Plate welding robot machining production line and machining method thereof

Abstract

The invention discloses a plate welding robot machining production line and a machining method thereof, and belongs to the technical field of machining, the plate welding robot machining production line comprises a machining platform, the machining platform is provided with a to-be-machined part containing table, a welding mechanism, a detection mechanism, a washing and grinding integrated mechanism and a finished part containing table, and the middle of the machining platform is provided with a rectangular-ambulatory-plane linear sliding way; a plurality of carrying robots are arranged on the rectangular-ambulatory-plane linear slide way, and the carrying robots can move to the to-be-machined part placing table, the welding mechanism, the detecting mechanism, the washing and grinding integrated mechanism and the finished part placing table along the rectangular-ambulatory-plane linear slide way; and a waste bucket is arranged on the processing platform between the welding mechanism and the detection mechanism. High-precision continuous operation of the welding device on a complex plate can be achieved, material hardness monitoring and data feedback are completed while welding is conducted, synchronous deslagging, grinding and cleaning after welding are executed, procedure splitting is avoided, the machining period is remarkably shortened, and quality consistency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of machining, and particularly relates to a plate welding robot processing production line and a processing method thereof. Background Art

[0002] In current robot welding technology, complex plate forming operations still face problems such as insufficient multi-degree-of-freedom accuracy, poor weld quality stability, and weak adaptability. Most traditional welding equipment relies on fixed tooling or one-way adjustment mechanisms, and has limited dynamic path planning capabilities for special-shaped curved surfaces and variable-thickness plates, which easily leads to a mismatch between the welding torch posture and the workpiece surface, resulting in false welding or deformation. At the same time, most systems adopt an open-loop control mode, making it difficult to compensate for thermal deformation and assembly errors in real time, and relying on manual secondary calibration, which significantly prolongs the processing cycle. In addition, the accumulation of welding fumes and the residue of spatter will interfere with the operation of sensing equipment. Traditional dust blowing and suction devices are often arranged independently of the welding mechanism and are difficult to achieve synchronous cleaning, directly affecting the efficiency of continuous operation. Although existing technologies have tried to integrate vision positioning or automated cleaning modules, there are still technical bottlenecks in terms of motion coordination and multi-module coupling accuracy. In particular, there is a lack of an integrated solution for the timing control of multi-functional units such as welding, detection, and cleaning. There is an urgent need for a new type of integrated welding processing system with high efficiency, strong coordination, and strong self-adaptability.

[0003] The Chinese utility model patent with the application number CN201721700302 discloses a mechanical property monitor for detecting hardness. By setting a hook transparent protective cover, it protects the staff without affecting the operation. By setting a bottom weight, it ensures the stability of the machine during operation. By setting a clamp, it clamps the measured object to avoid accidents caused by small objects not being on the same straight line as the indenter. However, the operation process of this mechanical property monitor is cumbersome, the efficiency is low, and the function is single, making it difficult to meet the comprehensive detection requirements. In addition, the equipment maintenance cost is high, the safety protection is insufficient, and the safety of operators cannot be fully guaranteed in extreme cases.

[0004] The Chinese invention patent with the application number CN201810575989 discloses a multi-functional industrial robot for an intelligent manufacturing automated production line. Although it has the advantages of a wide range of uses, low cost, and precise drive control, this multi-functional industrial robot has a complex structure and numerous components, which not only increases the manufacturing cost and maintenance difficulty, but also may affect the production continuity due to frequent component failures. Moreover, its function expansion is limited, only focusing on welding and related auxiliary operations, and it is difficult to meet the complex requirements of the intelligent manufacturing production line for the diversified functions of industrial robots.

[0005] It can be seen that the current flexibility of robots in welding technology is difficult to face complex and changeable welding environments and tasks, and it is impossible to flexibly adjust welding parameters and handle emergencies like manual labor. Moreover, the maintenance costs of welding robots are generally high, and they need to be calibrated regularly, parts replaced, and a large amount of capital investment is required for technology upgrades and equipment updates. The existing robot welding system has a low integration level and generally adopts the form of a fixed workbench plus an independent post-processing module. Welding, hardness testing, and cleaning and grinding are carried out step by step, resulting in multiple stops and long processing times during the processing. In addition, the welding device lacks a real-time compensation mechanism for thermal deformation errors, and hardness testing relies on manual sampling and offline operation, with limited accuracy and efficiency. Summary of the Invention

[0006] Aiming at the problems existing in the prior art, the present invention provides a processing production line and processing method for a panel welding robot, integrating a multi-degree-of-freedom adjustable processing platform and an adaptive path planning of a handling robot to achieve high-precision continuous operation of the welding device on complex panels. An innovative embedded layout of an on-line hardness testing device is adopted to simultaneously monitor the material hardness and feedback data during welding. Combined with a cleaning and grinding integrated device, the robot end quick-change interface is used to perform post-welding slag removal, grinding, and cleaning synchronously, avoiding process fragmentation, significantly shortening the processing cycle, and improving quality consistency.

[0007] The technical solution of the present invention is as follows:

[0008] In the first aspect of the present invention, a processing production line for a panel welding robot is provided, including a processing platform. On the processing platform, there are a workpiece to be processed placement table, a welding mechanism, a detection mechanism, a cleaning and grinding integrated mechanism, and a completed workpiece placement table. In the middle of the processing platform, there is a loop-shaped linear slideway, and several handling robots are arranged on the loop-shaped linear slideway. The handling robots can move along the loop-shaped linear slideway to the workpiece to be processed placement table, the welding mechanism, the detection mechanism, the cleaning and grinding integrated mechanism, and the completed workpiece placement table. A waste bin is arranged on the processing platform between the welding mechanism and the detection mechanism.

[0009] In some embodiments of the present invention, the welding mechanism is provided with a welding workbench, and the welding workbench is arranged on the processing platform. The top of the welding workbench is set as an L-shaped welding platform. On the horizontal plane of the L-shaped welding platform, there is a driving component, and the driving component is connected to a welding base body. The welding base body can move horizontally or vertically under the drive of the driving component, and a welding panel is arranged on the welding base body. A sliding workbench is slidably arranged on the vertical welding platform of the L-shaped structure. A welding robot is arranged on the sliding workbench, and the welding robot can move vertically under the drive of the sliding workbench. A laser vision sensor is arranged on the welding robot.

[0010] In some embodiments of the present invention, a multi-screw-hole connecting column is connected to the bottom of the welding base body, a screw rod is connected to the bottom of the multi-screw-hole connecting column, one end of the screw rod extends into the inner cavity of the driving assembly and is connected to the output end of the vertical driving motor, a cylinder is arranged outside the vertical driving motor, and a turbine is arranged at the bottom of the cylinder;

[0011] The driving assembly includes a horizontal driving motor, the output end of the horizontal driving motor is connected to a worm, and the worm meshes with the turbine.

[0012] In some embodiments of the present invention, a cross-shaped groove structure is formed at the top of the welding base body, a plurality of dust suction pipes are arranged outside the cross-shaped groove structure, a plurality of cylinders are arranged in the cross-shaped groove structure, and the output end of the cylinder is connected to a baffle.

[0013] In some embodiments of the present invention, two pulleys are arranged on the welding platform of the vertical surface of the L-shaped structure, and a steel wire rope is wound around the two pulleys; a sliding table driving motor is arranged on the welding platform of the vertical surface of the L-shaped structure, and the output end of the sliding table driving motor is connected to any one of the two pulleys; a clamping block is arranged on the sliding workbench, and the clamping block clamps on the steel wire rope; a convex structure is arranged on the sliding workbench, and a sliding groove is arranged on the welding platform of the vertical surface of the L-shaped structure, and the convex structure is arranged in the sliding groove.

[0014] In some embodiments of the present invention, a detection workbench is arranged on the detection mechanism, a detection driving motor is arranged on the detection workbench, the output end of the detection driving motor is connected to a detection base body through a fixed coupling shaft, a detection probe is arranged on the upper part of the detection base body, and a plurality of vision cameras are arranged on the detection probe.

[0015] In some embodiments of the present invention, a detection base body groove structure is arranged on the detection base body, and a plurality of clamping assemblies are arranged in the detection base body groove structure.

[0016] In some embodiments of the present invention, a grinding and washing integrated mechanism is provided with a grinding and washing integrated workbench, a grinding and washing base body is arranged on the grinding and washing integrated workbench, flexible clamping jaws are arranged on both sides of the grinding and washing base body, the flexible clamping jaws are connected to a connecting rod assembly, and the flexible clamping jaws can move horizontally and vertically under the drive of the connecting rod assembly;

[0017] A belt sander is further arranged on the grinding and washing integrated workbench, the belt sander is arranged above the grinding and washing base body, and dust suction pipes and cleaning pipes are arranged on the grinding and washing integrated workbench on both sides of the belt sander.

[0018] In some embodiments of the present invention, the connecting rod assembly includes a horizontal connecting rod assembly disposed on the top of the grinding and washing integrated workbench. A transverse driving eccentric wheel is provided in the middle of the horizontal connecting rod assembly, and the transverse driving eccentric wheel is connected to the output end of the jaw transverse driving motor. Both sides of the horizontal connecting rod assembly are connected to vertically arranged T-shaped slides, and a slide bar is provided in the T-shaped slides. The end of the slide bar is connected to a rotating motor, and the rotating motor is connected to a flexible jaw.

[0019] A flexible jaw vertical driving motor is provided outside the T-shaped slide. The slide bar disposed in the T-shaped slide is connected to a vertical driving eccentric wheel, and the vertical driving eccentric wheel is connected to the output end of the flexible jaw vertical driving motor.

[0020] In a second aspect of the present invention, there is provided a processing method for a processing production line of a plate welding robot, including:

[0021] The handling robot grabs the welding plate along the slide and moves it to the welding mechanism, fixes the welding plate on the welding base, and the welding robot relies on the laser vision sensor to scan the contour of the welding plate to generate a three-dimensional path for welding.

[0022] After welding is completed, the handling robot moves the welding plate to the inspection mechanism, and the inspection probe performs a hardness inspection on the welding plate. If it does not meet the inspection standard, the handling robot places the welding plate into the waste bin. If it meets the inspection standard, the handling robot moves the welding plate to the grinding and washing integrated mechanism.

[0023] After the hardness inspection is completed, the handling robot places the welding plate on the grinding and washing integrated mechanism, starts the sanding machine, polishes, cleans, and vacuums the weld seam. The debris is collected by the suction pipe, and the processed welding plate is transported by the handling robot along the slide to the finished part placement table.

[0024] One or more technical solutions of the present invention have the following beneficial effects:

[0025] The processing production line of a plate welding robot and its processing method provided by the present invention integrate the intelligent processing platform and the handling robot for coordinated scheduling. It uses a multi-degree-of-freedom adjustable processing platform and the welding robot for real-time linkage, dynamically adapts to the differences in the morphology of the plate through the path planning algorithm. The processing platform is built-in with a high-frequency response servo drive, combined with the robot attitude compensation algorithm, which can synchronously adjust the workpiece pose during the welding process, reduce the number of downtime positioning times, and improve the continuous processing efficiency of complex plates.

[0026] Online hardness detection and closed-loop process optimization are achieved. A micro non-contact hardness detection unit is integrated at the end of the welding device. A highly sensitive laser vision sensor is used to capture the hardness data of the weld area in real time. The edge computing model compares the preset process parameters and feeds back to the welding power supply. If the detected hardness deviation exceeds the threshold, the system automatically corrects the current and wire feeding speed to ensure the consistency of the mechanical properties of the weld.

[0027] It can realize the in-situ operation of the cleaning and grinding integrated device. A multi-modal cleaning-grinding module (high-pressure water jet + floating abrasive belt) is carried at the end of the robot through a quick-change interface. After welding, the system automatically switches the tool and, based on the visual inspection data of the weld reinforcement, specifically performs cleaning and slag removal and grinding and polishing, avoiding secondary clamping of the workpiece, reducing the surface roughness, and reducing the time-consuming of post-processing. Description of the Drawings

[0028] Figure 1 It is the overall structure diagram of a plate welding robot processing production line provided by Embodiment 1 of the present invention;

[0029] Figure 2 It is the structure schematic diagram of the welding mechanism provided by Embodiment 1 of the present invention;

[0030] Figure 3 It is the structure schematic diagram of the driving component of the welding mechanism provided by Embodiment 1 of the present invention;

[0031] Figure 4 It is the schematic diagram of the clamping block provided by Embodiment 1 of the present invention;

[0032] Figure 5 It is the schematic diagram of the multi-screw hole connecting column provided by Embodiment 1 of the present invention;

[0033] Figure 6 It is the schematic diagram of the welding robot provided by Embodiment 1 of the present invention;

[0034] Figure 7 It is the connection structure schematic diagram of the sliding workbench provided by Embodiment 2 of the present invention;

[0035] Figure 8 It is the structure schematic diagram of the detection mechanism provided by Embodiment 1 of the present invention;

[0036] Figure 9 It is the schematic diagram of the fixed coupling disk provided by Embodiment 1 of the present invention;

[0037] Figure 10 It is the schematic diagram of the camera provided by Embodiment 1 of the present invention;

[0038] Figure 11 It is the overall structure schematic diagram of the cleaning and grinding integrated mechanism provided by Embodiment 1 of the present invention;

[0039] Figure 12 Partial structural schematic diagram of the washing and grinding integrated mechanism provided in Embodiment 1 of the present invention;

[0040] Figure 13a Front view of the T-shaped slideway provided in Embodiment 1 of the present invention;

[0041] Figure 13b Right view of the T-shaped slideway provided in Embodiment 1 of the present invention;

[0042] Figure 13c Top view of the T-shaped slideway provided in Embodiment 1 of the present invention;

[0043] Figure 14a Front view of the sliding rod provided in Embodiment 1 of the present invention;

[0044] Figure 14b Right view of the sliding rod provided in Embodiment 1 of the present invention;

[0045] Figure 14c Top view of the sliding rod provided in Embodiment 1 of the present invention;

[0046] Figure 15 Overall structural schematic diagram of the washing and grinding integrated mechanism provided in Embodiment 3 of the present invention;

[0047] Figure 16 Schematic diagram of the processing platform provided in Embodiment 1 of the present invention.

[0048] In the figure: 1, welding mechanism; 2, detection mechanism; 3, washing and grinding integrated mechanism; 4, processing platform;

[0049] 101, welding workbench; 102, pulley; 103, steel wire rope; 104, sliding workbench; 105, mechanical boom; 106, mechanical forearm; 107, welding robot; 108, welding dust suction pipe; 109, welding torch; 1010, laser vision sensor; 1011, welding torch head; 1012, welded plate; 1013, baffle; 1014, paddle; 1015, cylinder; 1016, welding base; 1017, drive assembly; 10171, inner cavity of drive assembly; 10172, transverse drive motor; 10173, coupling; 10174, worm; 10175, bearing seat; 10176, turbine; 10177, cylinder; 10178, screw; 10179, multi-threaded hole connecting column; 1018, clamping block; 1019, sliding workbench coupling; 1020, sliding workbench drive motor; 1021, sliding workbench screw;

[0050] 201, Detection Workbench; 202, Operation Button; 203, Detection Probe; 204, Detection Substrate; 205, Fixed Coupling Disk; 206, Detection Driving Motor; 207, Display Screen; 208, Vision Camera;

[0051] 301, Grinding and Washing Integrated Workbench; 302, Link Component; 303, Slideway Connection Ring; 304, Square Groove; 305, Grinding and Washing Dust Suction Pipe; 306, Cleaning Pipe; 307, Belt Sander; 308, T-shaped Slideway; 309, Slide Rod; 3010, Rotating Motor; 3011, Flexible Claw; 3012, Grinding and Washing Substrate; 3013, Lateral Driving Eccentric Wheel; 3014, Claw Lateral Driving Motor; 3015, Vertical Driving Eccentric Wheel; 3016, Claw Vertical Driving Motor; 3017, Pin Shaft End; 3018, Electric Cylinder; 3019, Nut;

[0052] 401, Scrap Bin; 402, First Handling Robot; 403, Second Handling Robot; 404, Workpiece to be Processed Placing Table; 405, Rectangular Slideway; 406, Completed Workpiece Placing Table; 407, Moving Component. Detailed Embodiment

[0053] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0054] Embodiment 1

[0055] The present invention provides a processing production line for a panel welding robot 107, including a processing platform 4. A workpiece to be processed placing table 404, a welding mechanism 1, a detection mechanism 2, a grinding and washing integrated mechanism 3, and a completed workpiece placing table 406 are provided on the processing platform 4. A rectangular slideway 405 in a shape of a double-square is provided in the middle of the processing platform 4. A plurality of handling robots are provided on the rectangular slideway 405 in a shape of a double-square, and the handling robots can move along the rectangular slideway 405 in a shape of a double-square to the workpiece to be processed placing table 404, the welding mechanism 1, the detection mechanism 2, the grinding and washing integrated mechanism 3, and the completed workpiece placing table 406; a scrap bin 401 is provided on the processing platform 4 between the welding mechanism 1 and the detection mechanism 2.

[0056] In this embodiment, as Figure 1 and Figure 16The shown workbench surface is provided with a "return" shaped linear guide rectangular slideway 405. The guide rail is made of high-strength aluminum alloy material with an accuracy grade of ±0.05 mm. The central area of the guide rail is divided into a welding workbench 101, an inspection workbench 201 and a grinding and washing integrated workbench 301. Each area is interconnected through the rectangular slideway 405. A work-piece-to-be-processed placement table 404 and a completed-work-piece placement table 406 are placed around the guide rail for placing work-pieces-to-be-processed and completed work-pieces. An intelligent robot is placed inside the rectangular slideway 405. The intelligent robot is installed on a moving component 407 and can send commands to the moving component 407 to drive its rotation. The intelligent robot mainly includes a first handling robot 402 and a second handling robot 403. The first handling robot 402 is responsible for transporting the parts after welding, inspection and grinding along the rectangular slideway 405 to the next process, and the second handling robot 403 is responsible for placing the welding plate 1012 on the welding base 1016 along the rectangular slideway 405.

[0057] As Figure 2 and Figure 3 shown, the welding robot 107 is installed on the sliding workbench 104 and can adjust the position of the welding robot 107 along the sliding workbench 104. The sliding workbench 104 moves up and down in the middle chute of the welding workbench 101. The welding robot 107 consists of a mechanical boom 105, a mechanical forearm 106 and a welding torch 109. The end of the welding torch 109 is connected to the welding torch head 1011. The mechanical boom 105 and the mechanical forearm 106 are fixedly connected by screws. The other end of the mechanical boom 105 is fixedly connected to the sliding workbench 104.

[0058] As Figure 6 shown, the sliding workbench 104 is fixed on the wire rope 103 through a clamping block 1018. As Figure 4 shown, the clamping block 1018 clamps any one of the left and right two wire ropes 103 by the upper and lower two clamping plates, so that the sliding workbench 104 can move vertically along the wire rope 103. The wire rope 103 bypasses the pulley 102. The pulley is driven by a motor and drives the wire rope 103. The pulley 102 is installed on the welding workbench 101 in the upper and lower two positions. With such a setting, the wire rope 103 can be stably driven by the upper and lower two pulleys 102, so as to realize the stable up and down movement of the sliding workbench 104. After moving in place, it remains stationary to ensure the stability during the welding process.

[0059] The end of the mechanical arm 105 is equipped with a quick-change interface module, which supports various standard welding torches 109. During welding, the welding robot 107 flexibly adjusts the position of the welding torch 109 for welding. An external laser vision sensor 1010 is installed on the welding torch 109 to scan the weld seam trajectory in real time and compensate for deformation errors. The welding parameters (current, speed) are automatically adjusted by the controller based on the material thickness and weld seam morphology. A welding base 1016 is set at the center of the welding workbench 101. The middle of the welding base 1016 is concave and presents a cross-shaped groove, and threaded holes are provided at the bottom. The multi-threaded hole connecting column 10179 is internally provided with threads that cooperate with the screw 10178.

[0060] As Figure 3 shown, a driving assembly 1017 is provided at the bottom of the welding base 1016. The driving assembly 1017 is arranged in the inner cavity 10171 of the driving assembly. The vertical driving motor and the coupling 10173 inside the cylinder 10177 drive the screw 10178 and the multi-threaded hole connecting column 10179 to cooperate, so as to drive the welding base 1016 to move in the vertical direction. In the horizontal direction, the welding base 1016 is driven by the transverse driving motor 10172 to drive the worm 10174 to drive the turbine 10176 to rotate. One end of the worm 10174 away from the transverse driving motor 10172 is fixed by the bearing seat 10175, so as to drive the welding base 1016 to move horizontally. Two transverse driving motors 10172 are symmetrically provided. Starting the transverse driving motors 10172 on different sides can realize the left and right movement of the welding base 1016.

[0061] During welding, when the welding robot places the welding plate 1012 on the workpiece placement table 404 on the welding base 1016, the cylinder 1015 is started at this time to push the baffle 1013 to clamp the welding plate 1012. After the baffle 1013 is adjusted to the specified position, the position of the dial 1014 is adjusted so that the dial 1014 can press on the welding plate 1012 to prevent the welding plate 1012 from moving during processing. The welding dust suction pipe 108 is started to clean the dust on the welding plate 1012, which is convenient for subsequent welding.

[0062] As Figure 8As shown, after welding is completed, the first handling robot 402 moves the workpiece to the inspection workbench 201. The inspection matrix 204 of the inspection workbench 201 has the same shape as the welding matrix 1016. The bottom of the inspection matrix 204 is provided with an end face with threaded holes and is connected to the inspection drive motor 206 through a fixed coupling disk 205. As shown in the figure, the inspection drive motor 206 drives the inspection matrix 204 to rotate to a suitable position, and the monitoring probe is installed on the hardness inspection workbench 201. During the inspection stage, first, the visual camera 208 takes pictures and inspects the weld surface, and feeds the data back to the central controller for comparison with the predetermined parameters. If it meets the standard, hardness inspection is carried out. At this time, the monitoring probe enters the weld area in a contact manner through the operation button 202, collects hardness data and feeds it back to the display screen 207 and the central controller. If the detected value deviates from the preset threshold (±5% HV), the system automatically triggers the closed-loop correction algorithm to adjust the wire feeding speed and heat input of the subsequent weld bead. If the detected value deviates too much and cannot be corrected, the workpiece is discarded, and the first handling robot 402 discards the workpiece into the waste bin 401.

[0063] As Figure 11 and As Figure 12 shown, the grinding and washing integrated workbench 301 is fixed on the workbench. The flexible gripper 3011 is connected to the link assembly 302. The link assembly 302 is arranged on the top of the grinding and washing integrated workbench 301. The flexible gripper 3011 is fixed to the rotating motor 3010 through a bottom plate with threaded holes by screws. The rotating motor 3010 is fixed on the sliding rod 309 by relying on the bottom plate. The cross-shaped end faces of the sliding rod 309 are fixed in the inner cavity of the T-shaped slideway 308 in a loop shape, as Figure 12 shown, the top of the T-shaped slideway 308 is matched with the square groove 304, so that the T-shaped slideway 308 can move smoothly inside the square groove 304.

[0064] The horizontal movement of the sliding rod 309 mainly depends on the mutual cooperation of the transverse driving eccentric wheel 3013 and the connecting rod. A slideway connecting ring 303 is provided on the end face of the sliding rod 309. The two slideway connecting rings 303 at both ends are connected to the connecting rod by screws. The connecting rod is composed of two identical long connecting rods and two shorter connecting rods. The shorter connecting rod is connected to the transverse driving eccentric wheel 3013. The transverse driving eccentric wheel 3013 is connected to the gripper transverse driving motor 3014. By driving the transverse driving eccentric wheel 3013 to rotate through the gripper transverse driving motor 3014, the T-shaped slideway 308 is driven to perform horizontal displacement through the cooperation between the connecting rods; the sliding rod 309 is connected to the vertical driving eccentric wheel 3015. The vertical driving eccentric wheel 3015 is connected to the gripper vertical driving motor 3016. By driving the vertical driving eccentric wheel to rotate through the gripper vertical driving motor 3016, the sliding rod 309 moves up and down in the T-shaped slideway 308.

[0065] The flexible gripper 3011 can perform three-axis movement, namely horizontal movement, vertical movement, and rotational movement around the connecting axis. When the flexible gripper 3011 grabs the welded plate 1012, the slide bar 309 drives the flexible gripper 3011 to move in the vertical direction. The pin shaft end 3017 of the slide bar 309 has an interference fit with the vertical drive eccentric wheel 3015, and the other end is connected to the flexible gripper 3011. The motor is key-connected to the vertical drive eccentric wheel 3015, and the rotational movement of the vertical drive eccentric wheel 3015 drives the slide bar 309 to perform vertical displacement.

[0066] This device integrates cleaning and grinding. The welded plate 1012 after detection is moved by the first handling robot 402 to the surface of the grinding and washing base 3012 for grinding. The integrated grinding and washing workbench 301 is equipped with a belt sander 307 with a belt width of 20 mm, which is driven by an internal motor of the integrated grinding and washing workbench 301 to achieve constant-force polishing (the pressure can be adjusted from 50 N to 150 N). The grinding path is adjusted in real time according to the weld reinforcement (0.2 - 2 mm), and finally the surface roughness is controlled within Ra1.6 μm. After the grinding of the workpiece is completed, it enters the cleaning module. When the flexible gripper 3011 grabs the welded plate 1012, the slide bar 309 drives the flexible gripper 3011 to move in the horizontal direction to gradually approach and grab the welded plate 1012. When the flexible gripper 3011 grabs the welded plate 1012 and moves the workpiece upward to the processing plane at the same time, the rotation motor 3010 and the high-pressure water jet (pressure 0.5 - 3 MPa) and the negative-pressure dust suction composite structure of the grinding and washing dust suction pipe 305 are started simultaneously to synchronously remove spatter and dust; after the cleaning is completed, the workpiece is placed on the surface of the grinding and washing base 3012, and the first handling robot 402 places the welded plate 1012 on the workbench.

[0067] This embodiment introduces the working process of the intelligent processing production line for robotic welding of plate parts as follows:

[0068] The welding robot 107 grabs the welded plate 1012 along the rectangular slideway 405 and moves it to the welding workbench 101. The welded plate 1012 is fixed on the welding base 1016. The welding robot 107 relies on the laser vision sensor 1010 to scan the contour of the welded plate 1012 to generate a three-dimensional path for welding. After welding is completed, the first handling robot 402 moves the welded plate 1012 to the inspection workbench 201, and synchronously triggers the inspection probe 203 to perform a hardness test. If it does not meet the inspection standard, it is placed in the waste bin 401. After the hardness test is completed, the first handling robot 402 places the welded plate 1012 on the grinding base 3012, starts the belt sander 307, and polishes the weld seam. After polishing, the welded plate 1012 is vertically moved by the flexible gripper 3011, and the started welding suction pipe 108 and the cleaning pipe 306 clean the welded plate 1012. After cleaning, the processed welded plate 1012 is conveyed by the first handling robot 402 along the rectangular slideway 405 to the finished product placement table 406.

[0069] This process is repeated until the entire processing is completed.

[0070] Embodiment 2

[0071] This embodiment is the connection method of the welding platform of the welding production line according to one or more embodiments of the present invention. As Figure 7 described, in this embodiment, a threaded hole is opened in the vertical direction of the convex structure of the sliding workbench 104. The sliding workbench driving motor 1020 is connected to the sliding workbench screw 1021 through the sliding workbench coupling 1019, and the sliding workbench screw 1021 and the sliding workbench 104 are mutually matched through threads. During work, the motor is started, and the sliding workbench 104 is driven to move to a suitable position through the cooperation of the threads inside the sliding workbench screw 1021 and the sliding workbench 104.

[0072] Embodiment 3

[0073] This embodiment is the driving method of the T-shaped slideway 308 of the welding production line according to one or more embodiments of the present invention. As Figure 15 shown, a through hole is opened in the center of the T-shaped slideway 308 in this embodiment, and the output end of the electric cylinder 3018 is fixedly connected to the T-shaped slideway 308 through a nut 3019. During work, the start and stop of the T-shaped slideway 308 at any position are realized through the electric cylinder 3018.

[0074] Although the specific embodiments of the present invention are described above in conjunction with the drawings, it is not a limitation to the protection scope of the present invention. Those skilled in the art should understand that, based on the technical solutions of the present invention, various modifications or deformations that can be made by those skilled in the art without creative labor are still within the protection scope of the present invention.

Claims

1. A plate welding robot processing production line, characterized in that: It comprises a processing platform, on which a processing part placement table, a welding mechanism, a testing mechanism, an integrated washing and grinding mechanism and a finished part placement table are provided, a U-shaped linear slide is provided in the middle of the processing platform, a plurality of transport robots are provided on the U-shaped linear slide, and the transport robots can move along the U-shaped linear slide to the processing part placement table, the welding mechanism, the testing mechanism, the integrated washing and grinding mechanism and the finished part placement table; a waste barrel is provided on the processing platform between the welding mechanism and the testing mechanism.

2. A plate welding robot processing production line as claimed in claim 1, characterized in that: The welding mechanism is provided with a welding workbench, which is arranged on the processing platform; the top of the welding workbench is arranged as an L-shaped welding platform, and a driving component is arranged on the horizontal surface of the L-shaped welding platform, and the driving component is connected to the welding base, and the welding base can move in the horizontal direction or the vertical direction under the drive of the driving component, and a welding plate is arranged on the welding base; a sliding workbench is slidably arranged on the welding platform on the vertical surface of the L-shaped structure, and a welding robot is arranged on the sliding workbench, and the welding robot can move in the vertical direction driven by the sliding workbench, and a laser vision sensor is arranged on the welding robot.

3. A plate welding robot processing production line as claimed in claim 2, characterized in that: The bottom of the welding base is connected to a multi-screw hole connecting column, the bottom of the multi-screw hole connecting column is connected to a screw rod, one end of the screw rod extends into the inner cavity of the driving component and is connected to the output end of the vertical driving motor, a cylinder is provided on the outside of the vertical driving motor, and a turbine is provided at the bottom of the cylinder; The driving assembly comprises a transverse driving motor, an output end of which is connected to a worm gear, and the worm gear is meshed with a turbine.

4. A plate welding robot processing production line as claimed in claim 2, characterized in that: A cross-shaped groove structure is formed on the top of the welding base, a plurality of welding dust suction pipes are arranged on the outside of the cross-shaped groove structure, a plurality of cylinders are arranged inside the cross-shaped groove structure, and the output ends of the cylinders are connected to a baffle.

5. A plate welding robot processing production line as claimed in claim 2, characterized in that: Two pulleys are provided on the welding platform on the vertical surface of the L-shaped structure, and steel wire ropes are wound around the two pulleys; a slide drive motor is provided on the welding platform on the vertical surface of the L-shaped structure, and the output end of the slide drive motor is connected to any one of the two pulleys; the sliding workbench is provided with a clamping block, and the clamping block is clamped on the steel wire rope; the sliding workbench is provided with a protruding structure, and a sliding groove is provided on the welding platform on the vertical surface of the L-shaped structure, and the protruding structure is arranged in the sliding groove.

6. A plate welding robot processing production line as claimed in claim 1, characterized in that: The detection mechanism is provided with a detection workbench, on which a detection drive motor is provided. The output end of the detection drive motor is connected to a detection base through a fixed coupling shaft. A detection probe is provided on the upper part of the detection base, and a plurality of visual cameras are provided on the detection probe.

7. A plate welding robot processing production line as claimed in claim 6, characterized in that: The detection substrate is provided with a detection substrate groove structure, and a plurality of clamping components are arranged in the detection substrate groove structure.

8. The plate welding robot processing production line according to claim 1, characterized in that: The integrated washing and grinding mechanism is provided with an integrated washing and grinding workbench, on which a washing and grinding base is provided, flexible clamps are provided on both sides of the washing and grinding base, the flexible clamps are connected to the connecting rod assembly, and the flexible clamps can move in the horizontal direction and the vertical direction under the drive of the connecting rod assembly; The integrated washing and grinding workbench is also provided with a sanding machine, which is arranged on the upper part of the washing and grinding base body. The integrated washing and grinding workbench on both sides of the sanding machine is provided with a washing and grinding dust suction pipe and a cleaning pipe.

9. A plate welding robot processing production line as claimed in claim 8, characterized in that: The connecting rod assembly comprises a horizontal connecting rod assembly arranged on the top of the integrated washing and grinding workbench, a transverse driving eccentric wheel is arranged in the middle of the horizontal connecting rod assembly, the transverse driving eccentric wheel is connected to the output end of the transverse driving motor of the clamping jaw, both sides of the horizontal connecting rod assembly are connected to a vertically arranged T-shaped slideway, a sliding rod is arranged in the T-shaped slideway, the end of the sliding rod is connected to a rotating motor, and the rotating motor is connected to a flexible clamping jaw; A flexible clamping claw vertical driving motor is arranged outside the T-shaped slideway, a sliding rod arranged inside the T-shaped slideway is connected to a vertical driving eccentric wheel, and the vertical driving eccentric wheel is connected to the output end of the flexible clamping claw vertical driving motor.

10. A processing method for a plate welding robot processing production line according to any one of claims 1 to 9, characterized in that: include: The handling robot grabs the welding plate along the slide and moves it to the welding mechanism, fixes the welding plate on the welding base, and the welding robot relies on the laser vision sensor to scan the contour of the welding plate to generate a three-dimensional path for welding; After welding is completed, the handling robot moves the welded plate to the testing mechanism, and the testing probe performs hardness testing on the welded plate. If it does not meet the testing standards, the handling robot places the welded plate in a waste bin. If it meets the testing standards, the handling robot moves the welded plate to the washing and grinding mechanism. After the hardness test is completed, the handling robot places the welded plate on the integrated washing and grinding mechanism, starts the sanding machine, polishes, cleans and vacuums the weld, and the debris is collected by the vacuum pipe. The processed welded plate is transported by the handling robot along the slide to the finished part placement table.

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