inside the conveyor table (102), and a conveyor belt controller (104) for controlling the start and stop of the conveyor belt (103) is arranged on the side edge of the conveyor table (102).

3. The automatic welding production line for the movable arm of the excavator according to claim 1, wherein the feeding recognition system (3) and the discharging recognition system (11) comprise a bracket (301), a rodless cylinder (302) is arranged on a top cross beam of the bracket (301), a 3D vision camera (303) is arranged on a sliding table of the rodless cylinder (302) in a sliding mode, and the 3D vision camera (303) is connected with a piston of the rodless cylinder (302) through a drag chain (304).

4. The automatic welding production line for the movable arm of the excavator according to claim 1, wherein the first welding workstation (4), the second welding workstation (5) and the third welding workstation (6) comprise a main welding line welding mechanical arm (401), the main welding line welding mechanical arm (401) is arranged on a first supporting frame (402), a first gun cleaning station (403) is arranged on the first supporting frame (402), the first gun cleaning station (403) is arranged below the main welding line welding mechanical arm (401), and the first supporting frame (402) is arranged on a first sliding seat (404).

5. The automatic welding production line for the movable arm of the excavator according to claim 4, wherein a positioner fixing base (405) and a positioner sliding base (406) are arranged on one side of the first sliding seat (404), the positioner sliding base (406) is slidably mounted in the positioner servo sliding table (407), and the first positioning clamping device (13) is mounted on each of the positioner fixing base (405) and the positioner sliding base (406).

6. An automated welding line for excavator booms according to claim 1, characterized in that the fourth welding station (8) comprises a short-seam welding robot (801), the short-seam welding robot (801) is mounted on a second support (802), a second gun cleaning station (803) is mounted on the second support (802), the second gun cleaning station (803) is arranged below the short-seam welding robot (801), and the second support (802) is arranged on a second slide (804).

7. The automatic welding production line for the movable arm of the excavator according to claim 6, wherein a column fixing base (805) and a column sliding base (806) are arranged on one side of the second sliding base (804), the column sliding base (806) is slidably mounted in a column servo sliding table (807), columns (808) are vertically mounted on the column fixing base (805) and the column sliding base (806), a first lifting servo motor (809) and a first lifting speed reducer (810) are mounted on the top of the columns (808), a wire rail (811) is arranged on the inner side surface of the columns (808), a tool overturning mechanism (812) is slidably mounted on the wire rail (811), and a second positioning and clamping device (14) is mounted on the tool overturning mechanism (812).

8. An automated welding line for excavator booms according to claim 5 or 7, characterized in that the first positioning clamping device (13) and/or the second positioning clamping device (14) each comprise a clamping base (1301), a first mounting frame (1302) is mounted on the clamping base (1301), a lifting screw (1303) is provided in the first mounting frame (1302), a second lifting servo motor (1304) and a second lifting speed reducer (1305) are mounted at one end of the lifting screw (1303) protruding out of the first supporting frame (1301), a lifting slide (1306) is provided on the first supporting frame (1301), a positioning tooling base (1307) is mounted on the lifting slide (1306), a second mounting frame (1308) is mounted on the positioning tooling base (1307), a clamping screw (1309) is mounted in the second mounting frame (1308), a clamping motor (1310) and a clamping speed reducer (1311) are mounted at one end of the clamping screw (1309) protruding out of the second mounting frame (1308), a first clamping slide (1312) and a second clamping slide (1313) are mounted on the second mounting frame (1308), and a clamping slide (1313) is mounted on the first clamping slide (1313), two clamping tools (1314) on the first clamping slider (1312) and the second clamping slider (1313) firmly clamp one end of the excavator boom (12).

9. An automated welding line for excavator booms according to claim 1, characterized in that the first and second AGV handling forklifts (2, 9) each comprise a door frame (201), the door frame (201) is provided with a lifting frame (202) in a sliding manner, and the lifting frame (202) is fixedly provided with a transfer positioning device (203).

10. A production method for an automated welding line for excavator boom according to any one of claims 1 to 9, characterized by comprising the steps of:

s1, after the excavator movable arm (12) is processed in the previous working procedure, the AGV carrying forklift (2) is used for transferring the excavator movable arm (12) to the feeding conveying device (1);

s2, enabling the excavator movable arm (12) to move horizontally on the conveyor belt (103), when the excavator movable arm (12) moves to the recognition range of the 3D vision camera (303), marking the excavator movable arm (12) by the 3D vision camera (303), sending a state of the excavator movable arm (12) to a production signboard (7) on one side of a production line, sending a locating signal of the excavator movable arm (12) to a master control system by the 3D vision camera (303), judging working states of the first welding workstation (4), the second welding workstation (5) and the third welding workstation (6) by the master control system, and sending a signal to a AGV (automatic guided vehicle) of the second AGV when idle work stations exist in the first welding workstation (4), the second welding workstation (5) and the third welding workstation (6), and placing the excavator movable arm (12) into the idle work stations by the AGV (9);

s3, after the first positioning clamping device (13) clamps the excavator movable arm (12), the main welding seam welding mechanical arm (401) welds the excavator movable arm (12), after the main welding seam welding mechanical arm (401) finishes welding, a finishing signal is sent to the master control system (14), the state of the excavator movable arm (12) is sent to the production signboard (7) on one side of the production line, the master control system (14) sends a signal to the AGV carrying forklift (9) No. two, and the AGV carrying forklift (9) places the excavator movable arm (12) into the welding workstation (8) No. four;

s4, after the second positioning and clamping device (14) clamps the excavator movable arm (12), the short-welding-line welding mechanical arm (801) welds the excavator movable arm (12), after the short-welding-line welding mechanical arm (801) finishes welding, a finishing signal is sent to the main control system (14), the main control system (14) sends a signal to the AGV carrying forklift (9) No. two, and the AGV carrying forklift (9) carries the excavator movable arm (12) to the blanking conveying device (10);

s5, when the 3D vision camera (303) above the blanking conveying device (10) detects that the excavator movable arm (12) is arranged, the blanking conveying device (10) conveys the excavator movable arm (12) to the next working procedure, and the production signboard (7) displays that the welding work of the excavator movable arm (12) is completed.