Multi-station flexible welding production line

Abstract

A multi-station flexible welding production line comprises a runway-shaped track and a carrying trolley walking on the track, and a first welding station, a second welding station, a third welding station, a first detection station, a second detection station and an unloading station are sequentially arranged on the track in the material conveying direction; a first material taking mechanical arm, a first material storage frame and a first welding mechanical arm are arranged at the position corresponding to the first welding station. A second material taking manipulator, a second material storage rack and a second welding manipulator are arranged corresponding to the second welding station; a third material taking manipulator, a third material storage rack and a third welding manipulator are arranged corresponding to the third welding station; a welding seam detection mechanism is arranged above the first detection station on the track, and a size detection mechanism is arranged above the second detection station on the track; a discharging robot is arranged at the position corresponding to the discharging station. And efficient welding and quality control of the frame are achieved through modular station layout, a self-adaptive clamp and an automatic detection system.

Description

Technical Field

[0001] The invention relates to the technical field of welding equipment, in particular to a multi-station flexible welding production line. Background Art

[0002] Traditional frame welding relies on manual or single-station welding equipment, which has problems such as low efficiency, poor precision, and weak adaptability. For frames with complex structures, multiple clamping and welding are required, which easily leads to cumulative errors and makes it difficult to meet the needs of rapid switching of workpieces of different sizes. In the existing technology, welding production lines usually lack integrated fixture design, multi-station coordination, and automated detection functions, which limits production flexibility and quality stability. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a multi-station flexible welding production line, which realizes efficient welding and quality control of the frame through modular station layout, adaptive fixtures and automated detection system.

[0004] In order to solve the above technical problems, the technical solution of the present invention is: a multi-station flexible welding production line, used for welding a frame, the frame includes an outer frame, two crossbeams arranged in the outer frame and four reinforcing rods arranged between the crossbeams and the outer frame, the outer frame is rectangular, and includes four outer tubes connected end to end, and two reinforcing rods are arranged between each crossbeam and the outer tube; it includes a runway-shaped track and a transport trolley walking on the track, and the track is provided with a first welding station, a second welding station, a third welding station, a first inspection station, a second inspection station and a discharge station in sequence according to the material conveying direction; the outer side of the track is provided with a first take-out station corresponding to the first welding station A material taking manipulator and a first material storage rack are provided on the inner side of the track corresponding to the first welding station; a second material taking manipulator and a second material storage rack are provided on the outer side of the track corresponding to the second welding station, and a second welding manipulator is provided on the inner side of the track corresponding to the second welding station; a third material taking manipulator and a third material storage rack are provided on the outer side of the track corresponding to the third welding station, and a third welding manipulator is provided on the inner side of the track corresponding to the third welding station; a weld detection mechanism is provided above the first detection station on the track, and a size detection mechanism is provided above the second detection station on the track; the outer side of the track corresponds to the unloading station A unloading robot is provided at the position; the transport trolley includes a body, a support plate arranged on the top of the body, a walking mechanism arranged at the bottom of the body and a clamp arranged on the support plate; the clamp includes a first clamping assembly for fixing the outer frame, a second clamping assembly for fixing the inner cross beam of the outer frame and a third clamping assembly for fixing the inner reinforcing rod of the outer frame; the first clamping assembly includes a first clamping cylinder, a first limit plate arranged opposite to the first clamping cylinder, a second clamping cylinder, a second limit plate arranged opposite to the second clamping cylinder, a third clamping cylinder, a third limit plate arranged opposite to the third clamping cylinder, a fourth clamping cylinder and a third limit plate arranged opposite to the fourth clamping cylinder The fourth limiting plate, the first clamping cylinder and the second clamping cylinder are located on the inner side of the outer frame, the third clamping cylinder and the fourth clamping cylinder are located on the outer side of the outer frame, the first clamping cylinder is arranged opposite to the third clamping cylinder, the second clamping cylinder is arranged opposite to the fourth clamping cylinder, the first clamping cylinder, the second clamping cylinder, the third clamping cylinder and the fourth clamping cylinder correspond to four outer tubes respectively; the second clamping assembly includes a fifth clamping cylinder, a fifth limiting plate arranged opposite to the fifth clamping cylinder, a sixth clamping cylinder and a sixth limiting plate arranged opposite to the sixth clamping cylinder, the fifth clamping cylinder and the sixth clamping cylinder are arranged in the outer frame and correspond to two beams respectively;The third clamping assembly includes a seventh clamping cylinder, a seventh limit plate arranged opposite to the seventh clamping cylinder, an eighth clamping cylinder, an eighth limit plate arranged opposite to the eighth clamping cylinder, a ninth clamping cylinder, a ninth limit plate arranged opposite to the ninth clamping cylinder, a tenth clamping cylinder and a tenth limit plate arranged opposite to the tenth clamping cylinder. The seventh clamping cylinder, the eighth clamping cylinder, the ninth clamping cylinder and the tenth clamping cylinder are arranged in the outer frame and correspond to four reinforcing rods respectively. ;

[0005] As an improvement, a first area is formed between two cross beams and two outer tubes, and the first clamping cylinder, the fifth clamping cylinder and the sixth clamping cylinder are arranged in the first area; a second area is formed between two reinforcing rods, an outer tube and a cross beam, and a total of two second areas are formed in the outer frame, the fourth limit plate, the fifth limit plate, the seventh limit plate and the eighth limit plate are arranged in one of the second areas, and the second cylinder, the sixth limit plate, the ninth limit plate and the tenth limit plate are arranged in another second area; a third area is formed between two adjacent outer tubes, a cross beam and a reinforcing rod, and a total of four third areas are arranged in the outer frame, and the seventh clamping cylinder, the eighth clamping cylinder, the ninth clamping cylinder and the fourth clamping cylinder are respectively located in the four third areas.

[0006] As an improvement, push plates are provided on the telescopic rods of the first clamping cylinder, the second clamping cylinder, the third clamping cylinder, the fourth clamping cylinder, the fifth clamping cylinder, the sixth clamping cylinder, the seventh clamping cylinder, the eighth clamping cylinder, the ninth clamping cylinder and the tenth clamping cylinder.

[0007] As an improvement, the first limiting plate, the second limiting plate, the third limiting plate, the fourth limiting plate, the fifth limiting plate and the sixth limiting plate are all L-shaped, comprising a fixing part and a limiting part, the fixing part is provided with a long hole, and the fixing part is locked on the support plate by bolts.

[0008] As an improvement, the first welding robot, the second welding robot and the third welding robot all include a base, a multi-joint arm arranged on the base and a gripper arranged at the end of the multi-joint arm, and the gripper includes a mounting rod and a plurality of suction cup rods arranged in a line on the mounting rod.

[0009] As an improvement, the weld detection mechanism includes a first frame mounted on the track and a first industrial camera arranged on the first frame; the size detection mechanism includes a second frame mounted on the track and a second industrial camera arranged on the second frame.

[0010] As an improvement, the track includes two straight tracks and two curved tracks, the first welding station, the second welding station and the third welding station are arranged on one of the straight tracks, and the first inspection station, the second inspection station and the unloading station are arranged on the other straight track.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] High efficiency: multiple stations work in parallel to reduce waiting time for clamping;

[0013] High precision: Adaptive fixture combined with visual inspection ensures welding consistency;

[0014] Strong flexibility: adjustable limit plates and modular workstations support rapid changeover;

[0015] Low failure rate: Regionalized fixture layout avoids mechanical interference and improves system stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is the layout diagram of the production line of the present invention.

[0017] Figure 2 Schematic diagram of the transport vehicle.

[0018] Figure 3 This is the fixture layout diagram. DETAILED DESCRIPTION

[0019] The present invention will be further described below in conjunction with the accompanying drawings.

[0020] like Figure 3 As shown, a multi-station flexible welding production line is used for welding a frame 10, wherein the frame 10 includes an outer frame, two cross beams 101 arranged in the outer frame, and four reinforcing rods 102 arranged between the cross beams 101 and the outer frame. The outer frame is rectangular and includes four outer tubes 100 connected end to end, and two reinforcing rods 102 are arranged between each cross beam 101 and the outer tube 100.

[0021] like Figure 1As shown, the production line includes a runway-shaped track 1 and a transport trolley 2 running on the track 1. The track 1 is provided with a first welding station, a second welding station, a third welding station, a first inspection station, a second inspection station and a discharge station in sequence according to the material conveying direction. The track 1 includes two straight roads and two curved roads, the first welding station, the second welding station and the third welding station are arranged on one of the straight roads, and the first inspection station, the second inspection station and the discharge station are arranged on the other straight road. A first material picking manipulator 3 and a first material storage rack 4 are arranged on the outer side of the track 1 corresponding to the first welding station, and a first welding manipulator 5 is arranged on the inner side of the track 1 corresponding to the first welding station. A second material picking manipulator 6 and a second material storage rack 7 are arranged on the outer side of the track 1 corresponding to the second welding station, and a second welding manipulator 8 is arranged on the inner side of the track 1 corresponding to the second welding station. A third material taking manipulator 9 and a third material storage rack 10 are provided at the third welding station on the outer side of the track 1, and a third welding manipulator 11 is provided at the third welding station on the inner side of the track 1. A weld detection mechanism 12 is provided above the first detection station on the track 1, and a size detection mechanism 13 is provided above the second detection station on the track 1. A discharging robot 14 is provided at the unloading station on the outer side of the track 1.

[0022] like Figure 2 , 3As shown, the transport trolley 2 includes a body 22, a support plate 21 disposed on the top of the body 22, a running mechanism 23 disposed at the bottom of the body 22, and a fixture disposed on the support plate 21. The running mechanism 23 includes a wheel set that cooperates with the track 1 and a motor that drives the wheel set. The motor is equipped with an encoder, which detects the position of the transport trolley 2 by induction motor rotation, so that it can be accurately parked at the work station. Other sensors can also be used to enable the transport trolley 2 to run accurately. The fixture includes a first clamping assembly for fixing the outer frame, a second clamping assembly for fixing the inner cross beam 101 of the outer frame, and a third clamping assembly for fixing the inner reinforcing rod 102 of the outer frame. The first clamping assembly includes a first clamping cylinder 201, a first limit plate 211 arranged opposite to the first clamping cylinder 201, a second clamping cylinder 202, a second limit plate 212 arranged opposite to the second clamping cylinder 202, a third clamping cylinder 203, a third limit plate 213 arranged opposite to the third clamping cylinder 203, a fourth clamping cylinder 204, and a fourth limit plate 214 arranged opposite to the fourth clamping cylinder 204; the first clamping assembly includes a first clamping cylinder 201, a first limit plate 211 arranged opposite to the first clamping cylinder 201, a second limit plate 212 arranged opposite to the second clamping cylinder 202, a third clamping cylinder 203, a third limit plate 213 arranged opposite to the third clamping cylinder 203, a fourth clamping cylinder 204, and a fourth limit plate 214 arranged opposite to the fourth clamping cylinder 204; The holding cylinder 201 and the second clamping cylinder 202 are located on the inner side of the outer frame, the third clamping cylinder 203 and the fourth clamping cylinder 204 are located on the outer side of the outer frame, the first clamping cylinder 201 is arranged opposite to the third clamping cylinder 203, the second clamping cylinder 202 is arranged opposite to the fourth clamping cylinder 204, and the first clamping cylinder 201, the second clamping cylinder 202, the third clamping cylinder 203 and the fourth clamping cylinder 204 correspond to four outer tubes 100 respectively. The second clamping assembly includes a fifth clamping cylinder 205, a fifth limiting plate 215 arranged opposite to the fifth clamping cylinder 205, a sixth clamping cylinder 206 and a sixth limiting plate 216 arranged opposite to the sixth clamping cylinder 206; the fifth clamping cylinder 205 and the sixth clamping cylinder 206 are arranged in the outer frame and correspond to two crossbeams 101 respectively. The third clamping assembly includes a seventh clamping cylinder 207, a seventh limit plate 217 arranged opposite to the seventh clamping cylinder 207, an eighth clamping cylinder 208, an eighth limit plate 218 arranged opposite to the eighth clamping cylinder 208, a ninth clamping cylinder 209, a ninth limit plate 219 arranged opposite to the ninth clamping cylinder 209, a tenth clamping cylinder 210 and a tenth limit plate 220 arranged opposite to the tenth clamping cylinder 210; the seventh clamping cylinder 207, the eighth clamping cylinder 208, the ninth clamping cylinder 209 and the tenth clamping cylinder 210 are arranged in the outer frame and correspond to four reinforcing rods 102 respectively.A first area is formed between the two cross beams 101 and the two outer tubes 100, and the first clamping cylinder 201, the fifth clamping cylinder 205 and the sixth clamping cylinder 206 are arranged in the first area; a second area is formed between the two reinforcing rods 102, an outer tube 100 and a cross beam 101, and a total of two second areas are formed in the outer frame, the fourth limit plate 214, the fifth limit plate 215, the seventh limit plate 217 and the eighth limit plate 218 are arranged in one of the second areas, and the second cylinder, the sixth limit plate 216, the ninth limit plate 219 and the tenth limit plate 220 are arranged in another second area; a third area is formed between two adjacent outer tubes 100, a cross beam 101 and a reinforcing rod 102, and a total of four third areas are arranged in the outer frame, and the seventh clamping cylinder 207, the eighth clamping cylinder 208, the ninth clamping cylinder 209 and the fourth clamping cylinder 204 are respectively located in the four third areas. The telescopic rods of the first clamping cylinder 201, the second clamping cylinder 202, the third clamping cylinder 203, the fourth clamping cylinder 204, the fifth clamping cylinder 205, the sixth clamping cylinder 206, the seventh clamping cylinder 207, the eighth clamping cylinder 208, the ninth clamping cylinder 209 and the tenth clamping cylinder 210 are all provided with push plates. After the material taking manipulator takes the material, the pipe clamp is transported between the push plate and the limit plate, and then the clamping cylinder pushes the push plate to clamp and fix the pipe. The first limit plate 211, the second limit plate 212, the third limit plate 213, the fourth limit plate 214, the fifth limit plate 215 and the sixth limit plate 216 are all L-shaped, including a fixing part and a limit part. The fixing part is provided with an elongated hole, and the fixing part is locked on the support plate by bolts, and the position of the limit plate can be adjusted.

[0023] The first welding robot 5, the second welding robot 8 and the third welding robot all include a base, a multi-joint arm arranged on the base and a gripper arranged at the end of the multi-joint arm. The gripper includes a mounting rod and a plurality of suction cup rods arranged in a line on the mounting rod. This gripper can stably grasp square pipe fittings.

[0024] The weld detection mechanism 12 includes a first frame mounted on the track 1 and a first industrial camera mounted on the first frame; the size detection mechanism 13 includes a second frame mounted on the track 1 and a second industrial camera mounted on the second frame. The first industrial camera is mounted to detect the weld quality through image processing; the second industrial camera is mounted to detect the overall size accuracy of the frame 10.

[0025] The process flow of the production line of the present invention:

[0026] Step 1: The transport trolley 2 is positioned at the first welding station; the first material-retrieving manipulator 3 grabs four outer tubes 100 from the material storage rack and places them in the fixture; the cylinder of the first clamping assembly pushes the limit plate to clamp the outer tube 100, and the first welding manipulator 5 welds the four corners of the outer frame;

[0027] Step 2: The transport trolley 2 moves to the second station; the second material taking manipulator 6 loads the beam 101, and the second clamping assembly fixes the beam 101; the second welding manipulator 8 welds both ends of the beam 101 to the inner side of the outer frame;

[0028] Step 3: The transport trolley 2 moves to the third station; the third material taking manipulator 9 places the reinforcing rod 102, and the third clamping assembly clamps it; the third welding manipulator completes the connection weld between the reinforcing rod 102 and the outer frame and the crossbeam 101;

[0029] Step 4: The transport trolley 2 moves to the first inspection station; the first industrial camera takes an image of the weld, and the system analyzes whether there are defects such as pores and cracks;

[0030] Step 5: The transport trolley 2 moves to the second inspection station; the second industrial camera scans the outline of the frame 10, compares it with the preset dimensional tolerance, and determines whether it is qualified;

[0031] Step 6: The transport trolley 2 moves to the unloading station; the unloading robot moves qualified products to the finished product area and sends unqualified products to the rework line according to the inspection results.

Claims

1. A multi-station flexible welding production line for welding a frame, the frame comprising an outer frame, two crossbeams arranged in the outer frame and four reinforcing rods arranged between the crossbeams and the outer frame, the outer frame being rectangular and comprising four outer tubes connected end to end, and two reinforcing rods being arranged between each crossbeam and the outer tube; characterized in that: The invention comprises a runway-shaped track and a transport trolley running on the track, wherein the track is provided with a first welding station, a second welding station, a third welding station, a first inspection station, a second inspection station and a discharge station in sequence according to the material conveying direction; a first material-grabbing manipulator and a first material storage rack are provided at the outer side of the track corresponding to the first welding station, and a first welding manipulator is provided at the inner side of the track corresponding to the first welding station; a second material-grabbing manipulator and a second material storage rack are provided at the outer side of the track corresponding to the second welding station, and a second welding manipulator is provided at the inner side of the track corresponding to the second welding station; a third material-grabbing manipulator and a third material storage rack are provided at the outer side of the track corresponding to the third welding station A material rack, a third welding manipulator is provided at the inner side of the track corresponding to the third welding station; a weld detection mechanism is provided on the track above the first detection station, and a size detection mechanism is provided on the track above the second detection station; a discharging robot is provided at the outer side of the track corresponding to the discharging station; the transport trolley includes a vehicle body, a support plate provided on the top of the vehicle body, a walking mechanism provided at the bottom of the vehicle body and a clamp provided on the support plate; the clamp includes a first clamping assembly for fixing the outer frame, a second clamping assembly for fixing the inner cross beam of the outer frame and a third clamping assembly for fixing the inner reinforcing rod of the outer frame; the first clamping assembly includes a first clamping cylinder, a first clamping cylinder opposite to the first clamping cylinder The first limiting plate, the second clamping cylinder, the second limiting plate arranged opposite to the second clamping cylinder, the third clamping cylinder, the third limiting plate arranged opposite to the third clamping cylinder, the fourth clamping cylinder and the fourth limiting plate arranged opposite to the fourth clamping cylinder are set, the first clamping cylinder and the second clamping cylinder are located on the inner side of the outer frame, the third clamping cylinder and the fourth clamping cylinder are located on the outer side of the outer frame, the first clamping cylinder and the third clamping cylinder are arranged opposite to each other, the second clamping cylinder and the fourth clamping cylinder are arranged opposite to each other, the first clamping cylinder, the second clamping cylinder, the third clamping cylinder and the fourth clamping cylinder correspond to four outer tubes respectively; the second clamping assembly includes a fifth clamping cylinder, a fifth clamping cylinder and a fifth clamping cylinder. The fifth limit plate, the sixth clamping cylinder and the sixth limit plate arranged opposite to the sixth clamping cylinder are arranged in the outer frame and correspond to two beams respectively; the third clamping assembly includes the seventh clamping cylinder, the seventh limit plate arranged opposite to the seventh clamping cylinder, the eighth clamping cylinder, the eighth limit plate arranged opposite to the eighth clamping cylinder, the ninth clamping cylinder, the ninth limit plate arranged opposite to the ninth clamping cylinder, the tenth clamping cylinder and the tenth limit plate arranged opposite to the tenth clamping cylinder, the seventh clamping cylinder, the eighth clamping cylinder, the ninth clamping cylinder and the tenth clamping cylinder are arranged in the outer frame and correspond to four reinforcing rods respectively.

2. A multi-station flexible welding production line according to claim 1, characterized in that: A first area is formed between the two cross beams and the two outer tubes, and the first clamping cylinder, the fifth clamping cylinder and the sixth clamping cylinder are arranged in the first area; a second area is formed between the two reinforcing rods, an outer tube and a cross beam, and a total of two second areas are formed in the outer frame, the fourth limit plate, the fifth limit plate, the seventh limit plate and the eighth limit plate are arranged in one of the second areas, and the second cylinder, the sixth limit plate, the ninth limit plate and the tenth limit plate are arranged in the other second area; a third area is formed between two adjacent outer tubes, a cross beam and a reinforcing rod, and a total of four third areas are arranged in the outer frame, and the seventh clamping cylinder, the eighth clamping cylinder, the ninth clamping cylinder and the fourth clamping cylinder are respectively located in the four third areas.

3. The multi-station flexible welding production line according to claim 1, characterized in that: Push plates are provided on the telescopic rods of the first clamping cylinder, the second clamping cylinder, the third clamping cylinder, the fourth clamping cylinder, the fifth clamping cylinder, the sixth clamping cylinder, the seventh clamping cylinder, the eighth clamping cylinder, the ninth clamping cylinder and the tenth clamping cylinder.

4. The multi-station flexible welding production line according to claim 1, characterized in that: The first limiting plate, the second limiting plate, the third limiting plate, the fourth limiting plate, the fifth limiting plate and the sixth limiting plate are all L-shaped, and include a fixing portion and a limiting portion. The fixing portion is provided with an elongated hole, and the fixing portion is locked on the supporting plate by bolts.

5. The multi-station flexible welding production line according to claim 1 is characterized in that: The first welding robot, the second welding robot and the third welding robot all include a base, a multi-joint arm arranged on the base and a gripper arranged at the end of the multi-joint arm. The gripper includes a mounting rod and a plurality of suction cup rods arranged in a line on the mounting rod.

6. The multi-station flexible welding production line according to claim 1, characterized in that: The weld detection mechanism comprises a first frame mounted on a track and a first industrial camera arranged on the first frame; the size detection mechanism comprises a second frame mounted on the track and a second industrial camera arranged on the second frame.

7. The multi-station flexible welding production line according to claim 1, characterized in that: The track comprises two straight tracks and two curved tracks, the first welding station, the second welding station and the third welding station are arranged on one of the straight tracks, and the first inspection station, the second inspection station and the unloading station are arranged on the other straight track.

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