WO2018191890A1 - Automatic welding work system and operation method therefor - Google Patents

Abstract

An automatic welding work system (100), the automatic welding work system (100) comprising: a transfer system (200), a welding system (300) and a control system (400); the transfer system (200) comprises a loading platform (201), an unloading platform (202) and a transfer robot (203); the welding system (300) comprises a fixture (301) and a welding robot (302). Also disclosed is an operation method for the automatic welding work system. By means of the control system (400), the transfer robot (203) is controlled to cooperate with the welding robot (302) to achieve a dual station welding tool, and fully automated processes of loading, positioning, welding and unloading may also be achieved, thereby improving welding efficiency.

Description

Automatic welding working system and operating method thereof

[Technical Field]

The invention relates to the field of engineering machinery, in particular to an automatic welding working system and an operating method thereof.

 【Background technique】

The prior art welding process mainly uses manual welding and manual handling, and there are many deficiencies and defects:

1. Manual welding relies on artificial proficiency, low welding efficiency, and product quality is rarely guaranteed, and product yield is low;

2. The loading and unloading at the time of operation is completed manually, the positioning accuracy depends on the artificial proficiency, the product yield is low, and the manual handling is labor intensive, high in cost, and low in efficiency.

 [Summary of the Invention]

In order to solve the above technical problems, the present invention provides an automatic welding work system and an operation method thereof, which can realize full automation of loading, positioning, welding and cutting, high degree of automation, and improve production efficiency and product yield.

In order to solve the above technical problem, an embodiment of the present invention provides an automatic welding work system, including: a handling system, including a loading platform, a loading platform, and a handling robot; a welding system, including a fixture and a welding robot; a control system, a control system It is connected with the handling system and the welding system to control the handling system and the welding system. When the automatic welding working system is in operation, the control system controls the handling robot to grab the first set of workpieces from the loading table and place them on the first station of the fixture. And the positioning is performed by the fixture, the welding robot performs the welding operation on the first group of the workpiece after the positioning; in the process of the welding robot welding the first group of workpieces, the control system controls the handling robot to grab the second from the loading table The set of workpieces is placed on the second station of the fixture and positioned by the fixture; the control system controls the welding robot to perform the welding operation on the second set of workpieces after the first set of workpieces are welded; During the welding operation of the workpiece, the control system controls the handling robot from the first work A first set of gripping welding finished workpiece unloading station is placed.

Wherein, the automatic welding working system further comprises a clearing machine, the clearing machine is connected with the control system, and the control system controls the clearing machine to remove the welding gun mouth of the welding robot, the first set of workpieces and/or the impurities on the second set of workpieces.

Wherein, the automatic welding working system further comprises a protective cover, the carrying system and the welding system are installed in the protective cover.

Wherein, the protective cover is provided with a barrier wall, the barrier wall is used for separating the welding system and the handling system, and at least the first welding window and the second welding window are disposed on the barrier wall, and the first welding window corresponds to the first station, the first The second welding window corresponds to the second station.

Wherein the barrier wall is provided with at least a first baffle for closing the first welding window, and a second baffle for closing the second welding window, the first baffle and the second baffle The two sides of the board are respectively provided with an inductive device and a transmission device. When the sensing device senses that the handling robot is close to the first welding window, the transmission device drives the first baffle to open to expose the first welding window to move the handling robot to the first station. Placing a first set of workpieces or grabbing a first set of workpieces from a first station; and when the sensing device senses that the handling robot is near the second welding window, the transmission drives the second shutter to open to expose the second welding window to the handling robot A second set of workpieces is placed to the second station or a second set of workpieces is grabbed from the second station.

The protective cover is provided with at least a first working window and a second working window. The first working window corresponds to the loading platform for placing the workpiece on the loading platform, and the second working window corresponds to the loading platform. Remove the workpiece from the loading table.

The automatic welding working system further comprises an automatic feeding machine and an automatic unloading machine, and the control system is connected with the automatic feeding machine and the automatic discharging machine, the automatic feeding machine is corresponding to the loading table setting, and the automatic discharging machine corresponds to the lower part. The table is set, the control system controls the automatic feeder to automatically drive the workpiece to the loading table, and controls the automatic unloading machine to automatically remove the workpiece from the loading table.

Among them, the automatic feeder and/or the automatic unloader are a chute type automatic feeder or a vibrating tray automatic feeder.

Among them, the automatic feeding machine and the automatic unloading machine are robots, and the robot is used to grasp the workpiece to be processed to the loading table, and grab the workpiece that has been welded from the loading table.

Wherein, the automatic welding working system further comprises a smoke cleaner, the smoke cleaner is connected with the control system, and the smoke cleaner is used for purifying the smoke generated during the welding process.

Wherein, the protective cover is provided with at least a first access door and a second access door, respectively, for allowing the maintenance personnel to enter the protective cover to perform an inspection operation on the handling system or the welding system.

The automatic welding work system further includes a power supply device for supplying power to the handling robot, the welding robot, and the fixture.

Wherein, the end of the body of the welding robot is equipped with an air-cooled welding torch or a pneumatic spot welding tong.

Among them, a transport claw is attached to the end of the body of the transport robot.

Wherein, the welding system further comprises a shielding plate, and the shielding plate is disposed between the first station and the second station.

In order to solve the above technical problem, an embodiment of the present invention further provides an automatic welding operation method, and an automatic welding operation method is applied to an automatic welding work system, wherein the automatic welding work system includes: a handling system including a loading platform and a blanking And the handling robot; the welding system, including the fixture and the welding robot, the fixture includes at least the first station and the second station; the control system, the control system is connected with the handling system and the welding system, and is used for controlling the handling system and the welding system The operation method comprises: the control system controls the handling robot to grab the first group of workpieces from the loading table and place them on the first station of the fixture; the fixtures locate the first group of workpieces; the first group of the welding robots after positioning The workpiece is subjected to a welding operation; during the welding operation of the welding robot to the first group of workpieces, the control system controls the handling robot to grab the second group of workpieces from the loading station and place them on the second station of the fixture; Two sets of workpieces are positioned; the control system controls the welding machine to finish welding the first set of workpieces After the second set of workpiece welding operation; during the welding robot for welding work a second set of the job, the control system controls the transfer robot gripping a first group of welding the finished workpiece is placed under the sample stage from the first station.

Wherein, the automatic welding working system further comprises a clearing machine, the clearing machine is connected with the control system; the operating method further comprises: the control system controls the clearing machine to clear the welding gun mouth of the welding robot, the first set of workpieces and/or the second set of workpieces Impurities.

The automatic welding working system further comprises an automatic feeding machine and an automatic unloading machine, and the control system is connected with the automatic feeding machine and the automatic discharging machine, the automatic feeding machine is corresponding to the loading table setting, and the automatic discharging machine corresponds to the lower part. The material table setting; the operation method further comprises: the control system controls the automatic loading machine to automatically drive the workpiece to the loading table, and controls the automatic unloading machine to automatically remove the workpiece from the loading platform.

Wherein, the automatic welding working system further comprises a smoke cleaner, the smoke cleaner is connected with the control system; the operation method further comprises: the control system controls the smoke cleaner to purify the smoke generated by the welding robot during the welding process.

The invention has the beneficial effects that the automatic welding working system and the operating method thereof of the invention can realize the fully automated operation of loading, positioning, welding and cutting, with high degree of automation, and the robot is matched with the prior art. The welding robot's double welding station and fixtures have high production efficiency and high positioning accuracy, which improves product yield.

 [Description of the Drawings]

1 is a schematic perspective view showing the automatic welding work system of the first embodiment of the present invention;

2 is a schematic perspective view showing the automatic welding work system of the second embodiment of the present invention;

Figure 3 is a top plan view of the automatic welding work system of Figure 2;

Figure 4 is a perspective structural view of the welding system of the automatic welding work system of Figure 2;

FIG. 5 is a schematic flow chart of an operation method of automatic welding according to an embodiment of the present invention.

【detailed description】

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention. It should be noted that the same elements of the present invention are given the same reference numerals.

Please refer to FIG. 1. FIG. 1 is a schematic perspective structural view of an automatic welding working system according to a first embodiment of the present invention. As shown in FIG. 1, the automatic welding work system 100 of the present embodiment includes a handling system 200, a welding system 300, and a control system 400. The control system 400 is coupled to the handling system 200 and the welding system 300 for controlling the handling system 200 and the welding system. 300. The transport system 200 includes a loading platform 201, a loading platform 202, and a transport robot 203 for picking up or placing a workpiece from the loading platform 201 and/or the loading platform 202 according to the received command. The welding system 300 includes a fixture 301 and a welding robot 302. The fixture 301 includes at least a first station 3011 and a second station 3012. The fixture 301 can be placed on the workpiece at the first station 3011 and the second station 3012. The positioning is performed and the clamping operation is performed, and the welding robot 302 is configured to perform a welding operation on the specified position of the workpiece on the fixture 301 in accordance with the received command. In this embodiment, the control system 400 includes at least a first control cabinet 401 and a second control cabinet 402. The first control cabinet 401 and the second control cabinet 402 are respectively connected to the transportation system 200 and the welding system 300 for respectively Controlling the handling system 200 and the welding system 300, it is understood herein that the first control cabinet 401 controls the operation of the various components of the entire handling system 200, such as controlling the handling robot 203 for handling operations, and the second control cabinet 402 controls the various components of the entire welding system 300. The operation, for example, controls the welding robot 302 to perform a welding operation on the workpiece at a certain position on the fixture 301, and can also control the fixture 301 to perform a clamping operation on the workpiece placed on the station. The tooling fixture includes a first station 3011 and a second station 3012 in FIG. 1. The control system 400 includes a first control cabinet 401 and a second control cabinet 402 as an example. In other embodiments, the control system 400 may also include only one control cabinet or more than two control cabinets.

The working principle of the automatic welding working system 100 of this embodiment is as follows:

When the automatic welding work system 100 is in operation, first, the control robot 400 controls the transport robot 203 to grab the first set of workpieces from the loading platform 201 and place them on the first station 3011 of the fixture 301, and is positioned by the fixture 301. .

The welding robot 302 performs a welding operation on the first set of workpieces after positioning.

During the welding operation of the welding robot 302 to the first group of workpieces, the control system 400 further controls the handling robot 203 to grasp the second group of workpieces from the loading platform 201 and place them on the second station 3012 of the fixture 301, and The fixture 301 is positioned.

Control system 400 then controls welding robot 302 to perform a welding operation on the second set of workpieces after welding the first set of workpieces.

Moreover, during the welding operation performed by the welding robot 302 on the second group of workpieces, the control system 400 controls the handling robot 203 to grab the first set of workpiece placement and unloading stations 202 that have been welded from the first station 3011.

Therefore, the automatic welding work system of the present embodiment can control the handling system 200 and the welding system 300 to cooperate with each other through the control system 400, thereby realizing full automatic operation from loading, positioning, welding, and unloading, and by setting on the fixture 301. A plurality of workstations can save time for the welding robot 302 to wait for the workpiece to be positioned, thereby improving work efficiency.

In a specific embodiment, the welding system 100 can further include a clearing machine 304. The clearing machine 304 is coupled to the control system 400. The control system 400 controls the clearing machine 304 to clear the welding gun port of the welding robot 302, the fixture 301, and the first The impurities on the set of workpieces and the second set of workpieces. For example, in some embodiments, during the welding operation of the welding robot 302 to the first set of workpieces or the second set of workpieces, the control system 400 controls the clearing machine 304 to remove the welding torch port and the first set of workpieces of the welding robot 302 in real time. Or impurities on the second set of workpieces. In other embodiments, the control system 400 can control the clearing machine 304 to perform a cleaning operation on the welding gun port of the welding robot 302 every predetermined time to save the effectiveness of the clearing machine 304, and each time a set of workpieces is welded. After the operation, the control system 400 controls the clearing machine 304 to perform a cleaning operation on the workpiece that completes the welding operation to prevent impurities from adhering to the workpiece and flowing into the next working process, thereby causing an impact on product quality.

In a particular embodiment, the welding system 100 can further include a smoke cleaner 305 for purifying the smoke generated by the welding system 100 during the welding process to improve the cleanliness of the working environment of the welding system 100. For example, the smoke cleaner 305 is provided with a dust hood (not shown), and the dust hood is disposed near the welding gun port of the welding robot 302. During the welding operation of the welding robot 302, the dust collecting hood welds the welding robot 302. The smoke generated during the process is inhaled to clean the smoke.

In a specific embodiment, the welding system 100 can further include at least one shielding plate 3013 disposed between the first station 3011 and the second station 3012 for avoiding the first station 3011 during operation and The workpieces on the second station 3012 interfere with each other.

In one embodiment, the welding system 100 further includes a power supply device 306 for powering the handling robot 203, the welding robot 302, and the fixture 301.

Please refer to FIG. 2, FIG. 3 and FIG. 4. FIG. 2 is a schematic view showing the structure of the automatic welding working system according to the second embodiment of the present invention, and FIG. 3 is a schematic structural view of the automatic welding working system of FIG. It is a schematic perspective view of the welding system of the automatic welding working system in Fig. 2. As shown in FIG. 2, the difference from the above embodiment is that the welding system 500 of the present embodiment further includes a protective cover 303. The handling system 200 and the welding system 300 are both mounted in the protective cover 303, and the protective cover 303 can improve the manual. The safety of the work. In the present embodiment, a barrier wall 3036 is further disposed in the shield 303 for separating the welding system 300 from the handling system 200 and forming a sealed space for the welding system 300. The welding robot 302 is prevented from dissipating the smoke generated during the welding operation, pollutes the environment, and can also serve as a protection during the welding operation.

As shown in FIG. 4, the barrier wall 3036 is provided with at least a first soldering window 3031 corresponding to the first station 3011 and a second soldering window 3032 corresponding to the second station 3012, and the shield 303 is further A first baffle 3033 corresponding to the first welding window 3031 and a second baffle 3034 corresponding to the second welding window 3032 are provided. The first baffle 3033 is for closing the first welding window 3031, and the second baffle 3034 is for The second welding window 3032 is closed. The two sides of the first baffle 3033 and the second baffle 3034 are respectively provided with an inductive device (not shown) and a transmission device (not shown), and the sensing device senses that the transfer robot 203 is close to the first welding window 3031. An instruction is sent to cause the transmission drive first baffle 3033 to open to expose the first weld window 3031 to cause the transfer robot 203 to place the first set of workpieces to the first station 3011 or to grab the first set of workpieces from the first station 3011. The sensing device sends an instruction to sense that the handling robot 203 approaches the second welding window 3032 to cause the transmission to drive the second baffle 3034 to open to expose the second welding window 3032 to place the handling robot 203 to the second station 3012. The workpiece or the second set of workpieces is grabbed from the second station 3012. Optionally, the sensing device is a grating sensor.

Further, the welding system 300 of the present embodiment further includes a clearing machine 304, a smoke cleaner 305, and a power supply device 306.

The clearing machine 304 and the power supply device 306 are both mounted in the protective cover 303, and the clearing machine 304 can be disposed on one side of the welding robot 302. Alternatively, the clearing machine 304 is connected to the mechanical arm of the welding robot 302. The impurities on the welding gun mouth, the first component and/or the second set of workpieces of the welding robot 302 are removed. Power supply device 306 is used to power welding robot 302 and/or fixture 301.

The smoke cleaner 305 is disposed in the sealed space of the shield 303 to purify the smoke generated by the welding robot 302 during the welding operation, thereby avoiding pollution of the environment by the smoke, and also improving the working environment of the welding system 100. degree.

In other embodiments, the smoke cleaner 305 can also be disposed outside the shield 303, as well as purifying the smoke generated by the welding robot 302 during the welding operation. The power device 306 can be disposed outside the shield 303, and the power device 306 can also supply power to the transport robot 203.

The protective cover 303 is provided with at least a first access door 3035 and a second access door 2043 for allowing the service personnel to enter the protective cover 303 to perform an inspection operation on the welding system 300 or the handling system 200.

Wherein, the end of the body of the welding robot 302 can be equipped with an air-cooled welding torch or a pneumatic spot welding tong, which is not limited herein. In other embodiments, the welding system 300 is further provided with an electrode grinder (not shown). When the spot welding head of the welding robot 302 wears, the spot welding head can be placed in the electrode grinder for grinding, so that the wear is The spot welding head can be used again to reduce the replacement and loss of the spot welding head.

Wherein, the body end of the transport robot 203 is mounted with a transport claw hand for grasping the workpiece to be processed from the loading platform 201 to the first station 3011 or the second station 3012 of the welding system 300, or from the welding system 300. The workpiece of the completed welding operation is grabbed on the first station 3011 or the second station 3012 to the loading station 202.

The protective cover 303 is provided with at least a first working window 2041 and a second working window 2042. The first working window 2041 is disposed corresponding to the loading platform 201, and the second working window 2042 is disposed corresponding to the loading platform 202. The worker can pass the loading window 201 or the loading platform 202 through the first working window 2041 and the second working window 2042. Carry out the handling of the workpiece. The protective cover 303 can also ensure the personal safety of the operator, so that the operator can be away from the handling robot 203 or the welding robot 302.

The first control cabinet 401 and the second control cabinet 402 may be disposed outside the shield 303 for controlling the transport robot 203 and the welding robot 302, respectively. The first control cabinet 401 and the second control cabinet 402 can be robot control cabinets and/or PLCs (Programmable) Logic Controller; programmable logic controller) control cabinet.

The implementation process of the automatic welding work system 500 of the present embodiment will be specifically described below with reference to FIGS. 2 to 4:

The control system 400 is connected to the sensing device and the transmission device respectively, and the control system 400 is configured to receive the information transmitted by the sensing device and the transmission device to send corresponding commands according to the received information.

Before the welding operation, the first access door 3035, the second access door 2043, the first welding window 3031, and the second welding window 3032 on the protective cover 303 are all disposed in a closed state, and the worker passes the first working window 2041 to the loading table 201. Fill the workpiece to be machined.

When the welding operation is started, the control system 400 sends an instruction to control the handling robot 203 to grab the first group of workpieces from the loading station 201 and control the handling robot 203 to approach the first welding window 3031. The control system 400 senses that the handling claw of the handling robot 203 passes the predetermined distance to the first welding window 3031 through the sensing device of the first welding window 3031, and sends an instruction to the corresponding transmission to cause the transmission to drive the first baffle. 3033 is opened to expose the first soldering window 3031. The control system 400 controls the transport robot 203 to place the first set of workpieces on the first station 3011 of the fixture 301, and then controls the fixture 301 to clamp the first set of workpieces to complete the positioning of the workpiece. At the same time, the control system 400 controls the handling robot 203 to evacuate the first station 3011, and when sensing the handling robot 203 from the first welding window 3031 to a certain distance through the sensing device, the control system 400 sends an instruction to cause the transmission to drive the first The baffle 3033 closes the first welding window 3031, and the first welding window 3031 is closed by the driving first baffle 3033, so as to prevent the smoke from spreading to the conveying system 200 during the subsequent welding work on the first group of workpieces, causing the handling system 200 The pollution, or the diffusion of the handling system 200, causes environmental pollution. The control system 400 sends a welding command to the welding robot 302 to perform a welding operation on the first set of workpieces.

During the welding operation of the welding robot 302 to the first group of workpieces, the control system 400 controls the handling robot 203 to return to the loading station 201 to grab the second group of workpieces and approach the second welding window 3032. When the sensing device of the second welding window 3032 senses that the handling claw of the handling robot 203 is approaching the predetermined distance to the second welding window 3032, the control system 400 sends an instruction to cause the transmission to drive the second shutter 3034 to open. The second welding window 3032 is exposed, and the handling robot 203 places the second group of workpieces on the second station 3012 of the fixture 301 through the second welding window 3032. The fixture 301 clamps and positions the second group of workpieces to complete the positioning of the workpiece. operation. At the same time, the control system 400 controls the handling robot 203 to evacuate the second station 3012, and when the sensing robot 203 is sensed to evacuate the second station 3012 to a certain distance by the sensing device, the control system 400 sends an instruction to transmit the transmission. The second baffle 3034 closes the second welding window 3032. Similarly, the second welding window 3032 is closed by the transmission second baffle 3034, so that the smoke is prevented from diffusing to the handling system 200 during the subsequent welding operation on the second set of workpieces. Contamination of the handling system 200 or diffusion through the handling system 200 causes environmental pollution. The control system 400 controls the welding robot 302 to perform a welding operation on the second group of workpieces after the welding of the first group of workpieces is completed.

During the welding operation of the welding robot 302 to the second group of workpieces, the control system 400 controls the handling robot 203 to grab the first set of workpieces that have been welded from the first station 3011 and place them on the loading platform 202, and further from the loading. The stage 201 grabs the third set of workpieces and places them in the first station 3011 of the fixture 301 through the first welding window 3031 to continue the cycle operation.

Therefore, in the present embodiment, the transfer robot 203 cooperates with the welding machine to perform double-station welding, and realizes full automatic operation from loading, positioning, welding, and blanking, thereby improving welding efficiency. Further, the transfer robot 203 can cooperate with the fixture 301. Precise positioning to improve positioning accuracy. In addition, by providing the protective cover 303, the manual working position can be far away from the position of the welding robot 302, which can ensure the personal safety of the worker to a large extent, and can avoid the smoke outside the welding process and pollute the environment. .

In other embodiments, in order to further improve the full process automation of the automatic welding work system 500, the handling system 200 further includes an automatic loading machine (not shown) and an automatic unloading machine (not shown), the control system 400 and the automatic The feeder and the automatic unloader are connected to control the automatic feeder and the automatic unloader.

Wherein, the automatic loading machine is arranged corresponding to the loading platform 201, the automatic loading machine is used for automatically feeding the workpiece to be processed to the loading platform 201, and the control system 400 controls the automatic loading machine to automatically drive the workpiece to be processed to the loading platform 201. For example, in some embodiments, the loading platform 201 is further provided with an inductive device (not shown). The control system 400 controls the automatic loading machine to automatically drive a workpiece to be processed to the loading platform 201, and the sensing device senses After the workpiece is to be processed on the loading table 201, the control system 400 controls the conveying robot 203 to carry the workpiece to be processed from the loading platform 201 to a designated area for processing. And during the carrying operation of the transport robot 203, the control system 400 further controls the automatic loading machine to automatically drive the next workpiece to be processed to the loading platform 201, so that the transport robot 203 cooperates with the automatic loading platform to realize the circulating operation. ,Improve work efficiency. Moreover, when the sensing device senses that the loading platform 201 has no workpiece to be processed, the control system 400 can control the handling robot 203 to stop the handling operation and enter a sleep state to save efficiency. In other embodiments, the control system 400 controls the automatic loading machine to automatically drive the workpiece to be processed to the loading platform 201 until the loading platform 201 is filled with the workpiece to be processed, and the control system 400 controls the handling robot 203 to load from the loading. The workpiece is transported to the designated area for processing operations.

The automatic unloader is disposed corresponding to the unloading table 202, and the control system 400 controls the automatic unloader to automatically unload the workpiece from the unloading station 202 that has completed the welding operation. In some embodiments, the loading platform 202 is provided with an inductive device (not shown). When the sensing device senses that the workpiece has been processed on the loading platform 202, the control system 400 controls the automatic unloader from the loading platform. The finished workpiece is unloaded on 202. The automatic feeder and/or the automatic unloader may be a chute automatic feeder or a vibrating tray automatic feeder in the prior art, which is not limited herein.

In some embodiments, the automatic loading machine and/or the automatic unloading machine may be a robot (not shown), and the workpiece to be processed sent by the robot grabbing conveyor is transported onto the loading platform 201, and from the loading platform 202. Grab the workpiece that has completed the welding operation to the conveyor belt for transmission to the next operation program. Therefore, by using the automatic loading machine and the automatic unloading machine, manual work on the loading table 201 and/or the unloading table 202 can be saved, saving manpower.

Please refer to FIG. 5 further. FIG. 5 is a schematic flow chart of an operation method of automatic welding according to an embodiment of the present invention. The automatic welding operation method of the present embodiment can be applied to the automatic welding work system 100 of the first embodiment or the automatic welding work system 500 of the second embodiment. The automatic welding operation method includes:

S501: The control system 400 controls the transport robot 203 to grab the first set of workpieces from the loading platform 201 and place them on the first station 3011 of the fixture 301.

S502: The fixture 301 positions the first set of workpieces.

S503: The welding robot 302 performs a welding operation on the first set of workpieces after positioning.

S504: During the welding operation of the welding robot 302 to the first group of workpieces, the control system 400 controls the conveying robot 203 to grab the second group of workpieces from the loading platform 201 and place them on the second station 3012 of the fixture 301.

S505: The fixture 301 positions the second set of workpieces.

S506: The control system 400 controls the welding robot 302 to perform a welding operation on the second group of workpieces after the welding of the first group of workpieces is completed.

S507: During the welding operation of the welding robot 302 to the second group of workpieces, the control system 400 controls the conveying robot 203 to grab the first set of workpieces placed from the first station and place the loading table 202.

In this embodiment, the workpiece to be processed is placed on the loading platform 201 by manual operation or mechanical operation, and the loading platform 201 may be provided with an inductive device (not shown), and the sensing device senses that the loading platform 201 is to be treated. When the workpiece is machined, the control system 400 controls the handling robot 203 to grab the first set of workpieces from the loading station 201 and place them on the first station 3011 of the fixture 301.

The control system 400 controls the fixture 301 to clamp the first set of workpieces, and after the fixture 301 positions the first set of workpieces, the control system 400 controls the welding robot 302 to perform the welding operation on the first set of workpieces.

During the welding operation of the welding robot 302 to the first group of workpieces, the control system 400 controls the handling robot 203 to grab the second group of workpieces from the loading station 201 and place them on the second station 3012 of the fixture 301.

After the handling robot 203 places the second set of workpieces into the second station 3012, the control system 400 controls the fixture 301 to position the second set of workpieces, and controls the welding robot 302 to complete the welding of the first set of workpieces to the second set of workpieces. Perform welding operations. During the welding work performed by the welding robot 302 on the second group of workpieces, the control system 400 controls the handling robot 203 to grab the first set of workpiece placement and unloading stations 202 from the first station, so that the handling robot 203 can be The welding robot 302 utilizes a duplex position to realize a cyclic welding tooling to improve work efficiency.

In some embodiments, the automatic welding work system 100 or 500 further includes an automatic loading machine (not shown) and an automatic unloading machine (not shown). The automatic loading machine is corresponding to the loading table 201, and automatically discharges the material. The machine is arranged corresponding to the unloading table 202, and the control system 400 is connected with the automatic loading machine and the automatic unloading machine. Prior to step S501, the control system 400 controls the automatic loader to automatically drive the workpiece to be processed to the loading station 201, and after step S507, the control system 400 controls the automatic unloader to automatically unload the workpiece from the loading station 202. In some other embodiments, the control system 400 can control the automatic loading machine to automatically drive the workpiece to be processed to the loading platform 201 in real time or at a time, that is, during the process of performing the steps S501 to 507 of the automatic welding working system 100 or 500, The system 400 can control the automatic loading machine to automatically drive the workpiece to be processed to the loading table 201.

In some embodiments, the automated welding work system 100 or 500 further includes a clearing machine 304 and a smoke cleaner 305, and the control system 400 is coupled to the clearing machine 304 and the smoke cleaner 305, respectively. In the process of steps S503 and S506, that is, during the welding operation of the welding robot 302 to the first group of workpieces or the second group of workpieces, the control system 400 can control the clearing machine 304 to clear the welding gun port of the welding robot 302 and the first The impurities on the set of workpieces or the second set of workpieces, and the control system 400 simultaneously controls the smoke cleaner 305 to clear the smoke generated by the welding robot 302 during the welding process in real time. In other embodiments, the control system 400 can control the clearing machine 304 to remove impurities on the weld gun port of the welding robot 302 at regular intervals, and/or control the smoke cleaner 305 to perform smoke generated during the welding process at regular intervals. Clearing, and for impurities on the first set of workpieces and/or the second set of workpieces, control system 400 can control clearing machine 304 to perform an operation to remove impurities after the first set of workpieces and/or the second set of workpieces have been welded.

It should be noted that the specific operations of the various steps of the present embodiment can be referred to the description of the automatic welding working system 100 of the first embodiment or the automatic welding working system 500 of the second embodiment, which will not be repeated herein. Therefore, in the automatic welding operation method of the embodiment, the circulation work can be realized by the double station, and the work efficiency is improved.

In summary, the automatic welding work system and the operation method thereof provided by the embodiments of the present invention, the handling robot cooperates with the welding robot double-station welding, and can realize the fully automated operation of loading, positioning, welding and cutting, and improve the welding efficiency. .

The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the invention and the drawings are directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of the present invention.

Claims (19)

1. An automatic welding work system, wherein the automatic welding work system comprises:

   Handling system, including loading table, unloading table and handling robot;

   a welding system comprising a fixture and a welding robot, the fixture comprising at least a first station and a second station;

   a control system coupled to the handling system and the welding system for controlling the handling system and the welding system;

   When the automatic welding work system is in operation, the control system controls the handling robot to grab a first set of workpieces from the loading station and place the first set of workpieces on the first station of the fixture, and Positioning the fixture to perform the welding operation on the first set of workpieces after positioning; in the process of welding the first set of workpieces by the welding robot, the control system controls the handling The robot grabs a second set of workpieces from the loading station and places them on the second station of the fixture, and is positioned by the fixture; the control system controls the welding robot to Performing a welding operation on the second group of workpieces after the first set of workpieces are finished; and controlling the handling robot from the first portion during the welding operation of the second group of workpieces by the welding robot A first set of workpieces that have been welded by a station are placed to place the unloading station.
2. The automatic welding work system according to claim 1, wherein said automatic welding work system further comprises a clearing machine, said clearing machine being coupled to said control system, said control system controlling said clearing machine clearing station The welding gun mouth of the welding robot, the first set of workpieces and/or the impurities on the second set of workpieces.
3. The automated welding work system of claim 1 wherein said automated welding work system further comprises a shield, said handling system and said welding system being mounted within said shield.
4. The automatic welding work system according to claim 3, wherein a barrier wall is disposed in the shield, the barrier wall is used to separate the welding system and the handling system, and at least the barrier wall is disposed There is a first welding window and a second welding window, the first welding window corresponds to the first station, and the second welding window corresponds to the second station.
5. The automatic welding work system according to claim 4, wherein the barrier wall is provided with at least a first baffle and a second baffle, the first baffle for closing the first welding window, a second baffle is configured to close the second welding window, and two sides of the first baffle and the second baffle are respectively provided with an sensing device and a transmission device, and the handling robot is sensed by the sensing device Adjacent to the first welding window, the transmission drives the first baffle to open to expose the first welding window to cause the handling robot to place the first set of workpieces to the first station or Grasping the first set of workpieces from the first station; when the sensing device senses that the transfer robot is close to the second welding window, the transmission drives the second baffle to open Exposing the second weld window causes the transfer robot to place the second set of workpieces to the second station or to grab the second set of workpieces from the second station.
6. The automatic welding work system according to claim 3, wherein said shield is provided with at least a first work window and a second work window, said first work window corresponding to said loading table for placing a workpiece Placed on the loading table, the second working window corresponding to the loading station for taking the workpiece out of the loading table.
7. The automatic welding work system according to any one of claims 1 to 6, wherein the automatic welding work system further comprises an automatic loader and an automatic unloader, the control system and the automatic loader and the machine The automatic unloader is connected, the automatic loading machine is corresponding to the loading platform setting, the automatic discharging machine is corresponding to the feeding platform setting, and the control system controls the automatic feeding machine automatic transmission And feeding the workpiece to the loading platform, and controlling the automatic unloading machine to automatically remove the workpiece from the loading platform.
8. The automatic welding work system according to claim 7, wherein said automatic loader and/or said automatic unloader is a chute type automatic feeder or a vibrating plate automatic feeder.
9. The automatic welding work system according to claim 7, wherein the automatic loader and the automatic unloader are robots for grasping a workpiece to be processed to the loading table, and The lower table grabs the workpiece that has been welded.
10. An automatic welding work system according to any one of claims 1 to 6, wherein said automatic welding work system further comprises a smoke cleaner, said smoke cleaner being coupled to said control system, said control system controlling said The smoke cleaner cleans the smoke generated during the welding process.
11. The automatic welding work system according to claim 3, wherein said shield is provided with at least a first access door and a second access door for allowing an access person to enter said protective cover for said carrying system Or perform maintenance work on the welding system.
12. The automatic welding work system according to any one of claims 1 to 6, wherein the automatic welding work system further comprises a power supply device for supplying power to the transfer robot, the welding robot, and the fixture.
13. The automatic welding work system according to any one of claims 1 to 6, wherein an air-cooled welding torch or a pneumatic spot welding tong is mounted on a body end of the welding robot.
14. The automatic welding work system according to any one of claims 1 to 6, wherein a transport claw hand is attached to a body end of the transport robot.
15. The automatic welding work system according to any one of claims 1 to 6, wherein the welding system further comprises at least one shielding plate, and the shielding plate is disposed at the first station and the second station between.
16. An automatic welding operation method, the automatic welding operation method is applied to an automatic welding work system, wherein the automatic welding work system comprises:

    Handling system, including loading table, unloading table and handling robot;

    a welding system comprising a fixture and a welding robot, the fixture comprising at least a first station and a second station;

    a control system coupled to the handling system and the welding system for controlling the handling system and the welding system;

    The method of operation includes:

    The control system controls the handling robot to grab a first set of workpieces from the loading station and place them on the first station of the fixture;

    The fixtures position the first set of workpieces;

    The welding robot performs a welding operation on the first set of workpieces after positioning;

    In a process in which the welding robot performs a welding operation on the first group of workpieces, the control system controls the handling robot to grab a second group of workpieces from the loading table and place the first workpiece on the fixture Second station

    The fixtures position the second set of workpieces;

    The control system controls the welding robot to perform a welding operation on the second group of workpieces after the welding of the first group of workpieces is completed;

    During a welding operation of the second set of workpieces by the welding robot, the control system controls the handling robot to grasp the first set of workpieces that have been welded from the first station to place the lower portion Material table.
17. The operating method according to claim 16, wherein said automatic welding work system further comprises a clearing machine, said clearing machine being coupled to said control system;

    The operating method further includes:

    The control system controls the clearing machine to clear impurities on the weld gun port of the welding robot, the first set of workpieces, and/or the second set of workpieces.
18. The operating method according to claim 16, wherein said automatic welding work system further comprises an automatic loading machine and an automatic unloading machine, said control system being coupled to said automatic loading machine and said automatic unloading machine, The automatic loading machine is corresponding to the loading platform setting, and the automatic discharging machine is corresponding to the feeding platform setting;

    The operating method further includes:

    The control system controls the automatic feeder to automatically drive the workpiece to the loading station, and controls the automatic unloader to automatically remove the workpiece from the loading platform.
19. The operating method according to claim 16, wherein said automatic welding work system further comprises a smoke cleaner, said smoke cleaner being coupled to said control system;

    The operating method further includes:

    The control system controls the smoke cleaner to purify the smoke generated by the welding robot during the welding process.