CN218592228U - Automatic welding workstation of movable arm robot - Google Patents
Automatic welding workstation of movable arm robot Download PDFInfo
- Publication number
- CN218592228U CN218592228U CN202121036293.0U CN202121036293U CN218592228U CN 218592228 U CN218592228 U CN 218592228U CN 202121036293 U CN202121036293 U CN 202121036293U CN 218592228 U CN218592228 U CN 218592228U
- Authority
- CN
- China
- Prior art keywords
- welding
- robot
- automatic
- movable arm
- lifting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Manipulator (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The utility model discloses an automatic welding workstation of moving arm robot, including six welding robot, robot diaxon truss system, asynchronous lift machine of shifting, hydraulic clamping frock, welding power supply and send a system, water-cooling welder, coolant tank, automatic clear rifle subtract silk device and electrical control system. The multi-axis positioner is used for performing multi-angle rotation, lifting and displacement on a workpiece, and the automatic welding of the inner welding seam, the butt welding seam and the outer welding seam of the movable arm is realized by combining with the automatic welding system of the robot, so that the welding seam accessibility is high, and the welding quality is stable; the automatic clamping of the positioner, the automatic displacement of workpieces, the automatic welding of a robot, the automatic locating and tracking of welding seams and the like are realized, and the welding quality and the welding efficiency of the movable arm are greatly improved.
Description
Technical Field
The utility model relates to an excavator swing arm welding technique especially relates to an automatic weld workstation of swing arm robot.
Background
The excavator is an important type of engineering machinery, the application of the excavator is more and more extensive, and even the excavator gradually replaces the action of engineering machinery such as a bulldozer and the like.
On one hand, the movable arm of the excavator is easy to deform and crack during welding, the movable arm of the excavator is used as a core component of the excavator, the quality of the movable arm of the excavator is directly related to the service performance and the product quality of the excavator, once the deformation exceeds a specified value or the movable arm cracks, the product is directly scrapped, and the welding process research and the welding quality control are particularly critical. On the other hand, as the construction investment of the foundation is increased year by year, the demand of the engineering machinery, particularly the hydraulic excavator, is increased year by year, the movable arm is used as a key part of the excavator, and the welding efficiency of the movable arm is also directly related to the capacity of the excavator, the economic benefit of enterprises and the market competitiveness.
At present, most movable arm welding is still manual welding and small part of simplex energy welding, the welding quality is uncontrollable, the welding efficiency is low, and the automatic welding of a robot just solves the bottleneck of the manual welding and the small part of simplex energy welding. The automatic robot welding system comprises six welding robots, a two-shaft robot truss, a five-shaft welding positioner, a set of welding power supply and wire feeding system, a set of tool fixture, a set of water-cooling welding gun, a set of cooling water tank, a set of automatic gun cleaning and wire reducing device and a set of electrical control system. The welding process of the movable arm mainly comprises inner welding seam welding, butt welding seam welding and fillet welding, the conventional welding positioner only has simple clamping and overturning functions, the robot welding only can carry out single-process single-model welding seam welding, the production model is single, the compatibility is poor, the time for changing the model and the piece is increased, and the welding efficiency is influenced.
Along with the requirements of users on the welding quality and the welding efficiency of products are higher and higher, the requirements on the product compatibility and the production flexibility of welding equipment are continuously improved, and the requirements cannot be met by the traditional manual welding and simple robot workstation. The novel movable arm welding workstation becomes main welding equipment for movable arm welding, not only has the basic function of traditional movable arm welding, but also has the basic function of traditional movable arm welding
The first prior art is as follows:
as shown in fig. 1, a movable arm welding positioner developed by the mechanical manufacturing company of jun, huazhou city, realizes 360-degree rotation of a movable arm, and facilitates manual welding operation. The device comprises a driving support, a driven support, a driving motor, a speed reducer, a driving rotating arm, a workpiece connecting seat, a workpiece clamping frame and the like. The equipment is characterized in that a set of movable arm is changed into turnover equipment, and movable arm welding is completed through manual welding by utilizing a crane upper part and a positioner to turn over.
The first prior art has the following defects:
the movable arm welding positioner is only suitable for rotary displacement of a single movable arm model, is not compatible with displacement of various models, and has low manual welding efficiency and low automation degree.
The second prior art is:
as shown in fig. 2, the movable arm repair welding displacement device of the giant excavator, which is a utility model of xuzhou huaheng robot system limited, comprises a headstock displacement machine, a tailstock displacement machine, a lifting mechanism, a swing mechanism and a control system; the two groups of lifting mechanisms are respectively arranged in the headstock positioner and the tailstock positioner and comprise vertical linear guide rails, sliding pairs sliding along the vertical linear guide rails and a hydraulic system; the slewing mechanism comprises two slewing supporting plates capable of rotating in a vertical plane and a slewing driving system for driving the slewing supporting plates to rotate, and the two slewing supporting plates are respectively arranged on a sliding pair on the headstock positioner and a sliding pair on the tailstock positioner; the two rotary supporting plates are respectively provided with a sliding frame, and two ends of the movable arm workpiece are respectively connected with the sliding frames; the hydraulic system and the rotary driving mechanism are respectively connected with the control system. The lifting of the movable arm can be realized through the lifting mechanism, the rotation of the movable arm can also be realized through the swing mechanism, and the omnibearing welding can be assisted during the welding of the movable arm.
The second prior art has the following defects:
the repair welding displacement equipment for the movable arm of the giant excavator has synchronous lifting and overturning functions, is compatible with workpieces of various sizes, is auxiliary manual welding equipment, does not have asynchronous lifting function, is not added with a robot welding system, and has larger equipment limitation.
The prior art is three:
as shown in fig. 3, the utility model discloses a special positioner of welding of flat butt weld about excavator movable arm and application method thereof, it has solved the bottleneck problem in the movable arm welding operation, and the welding of the flat butt weld of movable arm makes the welding can be fine combine together with welding equipment, realizes the mechanized of welding, improves production efficiency and welding quality. The current situations that the production efficiency is low and the product quality cannot be guaranteed are solved. Meanwhile, the labor intensity of workers is reduced, the production cost is greatly reduced, and most importantly, the safe and civilized production is realized, and the field management is facilitated. The special equipment can complete the welding of movable arms of different types.
The third prior art has the following defects:
the welding positioner equipment special for the up-and-down horizontal butt welding seam of the movable arm of the excavator occupies a large space, is complex to operate, stays in a manual welding stage, and cannot realize automatic welding.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a moving arm robot automatic weld workstation.
The utility model aims at realizing through the following technical scheme:
the utility model discloses an automatic welding workstation of moving arm robot, including six welding robot, robot diaxon truss system, asynchronous lift machine of shifting, hydraulic clamping frock, welding power supply and send a system, water-cooling welder, coolant tank, automatic clear rifle subtract silk device and electrical control system.
By the foregoing the utility model provides a technical scheme can see out, the embodiment of the utility model provides a moving arm robot automatic weld workstation utilizes the multiaxis machine of shifting to carry out work piece multi-angle rotating, promotion, shifts, combines robot automatic weld system to realize swing arm internal weld, butt weld, outer welding seam automatic weld, and the welding seam can reach the rate height, and welding quality is stable. The system realizes the functions of automatic clamping of the positioner, automatic workpiece displacement, automatic robot welding, automatic position finding and tracking of welding seams and the like, and greatly improves the welding quality and the welding efficiency of the movable arm.
Drawings
FIG. 1 is a schematic view of a prior art boom welding changer;
FIG. 2 is a schematic structural view of a repair welding displacement device for a movable arm of a two-large excavator in the prior art;
FIG. 3 is a schematic structural view of a welding positioner special for a vertical flat butt weld of a movable arm of a three-excavator in the prior art;
fig. 4 is a schematic structural view of an automatic welding workstation of a robot with movable arms according to an embodiment of the present invention;
fig. 5 is a schematic view of an electrical and informatization control system according to an embodiment of the present invention.
The reference numerals in figures 1 to 3 are their designations in the original document, and have no meaning in the present application;
in fig. 4:
1) welding wire bucket, 2) hydraulic power unit, 3) walking ground rail, 4) quick-witted case that shifts, 5) six welding robot, 6) hydraulic clamping frock, 7) X Y axle truss, 8) dust pelletizing system, 9) welder water-cooling, 10) welding machine, 11) robot B cabinet, 12) elevating system.
Detailed Description
Embodiments of the present invention will be described in further detail below. Details not described in the embodiments of the present invention belong to the prior art known to those skilled in the art.
The utility model discloses an automatic welding workstation of moving arm robot, the concrete implementation mode of its preferred is:
the automatic welding robot comprises a six-axis welding robot, a two-axis truss system of the robot, an asynchronous lifting positioner, a hydraulic clamping tool, a welding power supply and wire feeding system, a water-cooled welding gun, a cooling water tank, an automatic gun cleaning and wire reducing device and an electrical control system;
the asynchronous lifting positioner comprises a head part and a tail part, wherein the head part and the tail part respectively comprise a positioner case 4 and a walking ground rail 3, and are provided with a hydraulic pump station 2 and a guide rail self-lubricating system;
the walking ground rail 3 is arranged on a ground substrate, the walking ground rail 3 is provided with a servo motor and a guide rail sliding block, and is provided with a ground rail frame and a protective device, and the servo motor is connected with the guide rail sliding block through a speed reducer and a gear rack;
the machine case 4 that shifts includes the frame and installs elevating system 12, elevating system 12 includes lift servo motor and lift guide lead screw, elevating system 12 is equipped with the hydraulic clamping frock 6, be equipped with rotation mechanism between hydraulic clamping frock 6 and the elevating system 12, rotation mechanism includes gyration servo motor and gyration support, still is equipped with arresting gear, hydro-cylinder location taper pin.
The hydraulic clamping tool 6 comprises a hydraulic motor, a positive lead screw, a negative lead screw, a tapered clamping pin, a protection switch and a limit switch, and an oil pipe of the hydraulic clamping tool is connected with the hydraulic pump station 2.
The robot two-shaft truss system 7 comprises an X-shaft truss and a Y-shaft truss, and the six-shaft welding robot is arranged on the X-shaft truss and the Y-shaft truss and is provided with a servo motor, a speed reducer and a gear.
In the network topology structure of the electrical control system, the six-axis welding robot is provided with 5 external axes, and respectively controls the X-axis truss to move, the Y-axis truss to move, the head box of the position changing machine to lift, the tail box of the position changing machine to lift and the position changing machine to turn over, and a single station is provided with a set of PLC control system to control the head box of the position changing machine to move, the tail box of the position changing machine to move, a tool to clamp and a signal to detect.
The six-axis welding robot adopts a Sendai robot;
the communication with the PLC is realized through the PROFINET, and the actions in the welding work station are coordinated;
the DEVICENET is communicated with a welding machine to realize automatic welding;
and the data acquisition and uploading are realized through the communication between the Ethernet and the MES.
The utility model discloses an automatic welding workstation of moving arm robot utilizes the multiaxis machine of shifting to carry out work piece multi-angle rotating, promotion, shifts, combines robot automatic weld system to realize swing arm internal weld, butt weld, outer welding seam automatic weld, and the welding seam can reach the rate height, and welding quality is stable. The system realizes the functions of automatic clamping of the positioner, automatic workpiece displacement, automatic robot welding, automatic position finding and tracking of welding seams and the like, and greatly improves the welding quality and the welding efficiency of the movable arm.
The specific embodiment is as follows:
as shown in FIG. 4, the automatic welding workstation of the movable arm robot comprises a six-axis welding robot, a two-axis truss system of a set of robot, a set of asynchronous lifting positioner, a set of welding power supply and wire feeding system, a set of tool fixture, a set of water-cooling welding gun, a set of cooling water tank, a set of automatic gun cleaning and wire reducing device and a set of electrical control system. After the welding movable arm is clamped and to be welded, the welding equipment is turned and lifted through the positioner, the welding equipment can effectively realize all-position welding seam welding of the movable arm by matching with a robot welding system, manual welding is replaced by a robot, manual crane hoisting and turning are replaced by the positioner, labor intensity of workers and welding auxiliary time are greatly reduced, welding of movable arms of various types and sizes and welding of welding seams of various positions and angles are compatible, cost is reduced, and welding quality and welding efficiency are improved.
(1) Asynchronous lifting positioner
The asynchronous lifting positioner is used as equipment for adjusting the welding posture through a mechanical device in the movable arm welding process, and has the functions of being compatible with workpieces of various sizes, asynchronous lifting, rotary displacement, automatic clamping and the like. The welding positioner is composed of a head walking ground rail, a tail walking ground rail, a positioner head box, a positioner tail box, a hydraulic clamping tool and the like, and a hydraulic pump station and a guide rail self-lubricating system are configured to form a set of complete movable arm welding displacement equipment.
The head and tail walking ground rail is driven by a servo motor and is provided with a speed reducer, a gear rack, a guide rail slide block, a ground rail frame, a protector and the like; the positioner head box and the positioner tail box are composed of a frame, a rotary servo motor (robot external shaft), a rotary support, a lifting guide rail screw rod, a protector and the like. The specific actions are as follows: the traveling ground rail 3 is arranged on a ground substrate, the traveling ground rail 3 is provided with a servo motor and a guide rail sliding block, so that a head box and a tail box of the positioner can move horizontally, and the compatibility with workpieces of various sizes is realized by controlling the distance between the head box and the tail box; the head box and the tail box of the positioner are provided with lifting mechanisms 12, the lifting mechanisms 12 are driven by lifting servo motors (external shafts of the robot), and lifting guide screws are used for supporting, so that different heights can be adjusted according to requirements of welding postures, and synchronous lifting and asynchronous lifting of workpieces are realized; a hydraulic clamping tool 6 is arranged on the lifting mechanism 12 and consists of a hydraulic motor, a positive screw and a negative screw, a tapered bayonet lock, a protection switch and a limit switch, and a hydraulic pump station 2 is used for realizing the centering and clamping of the workpiece; a rotary servo motor and a rotary support are arranged between the clamping tool 6 and the lifting mechanism 12, different turning angles can be adjusted according to welding posture requirements, welding requirements of different welding seams are met, the rotary mechanism is further provided with a braking device, the oil cylinder taper pin is used for positioning, the turning mechanism is braked during feeding, and the accuracy of a feeding position and the stability of the whole device are guaranteed.
(2) Robot truss system
(3) Electrical control system
And according to the welding control requirement and the informatization requirement, the network topology structure of the electrical control system is adopted. The robot has 5 external axes, and can control the movement of an X-axis truss, the movement of a Y-axis truss, the lifting of a head box of the positioner, the lifting of a tail box of the positioner and the overturning of the positioner. And a single station is provided with a set of PLC control system for controlling the functions of shifting the head box of the positioner, shifting the tail box of the positioner, clamping the tool and detecting signals.
As shown in fig. 5, the robot is a sonchidae robot (without limiting brand), and the robot communicates with the PLC through PROFINET to coordinate the actions in the welding station; the DEVICENET is communicated with a welding machine to realize automatic welding; and the data acquisition and uploading are realized through the communication between the Ethernet and the MES.
The utility model has the advantages that:
(1) As the process of the excavator product is adjusted and updated, the movable arm can continuously change the size, and the conventional movable arm welding positioner is poor in compatibility because the conventional movable arm welding positioner is not provided with a walking ground rail or lifting. The automatic welding workstation of the movable arm robot reasonably solves the problems.
(2) At present, a movable arm welding workstation is manual welding and manual clamping, the automation degree is low, the efficiency and the quality are uncontrollable, the automatic welding workstation of a movable arm robot adopts robot welding, and the welding efficiency and the welding seam quality are guaranteed while the automation degree is improved.
(3) At present, most of automatic welding workstations of movable arms are single-weld welding, namely a butt-weld welding station of the movable arms or a fillet-weld welding station of the movable arms, and are single in function and poor in interchangeability.
The utility model discloses a technical key point:
(1) Moving arm robot automatic weld workstation comprises asynchronous lift positioner, robot truss, welding robot etc. has following advantage: the workpiece size compatibility is many, the accessibility of the welding seam position is high, the automation degree is high, the welding quality is stable, and the equipment utilization rate is high.
(2) The automatic welding workstation of the movable arm robot is suitable for welding all movable arm models, and is not suitable for welding movable arms of a certain model. The distance of the head and tail box clamp is adjusted by adjusting the walking shafts at the two ends of the positioner, welding programs of different models are switched, and production of workpieces of different models can be switched rapidly.
(3) The automatic welding workstation of the movable arm robot serves as a welding station information terminal and a front-end device of a workshop Manufacturing Execution System (MES), functions of automation of welding, automatic data acquisition and automatic uploading in a welding process and the like are achieved, and meanwhile an interface integrated with other workshop informatization systems is reserved.
(6) The automatic welding workstation of the movable arm robot adopts a modular design and can be customized and combined according to requirements.
The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (2)
1. An automatic welding workstation of a moving arm robot is characterized by comprising a six-axis welding robot, a two-axis truss system of the robot, an asynchronous lifting positioner, a hydraulic clamping tool, a welding power supply and wire feeding system, a water-cooling welding gun, a cooling water tank, an automatic gun cleaning and wire reducing device and an electric control system;
the asynchronous lifting positioner comprises a head part and a tail part, the head part and the tail part respectively comprise a position changing machine box (4) and a walking ground rail (3), and a hydraulic pump station (2) and a guide rail self-lubricating system are configured;
the walking ground rail (3) is arranged on a ground substrate, the walking ground rail (3) is provided with a servo motor and a guide rail sliding block, and is provided with a ground rail frame and a protective device, and the servo motor is connected with the guide rail sliding block through a speed reducer and a gear rack;
the gear shifting machine box (4) comprises a machine frame and is provided with a lifting mechanism (12), the lifting mechanism (12) comprises a lifting servo motor and a lifting guide screw, the lifting mechanism (12) is provided with a hydraulic clamping tool (6), a swing mechanism is arranged between the hydraulic clamping tool (6) and the lifting mechanism (12), the swing mechanism comprises a swing servo motor and a swing support, and the gear shifting machine box is further provided with a braking device and an oil cylinder positioning taper pin;
the robot two-shaft truss system (7) comprises an X-shaft truss and a Y-shaft truss, and the six-shaft welding robot is arranged on the X-shaft truss and the Y-shaft truss and is provided with a servo motor, a speed reducer and a gear.
2. The automatic welding workstation of moving arm robot of claim 1, characterized in that the hydraulic clamping tool (6) comprises a hydraulic motor, a positive and negative lead screw, a tapered bayonet, a protection and a limit switch, and an oil pipe of the hydraulic clamping tool is connected with the hydraulic pump station (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121036293.0U CN218592228U (en) | 2021-05-14 | 2021-05-14 | Automatic welding workstation of movable arm robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121036293.0U CN218592228U (en) | 2021-05-14 | 2021-05-14 | Automatic welding workstation of movable arm robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218592228U true CN218592228U (en) | 2023-03-10 |
Family
ID=85395285
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121036293.0U Active CN218592228U (en) | 2021-05-14 | 2021-05-14 | Automatic welding workstation of movable arm robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218592228U (en) |
-
2021
- 2021-05-14 CN CN202121036293.0U patent/CN218592228U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113059312A (en) | Automatic welding workstation of movable arm robot | |
| CN206253658U (en) | A kind of cross slid platform Digit Control Machine Tool with double main shafts | |
| CN204603613U (en) | A kind of 5-shaft linkage numerical control manipulator bonding machine | |
| CN104816112A (en) | Five-axis linkage numerically-controlled mechanical hand welding machine | |
| CN104384695A (en) | Robot automatic welding system for car body | |
| CN108746972B (en) | Automatic change robot spot welding equipment | |
| CN102528285B (en) | Full-automatic laser welding machine | |
| CN206253950U (en) | A kind of automatic tool changer process equipment | |
| CN113523785A (en) | Flexible automatic installation production line for steel wire thread insert | |
| CN114161017A (en) | Automatic welding equipment and welding method for movable arm structural part of large excavator | |
| CN215393675U (en) | Flexible automatic installation production line for steel wire thread insert | |
| CN114211166A (en) | Double-station four-gun guardrail welding robot | |
| CN204735857U (en) | Barrel end plate assembly welding workstation | |
| CN203887368U (en) | Combined operation arm of pipe cutting robot | |
| CN218592228U (en) | Automatic welding workstation of movable arm robot | |
| CN207681804U (en) | A kind of robot bonding machine for intelligent transport welding production line | |
| CN106238937A (en) | One passes through part profile modeling welding-cutting control system mutually | |
| CN112276423A (en) | Novel welding robot | |
| CN108788577A (en) | A kind of large tank robot automation welding workstation | |
| CN108788576A (en) | Large tank robot automation welding workstation and the method welded using the device | |
| CN112159992A (en) | Automatic repair production line and repair method for flow-splitting aluminum electrolysis anode steel claw | |
| CN202877788U (en) | Flexible positioner used for robot welding work station | |
| CN203371168U (en) | Large area zinc electrolytic cathode plate stir friction welding unit | |
| CN202861657U (en) | Assembly equipment of standard section automated robot welding system | |
| CN212955379U (en) | Automatic repair production line for flow-dividing type aluminum electrolysis anode steel claw |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |