A water tank welding robot device

Abstract

The present invention provides a water tank welding robot device, including an IC5 control cabinet and a walking mechanism, an L-shaped double-revolving positioner, a robot, and a welding machine, which are electrically connected to and controlled by the IC5 control cabinet respectively; a welding fixture is installed on the walking mechanism, the welding machine is fed with wire by a wire feeder, and a gun cleaning platform is installed next to the welding gun. The water tank to be welded is fixed in the welding fixture, the welding fixture moves along the walking mechanism and sends the water tank to the L-shaped double-revolving positioner, the L-shaped double-revolving positioner fixes the welding fixture, and the IC5 control cabinet controls the L-shaped double-revolving positioner, the robot, and the welding machine to start at the same time and cooperate to complete the welding work. The present invention can improve labor intensity, improve the quality of welded products, and ensure product consistency.

Description

Technical Field

[0001] The invention relates to an automatic welding tool, in particular to a water tank welding robot device. Background Art

[0002] Industrial automation is the trend of widely using automatic control and automatic adjustment devices in industrial production to replace manual operation of machines and machine systems for processing and production. Under the conditions of industrial production automation, people only indirectly take care of and supervise the machines for production. The advancement of industrial automation has greatly improved production efficiency and reduced production costs. It can also effectively guarantee production quality.

[0003] At present, manual welding is generally used in the processing of lubricant water tanks, which is labor-intensive. In addition, workers are exposed to high temperature and strong light environments for a long time, which can easily lead to unstable welding process and difficult to ensure quality. The welding quality depends on the welder's welding skills and experience, and the welding consistency is poor. It is difficult to improve the welding efficiency, which affects work efficiency. Therefore, it is necessary to take advantage of industrial automation and adopt mature ABB robots on the market to build a water tank welding robot device to realize the automated welding of lubricant water tanks. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of low manual welding efficiency and unstable welding quality in the prior art, and to propose a water tank welding robot device.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A water tank welding robot device, comprising an IC5 control cabinet and a walking mechanism, an L-shaped double-revolving positioner, a robot, and a welding machine, which are electrically connected to and controlled by the IC5 control cabinet respectively; the walking mechanism is installed on a workbench and extends straight, a welding fixture is installed on the walking mechanism, the L-shaped double-revolving positioner is installed on the end side of the walking mechanism, the welding machine comprises a welding gun, the welding gun is connected to the robot and faces the welding fixture, the welding machine is connected to a wire feeder and is supplied with wire by the wire feeder, and a gun cleaning platform is installed next to the welding gun;

[0007] The water tank to be welded is fixed in the welding fixture, the welding fixture moves along the walking mechanism and sends the water tank to the L-shaped double-turn positioner, the L-shaped double-turn positioner fixes the welding fixture, and the IC5 control cabinet controls the L-shaped double-turn positioner, the robot and the welder to start at the same time and cooperate to complete the welding work.

[0008] Preferably, the walking mechanism includes a linear guide, a ball screw, a motor and a material unloading fork frame; the linear guide rail is laid on the workbench, the ball screw and the motor are used in a set, the ball screw and the motor have two sets and are respectively used to push the material unloading fork frame to move forward and backward along the linear guide rail and to move up and down perpendicular to the linear guide rail.

[0009] More preferably, the L-shaped double-rotation positioner includes a large rotation mechanism and a small rotation mechanism, the large rotation mechanism is driven by a servo motor and rotates 360° through a rotating disk, the small rotation mechanism is driven by a servo motor and rotates 90° left and right through a rotating disk, and the welding tooling fixture is fixedly mounted on the rotating disk of the small rotation mechanism.

[0010] More preferably, the large rotary mechanism and the small rotary mechanism rotate synchronously.

[0011] More preferably, the welding fixture comprises a box fixture or a base fixture.

[0012] More preferably, the box body tooling fixture includes a left-side clamping mechanism, a right-side clamping mechanism, a movable gantry clamping mechanism and a contoured inner mold; the left-side clamping mechanism and the right-side clamping mechanism are both hollow structures and are respectively fixed on both sides of the water tank to be welded, the movable gantry clamping mechanism is arranged at the joint of the box body to be welded, and the contoured inner mold is located inside the left-side clamping mechanism and the right-side clamping mechanism.

[0013] More preferably, the base fixture includes a mounting flange and a fixing fixture fixed on the mounting flange, the fixing fixture includes a side clamp and a top clamp, the top clamp is located at the top of the side clamp and is connected to the side clamp via a hinge or a rotating shaft.

[0014] More preferably, the welding machine is a Fronius welder TPS40, and the wire feeder is combined with the Fronius welder TPS40 and continuously feeds wire to the Fronius welder TPS40 during the welding process.

[0015] More preferably, the robot is ABB robot 2600, and an interface of the ABB robot is connected to the welding gun and drives the welding gun to swing.

[0016] More preferably, the gun cleaning station uses an automatic gun cleaning and wire shearing device.

[0017] Compared with the prior art, the beneficial effects of the present invention are: taking advantage of industrial automation, using mature IC5 control cabinets, ABB robots, L-shaped double-turn positioners and other equipment on the market, rationally arranging the mechanical structure, and establishing a self-owned automatic welding system to improve labor intensity, improve the quality of welded products, and ensure product consistency. In addition, the welding time is controllable, which is convenient for production scheduling. The welding products can be adjusted later by making tooling and modifying the program, realizing flexible and batch welding processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the structural connection relationship of a water tank welding robot device;

[0019] Figure 2 It is a schematic diagram of the various structural components of a water tank welding robot device;

[0020] Figure 3 A schematic diagram of a new walking mechanism of a water tank welding robot device;

[0021] Figure 4 A schematic diagram of an L-shaped double-turn positioner of a water tank welding robot device;

[0022] Figure 5 A schematic diagram of a tank body fixture of a water tank welding robot device;

[0023] Figure 6 This is a schematic diagram of a base fixture for a water tank welding robot device. DETAILED DESCRIPTION

[0024] In order to provide a further understanding of the purpose, structure, features, and functions of the present invention, the following detailed description is given in conjunction with the embodiments.

[0025] The present invention provides a water tank welding robot device, such as Figure 1 and Figure 2 As shown, it includes an IC5 control cabinet 1 and a walking mechanism 2, an L-shaped double-revolving positioner 3, a robot 4, and a welding machine 5 which are electrically connected to the IC5 control cabinet 1 and controlled thereby; the walking mechanism 2 is installed on a workbench and extends in a straight line, a welding fixture 6 is installed on the walking mechanism 2, the L-shaped double-revolving positioner 3 is installed on the end side of the walking mechanism 2, the welding machine 5 includes a welding gun 51, the welding gun 51 is connected to the robot 4 and is facing the welding fixture 6, the welding machine 5 is connected to the wire feeder 7 and is supplied with wire by the wire feeder 7, and a gun cleaning station 8 is installed next to the welding gun 51.

[0026] The whole working process of a water tank welding robot 4 of the present invention is as follows: the water tank to be welded is fixed in the welding fixture 6, the welding fixture 6 moves forward along the walking mechanism 2 and sends the water tank to the L-shaped double-turn positioner 3, the welding fixture 6 is fixed on the L-shaped double-turn positioner 3, the L-shaped double-turn positioner 3 drives the welding fixture 6 to rotate, and the IC5 control cabinet 1 controls the L-shaped double-turn positioner 3, the robot 4 and the welding machine 5 to start and cooperate to complete the welding work. After the welding is completed, the L-shaped double-turn positioner 3 releases the welding fixture 6, and the welding fixture 6 is placed on the walking mechanism 2 again and sent back to the starting point by the walking mechanism 2. After the welding is completed, the welding gun 51 is controlled by the IC5 control cabinet 1 to move to the gun cleaning platform 8 next to it, and the large pieces of spatter on the welding gun 51 are cleaned up. After the cleaning is completed, the welding gun 51 returns to its original position. In the above process, the movements of the walking mechanism 2 , the L-shaped double-turn positioner 3 , the robot 4 , and the welding machine 5 are all controlled by the IC5 control cabinet 1 through the Siemens PLC, and the entire device is powered by the power cabinet 9 .

[0027] Preferably, if Figure 3 As shown, the walking mechanism 2 includes a linear guide 21, a ball screw, a motor and a material fork 22; the linear guide 21 is laid on the workbench, the ball screw and the motor are used in combination, there are two sets of ball screws and motors, and they are used to push the material fork 22 to move forward and backward along the linear guide 21 and to move up and down perpendicular to the linear guide 21. The welding fixture 6 holding the water tank to be welded is placed on the material fork 22, lifted by the material fork 22 and moved forward and backward along the linear guide 21. The initial position of the unloading fork frame 22 is at the end of the linear guide rail 21 away from the L-shaped double-turn positioner 3. When the work starts, the ball screw is driven by the motor to push the unloading fork frame 22 forward along the linear guide rail 21 until it reaches the L-shaped double-turn positioner 3. The unloading fork frame 22 stops moving forward and backward. The motor inside the unloading fork frame 22 pushes the ball screw, and the unloading fork frame 22 rises, so that the welding fixture 6 is lifted to the front of the L-shaped double-turn positioner 3 and clamped by the double-turn positioner. The walking mechanism 2 is mainly used to transport the welding fixture 6 to the L-shaped double-turn positioner 3 under the command control of the IC5 control cabinet 1, and the start and stop of the motor are controlled by the Siemens PLC, thereby controlling the forward and backward movement and the lifting and lowering movement of the unloading fork frame 22. When welding is completed, the welding fixture 6 falls from the L-shaped double-turn positioner 3 to the unloading fork frame 22. Under the command control of the IC5 control cabinet 1, the unloading fork frame 22 first descends and then retreats to the starting point.

[0028] In one embodiment, if Figure 4As shown, the L-shaped double-turn positioner 3 includes a large rotary mechanism 31 and a small rotary mechanism 32. The large rotary mechanism 31 is driven by a servo motor and rotates 360° through a rotating disk. The small rotary mechanism 32 is driven by a servo motor and rotates 90° left and right through a rotating disk. The welding fixture 6 is fixedly mounted on the rotating disk of the small rotary mechanism 32. The large rotary mechanism 31 and the small rotary mechanism 32 each have a set of servo motors. The IC5 control cabinet 1 controls the forward and reverse rotation of the servo motor through the command of the Siemens PLC to realize the 360° rotation of the rotating disk of the small rotary mechanism 32 and the left and right 90° rotation of the rotating disk of the large rotary mechanism 31. The large rotary mechanism 31 and the small rotary mechanism 32 can rotate synchronously. The welding fixture 6 is fixed on the small rotary mechanism 32, which can accurately meet the space and position requirements during welding operations.

[0029] In one embodiment, the welding fixture 6 includes a box fixture 61 or a base fixture 62. The box fixture 61 can be used to clamp a fully enclosed box to be welded, and the base fixture 62 can be used to clamp a frame-type box to be welded.

[0030] like Figure 5 As shown, the box body fixture 61 includes a left-side clamping mechanism 611, a right-side clamping mechanism 612, a movable gantry clamping mechanism 613 and a contoured inner mold 614; the left-side clamping mechanism 611 and the right-side clamping mechanism 612 are both hollow structures and are respectively fixed on both sides of the water tank to be welded, the movable gantry clamping mechanism 613 is arranged at the joint of the box body to be welded, and the contoured inner mold 614 is located inside the left-side clamping mechanism 611 and the right-side clamping mechanism 612. The left clamping mechanism 611 and the right clamping mechanism 612 wrap and lock the left and right sides of the fully enclosed box to be welded. The movable gantry clamping mechanism 613 is used to clamp the gap of the box to be welded. The contoured inner mold 614 pre-shapes the shape of the box and is placed in the left clamping mechanism 611 and the right clamping mechanism 612 to play a shaping and supporting role, preventing the gantry clamping mechanism from being over-pressed to cause the left clamping mechanism 611 and the right clamping mechanism 612 to deform, resulting in deformation of the box to be welded.

[0031] like Figure 6 As shown, the base fixture 62 includes a mounting flange 621 and a fixing fixture 622 fixed on the mounting flange 621, the fixing fixture 622 includes a side clamp 623 and a top clamp 624, the top clamp 624 is located at the top of the side clamp 623 and is connected to the side clamp 623 through a hinge or a rotating shaft. The base fixture 62 clamps the bottom of the frame-type water tank to be welded, which is convenient for welding and can also be manually spot welded.

[0032] More preferably, the welding machine 5 is a Fonis welding machine TPS40, and the wire feeder 7 is combined with the Fonis welding machine TPS40 and continuously feeds wire to the Fonis welding machine TPS40 during the welding process. The welding machine 5 is connected to the IC5 control cabinet 1, and the IC5 control cabinet 1 sends a control command to the welding machine 5 through the Siemens PLC to control the switch of the welding machine 5.

[0033] More preferably, the gun cleaning station 8 uses an automatic gun cleaning wire cutter.

[0034] More preferably, the robot 4 uses the ABB robot 2600, and the interface of the ABB robot 2600 is connected to the welding gun 51 and drives the welding gun 51 to swing. At present, the robot 4 has three main axes and three secondary axes. The main axis includes body rotation, upper arm movement, and lower arm movement. The secondary axis includes wrist rotation movement, wrist up and down swing, and wrist circular movement. Therefore, with the operation of the robot 4, the welding gun 51 can swing arbitrarily within the travel range of the robot 4 arm.

[0035] IC5 control cabinet 1 is the information communication center between ABB robot 4 and other mechanisms. ABB's external axis communication is connected to L-type double-turn positioner 3, and ABB robot 4 interface is connected to Fronius welding machine TPS40. On the basis of ABB robot 4's own equipped software, each mechanism is reasonably combined to realize automatic welding of workpieces.

[0036] As mentioned above, the present invention takes advantage of industrial automation, adopts mature IC5 control cabinet, ABB robot, L-type double-turn positioner and other equipment on the market, arranges the mechanical structure reasonably, and builds a set of self-owned automatic welding system to improve labor intensity, improve welded product quality, and ensure product consistency. In addition, the welding time is controllable, which is convenient for production scheduling. Later, by making tooling and modifying the program, the welding product can be adjusted to achieve flexible and batch welding processing.

[0037] The present invention has been described by the above-mentioned relevant embodiments, however, the above-mentioned embodiments are only examples for implementing the present invention. It must be pointed out that the disclosed embodiments do not limit the scope of the present invention. On the contrary, changes and modifications made without departing from the spirit and scope of the present invention are all within the scope of patent protection of the present invention.

Claims

1. A water tank welding robot device, characterized in that: It includes an IC5 control cabinet and a walking mechanism, an L-shaped double-turn positioner, a robot, and a welding machine which are electrically connected to and controlled by the IC5 control cabinet respectively; the walking mechanism is installed on a workbench and extends straightly, a welding fixture is installed on the walking mechanism, the L-shaped double-turn positioner is installed on the end side of the walking mechanism, the welding machine includes a welding gun, the welding gun is connected to the robot and faces the welding fixture, the welding machine is connected to a wire feeder and is supplied with wire by the wire feeder, and a gun cleaning station is installed next to the welding gun; The welding fixture comprises a box fixture, and the box fixture comprises a left clamping mechanism, a right clamping mechanism, a movable gantry clamping mechanism and a contoured inner mold; the left clamping mechanism and the right clamping mechanism are both hollow structures and are respectively fixed on both sides of the water tank to be welded, the movable gantry clamping mechanism is arranged at the joint of the box to be welded, and the contoured inner mold is located inside the left clamping mechanism and the right clamping mechanism; The water tank to be welded is fixed in the welding fixture, the welding fixture moves along the walking mechanism and sends the water tank to the L-shaped double-turn positioner, the L-shaped double-turn positioner fixes the welding fixture, and the IC5 control cabinet controls the L-shaped double-turn positioner, the robot and the welder to start at the same time and cooperate to complete the welding work.

2. The water tank welding robot device according to claim 1, characterized in that: The walking mechanism includes a linear guide, a ball screw, a motor and a material unloading fork frame; the linear guide rail is laid on a workbench, the ball screw and the motor are used in a set, the ball screw and the motor have two sets and are respectively used to push the material unloading fork frame to move forward and backward along the linear guide rail and to move up and down perpendicular to the linear guide rail.

3. The water tank welding robot device according to claim 1, characterized in that: The L-shaped double-turn positioner includes a large turning mechanism and a small turning mechanism. The large turning mechanism is driven by a servo motor and rotates 360° through a rotating disk. The small turning mechanism is driven by a servo motor and rotates 90° left and right through a rotating disk. The welding fixture is fixedly mounted on the rotating disk of the small turning mechanism.

4. The water tank welding robot device according to claim 3, characterized in that: The large rotary mechanism and the small rotary mechanism rotate synchronously.

5. The water tank welding robot device according to claim 1, characterized in that: The welding fixture also includes a base fixture.

6. The water tank welding robot device according to claim 5, characterized in that: The base fixture includes a mounting flange and a fixing fixture fixed on the mounting flange, wherein the fixing fixture includes a side clamp and a top clamp, wherein the top clamp is located at the top of the side clamp and is connected to the side clamp via a hinge or a rotating shaft.

7. The water tank welding robot device according to claim 1, characterized in that: The welding machine is a Fronius TPS40 welding machine, and the wire feeder is combined with the Fronius TPS40 welding machine and continuously feeds wire to the Fronius TPS40 welding machine during welding.

8. The water tank welding robot device according to claim 1, characterized in that: The robot is ABB robot 2600, and the interface of the ABB robot is connected to the welding gun and drives the welding gun to swing.

9. The water tank welding robot device according to claim 1, characterized in that: The gun cleaning station uses an automatic gun cleaning wire cutter.

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