Intelligent assembly system and method for complex welding structure

Abstract

The present application belongs to the field of rail transit technology. A complex welding structure intelligent assembly system and method are provided. The assembly system comprises a chuck tool library, an assembly jig, a truss, an assembly robot and a welding robot arranged on the truss. The chuck tool library is used to provide a workpiece chuck. The assembly robot is used to clamp the assembly components to the assembly jig through the workpiece chuck. The assembly components comprise a brake seat, a cross beam steel pipe, a longitudinal beam and a brake and traction seat. The assembly jig is used to position the assembly components. The welding robot is used to weld the positioned assembly components. The present application realizes automatic adjustment and positioning of the assembly components. The assembly robot and the welding robot are used to realize cooperative work of component grabbing, positioning and spot fixing. The structure of the positioning jig is simplified. The universality of different structures is maximized. The flexibility of the system is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rail transit, in particular to a complex welding structure intelligent assembly system and method. BACKGROUND

[0002] The statements in this section merely provide background information related to the present application and do not necessarily constitute prior art.

[0003] The existing rail vehicle parts (side beams, cross beams, frames) are assembled, and most of the assembled parts are welding parts, which have low precision and difficult positioning reference. At present, manual assembly operation is mostly adopted, that is, first, rough positioning is performed through a tooling, and then the assembly size is detected and finally adjusted through manual detection to realize assembly operation. The process operation time is long, and it is difficult to realize automatic operation.

[0004] As shown in Figure 1 , it is a cross beam structure of a rail vehicle. The cross beam is an H-shaped tube plate structure, which includes a brake and traction seat, a brake seat, a cross beam steel pipe, a longitudinal beam and a motor hanger, etc. At present, each part is assembled into a cross beam through a welding tooling and manually. The work efficiency is low, and it is difficult to meet the needs of automatic production operation. SUMMARY

[0005] In order to solve the above problems, the present application provides a complex welding structure intelligent assembly system and method, which realizes automatic adjustment and positioning of welding parts, uses assembly robots and welding robots to cooperate, realizes the cooperation of part grabbing, positioning and point fixing, simplifies the structure of the positioning tooling, maximizes the universality of different structures, and improves the flexibility of the system.

[0006] According to some embodiments, the present application adopts the following technical scheme:

[0007] The first aspect of the present application provides a complex welding structure intelligent assembly system.

[0008] A complex welding structure intelligent assembly system, comprising: a chuck tool library, a welding tooling, a truss, and an assembly robot and a welding robot arranged on the truss;

[0009] The chuck tool library is used to provide a workpiece chuck, the assembly robot is used to grab the welding parts to the welding tooling through the workpiece chuck, and the welding parts include a brake seat, a cross beam steel pipe, a longitudinal beam and a brake and traction seat. The welding tooling is used for positioning the welding parts;

[0010] The welding robot is used for welding the positioned welding parts.

[0011] As a further limitation of the first aspect of the present application, a vision module is located on the gantry, which is used for code scanning confirmation after the robot picks up the assembly welding components and identification of the positioning reference line on the motor hanger.

[0012] As a further limitation of the first aspect of the present application, a first part calibration mechanism and a second part calibration mechanism are located on the gantry, the first part calibration mechanism is used for calibration of the brake seat or brake and traction seat, and the second part calibration mechanism is used for calibration of the motor hanger.

[0013] As a further limitation of the first aspect of the present application, the assembly welding tooling includes an assembly welding platform and a brake seat positioning device, a cross beam steel pipe positioning device, and a longitudinal beam positioning device located on the assembly welding platform.

[0014] As a further limitation of the first aspect of the present application, the brake seat positioning device is used for positioning the brake seat or brake and traction seat, the X-direction positioning of the brake seat or brake and traction seat is determined by the first part calibration mechanism and the assembly robot, and the Y-direction positioning of the brake seat or brake and traction seat is determined by the brake seat positioning device.

[0015] After the assembly robot places the brake seat or brake and traction seat on the brake seat positioning device, the brake seat positioning device moves to a predefined position, and the brake seat or brake and traction seat is fixed by a magnetic attraction device.

[0016] As a further limitation of the first aspect of the present application, the cross beam steel pipe positioning device includes a centering device, a steel pipe positioning mechanism, and a traction seat support, the steel pipe positioning mechanism is used to carry the cross beam steel pipe, the traction seat support is used to provide auxiliary support, and the centering device is used for axial centering positioning of the cross beam steel pipe.

[0017] As a further limitation of the first aspect of the present application, the longitudinal beam positioning device includes a support, an axial centering clamping device, and a longitudinal centering clamping device, the support is used to carry the longitudinal beam, the axial centering clamping device is used for axial clamping of the longitudinal beam, and the longitudinal centering clamping device is used for longitudinal clamping of the longitudinal beam.

[0018] As a further limitation of the first aspect of the present application, an RFID generating mechanism and a blanking system are further included, the RFID generating mechanism is used to automatically generate an RFID and paste the RFID on the welded cross beam by the assembly robot;

[0019] The blanking system includes a tooling transportation system and a conveying system, the tooling transportation system is used to transport the assembly welded workpiece to the conveying system, and the conveying system is used to transport the workpiece to a storage table.

[0020] As a further limitation of the first aspect of the application, it also comprises an RGV trolley for transporting welding components used by the welding robot, and a material tray for carrying the brake seat, cross beam steel pipe, longitudinal beam, and brake and traction seat.

[0021] In a second aspect, the application provides an intelligent assembly method for a complex welding structure, which is used in the intelligent assembly system for a complex welding structure according to the first aspect of the application, and comprises the following processes:

[0022] The assembly robot selects a suitable chuck according to the program, grabs the cross beam steel pipe, and places it on the assembly welding tooling after scanning the code by the vision module to position and fix it;

[0023] The assembly robot selects a suitable chuck, grabs the longitudinal beam, and places it on the assembly welding tooling after scanning the code by the vision module to position and fix it;

[0024] The assembly robot selects a suitable chuck, grabs the brake seat or brake and traction seat, and places it on the assembly welding tooling after scanning the code by the vision module to position and fix it;

[0025] The assembly robot selects a suitable chuck, grabs the motor hanger, and places it on the assembly welding tooling after scanning the code by the vision module to position and fix it;

[0026] The welding robot fixes each group of welding components;

[0027] After welding is completed, the assembly robot installs an RFID at the corresponding position of the cross beam, and the RFID number is automatically generated and contains the information of the components;

[0028] The workpiece after the RFID installation is transported to the material storage table by the blanking system.

[0029] Compared with the prior art, the application has the following beneficial effects:

[0030] 1. The application innovatively proposes an intelligent assembly system for a complex welding structure, which realizes automatic adjustment and positioning of the welding components, uses the assembly robot and the welding robot to work cooperatively, realizes cooperative work of component grabbing, positioning, and point fixing, simplifies the structure of the positioning tooling, maximizes the universality of different structures, and improves the flexibility of the system.

[0031] 2. The assembly welding tooling can realize accurate positioning of the welding components, can be programmed according to the structures of different welding components, and only needs to automatically call the set program to generate the assembly positioning size according to the information of the welding components during use.

[0032] 3. The application builds an automatic feeding and discharging, assembling and welding system, and the control system can be linked with work order information, automatically collects part information to realize unmanned operation and automatic information collection.

[0033] In order to make the above-mentioned objectives, features and advantages of the present application more apparent, a preferred embodiment is described below in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0034] The drawings constituting a part of the specification of the present application are used to provide a further understanding of the present application, the schematic embodiments of the present application and the description thereof are used to explain the present application, and do not constitute an improper limitation on the present application.

[0035] Figure 1 A structural schematic diagram of the cross beam provided in the background art;

[0036] Figure 2 A schematic diagram of the intelligent assembling system of the complex welding structure provided by the present application;

[0037] Figure 3 A schematic diagram of the assembling robot and the rack provided by the present application;

[0038] Figure 4 A schematic diagram of the assembling and welding tooling provided by the present application;

[0039] Figure 5 A schematic diagram of the brake seat positioning device provided by the present application;

[0040] Figure 6 A schematic diagram of the cross beam steel pipe positioning device provided by the present application;

[0041] Figure 7 A schematic diagram of the longitudinal beam positioning device provided by the present application;

[0042] Figure 8 A schematic diagram of the first part calibration mechanism provided by the present application;

[0043] Figure 9 A schematic diagram of the second part calibration mechanism provided by the present application;

[0044] Figure 10 A schematic diagram of the blanking system provided by the present application;

[0045] Wherein, 1, AGV trolley; 2, truss; 3, material tray; 4, assembly robot; 5, RFID generating mechanism; 6, assembly and welding tooling; 6-1, brake seat positioning device; 6-2, cross beam steel pipe positioning device; 6-2-1, centering device; 6-2-2, steel pipe positioning mechanism; 6-2-3, traction seat support; 6-3, longitudinal beam positioning device; 6-3-1 first centering clamping mechanism; 6-3-2, second centering clamping mechanism; 6-3-3, support; 6-4, assembly and welding platform; 7, welding robot; 8, blanking system; 8-1, tooling transmission system; 8-2, conveying system; 9, RGV trolley; 10, visual module; 11, chuck tool library; 12, part calibration mechanism; 12-1, first part calibration mechanism; 12-2, second part calibration mechanism. DETAILED DESCRIPTION

[0046] The application will be further described below with reference to the drawings and examples.

[0047] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the application. Unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the application pertains.

[0048] In view of the problems of unclear welding component features, low assembly positioning accuracy and difficulty in realizing automatic operation in the existing rail transit field during assembly and welding, the present implementation provides an intelligent assembly system for complex welding structure, as shown in Figure 2 and Figure 3 , which comprises an AGV trolley 1, a truss 2, a material tray 3, an assembly robot 4, an RFID generating mechanism 5, an assembly and welding tooling 6, a welding robot 7, a blanking system 8, an RGV trolley 9, a visual module 10 (a camera can be used here), a chuck tool library 11 and a part calibration mechanism 12.

[0049] In the present implementation, the chuck tool library 11 is used to provide workpiece chucks, such as chucks for clamping brake seats, chucks for clamping cross beam steel pipes, chucks for clamping longitudinal beams and chucks for clamping brake and traction seats, and of course, other auxiliary clamping chucks can also be included, which will not be described in detail here, and the main purpose is to provide a chuck supply library in the working space of the truss 2.

[0050] In the present implementation, the assembly robot 4 is used to clamp assembly and welding components to the assembly and welding tooling 6 by workpiece chucks, and the assembly and welding components include brake seats, cross beam steel pipes, longitudinal beams and brake and traction seats (as shown in Figure 1 .

[0051] The welding robot 7 is used to weld each assembly and welding component after positioning.

[0052] In the present embodiment, the assembly robot 4, the welding robot 7, the camera module 10, and the part calibration mechanism 12 are arranged on the truss 2. The truss 2 here is a frame type truss 2, that is, a rectangular frame structure fixed by a plurality of cross beams and longitudinal beams. The specific structure form is not described here again, as long as it can meet the requirements of rapid assembly and welding.

[0053] In the present embodiment, the material tray 3 and the chuck tool library 11 are arranged in the gap of the truss 2. The material tray 3 is used to carry the assembly and welding parts, which are transported by the AGV 1.

[0054] In the present embodiment, as shown in Figure 4 , the assembly and welding tool 6 includes a brake seat positioning device 6-1, a cross beam steel pipe positioning device 6-2, a longitudinal beam positioning device 6-3, and an assembly and welding platform 6-4.

[0055] As shown in Figure 5 , the brake seat positioning device 6-1 is used to position two assembly components of the brake and traction seat and the brake hanger seat. The X-direction positioning of the brake and traction seat and the brake hanger seat is determined by the part positioning mechanism 12 and the assembly robot 4, and the Y-direction positioning is realized by the brake seat positioning device 6-1.

[0056] The brake seat positioning device 6-1 is provided with a certain positioning step or bayonet. After the assembly robot 4 places the workpiece on the brake seat positioning device 6-1, the brake seat positioning device 6-1 moves to a pre-defined position, and a magnetic attraction device directly fixes the brake and traction seat and the brake hanger seat. The magnetic attraction device can be provided on the brake seat positioning device 6-1 or on the assembly and welding platform 6-4.

[0057] As shown in Figure 6 , the cross beam steel pipe positioning device 6-2 includes a centering device 6-2-1, a steel pipe positioning mechanism 6-2-2, and a traction seat support 6-2-3. The above three positions can be pre-programmed according to different structures. The assembly robot directly places the cross beam steel pipe on the steel pipe positioning mechanism 6-2-2 after grabbing it, and fixes it by the centering device 6-2-1. The traction seat support 6-2-3 is used for auxiliary support.

[0058] The centering device 6-2-1 in the present embodiment includes two opposite moving centering components. For example, the centering control of the two centering components can be realized by an electric push rod. The ends of the two centering components used to contact the cross beam steel pipe are provided with a certain flexible pad plate to reduce the collision with the cross beam steel pipe.

[0059] As shown in Figure 7As shown, the longitudinal beam positioning device 6-3 comprises a first centering clamping mechanism 6-3-1 (i.e. an axial centering clamping mechanism), a second centering clamping mechanism 6-3-2 (i.e. a longitudinal centering clamping mechanism), and a support 6-3-3. Here, two pairs of the second centering clamping mechanism 6-3-2 are provided to achieve more stable clamping.

[0060] The first centering clamping mechanism 6-3-1 and the second centering clamping mechanism 6-3-2 in the present embodiment each comprise two centering assemblies. The ends of the two centering assemblies for contacting the longitudinal beam are provided with flexible pads to reduce the impact on the longitudinal beam.

[0061] In the present embodiment, after the longitudinal beam is grabbed by the assembly robot 4 from the material pallet 3, due to the placement accuracy of the material on the material pallet 3, the assembly robot 4 may have deviation after grabbing. Therefore, the two sets of centering mechanisms (i.e. the first centering clamping mechanism 6-3-1 and the second centering clamping mechanism 6-3-2) on the longitudinal beam positioning device 6-3 are used for positioning and alignment. Then, the workpiece is fixed by the magnetic attraction device, and the first centering clamping mechanism 6-3-1 is retracted back to the assembly and welding platform 6-4. Here, the magnetic attraction device is located on the assembly and welding platform 6-4.

[0062] In the present embodiment, the part calibration mechanism 12, as shown in Figure 8 and Figure 9 comprises a first part calibration mechanism 12-1 (i.e. a brake seat calibration device) and a second part calibration mechanism 12-2 (i.e. a motor hanger seat calibration device). The first part calibration mechanism 12-1 mainly realizes position calibration through the gravity of the workpiece itself, i.e. provides an opening shape matching a specific position of the workpiece, so that the workpiece is automatically converted to a set pose. In addition to the preliminary calibration by gravity (i.e. using an opening shape matching the workpiece to achieve preliminary calibration), the second part calibration mechanism 12-2 also needs to use a centering device for secondary calibration, i.e. to accurately calibrate the workpiece after preliminary calibration by the centering device. Here, the centering device can use two centering pieces and an electric push rod to achieve flexible pushing, which will not be described here.

[0063] In the present embodiment, after the workpiece is completed and fixed, all the positioning and centering mechanisms are retracted back to the assembly and welding platform 6-4. The unloading system 8 comprises a tool transfer system 8-1 (which can be lifted) and a conveying system 8-2, as shown in Figure 10 The tool transfer system 8-1 is used to transport the workpiece after assembly and welding to the conveying system 8-2, and the conveying system 8-2 is used to transport the workpiece to the storage table.

[0064] In the present embodiment, the RFID generating mechanism 5 is used to automatically generate RFID and paste the RFID on the longitudinal beam after welding by the assembly robot 4.

[0065] The present embodiment further comprises an RGV trolley 9 for transporting welding components used by the welding robot.

[0066] The working method of the above-mentioned intelligent assembly system for complex welding structure of the present embodiment comprises: longitudinal beam assembly → cross beam steel pipe assembly → brake seat and brake and traction seat assembly → motor suspension seat assembly. More specific working scenarios comprise:

[0067] The AGV trolley 1 automatically transports the assembled welding components (placed on the material pallet 3) to the system working area, and the RGV trolley 9 transports the welding components to the welding area of the production line for welding work by the welding robot 7.

[0068] The assembly robot 4 selects the applicable chuck according to the program, first grabs the cross beam steel pipe and places it on the assembly welding tool 6 after scanning the code by the visual module 10, and the assembly welding tool 6 is positioned by the automatic cross beam steel pipe positioning device and fixed by the magnetic attraction device.

[0069] The assembly robot 4 selects the applicable chuck according to the program, first grabs the longitudinal beam and places it on the assembly welding tool 6 after scanning the code by the visual module 10, and the assembly welding tool 6 is positioned by the longitudinal beam positioning device 6-3 and fixed by the magnetic attraction device.

[0070] The assembly robot 4 selects the applicable chuck according to the program, first grabs the brake seat (similar to the brake and traction seat) and scans the code on the visual module 10, then calibrates it on the part calibration device (here, the first part calibration mechanism 12-1 is used), and finally places it on the assembly welding tool 6, which is automatically positioned by the brake seat positioning device 6-1 and fixed by the magnetic attraction device.

[0071] The assembly robot 4 selects the applicable chuck according to the program, first grabs the motor suspension seat and scans the code on the visual module 10, then calibrates it on the part calibration mechanism 12, and after preliminary calibration, scans the positioning reference line on the visual module 10 again. The assembly robot 4 automatically adjusts the position according to the scanned positioning reference line and assembles according to the assembly size.

[0072] After all the assembly welding components are assembled, the welding robot 7 fixes each assembly welding component.

[0073] After the assembly work is completed, the assembly robot 4 installs the RFID generated by the RFID generating mechanism 5 in the corresponding position of the cross beam, and the RFID number is automatically generated and contains the information of the parts.

[0074] After the assembly work is completed, the cross beam is transported to the storage table by the unloading system 8.

[0075] The above merely provides the preferred embodiments of the present application, and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the principles and technical scope of the present application shall fall into the scope of the present application.

Claims

1. An intelligent assembly system for complex welded structures, Characterized in that, It comprises a clamp tool library, an assembly tool, a truss, and an assembly robot and a welding robot arranged on the truss; The clamp tool library is used to provide a workpiece clamp, the assembly robot is used to clamp an assembly component to the assembly tool through the workpiece clamp, the assembly component comprises a brake seat, a cross beam steel pipe, a longitudinal beam, and a brake and traction seat, and the assembly tool is used to position the assembly component; It also comprises a first part calibration mechanism and a second part calibration mechanism on the truss, the first part calibration mechanism is used for calibration of the brake seat or the brake and traction seat, and the second part calibration mechanism is used for calibration of the motor suspension seat, the first part calibration mechanism realizes position calibration through gravity of the workpiece itself, and the second part calibration mechanism needs to accurately calibrate the workpiece after preliminary calibration through a centering device in addition to preliminary calibration by gravity; The welding robot is used to weld the assembly component after positioning.

2. The intelligent assembly system for a complex welded structure according to claim 1, characterized in that, It also comprises a visual module on the truss, the visual module is used to scan a code after the assembly robot clamps the assembly component and identify a positioning reference line on the motor suspension seat.

3. The intelligent assembly system for a complex welded structure according to claim 1, characterized in that, The assembly tool comprises an assembly platform and a brake seat positioning device, a cross beam steel pipe positioning device, and a longitudinal beam positioning device on the assembly platform.

4. The intelligent assembly system for a complex welded structure according to claim 3, characterized in that, The brake seat positioning device is used to position the brake seat or the brake and traction seat, X-direction positioning of the brake seat or the brake and traction seat is determined by the first part calibration mechanism and the assembly robot, and Y-direction positioning of the brake seat or the brake and traction seat is determined by the brake seat positioning device; After the assembly robot places the brake seat or the brake and traction seat on the brake seat positioning device, the brake seat positioning device moves to a predefined position, and the brake seat or the brake and traction seat is fixed by a magnetic attraction device.

5. The intelligent assembly system for a complex welded structure according to claim 3, characterized in that, The cross beam steel pipe positioning device comprises a centering device, a steel pipe positioning mechanism, and a traction seat support, the steel pipe positioning mechanism is used to bear the cross beam steel pipe, the traction seat support is used to provide auxiliary support, and the centering device is used to axially center the cross beam steel pipe.

6. The intelligent assembly system for a complex welded structure according to claim 3, characterized in that, The longitudinal beam positioning device comprises a support, an axial centering clamping device, and a longitudinal centering clamping device, the support is used to bear the longitudinal beam, the axial centering clamping device is used to axially clamp the longitudinal beam, and the longitudinal centering clamping device is used to longitudinally clamp the longitudinal beam.

7. The intelligent assembly system for a complex welded structure according to claim 1 or 2, characterized in that, It also comprises an RFID generating mechanism and a blanking system, the RFID generating mechanism is used to automatically generate an RFID and paste the RFID on the cross beam after welding through the assembly robot. The unloading system comprises a tool conveying system and a conveying system, the tool conveying system is used to deliver the assembled workpiece to the conveying system, and the conveying system is used to deliver the workpiece to the storage table.

8. The intelligent assembly system for complex welding structure according to claim 1 or 2, characterized in that, It further comprises an RGV trolley and a material pallet, the RGV trolley is used to convey welding components used by the welding robot, and the material pallet is used to carry the brake seat, the cross beam steel pipe, the longitudinal beam, and the brake and traction seat.

9. A method for intelligent assembly of complex welded structures, characterized by, The intelligent assembly system for complex welding structure according to any one of claims 1-8, The process comprises the following steps: The assembly robot selects a suitable clamp head, grabs the longitudinal beam, scans the code through the visual module, and then places and fixes the longitudinal beam on the workpiece assembly tool; The assembly robot selects a suitable clamp head, grabs the cross beam steel pipe, scans the code through the visual module, and then places and fixes the cross beam steel pipe on the workpiece assembly tool; The assembly robot selects a suitable clamp head, grabs the brake seat or the brake and traction seat, scans the code through the visual module, and then places and fixes the brake seat or the brake and traction seat on the workpiece assembly tool; The assembly robot selects a suitable clamp head, grabs the motor hanger, scans the code on the visual module, and then calibrates the motor hanger on the part calibration mechanism, scans the positioning reference line on the visual module after preliminary calibration, and the assembly robot automatically adjusts the position according to the scanned positioning reference line; The welding robot fixes the welding components; After welding, the assembly robot installs the RFID at the corresponding position of the cross beam, and the RFID number is automatically generated and contains the information of the parts; The workpiece after the RFID installation is conveyed to the storage table through the unloading system.

Images