A multi-station flexible welding production line

Abstract

A multi-station flexible welding production line includes a runway-shaped track and a transport trolley that travels on the track. The track is equipped 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 the order of material conveying. The first welding station is equipped with a first retrieving manipulator, a first material storage rack, and a first welding manipulator; the second welding station is equipped with a second retrieving manipulator, a second material storage rack, and a second welding manipulator; the third welding station is equipped with a third retrieving manipulator, a third material storage rack, and a third welding manipulator. A weld inspection mechanism is located above the first inspection station on the track, and a dimension inspection mechanism is located above the second inspection station on the track. A discharge robot is located at the discharge station. Through a modular station layout, adaptive fixtures, and an automated inspection system, efficient frame welding and quality control are achieved.

Description

Technical Field

[0001] The present 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 labor or single-station welding equipment, resulting in low efficiency, poor precision, and limited adaptability. Frames with complex structures require multiple clamping and welding steps, which can lead to cumulative errors and make it difficult to quickly switch between workpieces of varying sizes. Existing welding production lines often lack integrated fixture design, multi-station coordination, and automated inspection capabilities, limiting 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 for welding a frame, wherein 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, and the outer frame is rectangular, which 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 an unloading station in sequence according to the material conveying direction; the outer side of the track is provided with a first taking station corresponding to the first welding station A feeding manipulator and a first material storage rack are provided, and a first welding manipulator is provided at the inner side of the track corresponding to the first welding station; a second feeding 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 feeding manipulator and a third material storage rack are provided at the outer side of the track corresponding to the third welding station, and 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 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 The unloading robot is provided at the position; 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 limiting plate arranged opposite to the first clamping cylinder, a second clamping cylinder, a second limiting plate arranged opposite to the second clamping cylinder, a third clamping cylinder, a third limiting plate arranged opposite to the third clamping cylinder, a fourth clamping cylinder and a third limiting plate arranged opposite to the fourth clamping cylinder a 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 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 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 disposed opposite the seventh clamping cylinder, an eighth clamping cylinder, an eighth limit plate disposed opposite the eighth clamping cylinder, a ninth clamping cylinder, a ninth limit plate disposed opposite the ninth clamping cylinder, a tenth clamping cylinder, and a tenth limit plate disposed opposite the tenth clamping cylinder. The seventh, eighth, ninth, and tenth clamping cylinders are disposed within the outer frame and correspond to four reinforcing rods, respectively.

[0005] As an improvement, 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 provided 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 being provided with an elongated hole, and the fixing part being locked on the support plate by bolts.

[0008] As an improvement, the first welding manipulator, the second welding manipulator and the third welding manipulator each include a base, a multi-joint arm provided on the base and a gripper provided 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 mounted on the first frame; the size detection mechanism includes a second frame mounted on the track and a second industrial camera mounted 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 located on one of the straight tracks, and the first inspection station, the second inspection station and the unloading station are located on the other straight track.

[0011] The beneficial effects brought about by the present invention compared with the prior art are:

[0012] High efficiency: multiple stations operate 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 with reference to 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 an unloading station in sequence according to the material conveying direction. The track 1 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. A first material-grabbing manipulator 3 and a first material storage rack 4 are provided on the outer side of the track 1 corresponding to the first welding station, and a first welding manipulator 5 is provided on the inner side of the track 1 corresponding to the first welding station. A second material-grabbing manipulator 6 and a second material storage rack 7 are provided on the outer side of the track 1 corresponding to the second welding station, and a second welding manipulator 8 is provided on the inner side of the track 1 corresponding to the second welding station. A third retrieving manipulator 9 and a third material storage rack 10 are provided on the outside of the track 1, corresponding to the third welding station. A third welding manipulator 11 is provided on the inside of the track 1, corresponding to the third welding station. A weld inspection mechanism 12 is provided above the first inspection station on the track 1, and a dimension inspection mechanism 13 is provided above the second inspection station on the track 1. A discharge robot 14 is provided on the outside of the track 1, corresponding to the discharge station.

[0022] like Figure 2 、 3As shown, the transport trolley 2 includes a body 22, a support plate 21 mounted on top of the body 22, a running mechanism 23 mounted on the bottom of the body 22, and a fixture mounted on the support plate 21. The running mechanism 23 includes a wheelset that mates with the track 1 and a motor that drives the wheelset. The motor is equipped with an encoder that detects the position of the transport trolley 2 by sensing its rotation, enabling it to accurately dock at its workstation. Other sensors can also be used to ensure precise operation of the transport trolley 2. The fixture includes a first clamping assembly for securing the outer frame, a second clamping assembly for securing the inner crossbeam 101 of the outer frame, and a third clamping assembly for securing the inner reinforcing rod 102 of the outer frame. The first clamping assembly includes a first clamping cylinder 201, a first limiting plate 211 arranged opposite to the first clamping cylinder 201, a second clamping cylinder 202, a second limiting plate 212 arranged opposite to the second clamping cylinder 202, a third clamping cylinder 203, a third limiting plate 213 arranged opposite to the third clamping cylinder 203, a fourth clamping cylinder 204 and a fourth limiting plate 214 arranged opposite to the fourth clamping cylinder 204; the first clamping assembly includes a first clamping cylinder 201, a first limiting plate 211 arranged opposite to the first clamping cylinder 201, a second limiting plate 212 arranged opposite to the second clamping cylinder 202, a third clamping cylinder 203, a third limiting plate 213 arranged opposite to the third clamping cylinder 203, a fourth clamping cylinder 204 and a fourth limiting 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, and 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, and the second clamping cylinder 202 is arranged opposite to the fourth clamping cylinder 204. The first clamping cylinder 201, the second clamping cylinder 202, the third clamping cylinder 203 and the fourth clamping cylinder 204 respectively correspond to the four outer tubes 100. 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 inside the outer frame and correspond to the 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 limiting plate 214, the fifth limiting plate 215, the seventh limiting plate 217 and the eighth limiting plate 218 are arranged in one of the second areas, and the second cylinder, the sixth limiting plate 216, the ninth limiting plate 219 and the tenth limiting 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 provided 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-retrieving robot has retrieved the material, it transports the pipe clamp 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 portion and a limiting portion. The fixing portion is provided with an elongated hole and is locked to the support plate by bolts, so that the position of the limit plate can be adjusted.

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

[0024] The weld inspection mechanism 12 includes a first frame mounted on the track 1 and a first industrial camera mounted on the first frame. The dimension inspection 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 inspects weld quality through image processing, while the second industrial camera inspects the overall dimension 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 tubes 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 workstation; the second retrieving 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 workstation; the third retrieving manipulator 9 places the reinforcing rod 102, which is clamped by the third clamping assembly; the third welding manipulator completes the connection weld between the reinforcing rod 102 and the outer frame and the crossbeam 101;

[0029] Step 4: Carriage trolley 2 moves to the first inspection station; the first industrial camera captures the weld image, 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 based on the inspection results.

Claims

1. A multi-station flexible welding production line for welding a frame, the frame comprising an outer frame, two crossbeams disposed within the outer frame, and four reinforcing rods disposed between the crossbeams and the outer frame. The outer frame is rectangular and comprises four outer tubes connected end to end, with two reinforcing rods disposed between each crossbeam and the outer tube; the characteristics are: The invention comprises a runway-shaped track and a transport trolley walking 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 an unloading station in sequence according to the material conveying direction; a first material-retrieving 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-retrieving 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-retrieving manipulator and a third material storage rack are provided at the outer side of the track corresponding to the third welding station The material rack is provided with a third welding manipulator 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; an unloading robot is provided at the outer side of the track corresponding to the unloading 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 reinforcement rod of the outer frame; the first clamping assembly includes a first clamping cylinder, a 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. The 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 clamping 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 provided 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 support plate by bolts.

5. The multi-station flexible welding production line according to claim 1, 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 includes a first frame mounted on the track and a first industrial camera mounted on the first frame; the size detection mechanism includes a second frame mounted on the track and a second industrial camera mounted on the second frame.

7. The multi-station flexible welding production line according to claim 1, characterized in that: 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.

Images