A fork frame robot automatic welding system and welding method

Abstract

The present invention discloses an automatic welding system and welding method for a fork frame robot, including an automatic feeding system, automatic positioning and clamping of a fixture, and an automatic discharging system after assembly; the handling robot takes the components of a small component from the automatic feeding system, places them on the automatic welding fixture of the small component, realizes automatic positioning and clamping, and after clamping is completed, a signal is given to the spot welding mechanism, the spot welding mechanism performs spot welding, the spot welding is completed, the spot welding robot returns to its position, and the fixture device is released; during the spot welding process of the spot welding mechanism, the handling robot feeds the large component welding fixture, and the present invention can adopt a double-station automatic welding, and the handling robot and the spot welding robot are in a cyclic operation state, eliminating standby, and having a high equipment utilization rate. The feeding, positioning, clamping, and discharging are fully automated, so that the fork frame welding process is fully automated, the labor intensity of workers is reduced, the work efficiency is improved, and the problem of poor consistency of manual welding workpieces is completely eliminated.

Description

Technical Field

[0001] The invention relates to the technical field of engineering machinery, and in particular to an automatic welding system for a fork frame robot and a welding method. Background Art

[0002] At present, all forklift lifting system fork frame installation and welding processes rely entirely on manual lifting, manual assembly, manual spot welding, and manual lifting.

[0003] (1) Parts loading: basically relies on manual handling; large parts are hoisted by jib cranes, which is labor-intensive for workers.

[0004] (2) Part positioning and clamping: completely dependent on manual positioning and manual clamping; due to changes in product varieties, manual work requires frequent switching of fixtures, resulting in low production efficiency.

[0005] (3) Due to manual adjustment of the fixture positioning dimensions, the accuracy consistency is poor, resulting in large fluctuations in product assembly accuracy. Summary of the invention

[0006] In view of the above defects or shortcomings, the object of the present invention is to provide an automatic welding system and welding method for a fork frame robot.

[0007] To achieve the above purpose, the technical solution of the present invention is:

[0008] A fork frame robot automatic welding system, comprising:

[0009] Exchange cycle loading mechanism, used to transport parts from the silo to the work area;

[0010] The assembly robot mechanism is arranged at the end of the exchange cycle feeding mechanism, and is used to sequentially pick up the parts transported to the work area, and transport them to the corresponding fixtures after classifying them according to the types of the parts;

[0011] A small component assembly fixture is provided at the end of the assembly robot mechanism and is used to position and clamp the small component parts sorted by the assembly robot mechanism;

[0012] The large component welding fixture is arranged at the end of the small component assembly fixture, and is used to position and clamp the parts processed by the small component assembly fixture or the allocated large component parts;

[0013] The spot welding mechanism is arranged between the large component welding fixture and the small component assembly fixture, and is used to weld small component parts or large component parts;

[0014] The transport roller system is installed at the end of the large component welding fixture to transport the parts after welding.

[0015] The overall control system is used to control the operation of the exchange cycle feeding mechanism, the assembly robot mechanism, the small component assembly fixture, the large component welding fixture, the spot welding mechanism, and the transport roller system.

[0016] The exchange cycle feeding mechanism comprises: a track, a silo is slidably arranged on the track, and the silo is connected to a cylinder, a hydraulic system and a control system; wherein the cylinder is installed between the silo and the track, and the cylinder is connected to the hydraulic system.

[0017] The material bin comprises: a material rack, a support roller is installed at the bottom of the material rack, and the support roller is installed in a track.

[0018] The small component assembly fixture comprises: a clamp body, on which a longitudinal clamping device, a transverse clamping device and a main positioning seat are installed.

[0019] The large assembly welding fixture comprises: a through-type automatic roller conveyor, on which a first servo positioning device, a second servo positioning device, a third servo positioning device, a first cylinder tightening device, a second tightening device, a third tightening device, a fourth tightening device, and a cylinder lifting device are arranged;

[0020] Among them, the second servo positioning device, the third servo positioning device, the first cylinder pushing device, the second pushing device and the cylinder lifting device are all installed on the automatic roller bracket; the first servo positioning device, the third pushing device and the fourth pushing device are installed on the lifting device; when the system inputs product information, the first servo positioning device, the second servo positioning device and the third servo positioning device automatically adjust the positioning size to correspond to the processed product. After the handling robot transports the large parts and small components to the corresponding positions in sequence, the corresponding first cylinder pushing device, the second pushing device, the third pushing device and the fourth pushing device clamp the corresponding parts and contact them with the servo positioning device to achieve positioning and clamping. After the robot spot welding is completed, the clamping devices are released in turn, and the cylinder lifting device drives the first servo positioning device, the third pushing device and the fourth pushing device to descend. The assembled workpiece is driven by the automatic roller and enters the welding area.

[0021] The spot welding mechanism comprises: a spot welding robot, and the spot welding robot is fixedly installed through a spot welding robot base.

[0022] The transport roller system comprises: a roller support, on which a power roller assembly for driving the workpiece to move is arranged.

[0023] The roller support is provided with a detection device for detecting the workpiece.

[0024] The overall control system includes: PLC, controller, electrical components and control cabinet.

[0025] An automatic welding method for the automatic welding system of the fork frame robot comprises:

[0026] 1) The exchange cycle feeding system automatically enters the working area after the silo is loaded;

[0027] 2) The assembly robot mechanism takes parts from the silo in sequence and places them on the small component assembly fixture and the large component welding fixture for positioning and clamping;

[0028] 3) The spot welding mechanism performs spot welding on the components after positioning and clamping;

[0029] 4) The transport roller system transports the workpiece to the welding area.

[0030] 5) The overall control system controls the action sequence of each system.

[0031] Compared with the prior art, the beneficial effects of the present invention are:

[0032] The present invention provides a fork frame robot automatic welding system and welding method, which can automatically load, automatically take out materials, automatically position, clamp, automatically spot weld, automatically demould and automatically perform work that was originally done by people, so that the fork frame welding of the forklift system of the engineering machinery industry is automated and intelligent, which reduces the labor intensity of workers, improves work efficiency, and improves product quality.

[0033] Compared with existing manual production, it has the following advantages:

[0034] 1. No manual participation in the welding process is required, and the labor intensity is greatly reduced;

[0035] 2. The automated fixture uses servo positioning, which has high positioning accuracy, convenient adjustment, convenient production change, and strong adaptability.

[0036] 3. The production process adopts bus control, which makes product switching convenient and is connected with the automatic welding line to fully realize automated production.

[0037] 4. Connect with MES system to realize remote control of production plan and reporting; cooperate with on-site dynamic display screen to display production information, quality characteristics of processed products and other information in real time.

[0038] Furthermore, the present invention also provides an automated and intelligent forklift lifting system fork frame robot automatic welding method, which greatly improves the welding accuracy and efficiency, makes the welding process automated and intelligent, and improves the fork frame welding work efficiency and welding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 The automatic welding system structure of the fork frame robot of the present invention Figure 1 ;

[0040] Figure 2 The automatic welding system structure of the fork frame robot of the present invention Figure 2 ;

[0041] Figure 3 The automatic welding system structure of the fork frame robot of the present invention Figure 3 ;

[0042] Figure 4 It is a structural diagram of the exchange cycle feeding system of the present invention;

[0043] Figure 5 This is a structural diagram of a large assembly welding fixture of the present invention;

[0044] Figure 6 It is the structural diagram of the overall control system of the present invention.

[0045] In the figure, 1—exchange cycle feeding system; 1-1—material bin; 1-2—track; 1-3—oil cylinder; 1-4—hydraulic system; 1-5—control system; 2—assembly robot mechanism; 2-1—assembly robot gripper; 2-2—assembly robot base; 2-3—assembly robot; 3—small assembly fixture; 3-1—longitudinal clamping device; 3-2—lateral clamping device; 3-3—assembly robot base; 3-4—clamping body; 4—large component welding fixture; 4-1—through self-propelled roller conveyor; 4-2—first servo positioning device; 4- 3—second servo positioning device, 4-4—first cylinder pushing device; 4-5—third servo positioning device; 4-6—second pushing device; 4-7—third pushing device; 4-8—fourth pushing device; 4-9—cylinder lifting device; 5—spot welding mechanism; 5-1—spot welding robot; 5-2—spot welding robot base; 6—transport roller system; 6-1—power roller assembly; 6-2—roller bracket; 6-3-detection device; 7—total control system; 7-1—PLC; 7-2—controller and electrical components; 7-3—control cabinet. DETAILED DESCRIPTION

[0046] The present invention will be described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of the present invention.

[0047] Embodiment 1

[0048] like Figure 1 , 2 As shown in , 3, the present invention provides an automatic welding system for a fork frame robot, comprising:

[0049] The exchange cycle feeding mechanism 1 is used to transport the parts in the silo to the working area;

[0050] The assembly robot mechanism 2 is arranged at the end of the exchange cycle feeding mechanism 1, and is used to sequentially pick up the parts transported to the work area, and transport them to the corresponding fixtures after classifying them according to the types of the parts;

[0051] A small component assembly fixture 3 is provided at the end of the assembly robot mechanism 2 and is used to position and clamp the small component parts classified by the assembly robot mechanism 2;

[0052] The large component welding fixture 4 is arranged at the end of the small component assembly fixture 3 and is used to position and clamp the parts processed by the small component assembly fixture 3 or the allocated large component parts;

[0053] The spot welding mechanism 5 is arranged between the large component welding fixture 4 and the small component assembly fixture 3, and is used for welding small component parts or large component parts.

[0054] The transport roller system 6 is arranged at the end of the large component welding fixture 4 and is used to transport the parts after welding.

[0055] The overall control system 7 is used to control the operation of the exchange cycle feeding mechanism 1, the assembly robot mechanism 2, the small component assembly fixture 3, the large component welding fixture 4, the spot welding mechanism 5, and the transport roller system 6.

[0056] Specifically, Figure 4 As shown, the exchange cycle feeding mechanism 1 includes: a track 1-2, a silo 1-1 is slidably arranged on the track 1-2, and the silo 1-1 is connected with a cylinder 1-3, a hydraulic system 1-4 and a control system 1-5; wherein, the cylinder 1-3 is installed between the silo 1-1 and the track 1-2, and the cylinder 1-3 is connected to the hydraulic system 1-4; the silo 1-1 includes: a material rack, a support roller is installed at the bottom of the rack, and the support roller is installed in the track 1-2.

[0057] The small component assembly fixture 3 includes: a clamp body 3-4, on which a longitudinal clamping device 3-1, a transverse clamping device 3-2 and a main positioning seat 3-3 are installed.

[0058] like Figure 5 As shown, the large component welding fixture 4 includes: a through-type automatic roller conveyor 4-1, on which a first servo positioning device 4-2, a second servo positioning device 4-3, a third servo positioning device 4-5, a first cylinder pushing device 4-4, a second pushing device 4-6, a third pushing device 4-7, a fourth pushing device 4-8, and a cylinder lifting device 4-9 are arranged.

[0059] Among them, the second servo positioning device 4-3, the third servo positioning device 4-5, the first cylinder pushing device 4-4, the second pushing device 4-6 and the cylinder lifting device 4-9 are all installed on the automatic roller 4-1 bracket; the first servo positioning device 4-2, the third pushing device 4-7, and the fourth pushing device 4-8 are installed on the lifting device 4-9; when the system inputs product information, the first servo positioning device 4-2, the second servo positioning device 4-3, and the third servo positioning device 4-5 automatically adjust the positioning size relative to the processed product After the handling robot carries the large parts and small components to the corresponding positions in sequence, the corresponding first cylinder pushing device 4-4, second pushing device 4-6, third pushing device 4-7, and fourth pushing device 4-8 clamp the corresponding parts and contact them with the servo positioning device to achieve positioning and clamping. After the robot spot welding is completed, the clamping devices are released in turn, and the cylinder lifting device 4-9 drives the first servo positioning device 4-2, the third pushing device 4-7, and the fourth pushing device 4-8 to descend. The assembled workpiece is driven by the automatic roller and enters the welding area.

[0060] In the present invention, the spot welding mechanism 5 comprises: a spot welding robot 5-1, and the spot welding robot 5-1 is fixedly installed through a spot welding robot base 5-2.

[0061] The transport roller system 6 comprises: a roller support 6-2, on which a power roller assembly 6-1 for driving the workpiece to move is arranged. Figure 6 As shown, preferably, a detection device 6-3 for detecting workpieces is provided on the roller support 6-2. The overall control system 7 includes: a PLC 7-1, a controller, an electrical component 7-2, and a control cabinet 7-3.

[0062] The present invention can use a dual-station automatic welding, handling robot and spot welding robot in a cyclic operation state, eliminating standby and high equipment utilization. The loading, positioning, clamping and delivery are fully automated, so that the fork frame welding is fully automated and intelligent, reducing the labor intensity of workers, improving work efficiency, and completely eliminating the problem of poor consistency of manual welding workpieces. At the same time, due to the use of servo positioning, the positioning accuracy is high, which improves the welding accuracy of the fork frame.

[0063] Embodiment 2

[0064] An automatic welding method based on the automatic welding system of the fork frame robot in the above embodiment comprises:

[0065] S1, exchange cycle feeding system 1 automatically enters the working area after the silo is loaded;

[0066] S2, the assembly robot mechanism 2 sequentially takes parts from the material bin and places them on the small component assembly fixture 3 for positioning and clamping;

[0067] S3, the spot welding mechanism 5 spot welds the parts on the small component assembly fixture 3;

[0068] S5, the assembly robot mechanism 2 picks up the material and places the processed parts of the small assembly into the large assembly fixture;

[0069] S6, large component welding fixture 4 automatically positions and clamps;

[0070] S7, the spot welding mechanism 5 performs spot welding on the parts on the large assembly welding fixture 4;

[0071] S8, after the spot welding is completed, the assembly is automatically transported to the transport roller system 6 and enters the next area to be welded.

[0072] When performing automatic welding of forklift robots, it is necessary to count product types, parts assembly sequence, fixture structure, working radius and load-bearing weight of assembly robots, working radius and welding power supply of spot welding robot, production cycle calculation, and process layout; specific methods;

[0073] Step 1. Divide the parts into small group assembly and large group assembly according to the product structure characteristics.

[0074] Step 2, design assembly fixtures according to the divided small group assembly parts and large group assembly;

[0075] Step 3. Design the process layout according to the production rhythm requirements;

[0076] Step 4. Select assembly robot and spot welding robot according to process layout and fixture structure;

[0077] Step 5. Design and assemble the robot gripping structure according to the shape, weight, positioning method, etc. of the parts;

[0078] Step 6. After the fixture structure design is completed, robot simulation is performed to determine whether the selected robot and fixture have interference or insufficient coverage;

[0079] Step 7: Design of electric control system, selection of electrical components and on-site wiring;

[0080] Step 8. Design the action sequence of each process and the working sequence with the automated and intelligent control mechanisms, write the PLC control program, and perform automated assembly.

[0081] It is obvious to those skilled in the art that the above-mentioned specific examples are only preferred embodiments of the present invention. Therefore, the improvements and changes that may be made by those skilled in the art to certain parts of the present invention still embody the principles of the present invention and achieve the purpose of the present invention, and all belong to the scope of protection of the present invention.

Claims

1. A forklift robot automatic welding system, characterized in that: include: The exchange cycle loading mechanism (1) is used to transport the parts in the silo to the working area; An assembly robot mechanism (2) is arranged at the end of the exchange cycle feeding mechanism (1) and is used to sequentially pick up the parts transported to the work area, and classify the parts according to their types and then transport them to corresponding fixtures; A small component assembly fixture (3) is arranged at the end of the assembly robot mechanism (2) and is used to position and clamp the small component parts sorted by the assembly robot mechanism (2); A large component welding fixture (4) is arranged at the end of the small component assembly fixture (3) and is used to position and clamp the parts processed by the small component assembly fixture (3) or the allocated large component parts; A spot welding mechanism (5) is arranged between the large component welding fixture (4) and the small component assembly fixture (3) and is used for welding small component parts or large component parts; A transport roller system (6), arranged at the end of the large component welding fixture (4), is used to transport the parts after welding; A general control system (7) for controlling the operation of the exchange cycle feeding mechanism (1), the assembly robot mechanism (2), the small component assembly fixture (3), the large component welding fixture (4), the spot welding mechanism (5), and the transport roller system (6); The large assembly welding fixture (4) comprises: a through-type automatic roller conveyor (4-1), on which a first servo positioning device (4-2), a second servo positioning device (4-3), a third servo positioning device (4-5), a first cylinder pushing device (4-4), a second pushing device (4-6), a third pushing device (4-7), a fourth pushing device (4-8), and a cylinder lifting device (4-9) are arranged; The second servo positioning device (4-3), the third servo positioning device (4-5), the first cylinder pushing device (4-4), the second pushing device (4-6) and the cylinder lifting device (4-9) are all installed on the support of the through-type automatic roller table (4-1); the first servo positioning device (4-2), the third pushing device (4-7) and the fourth pushing device (4-8) are installed on the lifting device (4-9); when the system inputs product information, the first servo positioning device (4-2), the second servo positioning device (4-3) and the third servo positioning device (4-5) automatically adjust the positioning size to match the processed product. Correspondingly, after the assembly robot mechanism (2) carries the large parts and small components to the corresponding positions in sequence, the corresponding first cylinder pushing device (4-4), second pushing device (4-6), third pushing device (4-7), and fourth pushing device (4-8) clamp the corresponding parts and contact them with the servo positioning device to achieve positioning clamping. After the spot welding of the spot welding mechanism (5) is completed, the clamping devices are released in turn, and the cylinder lifting device (4-9) drives the first servo positioning device (4-2), the third pushing device (4-7), and the fourth pushing device (4-8) to descend. The assembled workpiece is driven by the automatic roller and enters the welding area.

2. The automatic welding system for a forklift robot according to claim 1 is characterized in that: The exchange cycle feeding mechanism (1) comprises: a track (1-2), a silo (1-1) is arranged on the track (1-2), and the silo (1-1) is connected to an oil cylinder (1-3), a hydraulic system (1-4) and a control system (1-5); wherein the oil cylinder (1-3) is installed between the silo (1-1) and the track (1-2), and the oil cylinder (1-3) is connected to the hydraulic system (1-4).

3. The automatic welding system for a forklift robot according to claim 2 is characterized in that: The material bin (1-1) comprises a material rack, a support roller is installed at the bottom of the material rack, and the support roller is installed in the track (1-2).

4. The automatic welding system for a forklift robot according to claim 1 is characterized in that: The small component assembly fixture (3) comprises: a clamp body (3-4), on which a longitudinal clamping device (3-1), a transverse clamping device (3-2) and a main positioning seat (3-3) are installed.

5. The automatic welding system for a forklift robot according to claim 1, characterized in that: The spot welding mechanism (5) comprises: a spot welding robot (5-1), and the spot welding robot (5-1) is fixedly installed via a spot welding robot base (5-2).

6. The automatic welding system for a forklift robot according to claim 1, characterized in that: The transport roller system (6) comprises: a roller support (6-2), on which a power roller assembly (6-1) for driving the workpiece to move is arranged.

7. The automatic welding system for a forklift robot according to claim 6, characterized in that: The roller support (6-2) is provided with a detection device (6-3) for detecting workpieces.

8. The automatic welding system for a forklift robot according to claim 1, characterized in that: The overall control system (7) comprises: a PLC (7-1), a controller and electrical components (7-2), and a control cabinet (7-3).

9. An automatic welding method based on the automatic welding system for a forklift robot according to any one of claims 1 to 8, characterized in that: include: 1) Exchange cycle feeding mechanism (1) After the silo is loaded, it automatically enters the working area; 2) The assembly robot mechanism (2) sequentially takes parts from the material bin and places them on the small component assembly fixture (3) and the large component welding fixture (4) for positioning and clamping; 3) The spot welding mechanism (5) performs spot welding on the components after positioning and clamping; 4) The transport roller system (6) transports the workpiece to the area to be welded; 5) The overall control system (7) controls the action sequence of each system.

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