Spot welding fixing device for automatic adjustment of longitudinal bone and using method

Abstract

The invention relates to a spot welding fixing device for automatic longitudinal adjustment, which comprises a group of walking end beams which are symmetrically arranged, each walking end beam is provided with a group of upright posts, a main cross beam is arranged between the two walking end beams, and the main cross beam is connected with the upright posts in an up-and-down movable manner through a longitudinal adjustment device; a visual camera, a laser position sensor, a longitudinal bone adsorption device and a longitudinal bone pressing device are installed below the main cross beam, and the longitudinal bone pressing device is used for pressing a longitudinal bone so that the longitudinal bone can be attached to the panel; the longitudinal adjusting device is arranged on the inner side of the stand column and connected with the longitudinal adjusting electric push cylinder, and the longitudinal adjusting device is pushed by the longitudinal adjusting electric push cylinder to be used for adjusting the position and the angle of the longitudinal; the automatic electric welding robots are installed on the two sides of the main cross beam through linear guide rails. In the using process, the positions and the angles of the longitudinal ribs are automatically adjusted according to different incoming material positions, then the longitudinal ribs and the panel are fixed in a spot welding mode through a welding trolley, and therefore the welding efficiency of plane segmentation is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of automated equipment, in particular to a spot welding fixing device for automatic adjustment of longitudinal bones and a use method thereof. Background Art

[0002] In the shipbuilding industry with existing technology, the assembly spot welding of longitudinal bones and panels is the most basic work in the shipbuilding process. This work is the work station that uses the most labor in shipbuilding. At present, although many shipbuilding companies use tooling to spot weld longitudinal bones and panels, most of the existing work still relies heavily on the experience of workers and has not achieved automated operations, which greatly increases costs and prolongs the shipbuilding cycle.

[0003] At the same time, the existing welding technology still has problems such as poor alignment accuracy and the need for repeated manual checks, resulting in low efficiency and time-consuming and labor-intensive problems.

[0004] Therefore, there is an urgent need for a spot welding fixture that can automatically adjust the longitudinal bones to achieve automatic adjustment and welding. Summary of the invention

[0005] The purpose of the present invention is to provide an improved spot welding fixture for automatic adjustment of longitudinal bones and a method of use. Through the improvement of the structure and method, the placement position and posture of the longitudinal bones can be automatically adjusted and the longitudinal bones can be automatically spot welded, which can greatly reduce costs and improve the shipbuilding cycle.

[0006] In order to achieve the above-mentioned purpose, the technical solution of the present invention is: a spot welding fixture for automatic adjustment of longitudinal bones, used for spot welding of longitudinal bones and panels, characterized in that: the spot welding fixture includes a group of symmetrically arranged walking end beams, each walking end beam is provided with a group of columns, a main crossbeam is provided between the two walking end beams, and the main crossbeam is connected to the columns through a longitudinal bone adjustment device to form an up and down movable connection; a visual camera, a laser position sensor, a longitudinal bone adsorption device and a longitudinal bone clamping device are installed under the main crossbeam, and the longitudinal bone clamping device is used to clamp the longitudinal bone so that the longitudinal bone is fitted with the panel; the longitudinal bone adjustment device is arranged on the inner side of the column, and the longitudinal bone adjustment device is connected to the longitudinal bone adjustment electric push cylinder, and the longitudinal bone adjustment device is used to adjust the position and angle of the longitudinal bone under the push of the longitudinal bone adjustment electric push cylinder; the automatic electric welding robot is installed on both sides of the main crossbeam through linear guides.

[0007] Preferably, the longitudinal bone adsorption device includes a frame and an electromagnet arranged on the frame, and a transverse electric push cylinder is provided on one side of the longitudinal bone adsorption device for adjusting the front-to-back distance of the longitudinal bone.

[0008] Furthermore, two sets of visual cameras and two sets of laser limit sensors are provided under the main beam. The visual cameras are used to detect the plane deflection angle between the actual position of the longitudinal bone and the required position, and the laser limit sensor is used to detect the error between the actual vertical angle of the longitudinal bone and the required vertical angle.

[0009] Furthermore, the walking end beam is installed above the track through walking wheels, and a servo motor is arranged on the outer side of the walking end beam to drive the spot welding fixture to move forward and backward.

[0010] Furthermore, a top frame is provided above the column, and an electric hoist is provided on the lower side of the top frame for pulling the longitudinal bones to move up and down.

[0011] A method for using a spot welding fixture for automatic adjustment of longitudinal bones, characterized in that the method comprises the following steps: a. Preliminary work for welding, transporting the panel with marking to the workstation where the spot welding fixture is located, and driving the spot welding fixture to the front of the longitudinal bone stacking platform by a walking end frame; b. Transporting the longitudinal bones to the welding position, firstly energizing the longitudinal bone adsorption device to adsorb the longitudinal bones, then lifting the longitudinal bones by an electric hoist, transporting the longitudinal bones to the panel marking position by a walking end beam, and lowering the longitudinal bones by hoisting the main cross beam by an electric hoist; c. Detecting the actual position of the longitudinal bones with a visual camera The angle error of the marking position is detected by the electric push rod, which pushes the main beam to the required angle according to the angle error value; the laser limit sensor detects the vertical angle error between the longitudinal bone and the panel, and the electric push rod pushes the main beam to adjust the vertical angle between the longitudinal bone and the panel according to the error value; d. After the plane angle and the vertical angle are adjusted, the horizontal electric push cylinder pushes the longitudinal bone to the required position according to the front and rear difference between the actual position of the longitudinal bone and the marking position; e. The clamping hydraulic cylinder under the longitudinal bone presses the longitudinal bone and the panel together, and the automatic spot welding robot spot welds the longitudinal bone and the panel to fix them; f. The longitudinal bone and the panel are transported to the next workstation.

[0012] Preferably, in step c, the visual camera deflection angle calculation formula is as follows:

[0013]

[0014] α is the deflection angle, (x1, y1) is a visual camera detection point, (x2, y2) is another visual camera detection point 2, and S is the distance between the two visual cameras;

[0015] The laser position sensor deflection angle calculation formula is as follows:

[0016]

[0017] α is the deflection angle, L1 is the detection distance of one laser position sensor, L2 is the detection distance of another laser position sensor, and S is the distance between the two laser position sensors.

[0018] Compared with the prior art, the technical solution of the present invention not only improves the overall technical solution, but also includes many improvements in details. Specifically, it has the following beneficial effects:

[0019] 1. The improved solution of the present invention comprises a set of symmetrically arranged walking end beams, each walking end beam is provided with a set of columns, a main crossbeam is provided between the two walking end beams, the main crossbeam is connected with the columns through a longitudinal bone adjustment device to form an up-and-down movable connection, and the automatic electric welding robot is installed on both sides of the main crossbeam through a linear guide rail, and the longitudinal bone and the panel can be fixed by spot welding, thereby improving the welding efficiency and saving time and labor;

[0020] 2. In the technical solution of the present invention, a visual camera, a laser position sensor, a longitudinal bone adsorption device and a longitudinal bone pressing device are installed below the crossbeam. The longitudinal bone pressing device is used to press the longitudinal bone so that the longitudinal bone fits the panel; the longitudinal bone adjustment device is arranged on the inner side of the column, and the longitudinal bone adjustment device is connected to the longitudinal bone adjustment electric push cylinder. The longitudinal bone adjustment device is driven by the longitudinal bone adjustment electric push cylinder to adjust the position and angle of the longitudinal bone, thereby improving the accuracy of welding, and at the same time, it has high compatibility and a wide range of applications;

[0021] 3. The method of use of the present invention is relatively simple and easy to operate, and is suitable for spot welding of most longitudinal bones and panels, with high welding efficiency;

[0022] 4. The present invention has a simple structure, reasonable layout, and is easy to use and popularize and utilize. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of an embodiment of the present invention.

[0024] Figure 2 It is a schematic diagram of the local structure of the present invention.

[0025] Figure 3 This is a detection principle diagram of a laser limit sensor in one embodiment of the present invention.

[0026] Figure 4 This is a schematic diagram of the visual camera detection principle in one embodiment of the present invention.

[0027] Figure 5 It is a structural schematic diagram of the electric hoist and the top frame of the present invention.

[0028] Figure 6 This is a schematic diagram of the use status of the present invention.

[0029] Reference numerals:

[0030] 1 walking end beam, 2 upright column, 3 main cross beam, 4 visual camera, 5 laser limit sensor, 6 longitudinal bone adsorption device, 7 longitudinal bone adjustment device, 8 longitudinal bone clamping device, 9 automatic spot welding robot, 10 linear guide rail;

[0031] 11 top frame, 12 electric hoist, 13 panel, 14 longitudinal bone;

[0032] 21-column electric push cylinder;

[0033] 61 lateral electric push cylinder;

[0034] 71 Longitudinal bone adjustment electric push cylinder. DETAILED DESCRIPTION

[0035] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] The present invention provides a spot welding fixing device for automatic adjustment of longitudinal bones, which is used for spot welding of longitudinal bones 14 and panels 13. Figure 1 The difference between the spot welding fixture and the prior art lies in that: the spot welding fixture comprises a group of symmetrically arranged walking end beams, each walking end beam is provided with a group of columns, a main crossbeam is provided between the two walking end beams, and the main crossbeam is connected to the column through a longitudinal bone adjustment device to form an up and down movable connection; a visual camera, a laser position sensor, a longitudinal bone adsorption device and a longitudinal bone clamping device are installed under the main crossbeam, and the longitudinal bone clamping device is used to clamp the longitudinal bone so that the longitudinal bone fits the panel; the longitudinal bone adjustment device is arranged on the inner side of the column, and the longitudinal bone adjustment device is connected to the longitudinal bone adjustment electric push cylinder, and the longitudinal bone adjustment device is used to adjust the position and angle of the longitudinal bone under the push of the longitudinal bone adjustment electric push cylinder; the automatic electric welding robot is installed on both sides of the main crossbeam through linear guides.

[0037] When in use, the device of the present invention can spot-weld and fix the longitudinal bones and the panels. During use, the position and angle of the longitudinal bones are automatically adjusted according to the different positions of the incoming materials, so that the longitudinal bones and the panels are assembled to the required positions. After that, the welding trolley spot-welds and fixes the longitudinal bones and the panels, thereby greatly improving the welding efficiency of the plane segments. Therefore, the device can automatically adjust the position of the longitudinal bones and spot-weld and fix the longitudinal bones and the panels, and has the advantages of high compatibility, simple structure, reliable use, time saving and improved efficiency.

[0038] Example 1

[0039] In this embodiment, the spot welding fixing device includes a group of symmetrically arranged walking end beams, each walking end beam is provided with a group of columns, a main crossbeam is provided between the two walking end beams, and the main crossbeam is connected to the column through a longitudinal bone adjustment device to form an up and down movable connection; a visual camera, a laser position sensor, a longitudinal bone adsorption device and a longitudinal bone clamping device are installed under the main crossbeam, and the longitudinal bone clamping device is used to clamp the longitudinal bone so that the longitudinal bone fits the panel; the longitudinal bone adjustment device is arranged on the inner side of the column, and the longitudinal bone adjustment device is connected to the longitudinal bone adjustment electric push cylinder 71. The longitudinal bone adjustment device is used to adjust the position and angle of the longitudinal bone under the push of the longitudinal bone adjustment electric push cylinder; the automatic electric welding robot is installed on both sides of the main crossbeam through linear guides.

[0040] Specifically, the longitudinal bone adsorption device includes a frame and an electromagnet installed on the frame. A transverse electric push cylinder is installed on one side of the longitudinal bone adsorption device to adjust the front and rear distance of the longitudinal bone. Two sets of visual cameras and two sets of laser limit sensors are installed under the main beam. The visual cameras are used to detect the plane deflection angle between the actual position of the longitudinal bone and the required position, and the laser limit sensor is used to detect the error between the actual vertical angle of the longitudinal bone and the required vertical angle.

[0041] Furthermore, the walking end beam is installed above the track through the walking wheels, and a servo motor is arranged on the outside of the walking end beam to drive the spot welding fixture to move forward and backward. A top frame is arranged above the column, and an electric hoist is arranged on the lower side of the top frame to pull the longitudinal bone up and down.

[0042] like Figure 2 As shown, the walking end beam is installed above the track, the column is installed above the walking end beam, the longitudinal bone adjustment device is installed on the inner side of the column through the small track, the longitudinal bone adjustment device is connected to the longitudinal bone adjustment electric push cylinder 71, and the function of the walking end beam is mainly to drive the entire mechanism to move forward; the column is installed above the walking end beam, and column electric push cylinders 21 are installed on both sides of the column. When the two sets of column electric push cylinders move forward and backward, the longitudinal bone can be pushed forward. When the two sets of column electric push cylinders move in opposite directions, the plane angle between the longitudinal bone and the marking line can be adjusted.

[0043] like Figure 3 As shown in FIG. 1 , the main cross beam is installed on the inner side of the longitudinal bone adjustment device, and a visual camera, a laser position sensor, a longitudinal bone adsorption device, and a longitudinal bone pressing device are installed below the main cross beam; the visual camera is mainly used to detect the plane error between the longitudinal bone and the marking line. The detection principle is as follows Figure 4 As shown; the laser position sensor is mainly used to detect the vertical angle error between the longitudinal bone and the panel. Its detection principle is as follows Figure 5 As shown; the longitudinal bone adsorption device is mainly used for adsorbing the longitudinal bones, and the longitudinal bone pressing device is mainly used for pressing the longitudinal bones after the longitudinal bone positions are determined.

[0044] The calculation formula of the visual camera deflection angle is as follows:

[0045]

[0046] α is the deflection angle, (x1, y1) is the detection point 1 of a visual camera, (x2, y2) is the detection point 2 of another visual camera, and S is the distance between the two visual cameras;

[0047] The laser position sensor deflection angle calculation formula is as follows:

[0048]

[0049] α is the deflection angle, L1 is the detection distance of laser position sensor 1, L2 is the detection distance of laser position sensor 2, and S is the distance between the two laser position sensors.

[0050] like Figure 6 As shown, the top frame is installed above the column, and the electric hoist is installed on the lower side of the top frame to lift the main beam and thus pull up the longitudinal bone; the automatic spot welding robot is installed on both sides of the main beam through a linear guide rail. When the position of the longitudinal bone is determined and tightened, the automatic spot welding robot performs spot welding to fix it.

[0051] Example 2

[0052] The method for using a spot welding fixture for automatic adjustment of longitudinal bones described in this embodiment includes the following steps: a. Preliminary work for welding, transporting the panel with markings to the workstation where the spot welding fixture is located, and driving the spot welding fixture to the front of the longitudinal bone stacking platform by the walking end frame; b. Transporting the longitudinal bones to the welding position, firstly energizing the longitudinal bone adsorption device to adsorb the longitudinal bones, then lifting the longitudinal bones by the electric hoist, transporting the longitudinal bones to the panel marking position by the walking end beam, and lowering the longitudinal bones by hoisting the main cross beam by the electric hoist; c. Detecting the actual position of the longitudinal bones with the marking line by the visual camera The angle error of the position is detected by the electric push rod, and the main beam is pushed to the required angle according to the angle error value; the laser limit sensor detects the vertical angle error between the longitudinal bone and the panel, and the electric push rod pushes the main beam to adjust the vertical angle between the longitudinal bone and the panel according to the error value; d. After the plane angle and the vertical angle are adjusted, the horizontal electric push cylinder pushes the longitudinal bone to the required position according to the front and rear difference between the actual position of the longitudinal bone and the marked position; e. The clamping hydraulic cylinder under the longitudinal bone presses the longitudinal bone and the panel together, and the automatic spot welding robot spot welds the longitudinal bone and the panel to fix them; f. The longitudinal bone and the panel are transported to the next workstation.

[0053] In step c, the calculation formula of the visual camera deflection angle is as follows:

[0054]

[0055] α is the deflection angle, (x1, y1) is a visual camera detection point, (x2, y2) is another visual camera detection point 2, and S is the distance between the two visual cameras;

[0056] The laser position sensor deflection angle calculation formula is as follows:

[0057]

[0058] α is the deflection angle, L1 is the detection distance of one laser position sensor, L2 is the detection distance of another laser position sensor, and S is the distance between the two laser position sensors.

[0059] Specifically, the walking end beam is symmetrically installed above the track through the walking wheels. The main function of the walking end beam is to support the entire device. A servo motor is installed on the outside of the walking end beam, and the servo motor can drive the entire device to move forward and backward in the direction of the assembly line.

[0060] The column is installed above the walking end beam, and a longitudinal bone adjustment device is installed on the inner side of the column. The column is mainly used to support the longitudinal bone adjustment device, the main cross beam and the top frame.

[0061] The main crossbeam is connected to the longitudinal bone adjustment device through a pin shaft. A longitudinal bone adsorption device is installed under the main crossbeam. A visual camera and a laser displacement sensor are also installed under the main crossbeam. The visual camera is mainly used to detect the planar error between the actual position of the longitudinal bone and the marked position. The laser displacement sensor is mainly used to detect the vertical angle error between the longitudinal bone and the panel. The longitudinal bone clamping device is installed under the main crossbeam to clamp the longitudinal bone so that the longitudinal bone and the panel are fully fitted.

[0062] The longitudinal bone adjustment device is installed on the inner side of the column. The inner and outer sides of the longitudinal bone adjustment device are connected to the electric push cylinder. After the visual camera and the laser position sensor complete the detection, the longitudinal bone adjustment device adjusts the position of the main beam under the push of the electric push cylinder to adjust the position and angle of the longitudinal bone.

[0063] The longitudinal bone adsorption device is installed under the main crossbeam, mainly used to adsorb the longitudinal bones. The longitudinal bone pressing device is installed under the main crossbeam to press the longitudinal bones so that the longitudinal bones and the panels are completely fitted. The automatic spot welding robot is installed on both sides of the main crossbeam. When the longitudinal bones are adjusted to the required position, the longitudinal bones and the panels are automatically spot welded. The top frame is installed above the column to connect the columns, and the electric hoist is installed under the top frame to lift the main crossbeam to drive the vertical movement of the longitudinal bones.

[0064] The above content is a further detailed description of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to the above descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the scope of protection of the present invention.

Claims

1. A spot welding fixture for automatic adjustment of longitudinal bones, used for spot welding of longitudinal bones and panels, characterized by: The spot welding fixture comprises a set of symmetrically arranged walking end beams, each walking end beam is provided with a set of columns, a main crossbeam is provided between the two walking end beams, and the main crossbeam is connected with the columns through a longitudinal bone adjustment device to form an upward and downward movable connection; A visual camera, a laser position sensor, a longitudinal bone adsorption device and a longitudinal bone pressing device are installed under the main crossbeam. The longitudinal bone pressing device is used to press the longitudinal bone so that the longitudinal bone fits the panel. The longitudinal bone adjustment device is arranged on the inner side of the column, and is connected to the longitudinal bone adjustment electric push cylinder. The longitudinal bone adjustment device is used to adjust the position and angle of the longitudinal bone under the push of the longitudinal bone adjustment electric push cylinder; The automatic welding robot is installed on both sides of the main beam through linear guides.

2. A spot welding fixing device for automatic adjustment of longitudinal bones according to claim 1, characterized in that: The longitudinal bone adsorption device comprises a frame and an electromagnet arranged on the frame. A transverse electric push cylinder is arranged on one side of the longitudinal bone adsorption device for adjusting the front-rear distance of the longitudinal bone.

3. A spot welding fixing device for automatic adjustment of longitudinal bones according to claim 1, characterized in that: Two sets of visual cameras and two sets of laser limit sensors are installed under the main beam. The visual cameras are used to detect the plane deflection angle between the actual position of the longitudinal bone and the required position, and the laser limit sensor is used to detect the error between the actual vertical angle of the longitudinal bone and the required vertical angle.

4. A spot welding fixing device for automatic adjustment of longitudinal bones according to claim 1, characterized in that: The walking end beam is installed above the track through walking wheels, and a servo motor is arranged on the outer side of the walking end beam to drive the spot welding fixture to move forward and backward.

5. A spot welding fixing device for automatic adjustment of longitudinal bones according to claim 1, characterized in that: A top frame is provided above the column, and an electric hoist is provided on the lower side of the top frame for pulling the longitudinal bones up and down.

6. The method for using the spot welding fixing device for automatic adjustment of longitudinal bones according to claim 1 is characterized in that: The method of use comprises the following steps: a. Preliminary work for welding, transporting the panel with the marking completed to the workstation where the spot welding fixture is located, and driving the spot welding fixture to the front of the longitudinal bone stacking platform by the walking end frame; b. Transporting the longitudinal bone to the welding position, firstly energizing the longitudinal bone adsorption device to adsorb the longitudinal bone, and then lifting the longitudinal bone by the electric hoist, transporting the longitudinal bone to the panel marking position by the walking end beam, and lowering the longitudinal bone by hoisting the main cross beam by the electric hoist; c. The visual camera detects the angular error between the actual position of the longitudinal bone and the marking position, and according to the angle The error value electric push rod pushes the main crossbeam to adjust to the required angle; the laser limit sensor detects the vertical angle error between the longitudinal bone and the panel, and the electric push rod pushes the main crossbeam to adjust the vertical angle between the longitudinal bone and the panel according to the error value; d. After the plane angle and the vertical angle are adjusted, the transverse electric push cylinder pushes the longitudinal bone to the required position according to the front and rear difference between the actual position of the longitudinal bone and the marked position; e. The clamping hydraulic cylinder under the longitudinal bone presses the longitudinal bone and the panel together, and the automatic spot welding robot spot welds the longitudinal bone and the panel to fix them; f. The longitudinal bone and the panel are transported to the next workstation.

7. The method for using the spot welding fixing device for automatic adjustment of longitudinal bones according to claim 6, characterized in that: In step c, The calculation formula of the visual camera deflection angle is as follows: α is the deflection angle, (x1, y1) is a visual camera detection point, (x2, y2) is another visual camera detection point 2, and S is the distance between the two visual cameras; The laser position sensor deflection angle calculation formula is as follows: α is the deflection angle, L1 is the detection distance of one laser position sensor, L2 is the detection distance of another laser position sensor, and S is the distance between the two laser position sensors.

8. The method for using the spot welding fixing device for automatic adjustment of longitudinal bones according to claim 6, characterized in that: Two sets of visual cameras and two sets of laser limit sensors are installed under the main beam. The visual cameras are used to detect the plane deflection angle between the actual position of the longitudinal bone and the required position, and the laser limit sensor is used to detect the error between the actual vertical angle of the longitudinal bone and the required vertical angle.

9. The method for using the spot welding fixing device for automatic adjustment of longitudinal bones according to claim 6, characterized in that: The walking end beam is installed above the track through walking wheels, and a servo motor is arranged on the outer side of the walking end beam to drive the spot welding fixture to move forward and backward.

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