CN215967010U - Traction beam assembly welding equipment for rail transit - Google Patents

Abstract

The utility model discloses a traction beam assembly welding device for rail transit, which comprises a robot body and a traction beam assembly welding tool, wherein the robot body comprises a welding robot and cleaning, preheating and back chipping robots, the traction beam assembly welding tool comprises a base plate, and an end positioning device, a plate vertical hydraulic pressing device, a hydraulic lateral pushing device, a lateral positioning device and a profile vertical pressing device which are arranged on the base plate, and the end positioning device is positioned at a right-angle edge of a traction beam plate to facilitate positioning; the plate vertical hydraulic pressing device presses and fixes the traction beam plate; the hydraulic lateral pushing device is used for pushing and fixing the right-angle edge on the side surface of the traction beam plate piece and the outer side surface of the traction beam profile from the outer side through a hydraulic cylinder; the lateral positioning and profile vertical pressing device positions the inner side surface of the traction beam profile and vertically presses and fixes the traction beam profile. The utility model can improve the consistency of the assembly of the traction beam parts, improve the assembly precision of the parts and reduce the irreversible deviation influence on the product caused by human factors.

Description

Traction beam assembly welding equipment for rail transit

Technical Field

The utility model belongs to the technical field of manufacturing of vehicle body frames of rail transit, and relates to a traction beam assembling and welding device for rail transit.

Background

The traction beam for the rail transit is a key part for vehicle traction, and the vehicle transfers traction to a vehicle bogie through the traction beam to realize vehicle operation. The traction beam plays roles of buffering and traction. A schematic drawing of the draft sill position is shown in figure 1.

The prior art is manual assembly and manual welding. The manual assembly welding process comprises the following steps: the parts such as the traction beam section, the traction beam plate piece and the like are manually assembled and welded, and the figure is 2. Some trailing beam components also require back chipping (reverse weld is milled away using a pneumatic milling tool to eliminate weld defects) see fig. 3. However, manual back gouging is dangerous, and the back gouging quality cannot be guaranteed, so that incomplete back gouging often causes incomplete fusion and incomplete penetration of a welding line. The possibility of personnel injury in the production process is high, and meanwhile, certain hidden danger exists in the welding quality of products.

Meanwhile, the traction beam has fewer parts and is difficult to relatively position. The inconsistent size of the products after assembly welding can cause great influence on the welding of subsequent product assemblies. And the requirement on welding quality is high, manual assembly cannot ensure that parts at a welding position are relatively flush and easy to have misalignment in the assembly process, the stress uniformity of a traction beam product is finally influenced, and the anti-fatigue performance of the product is finally reduced.

Disclosure of Invention

Aiming at the defects and shortcomings in the prior art, the utility model aims to provide the traction beam assembly welding equipment for the rail transit, which can improve the assembly consistency of traction beam parts for the rail transit, improve the assembly precision of the parts and reduce the irreversible deviation influence of human factors on products; the safety coefficient of welding production of the traction beam component of the product is improved.

The technical scheme adopted by the utility model for solving the technical problems is as follows:

the traction beam assembly welding equipment for rail transit comprises a robot body and a traction beam assembly welding tool, wherein the robot body comprises a welding robot and cleaning, preheating and back chipping robots, the traction beam assembly welding tool comprises a base plate and an end positioning, plate piece vertical hydraulic pressing device, a hydraulic lateral pushing device and a lateral positioning and section bar vertical pressing device which are arranged on the base plate, and the end positioning is positioned at the bottom right-angle edge of a traction beam plate piece so as to be convenient to position; the plate vertical hydraulic pressing device presses and fixes the traction beam plate from the upper part; the hydraulic lateral pushing device is used for pushing and fixing the right-angle edge of the side surface of the traction beam plate piece and the outer side surface of the traction beam profile from the outer side through a hydraulic cylinder; the lateral positioning and profile vertical pressing device positions the inner side surface of the traction beam profile and vertically presses and fixes the traction beam profile.

Furthermore, the assembly welding equipment is provided with a plurality of assembly welding stations, and the welding robot and the cleaning, preheating and back chipping robots are arranged between the assembly welding stations.

Furthermore, all be provided with the machine of shifting on the assembly welding station, be equipped with on the machine of shifting the draw beam assembly welding frock.

Further, the trailing beam assembly welding tool comprises three types: the type 1 tool is suitable for assembly welding of a head car traction beam with the length of the traction beam exceeding 2000mm and only one welding line; the type 2 tooling is suitable for the assembly welding of 2 types of head car draft beams with the length of the draft beam between 1740mm and 1785 mm; the type 3 tooling is suitable for assembling and welding 2 types of middle workshop draft beams with the length of the draft beams respectively being 1472mm to 1572 mm.

Furthermore, the type 1 tool is symmetrically arranged and comprises two sets of end positioning devices, plate piece vertical hydraulic pressing devices, hydraulic lateral pushing devices, lateral positioning devices and section bar vertical pressing devices.

Furthermore, type 2 frock includes four sets the tip location, the vertical hydraulic pressure closing device of panel spare, hydraulic pressure side direction thrust device, side direction location and the vertical closing device of section bar, two liang the same.

Furthermore, type 3 frock bilateral symmetry sets up, includes four sets of end location, the vertical hydraulic pressure closing device of panel spare, hydraulic pressure side direction push device, side direction location and the vertical closing device of section bar, and the head-to-tail is answered between two sets from top to bottom.

Compared with the prior art, the utility model has the following advantages:

(1) the number of operators is obviously reduced

After the full-automatic welding process is implemented by using the equipment, production operators can be reduced by 40%. The original manual welding needs 5 persons, and only 3 persons are needed at present. And welding operators do not need hard skilled personnel any more and only need to understand that the operators can handle common welding defects to meet production requirements.

Through comparison, production operators are obviously fewer, and labor cost is reduced due to the reduction of personnel. And the working environment and the labor intensity are improved.

(2) Production beat is greatly improved (according to production welding process)

The production efficiency can be obviously improved by comparison, the single-day capacity is improved, the delivery requirement of the product can be met, and meanwhile, the labor cost is further saved.

(3) The welding quality is improved, and the method is suitable for assembly line operation

The product welded by automatic welding has better consistency and is suitable for mass production line;

the weld penetration of automatic welding is large, and the welding quality is good;

the labor intensity can be reduced, the detection equipment can be arranged on the tool simultaneously by only placing the part at the corresponding position according to the working procedure, the error can be effectively prevented, and the influence of human factors is reduced compared with manual welding;

the root cleaning is completed by the equipment, and the whole equipment has relevant safety protection, so that the production process is safer.

Drawings

FIG. 1 is a schematic illustration of a trailing beam position;

FIG. 2 is a schematic illustration of a draft sill construction;

FIG. 3 is a schematic drawing of a trailing beam weld back gouging: (a) drawing a design drawing of double-sided welding lines of the traction beam; (b) a schematic diagram of a state of the traction beam before back chipping; (c) schematic diagram of the state of the traction beam after back chipping;

fig. 4 is a robot body: a schematic of a robotic workstation;

FIG. 5 is a schematic view of a positioner;

FIG. 6 is a schematic diagram of a conventional laser seek detection position;

FIG. 7 is a schematic view of an optimized test site;

FIG. 8 is a welding tool type 1;

FIG. 9 is a schematic view of a welding tool type 1 laser locating detection position;

FIG. 10 is a welding tool type 2;

FIG. 11 is a schematic view of a welding tool type 2 laser seek detection position;

FIG. 12 is a schematic rotation diagram of the positioner;

FIG. 13 welding tool type 3;

FIG. 14 is a schematic view of a welding tooling type 3 laser seek detection position;

FIG. 15 is a view showing the positional relationship of a workpiece with respect to a tool;

wherein, A-draft sill, A1-draft sill plate, A2-draft sill section, A3-plate and section welding area; b-a chassis; c-connecting position of bogie and vehicle body; d, vehicle coupling position; e-a welding robot; f, cleaning, preheating and back chipping robots; g1-first weld, G1 a-past first weld detection position, G1 b-optimized first weld detection position; g2-second weld, G2 a-past second weld detection position; g3-a third weld joint, G3 a-a past third weld joint detection position, G3 b-an optimized third weld joint detection position; g4-a fourth weld joint, G4 a-a previous fourth weld joint detection position, and G4 b-an optimized fourth weld joint detection position; h-contour detection position;

i-tooling, I1-end positioning, I2-a plate vertical hydraulic pressing device, I3-a hydraulic lateral pushing device and I4-a lateral positioning and profile vertical pressing device;

l1-position finding of welding seam, L2-position finding of starting end of end, L3-position finding of ending end, L4-position finding of arc welding seam, L5-position detecting of welding seam gap, L6-position finding of side.

Detailed Description

The utility model is further described below with reference to the accompanying drawings and examples.

The traction beam assembly welding equipment for the rail transit is realized by matching a full-automatic robot (a robot body) with a high-precision welding tool. The method is characterized in that the types of products are carded and summarized, an assembling and welding tool (assembling and welding tool) special for the draft sill product is designed by an optimal process, and a robot and laser locating algorithm program and a welding process are verified through a large number of welding experiments.

Firstly, regarding the robot body: the robot body has the functions of pre-welding detection, automatic gun cleaning, automatic clamping and material detection, automatic pre-welding and welding interlayer cleaning, automatic flame preheating, positioner linkage, broken wire monitoring, welding counting and automatic root cleaning. As shown in fig. 4 and 5, the welding robot E and the cleaning, preheating and back chipping robot F are located between the welding station 1 and the welding station 2, the welding station 1 and the welding station 2 are both provided with a positioner, the positioner is provided with an assembly welding tool, and the assembly welding tool is described in detail below.

The welding robot E is responsible for welding operation, a laser locating device is used for scanning a workpiece to determine the position of the workpiece before welding, assembling deviation is obtained through calculation, and a welding track can be automatically corrected. The utility model optimizes the existing laser position-finding equipment, so that the detection is more stable and efficient. In the past, each welding line needs to be detected by laser, and is detected equidistantly according to the length of the welding line (at least 3 points need to be detected), only the deviation between the actual welding line and the theory can be detected, the dependence on an assembly welding tool is too heavy, and if the assembly positioning deviation is too large, the deviation amount cannot be detected, so that the detection function cannot be realized, as shown in fig. 6. By optimizing the method, each welding line does not need to be detected, the positions of the adjacent welding lines can be calculated by adding an offset variable (the blanking size of a product is used as offset variable data) to the welding robot E and comparing the detection data, and the positions of the workpieces can be determined by detecting the starting positions and the ending positions of the workpieces. The optimized detection in the utility model can reduce the dependence of workpiece automatic assembly welding on the tool fixture, is beneficial to equipment cost control, simplifies the detection process, saves the production time and plays a positive role in improving the production efficiency. The cost of the optimized assembly welding tool for laser locating detection is reduced by 42%, the detection efficiency is improved by 25%, and the method is shown in fig. 7.

Through optimization, the laser locating detection position and the action are summarized as follows: firstly, an end part initial locating position L2 is detected, and the end part initial locating position L2 is used for calibrating the position of a workpiece relative to a welding tool (the left and right position deviation, the angle deviation with a horizontal base station surface, and the relative deviation position relation are shown in figure 15); secondly, the end part position finding position L3 is ended, the end position of the workpiece is detected, the end position of the workpiece is compared with the detection data of the end part initial position finding position, the position of the workpiece on the welding tool can be accurately positioned, and the position information is fed back to a welding program to automatically adjust the welding track. The compared detection data can also detect the welding seam gap, so that the welding wire is always positioned in the middle of the welding seam gap to avoid the occurrence of unfused welding defects; the welding seam locating position L1 is used for detecting the clamping position of the welding seam relative to the workpiece and the assembly gap between the plate piece and the section bar, and has the functions of locating the welding seam position, determining the welding direction and controlling the gap position of the welding wire relative to the welding seam; the side locating position L6 (applicable to the traction beam component of the 2 plates) is used for detecting the relative position relation of the 2 plates, and the welding seam position between the plate component and the section bar can be effectively located by combining the detection data of the welding seam locating position; and fifthly, detecting a welding seam gap detection position L5 (suitable for the draw beam component of 2 plates), only detecting a welding seam assembly gap to ensure that a welding wire is always in the middle position of the welding seam gap, and combining end position finding detection data to position the left and right positions of the 2 plates so as to position the welding seam position between the 2 plates.

The cleaning, preheating and back chipping robots F realize the following steps by replacing different tools through roots: firstly, cleaning the layers before welding; preheating flame; and thirdly, the operation of back chipping.

Note: the two robots can work in a cooperative mode, and the utilization rate of the robots is maximized. Different types of draw beams A are assembled on the welding station 1 and the welding station 2, and when the welding station 1 performs welding operation, the cleaning, preheating and back-chipping robot F can perform cleaning or preheating before welding or interlayer cleaning or back-chipping operation on the welding station 2. The utilization rate of the robot can be improved by about 23%.

II, assembling and welding a traction beam:

according to the fact that the type of a conventional main stream rail transit traction beam A is more, in order to reduce the number of automatic welding tool fixtures, the conventional traction beam A is summarized and summarized, and 2 types are summarized: namely a head car draft sill and a center car draft sill. The head car draft sill is divided into 2 subclasses according to the size of the part. Therefore, three traction beam assembling and welding tools are designed and invented at present. The draft sill products are specifically categorized in the following table:

TABLE 1 draft sill product Classification

Draft sill product size	Suitable for vehicle type	Tool type classification
			Length 2220mm	Head vehicle	Type 1
Length 2920mm	Head vehicle	Type 1
			Length 1745mm	Head vehicle	Type 2
Length 1740mm	Head vehicle	Type 2
			Length 1780mm	Head vehicle	Type 2
Length 1785mm	Head vehicle	Type 2
			Length 1472mm	Intermediate vehicle	Type	3
Length 1572mm	Intermediate vehicle	Type					3

2.1 type 1 tooling I. The type 1 tool I adopts a flexible design and can meet the assembly welding of 2 types of head car traction beams, the lengths of the two types of traction beams exceed 2000mm, only one welding line is arranged, and the universalization of the welding tool can be realized by limiting the positioning positions of the end part and the traction beam section material A2.

As shown in fig. 8, the type 1 tooling I comprises a base plate, an end positioning device I1 arranged on the base plate, a plate vertical hydraulic pressing device I2, a hydraulic lateral pushing device I3 and a lateral positioning and profile vertical pressing device I4. Wherein the end positioning I1 is positioned at the side (bottom right-angle side) of the draft sill plate member A1 for convenient positioning; the plate vertical hydraulic pressing device I2 presses and fixes the traction beam plate A1 from the upper part; the hydraulic lateral pushing device I3 is pushed and fixed from the outside to the right-angle side of the draft sill plate piece A1 and the outside of the draft sill section A2 through a hydraulic cylinder; the lateral positioning and profile vertical pressing device I4 has the function of tool inner side positioning (positioning the inner side surface of the traction beam profile A2) and vertical pressing and fixing of the traction beam profile A2.

Preferably, the tool can be symmetrically arranged, and two sets of end positioning devices I1, a plate vertical hydraulic pressing device I2, a hydraulic lateral pushing device I3 and a lateral positioning and profile vertical pressing device I4 are arranged on a tool base plate.

Assembling and welding tool operation flow: firstly, closely attaching a traction beam profile A2 to a lateral positioning and profile vertical pressing device I4; and then the traction beam plate piece A1 is placed on a tooling assembly position, and the starting equipment pushes the hydraulic side pushing device I3 through the hydraulic cylinder to assemble the traction beam plate piece A1 in place. Then the welding robot E carries laser locating equipment to detect the part according to the detection position of the figure 9. And after the detection is finished, the cleaning, preheating and back gouging robot F carries laser cleaning equipment to clean an oxide layer on the surface of the aluminum alloy in the welding area, and carries flame preheating equipment to preheat the welding area to 60-80 ℃. And after preheating is finished, the welding robot starts welding operation. And cleaning up the black ash on the surface of the interlayer welding seam by a welding operation clearance cleaning, preheating and back chipping robot F carrying laser cleaning equipment. Until the welding operation of all welding seams is completed.

2.2 type 2 tooling I. The type 2 frock I adopts the flexibility design can satisfy the assembly welding of 4 types of head car draw beams, 4 kinds of draw beam length all are 1740mm to 1785mm, can realize 4 kinds of draw beam spare looks butt welding frock position confirmations through injecing tip and draw beam section bar A2 locating position, can realize the automatic assembly of different grade type sheet metal spare through hydraulic pressure side wall thrust unit simultaneously, two aspects above have realized the welding frock to the compatibility of 4 types of draw beam products.

As shown in fig. 10, the type 2 tooling I comprises a base plate, an end positioning device I1 arranged on the base plate, a plate vertical hydraulic pressing device I2, a hydraulic lateral pushing device I3 and a lateral positioning and profile vertical pressing device I4. Wherein the end positioning I1 is positioned at the side (bottom right-angle side) of the draft sill plate member A1 for convenient positioning; the plate vertical hydraulic pressing device I2 presses and fixes the traction beam plate A1 from the upper part; the hydraulic lateral pushing device I3 is pushed and fixed from the outside to the right-angle side of the draft sill plate piece A1 and the outside of the draft sill section A2 through a hydraulic cylinder; the lateral positioning and profile vertical pressing device I4 has the function of tool inner side positioning (positioning the inner side surface of the traction beam profile A2) and vertical pressing and fixing of the traction beam profile A2.

Preferably, two sets of end positioning devices I1, a plate vertical hydraulic pressing device I2, a hydraulic lateral pushing device I3 and a lateral positioning and profile vertical pressing device I4 are arranged on a base plate of the tool I. Each group is respectively provided with two sets of end positioning devices I1, a plate vertical hydraulic pressing device I2, a hydraulic lateral pushing device I3 and a lateral positioning and profile vertical pressing device I4, and each set is arranged in a head-to-tail manner. The purpose of this design is in order to improve equipment utilization, can realize that a clamping accomplishes the welding jobs of multiclass draft sill product. Meanwhile, the welding operation requirements of single type traction beam products can be met, the number of tools is saved, and the equipment cost is saved.

Welding tool operation flow: firstly, a traction beam profile A2 is tightly attached to a lateral positioning and profile vertical pressing device I4, then a traction beam plate A1 is placed at the position of a tool assembly, and a starting device pushes a hydraulic lateral pressing device I3 through a hydraulic cylinder to assemble the traction beam plate A1 in place. Then the welding robot E carries laser locating equipment to detect the part according to the detection position of the figure 11. After the detection is finished, the cleaning, preheating and back chipping robot F carries laser cleaning equipment to clean an oxide layer on the surface of the aluminum alloy in the welding area of the welding line of the surface (shown in the figure) of the part to be welded, and carries flame preheating equipment to preheat the welding area to 60-80 ℃. And after preheating, the welding robot E starts welding operation of the welding seam of the piece-installing surface, and the welding operation clearance cleaning, preheating and back-chipping robots F carry laser cleaning equipment to clean up the black dust on the surface of the welding seam between the welding seam layers of the piece-installing surface. And (4) welding all the weld joints in the inner surface of the assembly piece. And finally, the positioner rotates clockwise by 180 degrees (see fig. 12, the single-shaft positioner rotates in the direction shown in the figure and the reverse direction shown in the figure to complete back chipping and welding of back chipping side weld joints), namely the back surface of a workpiece is upward, the cleaning, preheating and back chipping robot carries back chipping equipment to perform back chipping operation on the weld joints, and the back chipping depth is 3mm (the back chipping depth is automatically adjusted according to laser position finding detection data). And after the back gouging is finished, welding a back gouging surface welding seam according to a piece mounting surface welding process.

2.3 type 3 tooling I. Type 3 frock I takes the flexibility design can satisfy the assembly welding of 2 types of middle car draw beam, 2 kinds of draw beam length are 1472mm and 1572mm respectively at present, can realize 2 kinds of draw beam spare looks butt welding frock position confirmation through injecing tip and draw beam section bar A2 locating position, can realize the automatic assembly of different grade type sheet metal spare through hydraulic pressure side wall thrust unit simultaneously, two aspects above have realized the welding frock to the compatibility of 2 types of draw beam products.

As shown in fig. 13, the type 3 tooling I comprises a base plate, an end positioning device I1 arranged on the base plate, a vertical hydraulic pressing device I2 for plate members, a hydraulic lateral pushing device I3, and a lateral positioning and vertical profile pressing device I4. Wherein the end positioning I1 is positioned at the side (bottom right-angle side) of the draft sill plate member A1 for convenient positioning; the plate vertical hydraulic pressing device I2 presses and fixes the traction beam plate A1 from the upper part; the hydraulic lateral pushing device I3 is pushed and fixed from the outside to the right-angle side of the draft sill plate piece A1 and the outside of the draft sill section A2 through a hydraulic cylinder; the lateral positioning and profile vertical pressing device I4 has the function of tool inner side positioning (positioning the inner side surface of the traction beam profile A2) and vertical pressing and fixing of the traction beam profile A2.

Preferably, two groups of end positioning devices I1, a plate vertical hydraulic pressing device I2, a hydraulic lateral pushing device I3 and a lateral positioning and profile vertical pressing device I4 are arranged on a base plate of the tool I, and the two groups are symmetrically arranged. Each group is respectively provided with two sets of end positioning devices I1, a plate vertical hydraulic pressing device I2, a hydraulic lateral pushing device I3 and a lateral positioning and profile vertical pressing device I4, and the sets are arranged in a head-to-tail manner. The purpose of this design is in order to improve equipment utilization, can realize that a clamping accomplishes the welding jobs of multiclass draft sill product. Meanwhile, the welding operation requirements of single type traction beam products can be met, the number of tools is saved, and the equipment cost is saved.

Welding tool operation flow: firstly, a traction beam profile A2 is tightly attached to a lateral positioning and profile vertical pressing device I4, then a traction beam plate A1 is placed at the position of a tool assembly, and a starting device pushes a hydraulic lateral pressing device I3 through a hydraulic cylinder to assemble the traction beam plate A1 in place. Then the welding robot E carries laser locating equipment to detect the part according to the detection position of the figure 14. After the detection is finished, the cleaning, preheating and back chipping robot F carries laser cleaning equipment to clean an oxide layer on the surface of the aluminum alloy in the welding area of the welding line of the surface (shown in the figure) of the part to be welded, and carries flame preheating equipment to preheat the welding area to 60-80 ℃. And after preheating, the welding robot starts welding operation of the welding seam of the piece-installing surface, and the welding operation clearance cleaning, preheating and back-chipping robot F carries laser cleaning equipment to clean up the black dust on the surface of the welding seam between the welding seam layers of the piece-installing surface. And (4) welding all the weld joints in the inner surface of the assembly piece. And finally, the positioner rotates clockwise for 180 degrees (see figure 12), namely the reverse side of the piece mounting surface faces upwards, the cleaning, preheating and back-chipping robot F carries back-chipping equipment to perform back-chipping operation on the welding seam, and the back-chipping depth is 3mm (the back-chipping depth is automatically adjusted according to laser locating detection data). And after the back gouging is finished, welding a back gouging surface welding seam according to a piece mounting surface welding process.

All three types of welding tools are compressed by hydraulic cylinders, and the welding tools are associated with a PLC (programmable logic controller) and have full-automatic batch compression capability, so that the positioning and welding functions can be completed by one-time clamping (in the past, manual positioning is performed according to the approximate position of a part, then welding consistency is poor, product size deviation is serious, and the welding equipment designed at present can be positioned and welded on the same tool), thereby not only ensuring accurate positioning, but also not limiting welding, and simultaneously saving a large amount of time and improving production efficiency.

The work flow of the whole equipment is as follows: placing a part or a component at a corresponding position of a tool manually, and starting equipment through a button; secondly, after the equipment is started, the part or the component is firstly pressed by a hydraulic cylinder, and then the welding robot E carries a laser locating device to carry out position inspection on the part or the component and calculate deviation (the deviation can be automatically corrected in the subsequent welding process); after the position of the part or the part is detected before welding, the cleaning, preheating and back chipping robot F carries laser cleaning equipment (cleaning an oxide layer on the surface of the aluminum alloy) to carry out comprehensive cleaning work on the welding area of the part or the part; and fourthly, after the cleaning is finished, the cleaning, preheating and back chipping robot F replaces the laser cleaning equipment with a flame preheating device through a quick change device, the flame preheating device is used for integrally preheating the part or the part, the preheated equipment can use an infrared thermometer for preheating temperature measurement, the welding command can be executed when the technological requirement is met, and the preheating program can be continuously executed if the preheating temperature does not reach the standard until the preheating temperature meets the requirement. After the process requirements are met, the welding robot E starts to execute a welding program, firstly, welding a welding seam in the surface of a mounting piece, then, turning over the positioner, and welding a back gouging side welding seam (such as a double-sided welding type traction beam product) after back gouging is finished; due to the fact that the traction beam part is a thick plate welding part, an interlayer cleaning process exists, and after each welding seam is welded, the cleaning, preheating and back chipping robots carry laser cleaning equipment to carry out interlayer cleaning work on the welded welding seam; sixthly, the traction beam part needing back surface back gouging is turned over to the welding operation side along with the rotation of the positioner, and the back gouging equipment carried by the cleaning, preheating and back gouging robot carries out back gouging treatment firstly, and then welding of a welding seam at the back gouging side is completed according to the third step to the fifth step; and the two robots can work in cooperation at the same station or work at different stations respectively, so that the production efficiency is further improved.

The above description is only a preferred embodiment of the present invention, and should not be construed as limiting the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (7)

1. The trailing beam assembly welding equipment for rail transit is characterized by comprising a robot body and a trailing beam assembly welding tool, wherein the robot body comprises a welding robot and cleaning, preheating and back chipping robots,

the traction beam assembly welding tool comprises a base plate, and an end positioning, plate piece vertical hydraulic pressing device, a hydraulic lateral pushing device, a lateral positioning and section bar vertical pressing device which are arranged on the base plate, wherein the end positioning is positioned at the bottom right-angle edge of the traction beam plate piece so as to be convenient to position; the plate vertical hydraulic pressing device presses and fixes the traction beam plate from the upper part; the hydraulic lateral pushing device is used for pushing and fixing the right-angle edge of the side surface of the traction beam plate piece and the outer side surface of the traction beam profile from the outer side through a hydraulic cylinder; the lateral positioning and profile vertical pressing device positions the inner side surface of the traction beam profile and vertically presses and fixes the traction beam profile.

2. A trailing beam assembly welding equipment for rail transit as claimed in claim 1 wherein, the assembly welding equipment is provided with a plurality of assembly welding stations, between which the welding robot and cleaning, preheating, back chipping robot are provided.

3. The trailing beam assembly welding equipment for rail transit of claim 2, wherein the assembly welding stations are provided with position changing machines, and the position changing machines are provided with the trailing beam assembly welding tooling.

4. The trailing beam assembly welding equipment for rail transit of any one of claims 1 to 3, wherein the trailing beam assembly welding equipment includes three types: the type 1 tool is suitable for assembly welding of a head car traction beam with the length of the traction beam exceeding 2000mm and only one welding line; the type 2 tooling is suitable for the assembly welding of 2 types of head car draft beams with the length of the draft beam between 1740mm and 1785 mm; the type 3 tooling is suitable for assembling and welding 2 types of middle workshop draft beams with the length of the draft beams respectively being 1472mm to 1572 mm.

5. The assembly welding equipment for the traction beam for the rail transit as claimed in claim 4, wherein the type 1 tooling is symmetrically arranged and comprises two sets of the end positioning, plate vertical hydraulic pressing device, hydraulic lateral pushing device, lateral positioning and profile vertical pressing device.

6. The trailing beam assembly welding equipment of claim 4, wherein the type 2 tooling comprises four sets of the end positioning, plate vertical hydraulic pressing device, hydraulic lateral pushing device, lateral positioning and profile vertical pressing device, two of which are the same.

7. The assembly welding equipment for the traction beam for the rail transit as claimed in claim 4, wherein the type 3 tooling is arranged in bilateral symmetry and comprises four sets of the end positioning device, the plate vertical hydraulic pressing device, the hydraulic lateral pushing device, the lateral positioning device and the profile vertical pressing device, and the upper set and the lower set correspond to each other end to end.

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