A flat plate welding intelligent robot anti-deformation tool clamp and a method thereof

Abstract

The present application relates to the technical field of welding deformation control, and particularly relates to a flat plate welding intelligent robot anti-deformation tool clamp and a method thereof. The tool clamp comprises a carrying servo sliding table, an intelligent carrying robot, an inverted servo sliding table, an intelligent welding robot and a workbench. Both ends of the workbench are provided with workpiece positioning mechanisms, which are used for positioning both ends of a welding workpiece assembly. A servo hydraulic lifting head for warping deformation of the welding workpiece assembly is arranged at the middle position of the workbench. The intelligent carrying robot is arranged on the carrying servo sliding table and the end execution terminal of the intelligent carrying robot is provided with an end effector, which is used for carrying the welding workpiece assembly and pressing the welding workpiece assembly during welding operation. The intelligent welding robot is inverted on the inverted servo sliding table and the end execution terminal of the intelligent welding robot is provided with a welding torch, which is used for welding the welding workpiece assembly. The present application realizes unmanned operation of anti-deformation, reduces the labor intensity of personnel and eliminates welding stress.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of welding deformation control, in particular to a flat plate welding intelligent robot counter-deformation tooling fixture and a method thereof. BACKGROUND

[0002] Generally, in the process of welding processing, the workpiece will often appear deformation phenomenon. The welding deformation is mainly divided into three stages: the first stage occurs during welding, at this time the workpiece is clamped and fixed by the clamp and then welded, the welding stress and thermal expansion are the main deformation of this stage; the second stage starts from the completion of welding, at this time the welded workpiece enters the cooling process from high temperature to normal temperature, the release of welding stress during cooling shrinkage is the cause of deformation in this stage; the third stage lasts the longest time, after complete cooling, the different structures caused by different joint modes of the plate will lead to the residual of local stress.

[0003] Therefore, due to the deformation, the dimensional accuracy of the workpiece will be greatly reduced or deviated; or the machining allowance is too large to make it impossible to assemble; some even cause the scrap of the structural parts. In order to improve the product quality, the welding process can be improved or the clamping device can be used to prevent deformation, which requires high requirements and high cost. The existing anti-deformation mechanism is mostly a manual clamping device, which generally fixes the workpiece by a nut and then welds it; after the welding is completed, the nut is unscrewed and the workpiece is removed. However, since the clamping device gives the workpiece a counter-deformation pressure to control its deformation during welding, the nut is often deformed by force after the welding is completed, which makes it difficult to unscrew the nut when the workpiece is removed, and even causes damage. In addition, since there are many nuts, tightening one by one also causes slow clamping operation speed and low efficiency. In order to change the welding deformation problem, the technical personnel have made a lot of technical improvements, among which the Chinese patent with the patent number CN207344031 U uses a step of welding after the angle is adjusted in advance, but the deformation amplitude cannot be controlled when dealing with welding of different materials, so it cannot adapt to welding of different materials, and manual adjustment is required before welding, which is slow. The Chinese patent application with the application number CN108406148A discloses a counter-deformation device applied to intelligent robot welding, but the counter-deformation device uses a correction device to prevent deformation during walking, which is a passive correction and cannot cope with the internal stress residual during welding, which may cause hidden troubles in the later use. Therefore, the current common method is to use external clamps for counter-deformation, and to minimize the welding shrinkage and cooling deformation after welding, but the external load of the clamp will also cause a certain force. SUMMARY

[0004] In order to solve the above problems, the present application aims to provide a flat plate welding intelligent robot anti-deformation tooling fixture and method, so as to solve the problem of poor anti-deformation pressure control of the existing anti-deformation device.

[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0006] An embodiment of the present application provides a flat plate welding intelligent robot anti-deformation tooling fixture, which comprises a carrying servo sliding table, an intelligent carrying robot, an inverted servo sliding table, an intelligent welding robot and a workbench.

[0007] The intelligent carrying robot is arranged on the carrying servo sliding table and is provided with an end effector at an execution end, and the end effector is used for carrying the welding workpiece assembly and pressing the welding workpiece assembly during welding operation.

[0008] The intelligent welding robot is hung on the inverted servo sliding table and is provided with a welding gun at an execution end, and the welding gun is used for welding the welding workpiece assembly.

[0009] In a possible implementation manner, the workpiece positioning mechanism comprises a hydraulic lifting mechanism and a pressing rod, wherein the hydraulic lifting mechanism is arranged on the workbench and is connected with the horizontally arranged pressing rod at an output end.

[0010] In a possible implementation manner, the output end of the hydraulic lifting mechanism is provided with a through hole in a radial direction for the pressing rod to pass through.

[0011] In a possible implementation manner, the welding workpiece assembly comprises a bottom plate and a pasting plate.

[0012] The end of the workbench is provided with a backing plate outside the hydraulic lifting mechanism, and the thickness of the backing plate is equal to that of the bottom plate; during welding, the end of the pressing rod is used for positioning the bottom plate.

[0013] In a possible implementation manner, the servo hydraulic lifting head is in a cylindrical structure, and a spherical head is arranged at the top.

[0014] In a possible implementation manner, the workpiece positioning mechanism is four groups and is symmetrically arranged at the two ends of the workbench.

[0015] The servo hydraulic lifting head is two groups and is arranged along the width direction of the workbench.

[0016] In a possible implementation manner, the end effector comprises a main frame, an interface flange and an electromagnet, one side of the main frame is provided with the interface flange, the interface flange is connected with the execution end of the intelligent carrying robot, and the other side of the main frame is provided with the electromagnet, and the electromagnet is used for adsorbing the welding workpiece assembly.

[0017] In a possible implementation manner, the main frame is a cuboid structure, and the two ends are provided with yokes.

[0018] Another embodiment of the present application provides a method for reverse deformation by using the reverse deformation tool clamp of the flat plate welding intelligent robot, and the method comprises the following steps:

[0019] 1) The servo hydraulic lifting head is in an initial position, and the ball head of the servo hydraulic lifting head is lower than the upper surface of the workbench;

[0020] 2) The intelligent carrying robot adsorbs the bottom plate through the end effector, and places the bottom plate on the workbench;

[0021] 3) The intelligent carrying robot adsorbs the paste plate through the end effector, and places the paste plate above the bottom plate;

[0022] 4) The intelligent carrying robot adsorbs the gusset plate through the end effector, and sequentially places the two gusset plates at the two ends of the workbench;

[0023] 5) The hydraulic lifting mechanism is lifted, and the output end of the hydraulic lifting mechanism is higher than the upper surface of the workbench;

[0024] 6) The intelligent carrying robot adsorbs the pressing rod through the end effector, inserts the pressing rod into the through hole of the output end of the hydraulic lifting mechanism, and adjusts the position and posture of the pressing rod through the end effector;

[0025] 7) The hydraulic lifting mechanism drives the pressing rod to descend above the gusset plate and the bottom plate;

[0026] 8) The servo hydraulic lifting head is lifted, the ball head of the servo hydraulic lifting head is lifted from the lower surface of the bottom plate, and the middle position of the bottom plate is warped and deformed;

[0027] 9) The intelligent carrying robot presses the paste plate on the position required for reverse deformation through the yoke of the end effector, and the intelligent welding robot performs spot welding on the paste plate and the bottom plate through the welding gun;

[0028] 10) The intelligent welding robot performs spatial six-degree-of-freedom continuous welding on the weld between the paste plate and the bottom plate through the welding gun.

[0029] In a possible implementation manner, in step 9):

[0030] Firstly, the intelligent carrying robot makes one end of the plate abut against the bottom plate by pressing the end of the plate with the prong of the end effector, and the intelligent welding robot performs spot welding on the area between the other end of the plate and the bottom plate without a gap.

[0031] Then, the intelligent carrying robot makes the other end of the plate abut against the bottom plate by pressing the other end of the plate with the prong of the end effector, and the intelligent welding robot performs spot welding on the area between the other end of the plate and the bottom plate without a gap.

[0032] The advantages and beneficial effects of the present application are:

[0033] 1. The present application realizes unmanned operation of reverse deformation without human intervention throughout the whole process, reduces the labor amount of personnel, and eliminates the welding stress.

[0034] 2. The present application sets a reverse deformation for the workpiece by the servo hydraulic lifting head before welding assembly, so that the deformation is equal in size and opposite in direction to the deformation generated after welding, so as to offset the welding deformation. The present application sets the parameter range value, reduces the influence of deformation on the welded product, fixes the product in the original shape, and especially has plasticity by the existence of welding heat, completes the plastic modification of the product, and stabilizes the product quality.

[0035] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application can be achieved and obtained by the structure particularly pointed out in the written description and the accompanying drawings.

[0036] The technical solutions of the present application will be further described in detail below by means of the accompanying drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0037] The accompanying drawings are used to provide a further understanding of the present application, and constitute a part of the specification, and are used to explain the present application together with embodiments of the present application, and do not constitute a limitation on the present application. In the drawings:

[0038] Figure 1 It is an isometric view of the present application of a flat plate welding intelligent robot reverse deformation tool fixture;

[0039] Figure 2 It is Figure 1 the enlarged view of A in the middle;

[0040] Figure 3 It is a side view of the present application of a flat plate welding intelligent robot reverse deformation tool fixture;

[0041] Figure 4 It isFigure 3 Enlarged view at B;

[0042] Figure 5 Isometric view of the end effector of the intelligent carrying robot in the present application;

[0043] In the figure: 1 is a carrying servo sliding table, 2 is an intelligent carrying robot, 3 is an end effector, 301 is a main body frame, 302 is an interface flange, 303 is a yoke, 304 is an electromagnet, 4 is an inverted servo sliding table, 5 is an intelligent welding robot, 6 is a welding torch, 7 is a workbench, 8 is a servo hydraulic lifting head, 801 is a ball head, 802 is a rectangular hole, 9 is a welding workpiece assembly, 901 is a bottom plate, 902 is a pasting plate, 10 is a backing plate, 11 is a workpiece positioning mechanism, 111 is a hydraulic lifting mechanism, 112 is a pressing rod. DETAILED DESCRIPTION

[0044] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0045] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0046] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0047] The preferred embodiments of the present application are described below in conjunction with the accompanying drawings, and it should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application.

[0048] One embodiment of the present invention provides an anti-deformation tooling fixture for an intelligent robot used in flat plate welding, enabling unmanned operation of anti-deformation, reducing manual labor, and eliminating welding stress. See also... Figures 1 to 3 As shown, the anti-deformation tooling fixture of the intelligent welding robot for flat plates includes a transport servo slide 1, an intelligent transport robot 2, an inverted servo slide 4, an intelligent welding robot 5, and a worktable 7. The transport servo slide 1 and the inverted servo slide 4 are arranged in parallel. The inverted servo slide 4 has a gantry-type structure. The worktable 7 is located below the inverted servo slide 4. The two ends of the worktable 7 are equipped with workpiece positioning mechanisms 11, which are used to position the two ends of the welding workpiece assembly 9. The middle position of the worktable 7 is equipped with a servo hydraulic lifting head 8 for warping and deforming the welding workpiece assembly 9. The intelligent transport robot 2 is set on the transport servo slide 1 and has an end effector 3 at its execution end. The end effector 3 is used to transport the welding workpiece assembly 9 and to press the welding workpiece assembly 9 during welding operations. The intelligent welding robot 5 is inverted on the inverted servo slide 4 and has a welding torch 6 at its execution end. The welding torch 6 is used to weld the welding workpiece assembly 9.

[0049] See Figure 1 As shown, in the embodiment of the present invention, the workpiece positioning mechanism 11 consists of four sets and is symmetrically arranged at both ends of the worktable 7; the servo hydraulic lifting head 8 consists of two sets and is arranged along the width direction of the worktable 7.

[0050] See Figure 2 As shown, in an embodiment of the present invention, the workpiece positioning mechanism 11 includes a hydraulic lifting mechanism 111 and a pressure rod 112, wherein the hydraulic lifting mechanism 111 is disposed on the worktable 7 and its output end is connected to the horizontally disposed pressure rod 112. Specifically, the hydraulic lifting mechanism 111 is a hydraulic cylinder, and the output end of the hydraulic cylinder is provided with a through hole in the radial direction for the pressure rod 112 to pass through.

[0051] Specifically, the pressure bar 112 is a rectangular strip structure, which makes the pressure bar 112 contact the surface of the base plate 901 to ensure the stability of the base plate 901.

[0052] In an embodiment of the present invention, the welding workpiece assembly 9 includes a base plate 901 and a mounting plate 902; the end of the worktable 7 is provided with a pad 10 located outside the hydraulic lifting mechanism 111, and the pad 10 has the same thickness as the base plate 901; during welding, the end of the pressure rod 112 is used to position the base plate 901, and the pad 10 can ensure the accurate positioning of the pressure rod 112.

[0053] See Figure 4 As shown in the embodiment of the present invention, the servo hydraulic lifting head 8 has a cylindrical structure and a ball head 801 at the top. A rectangular hole 802 is provided radially on the servo hydraulic lifting head 8. The ball head 801 contacts the workpiece, preventing scratches.

[0054] Referring to Figure 5 As shown in the drawings, in the embodiment of the present application, the end effector 3 comprises a main frame 301, an interface flange 302 and an electromagnet 304, wherein the interface flange 302 is arranged on one side of the main frame 301 and connected with the execution end of the intelligent carrying robot 2; the electromagnet 304 is arranged on the other side of the main frame 301 and used for adsorbing the welding workpiece assembly 9. The workpiece is adsorbed by the electromagnet 304, which is fast and convenient and improves the production efficiency.

[0055] Further, the main frame 301 is a cuboid structure, and a yoke 303 is arranged at each end of the main frame 301. The yoke 303 is used for pressing the welding workpiece assembly 9 and adjusting the pose of the pressing rod 112, so that the end effector 3 is multifunctional.

[0056] An embodiment of the present application provides a flat plate welding intelligent robot counter-deformation tool clamp. The intelligent carrying robot 2 provides reciprocating linear motion through the carrying servo sliding table 1, the intelligent welding robot 5 provides reciprocating linear motion through the inverted servo sliding table 4, and the motion directions of the carrying servo sliding table 1 and the inverted servo sliding table 4 are parallel. The carrying servo sliding table 1 and the inverted servo sliding table 4 and the intelligent carrying robot 2 and the intelligent welding robot 5 all adopt the prior art, which will not be described here. The intelligent carrying robot 2 and the intelligent welding robot 5 provide spatial six degrees of freedom of carrying and welding actions. The present application makes a counter-deformation on the workpiece through the servo hydraulic lifting head before welding assembly, so that the deformation is equal in size and opposite in direction to the deformation generated after welding, so as to offset the welding deformation. The unmanned operation of counter-deformation is realized, the labor amount is reduced, and the elimination of welding stress is completed.

[0057] On the basis of the above-mentioned embodiment, another embodiment of the present application provides a method for counter-deformation of a flat plate welding intelligent robot. The method is realized through the flat plate welding intelligent robot counter-deformation tool clamp in the above-mentioned embodiment. The method comprises the following steps:

[0058] 1) The servo hydraulic lifting head 8 is in an initial position, and the ball head 801 of the servo hydraulic lifting head 8 is lower than the upper surface of the workbench 7;

[0059] 2) The intelligent carrying robot 2 adsorbs the bottom plate 901 through the end effector 3 and places the bottom plate 901 on the workbench 7;

[0060] 3) The intelligent carrying robot 2 adsorbs the paste plate 902 through the end effector 3 and places the paste plate 902 above the bottom plate 901;

[0061] 4) The intelligent carrying robot 2 adsorbs the gasket 10 through the end effector 3 and places two gaskets 10 on the two ends of the workbench 7 in sequence;

[0062] 5) The hydraulic lifting mechanism 111 is lifted, and the output end of the hydraulic lifting mechanism 111 is higher than the upper surface of the workbench 7;

[0063] 6) The intelligent carrying robot 2 sucks the pressing rod 112 through the end effector 3, inserts the pressing rod 112 into the through hole of the output end of the hydraulic lifting mechanism 111, and adjusts the position and posture of the pressing rod 112 through the end effector 3;

[0064] 7) The hydraulic lifting mechanism 111 drives the pressing rod 112 to descend to above the cushion plate 10 and the bottom plate 901;

[0065] 8) The servo hydraulic lifting head 8 is lifted, and the ball head 801 of the servo hydraulic lifting head 8 is lifted from the lower surface of the bottom plate 901 to cause the middle position of the bottom plate 901 to be warped and deformed;

[0066] 9) The intelligent carrying robot 2 presses the position required for the reverse deformation of the pasting plate 902 through the shift fork 303 of the end effector 3, and the intelligent welding robot 5 performs spot welding on the pasting plate 902 and the bottom plate 901 through the welding gun 6;

[0067] 10) The intelligent welding robot 5 performs spatial six-degree-of-freedom continuous welding on the weld between the pasting plate 902 and the bottom plate 901 through the welding gun 6.

[0068] Further, in step 9):

[0069] First, the intelligent carrying robot 2 presses one end of the pasting plate 902 to make the one end of the pasting plate 902 adhere to the bottom plate 901 through the shift fork 303 of the end effector 3; the intelligent welding robot 5 performs spot welding on the area between the one end of the pasting plate 902 and the bottom plate 901 without gaps through the welding gun 6;

[0070] Then, the intelligent carrying robot 2 presses the other end of the pasting plate 902 to make the other end of the pasting plate 902 adhere to the bottom plate 901 through the shift fork 303 of the end effector 3; the intelligent welding robot 5 performs spot welding on the area between the other end of the pasting plate 902 and the bottom plate 901 without gaps through the welding gun 6. After completing the spot welding, the pasting plate 902 and the bottom plate 901 are completely adhered, which can ensure that the continuous welding is smoothly performed.

[0071] The present application makes a reverse deformation on the workpiece through the servo hydraulic lifting head before welding and assembly, so that the size of the deformation is equal to the size of the deformation generated after welding and the direction is opposite, so as to offset the welding deformation. In the welding process, the reverse deformation is realized by the collaborative work of the intelligent carrying robot and the intelligent welding robot, the labor amount of personnel is reduced, and the elimination of the welding stress is completed.

[0072] Obviously, many modifications and variations of the present application are possible in light of the above teachings. It is, therefore, to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A flat plate welding intelligent robot anti-deformation tooling fixture, characterized in that, The system includes a transport servo slide (1), an intelligent transport robot (2), an inverted servo slide (4), an intelligent welding robot (5), and a worktable (7). The transport servo slide (1) and the inverted servo slide (4) are arranged in parallel. The inverted servo slide (4) has a gantry structure. The worktable (7) is located below the inverted servo slide (4). The worktable (7) has workpiece positioning mechanisms (11) at both ends. The workpiece positioning mechanisms (11) are used to position the two ends of the welding workpiece assembly (9). The worktable (7) has a servo hydraulic lifting head (8) in the middle position for warping and deforming the welding workpiece assembly (9). The intelligent handling robot (2) is set on the handling servo slide (1) and has an end effector (3) at the execution end. The end effector (3) is used to handle the welding workpiece assembly (9) and to press the welding workpiece assembly (9) during the welding operation. The intelligent welding robot (5) is upside down on the upside down servo slide (4) and has a welding gun (6) at the execution end. The welding gun (6) is used to weld the workpiece assembly (9). The workpiece positioning mechanism (11) includes a hydraulic lifting mechanism (111) and a pressure rod (112), wherein the hydraulic lifting mechanism (111) is disposed on the worktable (7) and its output end is connected to the horizontally disposed pressure rod (112); The servo hydraulic lifting head (8) has a cylindrical structure and a ball head (801) at the top. The end effector (3) includes a main frame (301), an interface flange (302), and an electromagnet (304). The interface flange (302) is provided on one side of the main frame (301) and is connected to the end effector of the intelligent handling robot (2). The electromagnet (304) is provided on the other side of the main frame (301) and is used to attract and weld the workpiece assembly (9). The main frame (301) is a cuboid structure and has forks (303) at both ends. The output end of the hydraulic lifting mechanism (111) is provided with a through hole in the radial direction for the pressure rod (112) to pass through; The welding workpiece assembly (9) includes a base plate (901) and a mounting plate (902); the end of the worktable (7) is provided with a pad (10) located outside the hydraulic lifting mechanism (111), and the pad (10) has the same thickness as the base plate (901); during welding, the pressure rod (112) is used to position the end of the base plate (901); the workpiece positioning mechanism (11) consists of four sets and is symmetrically arranged at both ends of the worktable (7); the servo hydraulic lifting head (8) consists of two sets and is arranged along the width direction of the worktable (7).

2. A method for reverse deformation using the anti-deformation tooling fixture of the intelligent robot for flat welding as described in claim 1, characterized in that, The method includes the following steps: 1) The servo hydraulic lifting head (8) is in the initial position, and the ball head (801) of the servo hydraulic lifting head (8) is lower than the upper surface of the worktable (7); 2) The intelligent handling robot (2) adsorbs the base plate (901) through the end effector (3) and places the base plate (901) on the workbench (7); 3) The intelligent handling robot (2) uses the end effector (3) to adsorb the plate (902) and places the plate (902) above the base plate (901); 4) The intelligent handling robot (2) uses the end effector (3) to adsorb the pads (10) and place the two pads (10) at both ends of the workbench (7) in sequence; 5) The hydraulic lifting mechanism (111) is raised, and the output end of the hydraulic lifting mechanism (111) is higher than the upper surface of the workbench (7); 6) The intelligent handling robot (2) uses the end effector (3) to adsorb the pressure rod (112) and insert the pressure rod (112) into the through hole at the output end of the hydraulic lifting mechanism (111). The intelligent handling robot (2) adjusts the position and attitude of the pressure rod (112) through the end effector (3). 7) The hydraulic lifting mechanism (111) drives the pressure rod (112) to descend above the pad (10) and the base plate (901); 8) The servo hydraulic lifting head (8) rises, and the ball head (801) of the servo hydraulic lifting head (8) is lifted from the lower surface of the base plate (901), causing the middle position of the base plate (901) to warp and deform. 9) The intelligent handling robot (2) presses the plate (902) at the required anti-deformation position by the fork (303) of the end effector (3), and the intelligent welding robot (5) performs spot welding on the plate (902) and the base plate (901) by the welding gun (6); 10) The intelligent welding robot (5) performs continuous six-degree-of-freedom spatial welding on the weld between the plate (902) and the base plate (901) using a welding torch (6).

3. The method according to claim 2, characterized in that, In step 9): First, the intelligent handling robot (2) presses one end of the plate (902) with the fork (303) of the end effector (3), so that one end of the plate (902) is attached to the base plate (901); the intelligent welding robot (5) uses the welding gun (6) to spot weld the area where there is no gap between one end of the plate (902) and the base plate (901); Then, the intelligent handling robot (2) presses the other end of the plate (902) with the fork (303) of the end effector (3), so that the other end of the plate (902) is in contact with the base plate (901); the intelligent welding robot (5) uses the welding gun (6) to spot weld the area where there is no gap between the other end of the plate (902) and the base plate (901).

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