A plate welding production line, a welding method and a plate gripping method

Abstract

The present application provides a plate welding production line, a welding method and a plate grabbing method for realizing welding of the plate, including an assembly device, a positioning device, a displacement device, a welding device and a transport device. The assembly device includes an assembly platform and a first limiting component for fixing the plate; the positioning device includes a placement platform and a second limiting component for realizing positioning of the plate; the displacement device includes a mounting platform capable of changing the position of the plate fixed on the mounting platform; the welding device includes a welding robot capable of moving and used for welding the plate; the transport device includes a track and a transport robot capable of moving along the track, and the transport robot can realize the transfer of the plate between any two of the assembly device, the positioning device, the displacement device and the welding device. Using the above-mentioned device to realize welding of the plate improves welding efficiency, saves welding costs, and improves safety during the welding process.

Description

Technical Field

[0001] The present application relates to the field of welding technology, and in particular to a plate welding production line, a welding method and a plate grabbing method. Background Art

[0002] When welding plates, such as corrugated plates, traditional manual welding requires manual operation, so the operator needs to maintain a stable welding posture for a long time, which puts a heavy burden on the body and has high labor intensity. In addition, there are problems such as unstable welding quality, low production efficiency, high welding cost, and low safety during the welding process. Summary of the Invention

[0003] In view of this, the present application provides a plate welding production line that solves the problems of high labor intensity, unstable welding quality, low production efficiency, high welding costs, and low safety during the plate welding process. The present application also provides a welding method applicable to the above-mentioned plate welding production line. The present application also provides a plate gripping method applicable to the above-mentioned plate welding production line.

[0004] In order to achieve the above objectives, this application provides the following technical solutions:

[0005] A plate welding production line, used for welding plates, comprising:

[0006] An assembly device, comprising an assembly platform and a first limiting component, for fixing the plate body;

[0007] A positioning device, comprising a placement platform and a second limiting component, for achieving positioning of the plate;

[0008] A displacement device, comprising a mounting platform, capable of changing the position of the plate fixed on the mounting platform;

[0009] A welding device, comprising a movable welding robot for welding the plate;

[0010] The transport device includes a track and a transport robot capable of moving along the track, and the transport robot can realize the transfer of the plate between any two of the assembling device, the positioning device, the displacement device and the welding device.

[0011] Optionally, a turning turntable is included, which is arranged close to the displacement device and is used to provide a placement position for the turned surface of the plate.

[0012] Optionally, some of the pairing device, the positioning device, the displacement device and the flip turntable are arranged on one side of the track, and the remaining devices are arranged on the other side of the track.

[0013] Optionally, the transport robot includes:

[0014] A robot gripper capable of gripping the plate;

[0015] The transport body is connected to the robot grabbing part and can drive the robot grabbing part to move along the track.

[0016] Optionally, the welding robot includes:

[0017] A robotic welding gun, used to weld the plate;

[0018] The robot body is connected to the robot welding gun and can drive the robot welding gun to move in at least two directions.

[0019] Optionally, the displacement device includes a rotating member connected to the mounting platform, and the rotating member can drive the plate body located on the mounting platform to rotate.

[0020] A welding method, applicable to any of the above-mentioned plate welding production lines, comprising at least the following steps:

[0021] S101: assembling the plates and fixing them to the assembly platform via the first limiting assembly;

[0022] S102: The transport device moves the plate on the assembly platform to the positioning device, and positions the plate through the placement platform and the second limiting assembly;

[0023] S103: The transport device moves the plate on the placement platform to the mounting platform of the displacement device and fixes the plate;

[0024] S104: The welding device drives the welding robot to weld the positions to be welded on one side of the plate until the positions to be welded on one side of the plate are welded completely;

[0025] S105: The transport device moves the plate with one side welded to the turning turntable, turns the plate over, and moves the plate to the installation platform;

[0026] S106: The welding device drives the welding robot to weld the positions to be welded on the other side of the plate until the positions to be welded on the other side of the plate are welded completely;

[0027] S107: The transport device unloads the welded plate located on the installation platform, completing a welding cycle for the plate.

[0028] Optionally, in S103, when the transport device moves the plate body on the placement platform to the installation platform, the installation platform is in an inclined position, and after the plate body is fixed to the installation platform, the installation platform is in a horizontal position.

[0029] Optionally, in S105, the transporting device grabs the first side of the plate located on the installation platform and places the plate on the flip turntable, and then the transporting device grabs the other side of the plate located on the flip turntable and places the plate on the installation platform.

[0030] A plate grabbing method, applicable to any of the plate welding production lines described above, comprises at least the following steps:

[0031] S201: If the sensor of the robot gripper senses the plate, the robot gripper grips the plate;

[0032] S202: If the sensor of the robot gripper does not sense the plate, the robot gripper moves 0.2 to 5 mm in the direction of the plate, and determines again whether the sensor of the robot gripper senses the plate.

[0033] S203: Repeat S202. If the sensor senses that the plate body repeats S201, and if the total distance moved by the robot grasping member in the direction of placing the plate body is greater than the total size of the plate body in the direction of placing the plate body, then terminate the grasping of the plate body.

[0034] The plate welding production line provided in the present application can quickly and efficiently realize the movement and welding of the plates by setting up an assembly device, a positioning device, a displacement device, a welding device and a handling device, thereby reducing the labor intensity during the welding process. The handling robot can realize the transfer of the plates between any two of the assembly device, the positioning device, the displacement device and the welding device to facilitate the movement of the plates between the above devices. The use of the above devices to realize the welding of the plates improves the welding efficiency, saves welding costs, and improves the safety during the welding process. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0036] Figure 1A schematic structural diagram of a plate welding production line provided in this embodiment;

[0037] Figure 2 for Figure 1 Middle partial enlarged view;

[0038] Figure 3 for Figure 1 A partial enlarged view of the intermediate positioner and welding device;

[0039] Figure 4 for Figure 2 A partial enlarged view of the robot's welding gun and positioning device;

[0040] Figure 5 This is a structural diagram of the robot grasping the plate.

[0041] Figure 1-Figure 5 middle:

[0042] 1-assembling device, 2-positioning device, 3-positioning device, 4-welding device, 5-handling device, 6-turntable, 7-positioning device, 8-board, 9-unloading station;

[0043] 11-assembly platform, 12-first limiting assembly, 21-placing platform, 22-second limiting assembly, 31-installation platform, 32-rotating part, 33-adsorption part, 34-clamping part, 41-frame, 42-welding robot, 51-handling robot, 52-track, 71-connecting frame, 72-movable part, 73-laser;

[0044] 511-Robot gripper, 512-Transportation body, 421-Robot welding gun, 422-Robot body; 4211-Connecting rod. DETAILED DESCRIPTION

[0045] The present application provides a plate welding production line. The present application also provides a welding method applicable to the plate welding production line. The present application also provides a plate grabbing method applicable to the plate welding production line.

[0046] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0047] like Figure 1-Figure 5As shown, an embodiment of the present application provides a plate welding production line, which is used to realize welding of the plate 8, and mainly includes an assembling device 1, a positioning device 2, a displacement device 3, a welding device 4 and a conveying device 5. The assembling device 1 includes an assembling platform 11 and a first limiting component 12 for fixing the plate 8; the positioning device 2 includes a placement platform 21 and a second limiting component 22 for realizing positioning of the plate 8; the displacement device 3 includes a mounting platform 31, which can change the position of the plate 8 fixed on the mounting platform 31; the welding device 4 includes a welding robot 42 that can move and is used to weld the plate 8; the conveying device 5 includes a track 52 and a conveying robot 51 that can move along the track 52, and the conveying robot 51 can realize the transfer of the plate 8 between any two of the assembling device 1, the positioning device 2, the displacement device 3 and the welding device 4.

[0048] Specifically, when using the plate welding production line to weld the plate 8, first place the plate 8 on the assembly platform 11, and fix the plate 8 to the first limiting component 12 through the first limiting component 12; then the handling robot 51 of the handling device 5 moves along the track 52 to the position of the assembly device 1, and grabs the plate 8 of the initial assembly and moves it to the position of the positioning device 2, places the plate 8 of the initial assembly on the placement platform 21 of the positioning device 2, and uses the second limiting component 22 to position the plate 8 to lift The accuracy of positioning of the plate 8; then the handling robot 51 moves the positioned plate 8 to the position of the mounting platform 31 of the positioner 3, and places the plate 8 on the mounting platform 31; the positioner 3 adjusts the position of the plate 8 fixed on the mounting platform 31, and the welding robot 42 of the welding device 4 welds the plate 8. After the welding robot 42 completes welding of the plate 8, the handling device 5 moves the welded plate 8 from the positioner 3 to the unloading station 9, thus completing a welding cycle for the plate 8.

[0049] It should be noted that the first limiting assembly 12 may be a pneumatic cylinder or a hydraulic cylinder, or a limiting block with an adjustable position that limits the plate 8, or a magnetic structure, etc. Correspondingly, the second limiting assembly 22 may be a pneumatic cylinder or a hydraulic cylinder, or a limiting block with an adjustable position that limits the plate 8, or a magnetic structure, etc.

[0050] It should also be noted that the plate body 8 is not limited here, and the plate body 8 can be a corrugated plate, a flat plate, a special-shaped plate, or other structures.

[0051] It should also be noted that the welding robot 42 of the welding device 4 is disposed on the upper side of the mounting platform 31 of the positioner 3 , so as to facilitate the welding robot 42 to weld the plate 8 .

[0052] The plate welding production line of the above structure can quickly and efficiently realize the movement and welding of the plate 8 by setting the assembly device 1, the positioning device 2, the displacement device 3, the welding device 4 and the handling device 5, thereby reducing the labor intensity during the welding process. The handling robot 51 can realize the transfer of the plate 8 between any two of the assembly device 1, the positioning device 2, the displacement device 3 and the welding device 4, so as to facilitate the movement of the plate 8 between the above devices. The use of the above devices to weld the plate 8 improves welding efficiency, saves welding costs, and improves safety during the welding process.

[0053] In some embodiments, a flip turntable 6 is included, which is used to provide a placement position for the flipped plate 8. Here, by setting the flip turntable 6 in the plate welding production line, after the welding device 4 completes welding one side of the plate 8 located on the mounting platform 31 of the displacement device 3, the flip turntable 6 can be set to facilitate welding on the other side of the plate 8, thereby improving welding efficiency; further, the flip turntable 6 is set close to the displacement device 3 to reduce the moving distance of the transport device 5 and improve the flipping efficiency of the plate 8. Exemplarily, the flip turntable 6 is a tilted placement table, and at least a partial area of the placement table is hollowed out.

[0054] In this embodiment, an optional implementation is provided. After the welding device 4 completes welding of one side of the plate 8 located on the mounting platform 31 of the displacement device 3, the handling robot 51 grabs the welded side of the plate 8 and places the plate 8 on the flip turntable 6. Thereafter, the handling robot 51 releases the adsorption of the plate 8, and the handling robot 51 changes its posture. The gripper of the handling robot 51 is located on the lower side of the plate 8, adsorbs the unwelded side of the plate 8, and places the plate 8 on the mounting platform 31 and fixes it so that the unwelded side faces the welding robot 42 of the welding device 4, thereby completing the flipping of the plate 8.

[0055] In this embodiment, another optional implementation is also provided. When the welding device 4 completes welding on one side of the plate 8 located on the mounting platform 31 of the displacement device 3, the handling robot 51 grabs the welded side of the plate 8 and places the plate 8 on the flip turntable 6. When the plate 8 is placed on the flip turntable 6, the gripper of the handling robot 51 is located on the lower side of the plate 8, so that the welded side of the plate 8 placed on the flip turntable 6 faces downward and the unwelded side faces upward. Then, the handling robot 51 changes its posture and the gripper is located on the upper side of the plate 8, adsorbs the unwelded side of the plate 8, and places the plate 8 on the mounting platform 31 and fixes it, so that the unwelded side faces the welding robot 42 of the welding device 4, and the flipping of the plate 8 is completed.

[0056] In some embodiments, some of the assembling device 1, positioning device 2, position shifting device 3, and turnover turntable 6 are arranged on one side of the track 52, and the remaining devices are arranged on the other side of the track 52. This arrangement can shorten the movement distance of the handling robot 51 when transferring the plate 8 between any two of the assembling device 1, positioning device 2, position shifting device 3, and turnover turntable 6, thereby improving the efficiency of the handling robot 51 in moving the plate 8, and further improving the welding processing efficiency of the plate welding production line.

[0057] It should be noted that the number of the pairing device 1, the positioning device 2, the displacement device 3, the welding device 4 and the flip turntable 6 is not limited here, and one or more of the above devices can be set. For example, in the welding production line, multiple pairing devices 1 are set to achieve the pairing of various different types of plates, and one positioning device 2 is set to efficiently achieve the positioning of the plate after the pairing is completed; multiple displacement devices 3 are set, and the corresponding welding devices 4 are set in the same number as the displacement devices 3 to improve the welding efficiency of the welded parts located on the displacement devices 3; one flip turntable 6 is set and is set in the middle of the multiple displacement devices 3 to shorten the distance for the conveying device 5 to flip the plate 8; one conveying device 5 is set, and the above welding actions on the plate 8 are staggered and performed crosswise to improve the welding production efficiency of the plate 8 of the plate welding production line.

[0058] In some embodiments, the transport robot 51 includes a robot gripper 511 and a transport body 512. The robot gripper 511 is capable of gripping the panel 8; the transport body 512 is connected to the robot gripper 511 and is capable of driving the robot gripper 511 along the track 52. By providing the transport body 512 to move along the track 52, the robot gripper 511 can conveniently move along the track 52 after gripping the panel 8, thereby improving the efficiency of panel 8 movement.

[0059] In some embodiments, the welding device 4 includes a frame 41 and a welding robot 42 disposed on the frame 41. The welding robot 42 includes a robot welding gun 421 and a robot body 422. The robot welding gun 421 is used to achieve welding of the plate 8; the robot body 422 is connected to the robot welding gun 421 and can drive the robot welding gun 421 to move in at least two directions. Exemplarily, the robot body 422 includes at least one moving part and / or at least one rotating part. The robot body 422 drives the robot welding gun 421 to move and / or rotate through at least one moving part and / or at least one rotating part, thereby efficiently achieving welding of the position to be welded of the plate 8. Here, the robot body 422 is connected to the robot welding gun 421 to drive the robot welding gun 421 to move in at least two directions, thereby achieving welding efficiency of the position to be welded of the plate 8.

[0060] In some embodiments, the plate welding production line further includes a positioning device 7 provided on the robotic welding gun 421. The positioning device 7 is used to scan the welding position of the plate 8 so as to enable the robotic welding gun 421 to weld the position to be welded on the plate 8. Specifically, the positioning device 7 is connected to the robotic welding gun 421. The positioning device 7 scans the position to be welded on the plate 8. The robotic welding gun 421 and the positioning device 7 move synchronously to achieve welding on the position to be welded on the plate 8. With such a configuration, the welding quality of the plate 8 by the welding robot 42 is improved, and the welding efficiency of the plate 8 is improved.

[0061] In some embodiments, the positioning device 7 includes a connecting frame 71, a movable part 72 and a laser 73. The connecting frame 71 is fixedly connected to the limiting surface; one end of the movable part 72 is connected to the connecting frame 71, and the other end is connected to the laser 73 for positioning of the positioning device 7, and the movable part 72 can adjust the relative position of the laser 73 and the welding robot 42.

[0062] In some embodiments, when the positioning device 7 and the welding robot 42 move to achieve welding of the plate 8 at the position to be welded, the positioning device 7 is usually a laser 73, and the intersection of the light emitted by the laser 73 and the center of the weld coincides with the welding position of the welding robot 42, thereby improving the welding accuracy of the welding robot 42; however, since the robot welding gun 421 includes a connecting rod 4211, and the connection with the robot plate 8 is achieved through the connecting rod 4211, and the connecting rod 4211 is usually a cylindrical rod-shaped member, then in the process of the robot welding gun 421 and the laser 73 moving together, the laser 73 may be hit by the outside world, causing the laser 73 to rotate relative to the connecting rod 4211, which causes the relative position of the laser 73 and the welding robot 42 to change, resulting in a deviation in the welding position of the welding robot 42 to the plate 8, resulting in poor welding forming effect of the plate 8. Based on this, a limiting surface is opened on the connecting rod 4211, and the positioning device 7 is connected to the connecting rod 4211 through the limiting surface. The positioning device 7 is connected to the connecting rod 4211 at the position of the limiting surface of the connecting rod 4211, thereby improving the stability of the connection between the positioning device 7 and the connecting rod 4211, and avoiding the relative position of the positioning device 7 and the welding robot 42 from changing when the positioning device 7 is hit, thereby ensuring the forming effect of the welding robot 42 on the plate 8.

[0063] It should be noted that the position of the limiting surface on the connecting rod 4211 is not limited here. For example, the limiting surface can be opened at any position on the connecting rod 4211, such as Figure 3 The limiting surface can be set at the connection position of the connecting rod 4211 and the robot body 422, such as Figure 3 The position shown in B.

[0064] In some embodiments, the displacement device 3 includes a rotating member 32 connected to the mounting platform 31, and the rotating member 32 can drive the plate 8 located on the mounting platform 31 to rotate. Specifically, when the handling device 5 places the plate 8 located on the positioning device 2 or the plate 8 located on the flip turntable 6 onto the mounting platform 31 of the displacement device 3, the rotating member 32 drives the mounting platform 31 to rotate so that the mounting platform 31 is tilted. Since the welding robot 42 is located on the upper side of the mounting platform 31, tilting the mounting platform 31 can facilitate the handling robot 51 to place the plate 8 on the mounting platform 31, so as to reduce or even avoid interference between the handling robot 51 and the welding device 4 in the process of moving the plate 8, avoid collision between the handling robot 51 and the welding device 4, and facilitate the handling of the plate 8 by the handling device 5.

[0065] In some embodiments, the mounting platform 31 is provided with an adsorption member 33 and / or a clamping member 34 for fixing the plate 8. Specifically, when the handling device 5 places the plate 8 located on the positioning device 2 or the turning turntable 6 onto the mounting platform 31, or places the plate 8 on the mounting platform 31 onto the turning turntable 6 or the unloading platform, the adsorption member 33 and / or the clamping member 34 for fixing the plate 8 provided on the mounting platform 31 can facilitate the fixing or releasing of the plate 8, thereby improving the welding efficiency of the plate 8.

[0066] A welding method is applicable to the above-mentioned plate welding production line. Since the welding method is applicable to the above-mentioned plate welding production line, the beneficial effects of the welding method brought by the plate welding production line can be found in the above content and will not be repeated here.

[0067] A welding method comprises at least the following steps:

[0068] S101: Assemble the plates 8 and fix them to the assembly platform 11 through the first limiting assembly 12;

[0069] S102: The transport device 5 moves the plate 8 on the assembly platform 11 to the positioning device 2, and positions the plate 8 by placing the platform 21 and the second limiting assembly 22;

[0070] S103: The transport device 5 moves the plate 8 on the placement platform 21 to the mounting platform 31 of the displacement device 3 and fixes it;

[0071] S104: The welding device 4 drives the welding robot 42 to weld the positions to be welded on one side of the plate body 8 until the positions to be welded on one side of the plate body 8 are welded completely;

[0072] S105: The transport device 5 moves the plate 8 with one side welded to the turning transfer table 6, turns the plate 8 over, and moves the plate 8 to the installation platform 31;

[0073] S106: The welding device 4 drives the welding robot 42 to weld the positions to be welded on the other side of the plate body 8 until the positions to be welded on the other side of the plate body 8 are welded completely;

[0074] S107 : The transport device 5 unloads the welded plate 8 on the mounting platform 31 , completing a welding cycle for the plate 8 .

[0075] Specifically, the specific steps of the welding method are: first, the operator prepares the incoming material of the plate 8, confirms the placement direction, and checks the material product model; turns on the main power supply, electrical control cabinet, and welding robot 42; selects the corresponding electrical program and robot program, and checks the gas, equipment self-test, interference check and other preparatory work; then, the plate 8 to be welded is assembled and fixed on the assembling platform 11 of the assembling device 1 through the first limiting component 12; then, the conveying body 512 drives the robot grasping part 511 to move to the position of the assembling device 1 along the track 52, moves the assembled plate 8 and places it on the placement platform 21 of the positioning device 2, and realizes the positioning of the plate 8 through the second limiting component 22; then, the robot grasping part 511 grabs the plate 8 that has been positioned on the placement platform 21, and moves it to the installation platform 31 of the displacement device 3 through the conveying body 512 and is set on the installation platform The adsorption part 33 and / or the clamping part 34 on 31 are fixed; then, the welding robot 42 moves close to the plate 8, and the positioning device 7 cooperates with the welding robot 42 to realize welding of the position to be welded of the plate 8 until the welding of one side of the plate 8 is completed; then, the robot grasping part 511 grasps the plate 8 with one side welded, and moves it to the flip turntable 6 through the conveying body 512, and moves the flipped plate 8 to the installation platform 31, so that the side of the plate 8 that has not been welded is close to the welding device 4; then, the welding robot 42 moves close to the plate 8, and the positioning device 7 cooperates with the welding robot 42 to realize welding of the position to be welded of the plate 8 until the welding of the other side of the plate 8 is completed; finally, the robot grasping part 511 grasps the plate 8 with one side welded, and unloads the plate 8 located on the installation platform 31 through the conveying body 512, thereby completing a welding cycle of the plate 8 on the plate welding production line.

[0076] In some embodiments, in S103, when the handling device 5 moves the plate 8 located on the placement platform 21 to the installation platform 31, the installation platform 31 is in an inclined position. After the plate 8 is fixed to the installation platform 31, the installation platform 31 is in a horizontal position. Specifically, since the welding device 4 is located above the installation platform 31, when the plate 8 is placed on the installation platform 31 or when the plate 8 is removed from the installation platform 31, the welding device 4 will interfere with the handling robot 51, which may damage the welding device 4 or the handling robot 51. Here, by placing the installation platform 31 in an inclined position, the above-mentioned interference can be reduced or even avoided, thereby protecting the welding device 4 and the handling robot 51 and facilitating the handling of the plate 8 by the handling device 5. In addition, after the plate 8 is fixed to the installation platform 31, the installation platform 31 is in a horizontal position, which can facilitate the welding of the plate 8 by the welding device 4 and improve welding efficiency.

[0077] Exemplarily, when the mounting platform 31 is in an inclined position, the angle between the mounting platform 31 and the horizontal direction can be greater than or equal to 20° and less than or equal to 80°, and the angle can be 20°, 30°, 45°, 60°, 70°, 80°, etc.

[0078] In some embodiments, in S105, the handling device 5 grabs the first side of the plate 8 located on the mounting platform 31 and places the plate 8 on the turning turntable 6. Thereafter, the handling device 5 grabs the other side of the plate 8 located on the turning turntable 6 and places the plate 8 on the mounting platform 31. This arrangement facilitates the turning of the plate 8, improves the welding efficiency of the plate 8, and enables rapid and efficient welding of both sides of the plate 8.

[0079] A plate grabbing method is applicable to the above-mentioned plate welding production line. Since the plate grabbing method is applicable to the above-mentioned plate welding production line, the beneficial effects of the plate grabbing method brought by the plate welding production line can be found in the above content and will not be repeated here.

[0080] When the robotic gripper 511 of the handling device 5 grasps the welded plate 8, due to errors in the processing of the plate 8, the robotic gripper 511 may not accurately grasp the plate 8, resulting in reduced grasping efficiency. The grasping method of the plate 8 refers to the grasping method of the stacked plates 8, for example, removing the welded plate 8 from the unloading station 9.

[0081] A plate grabbing method comprises at least the following steps:

[0082] S201: If the sensor of the robot grasping member 511 senses the plate 8, the robot grasping member 511 grasps the plate 8;

[0083] S202: If the sensor of the robot gripper 511 does not sense the plate 8, the robot gripper 511 moves 0.2 to 5 mm in the direction in which the plate 8 is placed, and determines again whether the sensor of the robot gripper 511 senses the plate 8;

[0084] S203: Repeat S202. If the sensor senses the plate 8, repeat S201. If the total distance moved by the robot grasping member 511 in the direction of placing the plate 8 is greater than the total size of the plate 8 in the direction of placing the plate 8, the grasping of the plate 8 is terminated.

[0085] It should be noted that, taking the vertical stacking of the plates as an example, the direction of placing the plate body 8 is the vertical direction. For example, the direction of placing the plate body 8 is Figure 4 The direction indicated by the double-headed arrow Z.

[0086] Specifically, the specific steps of the plate grabbing method are as follows: the robot grabbing part 511 moves downward 0.2 to 5 mm each time. If the sensor located on the robot grabbing part 511 senses the plate 8, the robot grabbing part 511 grabs the plate 8 for subsequent operations; if the sensor on the robot grabbing part 511 does not sense the plate 8, the robot grabbing part 511 continues to move downward 0.2 to 5 mm, and the sensor located on the robot grabbing part 511 senses again whether the plate 8 is detected. If the plate 8 is detected, the plate 8 is grabbed. If the plate 8 is not detected, the above-mentioned downward movement is repeated until the total downward movement distance of the robot grabbing part 511 is greater than the total size of the plate 8 in the direction of placing the plate 8, and the grabbing action of the plate 8 is terminated, that is, there is no plate 8 to be grabbed at the unloading station 9.

[0087] It should also be noted that the moving distance of the robot grabbing member 511 is not limited here, and the moving distance of the robot grabbing member 511 each time can be the same or different.

[0088] Furthermore, an elastic buffer is provided in the robot gripper 511 to play a role of buffering and shock absorption when the gripper contacts the plate 8 during the downward movement of the gripper of the robot gripper 511, thereby avoiding damage to the gripper or the plate 8.

[0089] Illustratively, the distance that the robot grasping member 511 moves downward each time can be 0.2 mm, 0.3 mm, 0.5 mm, 0.8 mm, 1 mm, 1.2 mm, 1.5 mm, 2 mm, 3 mm, 4 mm, 4.5 mm, 4.8 mm, 5 mm, etc.

[0090] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this application are merely illustrative and not restrictive, and it should not be assumed that these advantages, strengths, and effects are required of each embodiment of this application. In addition, the specific details disclosed above are merely illustrative and facilitating understanding, and are not restrictive. The above details do not limit this application to necessarily being implemented using the above specific details.

[0091] The block diagrams of the devices, devices, equipment, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0092] It should also be noted that in the apparatus, device, and method of the present application, each component or each step can be decomposed and / or recombined, and such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0093] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0094] It should be understood that the qualifiers "first", "second", "third", "fourth", "fifth" and "sixth" used in the description of the embodiments of the present application are only used to more clearly illustrate the technical solutions and cannot be used to limit the scope of protection of the present application.

[0095] The above description has been provided for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A plate welding production line, characterized in that: Used to realize welding of plate, including: An assembly device, comprising an assembly platform and a first limiting component, for fixing the plate body; A positioning device, comprising a placement platform and a second limiting component, for achieving positioning of the plate; A displacement device, comprising a mounting platform, capable of changing the position of the plate fixed on the mounting platform; A welding device, comprising a movable welding robot for welding the plate; A handling device, comprising a track and a handling robot capable of moving along the track, wherein the handling robot is capable of transferring the plate between any two of the assembling device, the positioning device, the displacement device, and the welding device; A turning turntable, which is arranged near the displacement device and is used to provide a placement position for the turned surface of the plate; In which, the displacement device includes a rotating part connected to the mounting platform, and the rotating part can drive the plate body located on the mounting platform to rotate; the assembly device, the positioning device, the displacement device and part of the flip turntable are arranged on one side of the track, and the remaining devices are arranged on the other side of the track.

2. The plate welding production line according to claim 1, characterized in that: The handling robot comprises: a robot gripper capable of gripping the plate; The transport body is connected to the robot grabbing part and can drive the robot grabbing part to move along the track.

3. The plate welding production line according to claim 1, characterized in that: The welding robot comprises: A robotic welding gun, used for welding the plate; The robot body is connected to the robot welding gun and can drive the robot welding gun to move in at least two directions.

4. A welding method, characterized in that: The plate welding production line applicable to any one of claims 1 to 3 comprises at least the following steps: S101: assembling the plates and fixing them to the assembly platform via the first limiting assembly; S102: The transport device moves the plate on the assembly platform to the positioning device, and positions the plate through the placement platform and the second limiting assembly; S103: The transport device moves the plate on the placement platform to the mounting platform of the displacement device and fixes the plate thereon; S104: The welding device drives the welding robot to weld the positions to be welded on one side of the plate until the positions to be welded on one side of the plate are welded completely; S105: The transport device moves the plate with one side welded to the turning turntable, turns the plate over, and moves the plate to the installation platform; S106: The welding device drives the welding robot to weld the positions to be welded on the other side of the plate until the positions to be welded on the other side of the plate are welded completely; S107: The transport device unloads the welded plate located on the installation platform, completing a welding cycle for the plate.

5. The welding method according to claim 4, characterized in that In S103 , when the transport device moves the plate on the placement platform to the installation platform, the installation platform is in an inclined position. After the plate is fixed to the installation platform, the installation platform is in a horizontal position.

6. The welding method according to claim 4, characterized in that In S105, the transport device grabs the first side of the plate on the installation platform and places the plate on the flip turntable, and then the transport device grabs the other side of the plate on the flip turntable and places the plate on the installation platform.

7. A plate grabbing method, characterized in that: The plate welding production line applicable to any one of claims 1 to 3 comprises at least the following steps: S201: If the sensor of the robot gripper senses the plate, the robot gripper grips the plate; S202: If the sensor of the robot gripper does not sense the plate, the robot gripper moves 0.2-5 mm in the direction of the plate, and determines again whether the sensor of the robot gripper senses the plate. S203: Repeat S202. If the sensor senses that the plate body repeats S201, and if the total distance moved by the robot grasping member in the direction of placing the plate body is greater than the total size of the plate body in the direction of placing the plate body, then terminate the grasping of the plate body.

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