A robot welding device and method for laminating thin plates and thick plates

Abstract

The present invention relates to the field of welding technology, and in particular to a thin plate and thick plate laminating robot welding device and method. The device includes a workbench and an intelligent handling robot and an intelligent welding robot respectively arranged on both sides of the workbench, wherein the workbench has a curved surface positioning table, and the curved surface positioning table is used to position thick plates with curved surface structures; the execution end of the intelligent welding robot is provided with a welding gun; the execution end of the intelligent handling robot is provided with an end effector, and the end effector is used to pick up thin plates and load thin plates; the end effector is provided with a displacement mechanism, and the displacement mechanism is used to control the relative position of thin plates and thick plates. The present invention sets a displacement mechanism on the end effector of the intelligent handling robot, and uses the adaptive motion of the displacement mechanism for positioning and moving, thereby achieving precise control of the relative position of the thin plate and the curved thick plate, thereby improving the welding quality.

Description

Technical Field

[0001] The present invention relates to the field of welding technology, and in particular to a thin plate and thick plate laminating robot welding device and method. Background Art

[0002] Welding, as an important joining process, is widely used in the manufacturing industry. Uneven heating during the welding process leads to welding deformation and residual stress, causing various structural deformations, including transverse and longitudinal shrinkage, angular deformation, bending deformation, wave deformation, and torsional deformation. Welding deformation not only causes shape variations in welded structures, reduces dimensional accuracy, and reduces load-bearing capacity, but also causes additional bending moments and stress concentrations under working loads. These are the main causes of premature failure in welded structures and contribute to reduced fatigue strength.

[0003] Welding distortion is inevitable. Three methods are commonly used to correct welding distortion in ship structures: pyrotechnic leveling, induction leveling, and mechanical leveling. Traditional pyrotechnic leveling is suitable for leveling medium-thick plates but is ineffective for correcting welding distortion in thin plate structures. Induction leveling is an emerging leveling process based on the principle of electromagnetic induction heating. Thin plates are heated in a high-frequency electromagnetic field. The heating process generates a larger temperature gradient, effectively improving the leveling capability of thin plate structures. Currently, research on mechanical leveling is primarily based on theoretical analysis and simulation, and experimental validation is urgently needed. However, the position of the induction leveling equipment currently used is manually controlled by workers, making it difficult to precisely control the displacement. Therefore, a verifiable experimental platform is lacking. Therefore, a platform for induction leveling of thin plate welding distortion is needed to precisely adjust the position and speed of the induction coil, plan the motion path, and measure the induced temperature rise in real time. This is particularly true when welding thin metal plates to thick plates with irregular curves. The thin metal plates are manually bent bit by bit before being welded to the irregular components. The labor intensity of welders during the entire welding process is very high, the welding difficulty coefficient is high, the welding quality cannot be guaranteed, and the welding efficiency is also quite low. Summary of the Invention

[0004] In response to the above problems, the purpose of the present invention is to provide a thin plate and thick plate bonding robot welding device and method to solve the problems of high labor intensity, high welding difficulty coefficient, unguaranteed welding quality and low welding efficiency in the process of manual welding of metal thin plates and irregular components in the prior art.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] An embodiment of the present invention provides a thin plate and thick plate lamination robot welding device, comprising a workbench and an intelligent handling robot and an intelligent welding robot respectively arranged on both sides of the workbench, wherein the workbench has a curved surface positioning platform, and the curved surface positioning platform is used to position the thick plate with a curved surface structure;

[0007] The execution end of the intelligent welding robot is equipped with a welding gun;

[0008] The intelligent handling robot is equipped with an end effector at the execution end, which is used to pick up thin plates and load thin plates;

[0009] The end effector is provided with a displacement mechanism, which is used to control the relative position of the thin plate and the thick plate.

[0010] In one possible implementation, the displacement mechanism includes a pushing mechanism, a pushing block and a rocker mechanism, wherein the pushing mechanism is arranged in the end actuator, and the output end is connected to the pushing block; the upper end of the rocker mechanism is rotatably connected to the pushing block, and the lower end of the rocker mechanism is in contact with the thin plate, and the pushing mechanism pushes the lower end of the rocker mechanism to move along the thin plate through the pushing block, so that the thin plate is elastically deformed and fits the curved surface of the thick plate.

[0011] In one possible implementation, the end effector is an inverted T-shaped structure and is provided with a hollow cavity, and the pushing mechanism is disposed in the hollow cavity;

[0012] The pushing mechanism includes an electric push-pull rod and a guide rail slider. The output end of the electric push-pull rod is connected to the slider in the guide rail slider, and the pushing block is connected to the slider.

[0013] In one possible implementation, the rocker mechanism includes a rocker I and a rocker II, the upper ends of the rocker I and the rocker II are both rotatably connected to the push block, and the lower ends of the rocker I and the rocker II are both provided with rollers.

[0014] In one possible implementation, gears I and II are fixed to the upper ends of the rocker arm I and the rocker arm II, respectively. The gear shaft I of gear I and the gear shaft II of gear II are connected to the push block through bearings, and gears I and gear II are meshed.

[0015] In one possible implementation, a torsion spring is sleeved on the gear shaft I and the gear shaft II, one end of the torsion spring is connected to the gear shaft I or the gear shaft II, and the other end is connected to the push block; the rocker arm I and the rocker arm II remain in a closed state under the action of the torsion spring.

[0016] In one possible implementation, both the gear I and the gear II are incomplete gears.

[0017] Another embodiment of the present invention provides a method for robotic welding of thin and thick plates. The method is implemented using the robotic welding device for welding thin and thick plates as described above. The method includes the following steps:

[0018] 1) Loading: A thick plate with a curved surface structure is placed on the curved surface positioning table of the workbench. The intelligent handling robot picks up a thin plate through the end effector and places the thin plate on top of the thick plate;

[0019] 2) The intelligent handling robot presses the thin plate through the displacement mechanism set on the end effector, so that the curved surfaces of the thin plate and the thick plate are partially fitted;

[0020] 3) The intelligent welding robot uses a welding gun to weld the welds where thin plates and thick plates meet;

[0021] 4) During the welding process of the welding gun, the force application point of the displacement mechanism moves synchronously with the welding gun, causing the thin plate to elastically deform, ensuring that the thin plate and the thick plate remain in contact at the welding position.

[0022] In one possible implementation method, the process of the displacement mechanism pressing the thin plate is: the pushing mechanism pushes the rocker rod I and the rocker rod II in the rocker rod mechanism to gradually open through the pushing block, and the two rollers at the ends of the rocker rod I and the rocker rod II press the thin plate and move from the middle position of the thin plate to both ends, so that the thin plate is elastically deformed and keeps in contact with the thick plate.

[0023] In one possible implementation, during the loading process, the end effector picks up the thin plate by adsorption, and after placing the thin plate on the thick plate, the end effector performs backblowing gas to increase the local bonding area of ​​the curved surfaces of the thin plate and the thick plate.

[0024] The advantages and beneficial effects of the present invention are: a thin plate and thick plate bonding robot welding device provided by the present invention can be used for the welding and leveling production of thin plates and curved thick plates. By setting a displacement mechanism on the end effector of the intelligent handling robot and utilizing the adaptive motion of the displacement mechanism for positioning and moving, the relative position of the thin plate and the curved thick plate can be precisely controlled, thereby improving the welding quality.

[0025] The present invention provides a robotic welding method for laminating thin and thick plates. By utilizing a displacement mechanism on the end effector of an intelligent handling robot, the entire curved surface of the thin and thick plates is kept in contact with each other during the welding process. This method can complete the welding of metal thin plates and irregular components. The welding process is very easy, significantly reducing the labor intensity of welders, improving welding efficiency, and reliably ensuring welding quality. In addition, because the displacement mechanism on the end effector of the intelligent handling robot used in the present invention partially cooperates with the welding robot during the welding process, compared with commonly used tooling, it not only reduces the weight of the entire tooling, further reduces labor intensity, but also reduces the production cost of the entire tooling.

[0026] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0027] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0029] Figure 1 This is a front view of a thin plate and thick plate laminating robot welding device of the present invention;

[0030] Figure 2 for Figure 1 A partial enlarged view of point Ⅰ in the middle;

[0031] Figure 3 This is an axonometric view of a thin plate and thick plate laminating robot welding device of the present invention;

[0032] Figure 4 for Figure 3 A partial enlarged view of the middle II;

[0033] In the figure: 1 is an intelligent handling robot, 2 is an end effector, 3 is an intelligent welding robot, 4 is a workbench, 5 is a thick plate, 6 is a thin plate, 7 is a push block, 8 is a rocker mechanism, 801 is a rocker I, 802 is a gear I, 803 is a gear shaft I, 804 is a rocker II, 805 is a gear II, 806 is a gear shaft II, 9 is a roller, and 10 is a welding gun. DETAILED DESCRIPTION

[0034] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0036] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0037] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0038] One embodiment of the present invention provides a thin plate and thick plate bonding robot welding device, which can be used for welding and leveling thin plates and curved thick plates. By setting a displacement mechanism on the end effector of the loading and unloading robot, the displacement mechanism's adaptive motion is used for positioning and movement, thereby achieving precise control of the relative position of the thin plate and curved thick plate and welding. Figures 1 to 4 As shown, the thin plate and thick plate laminating robot welding device includes a workbench 4 and an intelligent handling robot 1 and an intelligent welding robot 3 respectively arranged on both sides of the workbench 4, wherein the workbench 4 has a curved surface positioning table, which is used to position the thick plate 5 with a curved surface structure; the execution end of the intelligent welding robot 3 is provided with a welding gun 10; the execution end of the intelligent handling robot 1 is provided with an end effector 2, which is used to pick up the thin plate 6 and the loading of the thin plate 6; the end effector 2 is provided with a displacement mechanism, which is used to control the relative position of the thin plate 6 and the thick plate 5.

[0039] See also Figure 1 、 Figure 3 As shown, in the embodiment of the present invention, the displacement mechanism includes a pushing mechanism, a pushing block 7 and a rocker mechanism 8, wherein the pushing mechanism is arranged in the end effector 2, and the output end is connected to the pushing block 7; the upper end of the rocker mechanism 8 is rotatably connected to the pushing block 7, and the lower end of the rocker mechanism 8 is in contact with the thin plate 6, and the pushing mechanism pushes the lower end of the rocker mechanism 8 to move along the thin plate 6 through the pushing block 7, thereby pressing the thin plate 6 against the thick plate 5.

[0040] See also Figure 2 、 Figure 4 As shown, in the embodiment of the present invention, the rocker mechanism 8 includes a rocker I 801 and a rocker II 804 , the upper ends of the rocker I 801 and the rocker II 804 are both rotatably connected to the push block 7 , and the lower ends are both provided with rollers 9 .

[0041] Furthermore, gears I 802 and II 805 are fixed to the upper ends of pendulum rods I 801 and II 804, respectively. Gear shaft I 803 of gear I 802 and gear shaft II 806 of gear II 805 are connected to push block 7 via deep groove ball bearings, and gears I 802 and II 805 mesh. Gears I 802 and II 805 have equal diameters, ensuring synchronous, counter-rotating swing of pendulum rods I 801 and II 804. Preferably, gears I 802 and II 805 are incomplete gears to reduce manufacturing costs.

[0042] Furthermore, gear shaft I 803 and gear shaft II 806 are each fitted with a torsion spring, one end of which is connected to gear shaft I 803 or gear shaft II 806, and the other end to push block 7. The torsion springs maintain the closed position of rocker I 801 and rocker II 804. Specifically, when the rollers 9 at the ends of rocker I 801 and rocker II 804 leave the sheet, the torsion springs pull rocker I 801 and rocker II 804 closer together, restoring their initial closed position. Rocker mechanism 8 is adaptive, adapting to workpiece surfaces of varying curvature.

[0043] In this embodiment of the present invention, the end effector 2 is an inverted T-shaped structure with a hollow cavity, within which the push mechanism is located. Specifically, the push mechanism comprises an electric push-pull rod and a guide rail slider. The output end of the electric push-pull rod is connected to the slider in the guide rail slider, and the push block 7 is connected to the slider. The electric push-pull rod drives the push block 7 up and down along the guide rail.

[0044] In the embodiment of the present invention, two sets of rocker mechanisms 8 are symmetrically provided on both sides of the end effector 2, and the electric push-pull rods drive the two sets of rocker mechanisms 8 to move synchronously, so as to improve positioning accuracy and welding quality.

[0045] An embodiment of the present invention provides a robotic welding device for laminating thin plates and thick plates. The displacement mechanism on the end effector of the intelligent handling robot cooperates with the welding robot during the welding process, and uses the adaptive motion of the displacement mechanism for positioning and movement, thereby achieving precise control of the relative position of the thin plate and the curved thick plate, thereby improving the welding quality; the displacement mechanism ensures that the entire thin plate and the curved surface of the thick plate are always kept in contact during the welding process, and can complete the welding of metal thin plates and irregular components. At the same time, it not only reduces the weight of the entire tooling, further reduces labor intensity, but also reduces the production cost of the entire tooling.

[0046] Based on the above design concept, another embodiment of the present invention provides a thin plate and thick plate bonding robot welding method, which is implemented by using the thin plate and thick plate bonding robot welding device in any of the above embodiments, see Figures 1 to 4 As shown, the method includes the following steps:

[0047] 1) Loading: A thick plate 5 with a curved surface structure is placed on the curved surface positioning table of the workbench 4. The intelligent handling robot 1 picks up a thin plate 6 through the end effector 2 and places the thin plate 6 on top of the thick plate 5;

[0048] 2) The intelligent handling robot 1 presses the thin plate 6 through the displacement mechanism provided on the end effector 2, so that the thin plate 6 partially fits the curved surface of the thick plate 5;

[0049] 3) The intelligent welding robot 3 welds the weld seam where the thin plate 6 and the thick plate 5 meet using the welding gun 10;

[0050] 4) During the welding process of the welding gun 10, the force application point of the displacement mechanism moves synchronously with the welding gun 10, causing the thin plate 6 to elastically deform, ensuring that the thin plate 6 and the thick plate 5 at the welding position remain in contact.

[0051] In an embodiment of the present invention, the process of the displacement mechanism pressing the thin plate is: the pushing mechanism pushes the rocker rod I 801 and the rocker rod II 804 in the rocker rod mechanism 8 to gradually open through the pushing block 7, and the two rollers 9 at the ends of the rocker rod I 801 and the rocker rod II 804 press the thin plate 6 and move from the middle position of the thin plate 6 to both ends, so that the thin plate 6 remains in contact with the thick plate 5 after elastic deformation.

[0052] Specifically, during the loading process, end effector 2 picks up thin plate 6 by suction, preferably using a sponge suction cup. After placing thin plate 6 on thick plate 5, end effector 2 performs backflow to release the suction relationship between thin plate 6 and end effector 2. The backflow from end effector 2 expands the local contact area between the curved surfaces of thin plate 6 and thick plate 5.

[0053] Another embodiment of the present invention provides a robot welding method for laminating thin plates and thick plates, which uses the displacement mechanism on the end effector of the intelligent handling robot to achieve precise control of the relative position of the thin plate and the curved thick plate, thereby improving the welding quality. The adaptive motion of the displacement mechanism is used for positioning and movement, so that the entire thin plate and the curved surface of the thick plate are tightly fitted during the welding process, ensuring the welding quality and improving the welding efficiency; at the same time, the welding process is very easy, which not only greatly reduces the labor intensity of the welders, but also reliably guarantees the welding quality. In addition, since the displacement mechanism on the end effector of the intelligent handling robot used in the present invention keeps in sync with the welding gun of the welding robot during the welding process and performs coordinated operations, compared with the commonly used tooling, it not only reduces the weight of the entire tooling, further reduces the labor intensity, but also reduces the production cost of the entire tooling.

[0054] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A robot welding device for laminating thin plates and thick plates, characterized in that: The invention comprises a workbench (4) and an intelligent handling robot (1) and an intelligent welding robot (3) respectively arranged on both sides of the workbench (4), wherein the workbench (4) has a curved surface positioning platform, and the curved surface positioning platform is used to position a thick plate with a curved surface structure; The execution end of the intelligent handling robot (1) is provided with an end effector (2), and the end effector (2) is used for picking up thin plates and loading thin plates; The end effector (2) is provided with a displacement mechanism, which is used to control the relative position of the thin plate and the thick plate; The execution end of the intelligent welding robot (3) is provided with a welding gun (10), and the thin plate and the thick plate bonded together are welded by the welding gun (10); The displacement mechanism comprises a pushing mechanism, a pushing block (7) and a rocker mechanism (8), wherein the pushing mechanism is arranged in the end effector (2), and the output end is connected to the pushing block (7); the upper end of the rocker mechanism (8) is rotatably connected to the pushing block (7), and the lower end of the rocker mechanism (8) is in contact with the thin plate. The pushing mechanism pushes the lower end of the rocker mechanism (8) to move along the thin plate through the pushing block (7), so that the thin plate is elastically deformed and fits the curved surface of the thick plate.

2. The thin plate and thick plate laminating robot welding device according to claim 1 is characterized in that: The end effector (2) is an inverted T-shaped structure and is provided with a hollow cavity, and the pushing mechanism is arranged in the hollow cavity; The pushing mechanism comprises an electric push-pull rod and a guide rail slider, the output end of the electric push-pull rod is connected to a slider in the guide rail slider, and the pushing block (7) is connected to the slider.

3. The thin plate and thick plate laminating robot welding device according to claim 2 is characterized in that: The rocker mechanism (8) comprises a rocker I (801) and a rocker II (804). The upper ends of the rocker I (801) and the rocker II (804) are both rotatably connected to the push block (7), and the lower ends of the rocker I (801) and the rocker II (804) are both provided with rollers (9).

4. The thin plate and thick plate laminating robot welding device according to claim 3 is characterized in that: Gear I (802) and gear II (805) are fixed to the upper ends of the pendulum rod I (801) and the pendulum rod II (804), respectively. Gear shaft I (803) of gear I (802) and gear shaft II (806) of gear II (805) are connected to the push block (7) through bearings, and gear I (802) and gear II (805) are meshed.

5. The thin plate and thick plate laminating robot welding device according to claim 4 is characterized in that: The gear shaft I (803) and the gear shaft II (806) are both sleeved with a torsion spring, one end of which is connected to the gear shaft I (803) or the gear shaft II (806), and the other end is connected to the push block (7); the rocker rod I (801) and the rocker rod II (804) are kept in a closed state under the action of the torsion spring.

6. The thin plate and thick plate laminating robot welding device according to claim 5, characterized in that: The gear I (802) and the gear II (805) are both incomplete gears.

7. A robot welding method for laminating thin plates and thick plates, characterized in that: The method is implemented using the thin plate and thick plate bonding robot welding device according to claim 6, and the method comprises the following steps: 1) Loading: placing a thick plate with a curved surface structure on a curved surface positioning table of a workbench (4), and the intelligent handling robot (1) picks up a thin plate through an end effector (2) and places the thin plate on top of the thick plate; 2) The intelligent handling robot (1) presses the thin plate by means of a displacement mechanism provided on the end effector (2), so that the curved surfaces of the thin plate and the thick plate are partially fitted together; 3) The intelligent welding robot (3) performs welding of the weld seam where the thin plate and the thick plate meet by means of a welding gun (10); 4) During the welding process of the welding gun (10), the force application point of the displacement mechanism moves synchronously with the welding gun (10), causing the thin plate to elastically deform, thereby ensuring that the thin plate and the thick plate remain in contact at the welding position.

8. The robot welding method for laminating thin plates and thick plates according to claim 7, characterized in that: The process of the displacement mechanism pressing the thin plate is as follows: the pushing mechanism pushes the rocker rod I (801) and the rocker rod II (804) in the rocker rod mechanism (8) through the pushing block (7) to gradually open, and the two rollers (9) at the ends of the rocker rod I (801) and the rocker rod II (804) press the thin plate and move from the middle position of the thin plate to both ends, so that the thin plate is elastically deformed and keeps in contact with the thick plate.

9. The robot welding method for laminating thin plates and thick plates according to claim 7, characterized in that: During the loading process, the end effector (2) picks up the thin plate by adsorption, and after placing the thin plate on the thick plate, the end effector (2) performs back-blowing of gas, thereby increasing the local bonding area of ​​the curved surfaces of the thin plate and the thick plate.

Images