CN211759145U - Passenger car side wall skin spot welding autonomous mobile robot system - Google Patents
Passenger car side wall skin spot welding autonomous mobile robot system Download PDFInfo
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- CN211759145U CN211759145U CN201922312623.3U CN201922312623U CN211759145U CN 211759145 U CN211759145 U CN 211759145U CN 201922312623 U CN201922312623 U CN 201922312623U CN 211759145 U CN211759145 U CN 211759145U
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Abstract
The utility model belongs to the technical field of the automobile body covering welding technique and specifically relates to a passenger train side wall covering spot welding autonomous mobile robot system is related to. The utility model provides a passenger train side wall covering spot welding autonomous mobile robot system, includes truss manipulator system, control system and single face double spot welding system, single face double spot welding system include single face double spot welding machine, truss manipulator system include the truss steel construction and locate on the truss steel construction and be used for removing the manipulator mechanism of single face double spot welding machine, control system include demonstrator, truss manipulator control box and single face double spot welding machine control box. The utility model discloses can not influence existing equipment and personnel operation space to be applicable to various different motorcycle type covering solder joints and arrange the shape, the automation that has the solder joint position is sought and is independently removed the function, has realized passenger train side wall covering automatic spot welding, has reduced operation personnel intensity of labour, and production efficiency is high, and the solder joint distributes evenly, and welding quality is good.
Description
Technical Field
The utility model belongs to the technical field of the automobile body covering welding technique and specifically relates to a passenger train side wall covering spot welding autonomous mobile robot system is related to.
Background
The welding of the side wall skin of the passenger car mainly adopts CO2 gas shielded welding, plug welding, resistance spot welding and the like, and in order to improve the appearance flatness of the side wall skin and reduce welding deformation, the resistance spot welding process is adopted more and more in the selection of the side wall skin welding process.
At present, the spot welding of the side wall skin is mainly manual spot welding, and a single-side single spot welding machine or a single-side double spot welding machine is used.
However, the manual spot welding has high labor intensity, low production efficiency, unstable distribution of welding spots and incapability of ensuring the welding quality.
For example, the utility model patent with the patent application number of 201721082886.4, the application date of 2017, 08 and 28 months, and the name of "an automatic welding system for vehicle body skin" has the main technical scheme that: an automatic vehicle body skin welding system comprising: the double-truss structure comprises an upright post and two cross beams which are fixed at the top end of the upright post and are parallel to each other; two automatic welder, it sets up respectively two on the crossbeam, every automatic welder includes spot welder, drive the spot welder for the crossbeam removes first drive component, the drive that removes about carrying out the crossbeam the spot welder for the crossbeam carries out the second drive component, the drive that reciprocate the spot welder for the crossbeam carries out the third drive component, the drive of back-and-forth movement the spot welder carry out the rotatory drive component of angle rotation and with the pneumatic component that the spot welder is connected, though this utility model discloses can guarantee automobile body skin welded high quality and high efficiency, but the solder joint position of this equipment is fixed position, and the automation of no solder joint position is sought and independently moves the function, and is high to vehicle repeated positioning accuracy requirement, can't realize having the automatic weld under the low positioning accuracy condition of vehicle.
Disclosure of Invention
The utility model discloses it is big mainly to manual spot welding's welding intensity of labour, low in production efficiency, and the solder joint distributes unstably moreover, welding quality can't be guaranteed, and the problem of the automatic position finding and the autonomous movement function of current welding system solderless point position, a passenger train side wall covering spot welding autonomous movement formula robot system is provided, can not influence existing equipment and personnel's operation space, and be applicable to various different motorcycle type covering solder joints and arrange the shape, the automation that has the solder joint position is sought position and the autonomous movement function, passenger train side wall covering automatic spot welding has been realized, operation personnel intensity of labour has been reduced, high in production efficiency, the solder joint distributes evenly, welding quality is good.
The purpose of the utility model is mainly realized by the following scheme: the utility model provides a passenger train side wall covering spot welding autonomous mobile robot system, includes truss manipulator system, control system and single face double spot welding system, single face double spot welding system include single face double spot welding machine, truss manipulator system include the truss steel construction and locate on the truss steel construction and be used for removing the manipulator mechanism of single face double spot welding machine, control system include demonstrator, truss manipulator control box and single face double spot welding machine control box. The truss manipulator system, the control system and the single-side double-spot welding system are connected through cables, the single-side double-spot welding system comprises a single-side double-spot welding machine, the truss manipulator system comprises a truss steel structure and a manipulator mechanism which is arranged on the truss steel structure and used for moving the single-side double-spot welding machine, the control system comprises a photoelectric sensor, a demonstrator, a truss manipulator control box and a single-side double-spot welding machine control box, the photoelectric sensor is used for measuring the deviation of the front, back and height parking positions of the vehicle to realize the automatic position finding function of the equipment, the photoelectric sensor is electrically connected with the truss manipulator control box, the demonstrator is used for inputting instructions of the equipment and compiling a demonstration program, the demonstrator is electrically connected with the truss manipulator control box, the truss manipulator control box is symmetrically arranged on the ground on two sides of the truss, the automatic spot welding machine is electrically connected with the truss manipulator control box, does not influence the operation space of the existing equipment and personnel in a mode of combining the truss manipulator with the single-side double-spot welding machine, is suitable for the arrangement shape of welding spots of skins of various different types of vehicles, realizes the automatic spot welding of the side wall skins of the passenger car, and is particularly suitable for the reconstruction of the existing production line.
Preferably, the truss steel structure comprises an upright post assembly, a longitudinal beam assembly, a cross beam assembly and an inclined strut assembly, the manipulator mechanism comprises an X shaft assembly, a Y shaft assembly, a Z shaft assembly, a RY shaft assembly and a spot welder driving assembly, and the manipulator mechanisms are symmetrically arranged on the longitudinal beam assembly of the truss steel structure. The truss steel structure is a rigid frame structure composed of an upright post assembly, a longitudinal beam assembly, a cross beam assembly and an inclined strut assembly, and is used for bearing a manipulator mechanism and a single-face double-spot welding machine.
Preferably, the X-axis assembly comprises an X-axis fixing plate, an X-axis linear slide rail, an X-axis sliding block, an X-axis rack, an X-axis gear, an X-axis reducer and an X-axis motor, the X-axis linear slide rail is fixed on the inner vertical surface of the longitudinal beam assembly in parallel, the X-axis rack is fixed on the upper surface of the longitudinal beam assembly, the X-axis sliding block is fixed on the X-axis fixing plate and connected with the X-axis linear slide rail, the X-axis gear is fixed on the X-axis reducer and meshed with the X-axis rack, the X-axis reducer is fixed on the X-axis fixing plate after being connected with the X-axis motor, the Y-axis assembly comprises a Y-axis moving arm, a Y-axis linear slide rail, a Y-axis sliding block fixing support, a Y-axis rack, a Y-axis gear, a Y-axis reducer and a Y-axis motor, the Y-axis linear, the Y-axis sliding block is fixed on the Z-axis component through a Y-axis sliding block fixing support and connected with a Y-axis linear sliding rail, a Y-axis gear is fixed on a Y-axis reducer and meshed with a Y-axis rack, the Y-axis reducer is connected with a Y-axis motor and then fixed on the Z-axis component, the Z-axis component comprises a Z-axis moving arm, a Z-axis linear sliding rail, a Z-axis sliding block fixing support, a Z-axis rack, a Z-axis gear, a Z-axis reducer and a Z-axis motor, the Z-axis linear sliding rail is symmetrically fixed on two side vertical surfaces of the Z-axis moving arm, the Z-axis rack is fixed on an outer side vertical surface of the Z-axis moving arm, the Z-axis sliding block is fixed on an X-axis fixing plate through the Z-axis sliding block fixing support and connected with the Z-axis linear sliding rail, the Z-axis gear is fixed on, the RY shaft assembly comprises a RY shaft fixing support, a welding machine connecting plate, a RY shaft transition assembly, a RY shaft speed reducer and a RY shaft motor, the RY shaft fixing support is fixed on the spot welding machine driving assembly, the welding machine connecting plate is fixed on the RY shaft transition assembly, the RY shaft transition assembly is fixed on the RY shaft fixing support and is connected with the RY shaft speed reducer, the RY shaft speed reducer is fixed on the RY shaft fixing support after being connected with the RY shaft motor, and the X shaft motor, the Y shaft motor, the Z shaft motor and the RY shaft motor are all electrically connected with the truss manipulator control box. The X-axis assembly comprises an X-axis fixing plate, an X-axis linear slide rail, an X-axis sliding block, an X-axis rack, an X-axis gear, an X-axis speed reducer and an X-axis motor and is used for driving the manipulator to move longitudinally, the X-axis linear slide rail is fixed on the inner vertical surface of the longitudinal beam assembly in parallel, the X-axis rack is fixed on the upper side surface of the longitudinal beam assembly, the X-axis sliding block is fixed on the X-axis fixing plate and connected with the X-axis linear slide rail, the X-axis gear is fixed on the X-axis speed reducer and meshed with the X-axis rack, the X-axis speed reducer is fixed on the X-axis fixing plate after being connected with the X-axis motor, the X-axis motor can drive the X-axis gear to rotate through the X-axis speed reducer when being started, so that the X-axis gear moves along the X-axis rack to drive the whole manipulator to move longitudinally, The Y-axis linear sliding rail, the Y-axis sliding block fixing support, the Y-axis rack, the Y-axis gear, the Y-axis reducer and the Y-axis motor are used for driving the manipulator to transversely move, the Y-axis linear sliding rail is symmetrically fixed on vertical surfaces of two sides of the Y-axis moving arm, the Y-axis rack is fixed on the upper side surface of the Y-axis moving arm, the Y-axis sliding block is fixed on the Z-axis moving arm of the Z-axis assembly through the Y-axis sliding block fixing support and is connected with the Y-axis linear sliding rail, the Y-axis gear is fixed on the Y-axis reducer and is meshed with the Y-axis rack, the Y-axis reducer is fixed on the Z-axis moving arm of the Z-axis assembly after being connected with the Y-axis motor, the Y-axis gear can be driven to rotate by the Y-axis reducer when the Y-axis motor is started, so that the Y-axis gear moves, the Z-axis assembly comprises a Z-axis moving arm, a Z-axis linear slide rail, a Z-axis slide block fixing support, a Z-axis rack, a Z-axis gear, a Z-axis reducer and a Z-axis motor and is used for driving the manipulator to vertically move, the Z-axis linear slide rail is symmetrically fixed on vertical surfaces of two sides of the Z-axis moving arm, the Z-axis rack is fixed on a vertical surface of the outer side of the Z-axis moving arm, the Z-axis slide block is fixed on an X-axis fixing plate through the Z-axis slide block fixing support and is connected with the Z-axis linear slide rail, the Z-axis gear is fixed on the Z-axis reducer and is meshed with the Z-axis rack, the Z-axis reducer is fixed on the X-axis fixing plate after being connected with the Z-axis motor, the Z-axis gear can be driven to rotate through the Z-axis reducer when the Z-axis motor is started, so that the, the RY shaft assembly comprises a RY shaft fixing support, a welding machine connecting plate, a RY shaft transition assembly, a RY shaft speed reducer and a RY shaft motor and is used for driving a manipulator to rotate around a transverse Y shaft, the RY shaft fixing support is fixed on the driving fixing support of the spot welding machine driving assembly, the welding machine connecting plate is fixed on the RY shaft transition assembly, the RY shaft transition assembly is fixed on the RY shaft fixing support and connected with the RY shaft speed reducer, the RY shaft speed reducer is fixed on the RY shaft fixing support after being connected with the RY shaft motor, and the X shaft motor, the Y shaft motor, the Z shaft motor and the RY shaft motor are all electrically connected with the truss manipulator control box.
Preferably, the spot welding machine driving assembly comprises an air cylinder, an air cylinder fixing plate, a driving linear sliding rail, a driving sliding block and a driving fixing support, the driving linear sliding rail is fixed on the lower side surface of the Y-axis moving arm in parallel, the driving sliding block is fixed on the driving fixing support and connected with the driving linear sliding rail, the air cylinder fixing plate is fixed on the lower side surface of the Y-axis moving arm, the air cylinder is fixed on the air cylinder fixing plate and connected with the driving sliding block, and the air cylinder is electrically connected with the single-side double spot welding machine control box through an electromagnetic valve. The spot welding machine driving assembly comprises an air cylinder, an air cylinder fixing plate, a driving linear sliding rail, a driving sliding block and a driving fixing support, and is used for driving the single-face double spot welding machine to move in a transverse self-adaptive mode.
Preferably, the single-side double spot welding machine comprises a welding machine transformer and a floating electrode tip, the floating electrode tip is connected with the welding machine transformer, and the welding machine transformer is fixed on a welding machine connecting plate and is electrically connected with a control box of the single-side double spot welding machine. The single-side double-spot welding machine comprises a welding machine transformer and a floating electrode tip, the floating electrode tip is used for finishing skin spot welding work, the self-adaption function of local manufacturing errors of the framework is achieved through the floating electrode tip, the floating electrode tip is connected with the welding machine transformer, and the welding machine transformer is fixed on a welding machine connecting plate and is electrically connected with a control box of the single-side double-spot welding machine.
Preferably, the single-sided double-spot welding system further comprises a circulating cooling water device, and the floating electrode head is connected with a water pipe of the circulating cooling water device. The single-face double-spot welding system further comprises circulating cooling water equipment, the floating electrode tip is connected with the circulating cooling water equipment through a water pipe, and the circulating cooling water equipment is used for cooling the floating electrode tip.
Preferably, the X-axis motor, the Y-axis motor, the Z-axis motor and the RY-axis motor are all servo motors. The X-axis motor, the Y-axis motor, the Z-axis motor and the RY-axis motor are all servo motors, and control is accurate.
Therefore, the utility model discloses a passenger train side wall covering spot welding autonomous mobile robot system possesses following advantage: the utility model discloses reduce operation personnel intensity of labour, operation personnel no longer need carry out tedious spot welding work, production efficiency is improved, equipment spot welding activity duration is less than artifical spot welding activity duration simultaneously, solder joint welding quality has been improved, the solder joint distributes more evenly, pre-pressure among the welding process, the on-time, process parameters such as maintenance pressure and time are more stable controllable, adopt "basic teaching," the control mode of stick autonomic ", reach high parking position around independently discerning the vehicle through photoelectric sensor, possess the automatic function of seeking of solder joint position before welding, through parking error and skeleton manufacturing error about cylinder and the unsteady electrode tip automatic compensation vehicle, self-adaptation function when possessing the welding, side wall passenger train covering intelligent welding has been realized.
Drawings
Fig. 1 is a system configuration diagram of the present invention.
Fig. 2 is a diagram of the operation structure between the components of the present invention.
Fig. 3 is a schematic structural diagram of the present invention.
Fig. 4 is the structural schematic diagram of the middle truss steel structure of the utility model.
Fig. 5 is a schematic structural diagram of the middle manipulator mechanism of the present invention.
Fig. 6 is a schematic structural diagram of the X-axis assembly of the present invention.
Fig. 7 is a schematic structural diagram of the Y-axis assembly of the present invention.
Fig. 8 is a schematic structural diagram of the Z-axis assembly of the present invention.
Fig. 9 is a schematic structural diagram of the RY shaft assembly of the present invention.
Fig. 10 is a schematic structural diagram of the drive assembly of the spot welder of the present invention.
Fig. 11 is a schematic structural diagram of a single-side double spot welding machine according to the present invention.
Illustration of the drawings: 11-truss steel structure, 12-manipulator mechanism, 21-photoelectric sensor, 22-demonstrator, 23-truss manipulator control box, 24-single-side double spot welder control box, 31-single-side double spot welder, 32-circulating cooling water equipment, 111-upright post assembly, 112-longitudinal beam assembly, 113-cross beam assembly, 114-inclined strut assembly, 121-X shaft assembly, 122-Y shaft assembly, 123-Z shaft assembly, 124-RY shaft assembly, 125-spot welder driving assembly, 1211-X shaft fixing plate, 1212-X shaft linear sliding rail, 1213-X shaft sliding block, 1214-X shaft rack, 1215-X shaft gear, 1216-X shaft reducer, 1217-X shaft motor, 1221-Y shaft moving arm, 1222-Y shaft linear sliding rail, 1223-Y-axis slider, 1224-Y-axis slider fixed mount, 1225-Y-axis rack, 1226-Y-axis gear, 1227-Y-axis reducer, 1228-Y-axis motor, 1231-Z-axis moving arm, 1232-Z-axis linear slide rail, 1233-Z-axis slider, 1234-Z-axis slider fixed mount, 1235-Z-axis rack, 1236-Z-axis gear, 1237-Z-axis reducer, 1238-Z-axis motor, 1241-RY-axis fixed mount, 1242-welder attachment plate, 1243-RY-axis transition component, 1244-RY-axis reducer, 1245-RY-axis motor, 1251-cylinder, 1252-cylinder attachment plate, 1253-driven linear slide rail, 1254-driver slider, 1255-driver fixed mount, 311-floating, 312-welder electrode tip.
Detailed Description
The technical solution of the present invention is further specifically described below by way of examples and with reference to the accompanying drawings.
Example 1:
as shown in fig. 1, 2, 3 and 4, an autonomous mobile robot system for spot welding of side wall skin of a passenger car comprises a truss manipulator system, a control system and a single-sided double-spot welding system, wherein the truss manipulator system, the control system and the single-sided double-spot welding system are connected through cables, the single-sided double-spot welding system comprises a single-sided double-spot welding machine 31, the truss manipulator system comprises a truss steel structure 11 and a manipulator mechanism 12 which is arranged on the truss steel structure 11 and used for moving the single-sided double-spot welding machine 31, the control system comprises a photoelectric sensor 21, a demonstrator 22, a truss manipulator control box 23 and a single-sided double-spot welding machine control box 24, the photoelectric sensor 21 is used for measuring the front-back and height parking position deviation of the car to realize the automatic position finding function of the equipment, the photoelectric sensor 21 is electrically connected with the truss manipulator control box 23, the, the demonstrator 22 is electrically connected with the truss manipulator control box 23, the truss manipulator control box 23 is symmetrically arranged on the ground at two sides of the truss steel structure 11, the single-side double-spot welding machine control box 24 is symmetrically arranged at two sides of the truss steel structure 11 and is electrically connected with the truss manipulator control box 23, the operation space of the existing equipment and personnel is not influenced by the combination mode of the truss manipulator and the single-side double-spot welding machine, the method is suitable for the arrangement shape of skin welding spots of various types of vehicles, the automatic spot welding of the side wall skin of the passenger car is realized, and the method is particularly suitable for the reconstruction of the existing production line; the truss steel structure 11 is a rigid frame structure which is composed of an upright post assembly 111, a longitudinal beam assembly 112, a cross beam assembly 113 and an inclined strut assembly 114 and is used for bearing the manipulator mechanism 12 and a single-face double-spot welding machine, the influence of the equipment on the existing equipment and the working space of personnel is avoided through the height of the truss, the manipulator mechanism 12 comprises an X shaft assembly 121, a Y shaft assembly 122, a Z shaft assembly 123, a RY shaft assembly 124 and a spot welding machine driving assembly 125, the manipulator mechanism 12 is symmetrically arranged on the longitudinal beam assembly 112 of the truss steel structure 11, and the manipulator mechanism 12 is arranged and used for bearing and moving the single-face double-spot welding machine.
As shown in fig. 5, 6, 7, 8 and 9, the X-axis assembly 121 includes an X-axis fixing plate 1211, an X-axis linear slide 1212, an X-axis slider 1213, an X-axis rack 1214, an X-axis gear 1215, an X-axis reducer 1216 and an X-axis motor 1217 for driving the manipulator to move longitudinally, the X-axis linear slide 1212 is fixed in parallel to the inner vertical surface of the longitudinal beam assembly 112, the X-axis rack 1214 is fixed on the upper side surface of the longitudinal beam assembly 112, the X-axis slider 1213 is fixed on the X-axis fixing plate 1211 and connected to the X-axis linear slide 1212, the X-axis gear 1215 is fixed on the X-axis reducer 1216 and meshed with the X-axis rack 1214, the X-axis reducer 1216 is fixed on the X-axis fixing plate 1211 after being connected to the X-axis motor 1217, the X-axis motor 1217 can drive the X-axis gear 1215 to rotate through the X-axis reducer 1216 when being activated, so that the X-axis gear 1215, the X-axis linear slide 1212 and the X-axis slider 1213 can play a role of stable positioning and guiding, the Y-axis assembly 122 comprises a Y-axis moving arm 1221, a Y-axis linear slide 1222, a Y-axis slider 1223, a Y-axis slider fixing support 1224, a Y-axis rack 1225, a Y-axis gear 1226, a Y-axis reducer 1227 and a Y-axis motor 1228, and is used for driving the manipulator to move transversely, the Y-axis linear slide 1222 is symmetrically fixed on two side elevations of the Y-axis moving arm 1221, the Y-axis rack 1225 is fixed on the upper side surface of the Y-axis moving arm 1221, the Y-axis slider 1223 is fixed on the Z-axis moving arm 1231 of the Z-axis assembly 123 through the Y-axis slider fixing support 1224 and is connected with the Y-axis linear slide 1222, the Y-axis gear 1226 is fixed on the Y-axis reducer 1227 and is meshed with the Y-axis rack 1225, the Y-axis reducer 1227 is fixed on the Z-axis moving arm 1231 of the Z-axis assembly 123 after being connected with the Y-axis motor 1228, and, so that the Y-axis gear 1226 moves along the Y-axis rack 1225 to drive the entire manipulator to move laterally, the Y-axis linear slide 1222 and the Y-axis slide 1223 can play a role in stable positioning and guiding, the Z-axis assembly 123 includes a Z-axis moving arm 1231, a Z-axis linear slide 1232, a Z-axis slide 1233, a Z-axis slide fixing support 1234, a Z-axis rack 1235, a Z-axis gear 1236, a Z-axis reducer 1237, and a Z-axis motor 1238 for driving the manipulator to move vertically, the Z-axis linear slide 1232 is symmetrically fixed on the vertical surfaces of two sides of the Z-axis moving arm 1231, the Z-axis rack 1235 is fixed on the vertical surface outside the Z-axis moving arm 1231, the Z-axis slide 1233 is fixed on the X-axis fixing plate 1211 through the Z-axis slide fixing support 1233 and connected with the Z-axis linear slide 1232, the Z-axis gear 1236 is fixed on the Z-axis reducer 1237 and engaged with the Z-axis rack 1235, the Z-axis reducer 1237 is fixed on the, when the Z-axis motor 1238 is started, the Z-axis gear 1236 can be driven to rotate through the Z-axis speed reducer 1237, so that the Z-axis gear 1236 moves along the Z-axis rack 1235, so that the whole manipulator is driven to vertically move, the Z-axis linear slide rail 1232 and the Z-axis slide block can play a role in stable positioning and guiding, the RY-axis assembly 124 comprises a RY-axis fixing support 1241, a welder connecting plate 1242, a RY-axis transition assembly 1243, a RY-axis speed reducer 1244 and a RY-axis motor 1245 and is used for driving the manipulator to rotate around a transverse Y axis, the RY-axis fixing support 1241 is fixed on a driving fixing support 1255 of the spot welder driving assembly 125, the welder connecting plate 1242 is fixed on the RY-axis transition assembly 1243, the RY-axis transition assembly 1243 is fixed on the RY-axis fixing support 1241 and is connected with the RY-axis speed reducer 1244, the RY-axis fixing support 1244 is fixed on the RY-axis fixing support 1241, The Y-axis motor 1228, the Z-axis motor 1238 and the RY-axis motor 1245 are electrically connected with the truss manipulator control box 23.
As shown in fig. 10, the spot welder driving assembly 125 includes an air cylinder 1251, an air cylinder fixing plate 1252, a driving linear slide rail 1253, a driving slider 1254 and a driving fixing bracket 1255, and is used for driving the single-sided double spot welder to move laterally and adaptively, the driving linear slide rail 1253 is fixed on the lower side surface of the Y-axis moving arm 1221 in parallel, the driving slider 1254 is fixed on the driving fixing bracket 1255 and connected to the driving linear slide rail 1253, the air cylinder fixing plate 1252 is fixed on the lower side surface of the Y-axis moving arm 1221, the air cylinder is fixed on the air cylinder fixing plate 1252 and connected to the driving slider 1254, and the air cylinder is electrically connected to the control box 24 of the single-sided.
As shown in fig. 11, the single-sided double spot welding machine includes a welder transformer 312 and a floating electrode head 311 for performing skin spot welding work, and the floating electrode head 311 is used for realizing the self-adaptive function of local manufacturing errors of the skeleton, the floating electrode head 311 is connected with the welder transformer 312, and the welder transformer 312 is fixed on a welder connecting plate 1242 and is electrically connected with the control box 24 of the single-sided double spot welding machine.
The single-sided double-spot welding system further comprises a circulating cooling water device 32, the floating electrode head 311 is connected with the circulating cooling water device 32 through a water pipe, and the circulating cooling water device 32 is used for cooling the floating electrode head 311.
The X-axis motor, the Y-axis motor, the Z-axis motor and the RY-axis motor are all servo motors, and control is accurate.
The working method of the passenger car side wall skin spot welding autonomous mobile robot system comprises the following steps:
step one, basic programming:
(1) dividing the vehicle framework and the skin into a plurality of areas, wherein each area comprises a plurality of welding points;
(2) using a demonstrator 22 to compile a side wall skin spot welding demonstration program according to the region and the welding spot position, and compiling only one demonstration program for each vehicle type;
step two, running a single program:
(1) starting a program;
(2) the photoelectric sensor 21 identifies the position of a single area of the vehicle framework and feeds the position back to the truss manipulator control box 23;
(3) the truss manipulator control box 23 calculates the position information of a single welding point in the area according to the position information fed back by the photoelectric sensor 21 and outputs the position information to the manipulator mechanism 12;
(4) the X shaft assembly 121, the Y shaft assembly 122, the Z shaft assembly 123 and the RY shaft assembly 124 of the manipulator mechanism 12 move according to the information output by the truss manipulator control box 23, and the moving-in-place information is fed back to the truss manipulator control box 23;
(5) the truss manipulator control box 23 outputs signals to the single-side double-spot welding machine control box, and the single-side double-spot welding machine is started;
(6) the spot welder driving assembly 125 and the single-side double spot welder operate according to parameters of a control box of the single-side double spot welder to perform welding operation of a single welding spot;
(7) the control box of the single-side double-spot welding machine outputs a welding completion signal to the truss manipulator control box;
(8) repeating the step 3-7, and executing the welding of the next welding point until all welding points in the single area are welded;
(9) repeating the steps 2-8, and executing the welding of the next area until all the areas are welded;
(10) the truss manipulator moves to the initial position;
(11) and ending the program.
It should be understood that this example is for illustrative purposes only and is not intended to limit the scope of the present invention. Furthermore, it should be understood that various changes and modifications of the present invention may be made by those skilled in the art after reading the teachings of the present invention, and these equivalents also fall within the scope of the appended claims.
Claims (7)
1. The autonomous mobile robot system for spot welding of the side wall skin of the passenger car is characterized by comprising a truss manipulator system, a control system and a single-side double-spot welding system, wherein the single-side double-spot welding system comprises a single-side double-spot welding machine, the truss manipulator system comprises a truss steel structure and a manipulator mechanism which is arranged on the truss steel structure and used for moving the single-side double-spot welding machine, and the control system comprises a photoelectric sensor, a demonstrator, a truss manipulator control box and a single-side double-spot welding machine control box.
2. The passenger car side wall skin spot welding autonomous mobile robot system according to claim 1, wherein the truss steel structure comprises a stand column assembly, a longitudinal beam assembly, a cross beam assembly and a diagonal support assembly, the manipulator mechanism comprises an X shaft assembly, a Y shaft assembly, a Z shaft assembly, a RY shaft assembly and a spot welder driving assembly, and the manipulator mechanisms are symmetrically arranged on the longitudinal beam assembly of the truss steel structure.
3. The passenger car side wall skin spot welding autonomous mobile robot system according to claim 2, wherein the X-axis assembly comprises an X-axis fixing plate, an X-axis linear slide rail, an X-axis slider, an X-axis rack, an X-axis gear, an X-axis reducer and an X-axis motor, the X-axis linear slide rail is fixed on the inner vertical surface of the longitudinal beam assembly in parallel, the X-axis rack is fixed on the upper surface of the longitudinal beam assembly, the X-axis slider is fixed on the X-axis fixing plate and connected with the X-axis linear slide rail, the X-axis gear is fixed on the X-axis reducer and meshed with the X-axis rack, the X-axis reducer is fixed on the X-axis fixing plate after being connected with the X-axis motor, the Y-axis assembly comprises a Y-axis vertical surface moving arm, a Y-axis linear slide rail, a Y-axis slider fixing bracket, a Y-axis rack, a Y-axis gear, a Y-axis reducer and a Y-, the Y-axis gear rack is fixed on the upper surface of the Y-axis moving arm, the Y-axis slide block is fixed on the Z-axis assembly through the Y-axis slide block fixing support and is connected with the Y-axis linear slide rail, the Y-axis gear is fixed on the Y-axis reducer and is meshed with the Y-axis gear rack, the Y-axis reducer is connected with the Y-axis motor and then is fixed on the Z-axis assembly, the Z-axis assembly comprises a Z-axis moving arm, a Z-axis linear slide rail, a Z-axis slide block fixing support, a Z-axis rack, a Z-axis gear, a Z-axis reducer and a Z-axis motor, the Z-axis linear slide rail is symmetrically fixed on the vertical surfaces of two sides of the Z-axis moving arm, the Z-axis rack is fixed on the vertical surface of the outer side of the Z-axis moving arm, the Z-axis slide block is fixed on the X-axis fixing plate through the Z-axis slide block fixing support and is connected with, the RY shaft assembly comprises a RY shaft fixing support, a welding machine connecting plate, a RY shaft transition assembly, a RY shaft speed reducer and a RY shaft motor, the RY shaft fixing support is fixed on the spot welding machine driving assembly, the welding machine connecting plate is fixed on the RY shaft transition assembly, the RY shaft transition assembly is fixed on the RY shaft fixing support and is connected with the RY shaft speed reducer, the RY shaft speed reducer is fixed on the RY shaft fixing support after being connected with the RY shaft motor, and the X shaft motor, the Y shaft motor, the Z shaft motor and the RY shaft motor are all electrically connected with the truss manipulator control box.
4. The passenger car side wall skin spot welding autonomous mobile robot system according to claim 3, wherein the spot welding machine driving assembly comprises a cylinder, a cylinder fixing plate, a driving linear slide rail, a driving slider and a driving fixing support, the driving linear slide rail is fixed on the lower side surface of the Y-axis moving arm in parallel, the driving slider is fixed on the driving fixing support and connected with the driving linear slide rail, the cylinder fixing plate is fixed on the lower side surface of the Y-axis moving arm, the cylinder is fixed on the cylinder fixing plate and connected with the driving slider, and the cylinder is electrically connected with the control box of the single-sided double spot welding machine through an electromagnetic valve.
5. The passenger car side wall skin spot welding autonomous mobile robot system according to claim 3 or 4, characterized in that the single-side double spot welding machine comprises a welding machine transformer and a floating electrode tip, the floating electrode tip is connected with the welding machine transformer, and the welding machine transformer is fixed on a welding machine connecting plate and is electrically connected with a control box of the single-side double spot welding machine.
6. The passenger car side wall skin spot welding autonomous mobile robot system according to claim 5, characterized in that the single-sided double spot welding system further comprises a circulating cooling water device, and the floating electrode head is connected with a water pipe of the circulating cooling water device.
7. The passenger car side wall skin spot welding autonomous mobile robot system according to claim 3, characterized in that the X-axis motor, the Y-axis motor, the Z-axis motor and the RY-axis motor are all servo motors.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113618216A (en) * | 2021-08-31 | 2021-11-09 | 广东华士科技股份有限公司 | Multi-point automatic welding machine for automobile compartment metal plate |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113618216A (en) * | 2021-08-31 | 2021-11-09 | 广东华士科技股份有限公司 | Multi-point automatic welding machine for automobile compartment metal plate |
| CN113618216B (en) * | 2021-08-31 | 2023-09-15 | 广东华士科技股份有限公司 | Multi-point automatic welder for sheet metal of automobile carriage |
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