A multifunctional small group robot welding production line

Abstract

The application discloses a multifunctional small-group vertical robot welding production line, and relates to the related field of welding equipment, comprising a conveying platform, welding mobile gantries and assembly mobile gantries which are slidably arranged on the front and rear side tracks of the conveying platform, and an assembly component is arranged to quickly disassemble and assemble multiple groups of multi-axis mechanical arms, so that the multi-axis mechanical arms which are prone to wear and tear and have high precision requirements can be conveniently maintained and replaced; multi-axis clamping pieces are arranged to fix and adjust the angle of the vertically inserted splice plates on the welding workpieces, so as to solve the phenomenon that the assembly angle deviates in the previous assembly process; electromagnetic sliding seats and clamping blocks are arranged to relatively simply translate and fix the welding torch, so as to reduce the difficulty of welding operation and improve the degree of automation.

Description

Technical Field

[0001] This invention relates to the field of welding equipment, specifically a multi-functional small-group robotic welding production line. Background Technology

[0002] During shipbuilding, there are a large number of welding operations for small assembled parts, accounting for more than 15% of the total welding operations in the shipyard. With the development of science and technology, robotic welding technology can now automatically weld various regular and non-standard ship components.

[0003] Existing technologies mostly require on-site operators to perform real-time operations during welding, resulting in a low level of intelligence in the welding equipment and high requirements for the technical skills of the operators, leading to high labor costs. At the same time, the existing robotic arm structure is relatively complex, and the need for frequent calibration and maintenance leads to high costs. Furthermore, existing technologies are highly dependent on the precision of the robotic arm, and multiple control components of the robotic arm need to work synchronously to meet adjustment requirements during welding, which can easily lead to precision errors. Summary of the Invention

[0004] Therefore, in order to overcome the above-mentioned shortcomings, the present invention provides a multifunctional small-group stand-up robot welding production line.

[0005] This invention is implemented as follows: a multifunctional small-group robotic welding production line is constructed. The device includes a conveying platform, a welding moving gantry and an assembly moving gantry that are slidably arranged on the front and rear tracks of the conveying platform; a two-dimensional adjustment component with displacement adjustment is slidably arranged on the welding moving gantry truss; a welding component is fixedly installed at the bottom of the two-dimensional adjustment component by bolts; an image acquisition camera is fixedly installed on the left side of the displacement frame of the two-dimensional adjustment component by bolts.

[0006] The welding assembly includes a mounting base fixedly installed on the left side of the displacement frame of the two-dimensional adjustment assembly by bolts; an assembly component is inserted and fixed to the left end of the mounting base; four sets of multi-axis robotic arms with multi-angle adjustment functions are arranged on the left side of the assembly component; welding gun assemblies are fixedly installed at the end clamps of the two sets of multi-axis robotic arms on the front and rear sides of the assembly component by bolts; an electromagnetic adsorption plate is fixedly installed at the end clamp of the multi-axis robotic arm on the rear side of the assembly component by bolts; and a multi-axis clamping component is fixedly installed at the end clamp of the multi-axis robotic arm on the front side of the assembly component by bolts.

[0007] Preferably, the assembly includes a column that is fixedly inserted into the left end of the mounting base by bolts; permanent magnets are fixed to all four sides of the column by magnetic adsorption; a through groove is provided in the middle of the permanent magnet, and a magnetic shielding frame is fixedly installed inside the through groove by bolts.

[0008] Preferably, the magnetic shielding frame has a sliding groove on its side, and a sliding adapter is slidably disposed in the sliding groove; the magnetic shielding frame is fixedly installed on the side of the mounting shell by bolts; the controller is fixedly installed on the inner wall of the mounting shell by bolts; and a power block is fixedly installed on the right inclined groove of the mounting shell by bolts.

[0009] Preferably, the multi-axis clamping component includes a first servo motor that is fixedly installed at the end of the multi-axis robotic arm on the front side of the assembly assembly by bolts; the first servo motor shaft drive end is provided with a lead screw drive cylinder via a rotating shaft; and assembly frames are fixedly provided on the lead screws on both the front and rear sides of the lead screw drive cylinder.

[0010] Preferably, a single-control electric switch is fixedly installed on the left end of the assembly frame at the front end of the lead screw drive cylinder by bolts; a second servo motor is fixedly installed on the top of the assembly frame at the front end of the lead screw drive cylinder by bolts; a magnetic clamping component is rotatably arranged inside the assembly frame; and a miniature camera is fixedly installed on the bottom of the lead screw drive cylinder frame by bolts.

[0011] Preferably, the magnetic clamping component includes a limiting ring rotatably disposed inside the assembly frame; the second servo motor drive shaft is fixedly inserted into the sleeve shaft; the sleeve shaft is rotatably disposed in the inner groove of the clamping plate; the clamping plate is T-shaped, and a heat insulation pad is glued and fixed in the groove of the clamping plate; the limiting ring and the clamping plate are respectively fixedly installed on the left and right sides of the torsion spring.

[0012] Preferably, the welding torch assembly includes a limit seat fixedly mounted on the end of a multi-axis robotic arm at the rear of the assembly assembly via bolts; a guide rail is provided on the top of the limit seat, and the guide rail is slidably connected to the electromagnetic slide plate; a locking block is fixedly mounted on the bottom of the electromagnetic slide via bolts; and the welding torch is clamped and fixed in the inner groove of the locking block.

[0013] Preferably, the two-dimensional adjustment component specifically consists of a single set of horizontal linear actuators and a height linear actuator, and the horizontal linear actuators are parallel to the top support of the welded moving gantry.

[0014] Preferably, both the assembly moving gantry displacement frame and the assembly robot arm mounted on the displacement frame are equipped with image acquisition cameras and sensors for information acquisition.

[0015] The present invention has the following advantages: The present invention provides a multifunctional small-group robotic welding production line, which, compared with similar equipment, has the following improvements:

[0016] The present invention discloses a multifunctional modular robotic welding production line. By setting up assembly components, multiple multi-axis robotic arms can be quickly assembled and disassembled, facilitating the maintenance and replacement of multi-axis robotic arms that are prone to wear and require high precision. By setting up multi-axis clamping components, vertical splicing plates inserted into the welding workpiece are fixed and their angles adjusted, thus solving the problem of assembly angle deviations that occurred in previous assembly processes. By setting up electromagnetic slides and locking blocks, the welding torch can be easily moved and fixed, thereby reducing the difficulty of welding operations while improving the degree of automation. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention;

[0018] Figure 2 This is a three-dimensional structural diagram of the welding assembly of the present invention;

[0019] Figure 3 This is an exploded axial view of the assembly component of the present invention;

[0020] Figure 4 This is the invention Figure 2 Enlarged structural diagram at point A;

[0021] Figure 5 This is a three-dimensional structural diagram of the multi-axis clamping component of the present invention;

[0022] Figure 6 This is an exploded structural diagram of the magnetic clamping component of the present invention;

[0023] Figure 7 This is a schematic diagram of the axial structure of the welding torch assembly of the present invention;

[0024] Figure 8 This is a flowchart illustrating the preparation process of the present invention.

[0025] The components include: conveyor platform-1, welding moving gantry-2, two-dimensional adjustment assembly-3, welding assembly-4, image acquisition camera-5, assembly moving gantry-6, mounting base-41, assembly assembly-42, multi-axis robotic arm-43, welding torch assembly-44, electromagnetic adsorption plate-45, multi-axis clamping component-46, column-421, permanent magnet-422, magnetic shielding frame-423, sliding adapter-424, mounting shell-425, and controller-426. Power supply block-427, first servo motor-461, lead screw drive cylinder-462, assembly frame-463, single-control electric switch-464, second servo motor-465, magnetic clamping component-466, miniature camera-467, limit ring-4661, sleeve shaft-4662, clamping plate-4663, heat insulation pad-4664, torsion spring-4665, limit seat-441, electromagnetic slide-442, positioning block-443, welding torch-444. Detailed Implementation

[0026] The following is in conjunction with the appendix Figures 1 to 8 The principles and features of the present invention are described below. The examples given are for illustrative purposes only and are not intended to limit the scope of the invention. The invention is described more specifically in the following paragraphs by way of example with reference to the accompanying drawings. It should be noted that the drawings are in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the invention.

[0027] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0028] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. The embodiments of this invention will now be described according to its overall structure.

[0029] Example 1:

[0030] Please see Figures 1 to 8 This invention discloses a multifunctional modular robotic welding production line, comprising a conveying platform 1, a welding moving gantry 2 and an assembly moving gantry 6 slidably mounted on the front and rear tracks of the conveying platform 1; the assembly moving gantry 6 and the assembly robot mounted on the moving gantry 6 are both equipped with an image acquisition camera 5 and sensors for information acquisition; a two-dimensional adjustment component 3 with displacement adjustment is slidably mounted on the truss of the welding moving gantry 2; the two-dimensional adjustment component 3 is specifically composed of a single set of horizontal linear actuators and a height linear actuator, and the horizontal linear actuators are parallel to the top support of the welding moving gantry 2; a welding component 4 is fixedly mounted to the bottom of the two-dimensional adjustment component 3 by bolts; and an image acquisition camera 5 is fixedly mounted to the left side of the moving gantry of the two-dimensional adjustment component 3 by bolts.

[0031] The welding assembly 4 includes a mounting base 41 fixedly mounted on the left side of the displacement frame of the two-dimensional adjustment assembly 3 by bolts; an assembly assembly 42 is inserted and fixed to the left end of the mounting base 41; four sets of multi-axis robotic arms 43 with multi-angle adjustment functions are arranged on the left side of the assembly assembly 42, and the multi-axis robotic arms 43 are specifically six-degree-of-freedom robotic arms; welding gun assemblies 44 are fixedly mounted on the end clamps of the two sets of multi-axis robotic arms 43 on the front and rear sides of the assembly assembly 42 by bolts; an electromagnetic adsorption plate 45 is fixedly mounted on the end clamp of the multi-axis robotic arm 43 on the rear side of the assembly assembly 42 by bolts; and a multi-axis clamping component 46 is fixedly mounted on the end clamp of the multi-axis robotic arm 43 on the front side of the assembly assembly 42 by bolts.

[0032] Assembly component 42 includes a column 421 that is bolted to the left end of mounting base 41; permanent magnets 422 are fixed to all four sides of the square column 421 by magnetic adsorption; a through groove is provided in the middle of the permanent magnet 422, and a magnetic shielding frame 423 is bolted to the inside of the through groove; a sliding groove is provided in the middle of the magnetic shielding frame 423, and a sliding adapter 424 is slidably disposed in the sliding groove; the magnetic shielding frame 423 is bolted to the side of mounting shell 425; a controller 426 is bolted to the inner wall of mounting shell 425; and a power block 427 is bolted to the inclined groove on the right side of mounting shell 425.

[0033] The welding torch assembly 44 includes a multi-axis robotic arm 43 at the rear of the assembly assembly 42, with a limit seat 441 fixedly mounted at the end by bolts; the limit seat 441 has a guide rail on its top, and the guide rail is slidably connected to the sliding plate of the electromagnetic slide 442; a locking block 443 is fixedly mounted on the bottom of the electromagnetic slide 442 by bolts; a welding torch 444 is clamped and fixed in the inner groove of the locking block 443, and the welding torch 444 is connected to an external gas tank through a pipe.

[0034] Example 2:

[0035] Please see Figures 1 to 8 The present invention discloses a multi-functional modular robotic welding production line. Compared with Embodiment 1, this embodiment further includes: a multi-axis clamping component 46; the multi-axis clamping component 46 includes a first servo motor 461 fixedly installed at the end of the multi-axis robotic arm 43 on the front side of the assembly assembly 42 by bolts; the shaft end of the first servo motor 461 is rotatably provided with a lead screw transmission cylinder 462 via a rotating shaft, the lead screw transmission cylinder 462 specifically consists of a motor, a gear set and a lead screw; assembly frames 463 are fixedly installed on the lead screws on both the front and rear sides of the lead screw transmission cylinder 462; a single-control electric switch 464 is fixedly installed on the left end of the assembly frame 463 at the front end of the lead screw transmission cylinder 462 by bolts; a second servo motor 465 is fixedly installed on the top of the assembly frame 463 at the front end of the lead screw transmission cylinder 462 by bolts; a magnetic clamping component 466 is rotatably provided inside the assembly frame 463; a miniature camera 467 is fixedly installed on the bottom of the lead screw transmission cylinder 462 frame by bolts.

[0036] The magnetic clamping component 466 includes a limiting ring 4661 rotatably disposed inside the assembly frame 463; the transmission shaft of the second servo motor 465 is fixedly inserted into the sleeve shaft 4662, which is specifically composed of multiple sets of convex rods and their internal coils; the sleeve shaft 4662 is rotatably disposed in the inner groove of the clamping plate 4663; the clamping plate 4663 is T-shaped, and a heat insulation pad 4664 is glued and fixed in the groove of the clamping plate 4663; the limiting ring 4661 and the clamping plate 4663 are respectively fixedly installed on the left and right sides of the torsion spring 4665.

[0037] The working principle of a multi-functional modular robotic welding production line based on the above is as follows:

[0038] First, when using this equipment, place it in the work area, connect it to the external power supply, and check the working status of each component. At this time, the operator inserts the sliding adapter 424 into the side slide groove in the magnetic shielding frame 423. Here, the sliding adapter 424 is fixed to the interface of the controller 426, and the cable at the interface of the sliding adapter 424 is guided to connect to the interface on the mounting base 41 through the column 421.

[0039] Second, the magnetic shielding frame 423 is then placed around the column 421. At this time, the magnetic shielding frame 423 is fixed around the column 421 by magnetic adsorption, so as to quickly disassemble and assemble the four sets of multi-axis robotic arms 43 on the column 421, which facilitates the maintenance and replacement of the multi-axis robotic arms 43 that are prone to wear and have high precision requirements.

[0040] Third, before the welding process, the workers input the assembly information and welding data obtained by the sensors and image acquisition camera 5 mounted on the assembly moving gantry 6 into the control components on the side of the welding moving gantry 2. The information obtained by the sensors and image acquisition camera 5 on the assembly moving gantry 6 is the workpiece assembly shape and key point information. The data that needs to be manually input here is the process information related to welding, such as plate thickness and material, theoretical welding path information (weld information), and workpiece shape and key point information. The process information related to welding, such as plate thickness and material, will be matched with the welding process information in the welding database. After determining the target production object, the programming and simulation process will be executed, and after calibration, the welding process will be executed through the control center on the side of the welding moving gantry 2.

[0041] Fourth, during the welding process, the three-dimensional spatial position of the welding assembly 4 is adjusted by the welding moving gantry 2 and the two-dimensional adjustment component 3. Then, the command is transmitted to the controller 426 via cable through the front control component of the welding moving gantry 2. Under the power supply action of the power block 427, the four groups of middle multi-axis robotic arms 43 on the side of the column 421 are adjusted, so that the multi-axis robotic arms 43 respectively drive the electromagnetic adsorption disk 45 and the multi-axis clamping component 46 to approach the assembly workpiece and cooperate to clamp the workpiece. Here, the screw drive cylinder 462 drives the assembly frame 463 and the magnetic clamping component 466 on the front and rear sides to move to adjust the clamping position. Here, the real-time position of the screw drive cylinder 462 and the assembly workpiece is detected by the miniature camera 467.

[0042] Fifth, the coil inside the single convex rod body is powered by the single-control switch 464. At this time, the second servo motor 465 can drive the clamping plate 4663 to rotate through the sleeve shaft 4662 to clamp the splice of the welding workpiece. The second servo motor 465 is also used to fix and adjust the angle of the vertical splice plate inserted on the welding workpiece to solve the problem of assembly angle deviation that occurred in the previous assembly process. Then, by powering the electromagnetic slide 442, the electromagnetic slide 442 can drive the welding gun 444 to advance at the end of the multi-axis robotic arm 43. The electromagnetic propulsion of the electromagnetic slide 442 is used to meet the requirement of stable welding during the welding process. During the welding process, the image acquisition camera 5 collects weld data and performs data mutual induction with the control component on the front side of the welding moving gantry 2 to collect welding parameters.

[0043] This invention provides a multi-functional modular robotic welding production line. By incorporating assembly components 42, multiple multi-axis robotic arms 43 can be quickly assembled and disassembled, facilitating maintenance and replacement of these arms, which are prone to wear and require high precision. Multi-axis clamping components 46 are used to fix and adjust the angle of vertically inserted splicing plates on the welding workpiece, resolving the issue of assembly angle deviations that occurred in previous assembly processes. Furthermore, electromagnetic slides 442 and locking blocks 443 facilitate the translation and fixing of the welding torch 444, reducing the difficulty of welding operations while increasing automation.

[0044] The above description shows and illustrates the basic principles, main features, and advantages of the present invention. Standard parts used in the present invention can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts, and equipment adopt conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here.

[0045] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multifunctional modular robotic welding production line, comprising a conveying platform (1), a welding moving gantry (2) and an assembly moving gantry (6) slidably mounted on the front and rear tracks of the conveying platform (1); a two-dimensional adjustment component (3) with displacement adjustment is slidably mounted on the gantry of the welding moving gantry (2); a welding component (4) is fixedly mounted on the bottom of the two-dimensional adjustment component (3) by bolts; an image acquisition camera (5) is fixedly mounted on the left side of the displacement frame of the two-dimensional adjustment component (3) by bolts. Its features are: The welding assembly (4) includes a mounting base (41) fixedly installed on the left side of the displacement frame of the two-dimensional adjustment assembly (3) by bolts; an assembly assembly (42) is inserted and fixed at the left end of the mounting base (41); four sets of multi-axis robotic arms (43) with multi-angle adjustment function are arranged on the left side of the assembly assembly (42); welding gun assemblies (44) are fixedly installed at the end clamps of the two sets of multi-axis robotic arms (43) on the front and rear sides of the assembly assembly (42) by bolts; an electromagnetic adsorption disk (45) is fixedly installed at the end clamp of the multi-axis robotic arm (43) on the rear side of the assembly assembly (42) by bolts; and a multi-axis clamping component (46) is fixedly installed at the end clamp of the multi-axis robotic arm (43) on the front side of the assembly assembly (42) by bolts. The assembly component (42) includes a column (421) that is bolted to the left end of the mounting base (41); permanent magnets (422) are fixed to all four sides of the square column (421) by magnetic adsorption; a through groove is provided in the middle of the permanent magnet (422), and a magnetic shielding frame (423) is fixedly installed in the through groove by bolts; a sliding groove is provided in the middle of the magnetic shielding frame (423), and a sliding adapter (424) is slidably arranged in the sliding groove; the magnetic shielding frame (423) is fixedly installed on the side of the mounting shell (425) by bolts; a controller (426) is fixedly installed on the inner wall of the mounting shell (425) by bolts; a power block (427) is fixedly installed in the inclined groove on the right side of the mounting shell (425) by bolts. The multi-axis clamping component (46) includes a first servo motor (461) fixedly mounted on the end of a multi-axis robotic arm (43) at the front side of the assembly assembly (42) by bolts; a lead screw drive cylinder (462) is rotatably mounted on the shaft end of the first servo motor (461) via a rotating shaft; an assembly frame (463) is fixedly mounted on both the front and rear lead screws of the lead screw drive cylinder (462); a single-control electric switch (464) is fixedly mounted on the left end of the assembly frame (463) at the front end of the lead screw drive cylinder (462) by bolts; a second servo motor (465) is fixedly mounted on the top of the assembly frame (463) at the front end of the lead screw drive cylinder (462) by bolts; a magnetic clamping component (466) is rotatably mounted inside the assembly frame (463); and a miniature camera (467) is fixedly mounted on the bottom of the lead screw drive cylinder (462) frame by bolts. The magnetic clamping component (466) includes a limiting ring (4661) rotatably disposed inside the frame of the assembly frame (463); the transmission shaft of the second servo motor (465) is fixedly inserted into the sleeve shaft (4662); the sleeve shaft (4662) is rotatably disposed in the inner groove of the clamping plate (4663); the clamping plate (4663) is T-shaped, and a heat insulation pad (4664) is glued and fixed in the groove of the clamping plate (4663); the limiting ring (4661) and the clamping plate (4663) are respectively fixedly installed at the two broken ends of the torsion spring (4665); The welding torch assembly (44) includes a limit seat (441) fixedly installed at the end of a multi-axis robotic arm (43) on the rear side of the assembly assembly (42) by bolts; the limit seat (441) has a guide rail on its top, and the guide rail is slidably connected to the slide plate of the electromagnetic slide (442); the bottom of the electromagnetic slide (442) is fixedly installed with a locking block (443) by bolts; the welding torch (444) is clamped and fixed in the inner groove of the locking block (443).

2. The multifunctional modular robotic welding production line according to claim 1, characterized in that: The two-dimensional adjustment component (3) is specifically composed of a single set of horizontal linear actuators and a height linear actuator, and the horizontal linear actuators are parallel to the top support of the welded moving gantry (2).

3. The multifunctional modular robotic welding production line according to claim 2, characterized in that: The assembly moving gantry (6) displacement frame and the assembly robot arm installed on the displacement frame are both equipped with image acquisition camera (5) and sensors for information acquisition.

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