Middle trough spot welding system

Abstract

The utility model discloses a spot welding system for a middle trough. The spot welding system for the middle trough is used for spot welding a middle plate, a shovel plate ledge and a baffle ledge of the middle trough and splicing the middle plate, the shovel plate ledge and the baffle ledge together. The middle trough spot welding system comprises a spot welding platform device and a welding robot device; the welding robot device is used for spot welding a middle plate, a shovel plate ledge and a baffle ledge and splicing the middle plate, the shovel plate ledge and the baffle ledge together; the spot welding platform device is provided with a visual detection mechanism used for detecting whether the baffle plate ledge and the shovel plate ledge are in place or not. According to the spot welding system for the middle trough, the middle plate, the shovel plate ledge and the baffle ledge of the middle trough can be automatically spot-welded and spliced together, the spot welding quality and the spot welding efficiency are improved, and the labor intensity of workers is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of coal mine machinery production and manufacturing, in particular to a middle slot spot welding system. Background Art

[0002] In recent years, enterprises have been facing the problems of difficulty in hiring, aging of welding personnel, and a decrease in the number of young welding technicians. In the future, there will be a gap in the number of traditional manual welding personnel. Robot welding is an inevitable trend for the future development of enterprises. At present, the middle troughs commonly used in domestic coal transportation are mostly welded manually, using carbon dioxide gas shielded welding, and the welds are in the form of multi-layer multi-pass fillet welds and multi-layer multi-pass groove welds. The disadvantages of manual welding are:

[0003] 1) The hazards generated during the welding process include welding fumes, chemical pollution and physical pollution. Working in this environment for a long time can easily induce occupational diseases such as pneumoconiosis.

[0004] 2) Welding quality is easily affected by external factors such as physiology and psychology, and the welding quality is unstable.

[0005] 3) The base welding process requires high skill levels of workers.

[0006] 4) Welding is labor-intensive and it takes about 1-3 days to weld a structural part.

[0007] 5) The welding environment is harsh and some structures need to be preheated before welding.

[0008] In order to realize the operation of automated production lines, complete the continuous and automated production operation of conventional model middle trough products, reduce the labor intensity of workers, improve the working environment, improve production efficiency, realize the company's "machine replacement" purpose, and lay a solid foundation for the company's transformation and upgrading to intelligent production. Summary of the invention

[0009] In order to overcome the above-mentioned defects, the technical problem solved by the utility model is to provide a middle groove spot welding system, which can realize automatic spot welding of the middle plate, shovel plate groove side and baffle groove side of the middle groove and splice them together, thereby improving the spot welding quality and spot welding efficiency and reducing the labor intensity of workers.

[0010] In order to solve the above technical problems, the utility model provides a middle slot spot welding system, which uses the middle slot spot welding system to spot weld the middle plate, shovel plate slot side, and baffle plate slot side of the middle slot and splice them together; the middle slot spot welding system includes a spot welding platform device and a welding robot device, and the welding robot device is used to spot weld the middle plate, the shovel plate slot side, and the baffle plate slot side and splice them together; the spot welding platform device is provided with a visual inspection mechanism for detecting whether the baffle plate slot side and the shovel plate slot side are in place.

[0011] Furthermore, the visual detection mechanism includes two groups of visual detection components, namely visual detection component A and visual detection component B. The visual detection component A is used to detect whether the baffle groove is in place, and the visual detection component B is used to detect whether the shovel plate groove is in place; the visual detection component A and the visual detection component B can move along the X direction, the Y direction, and the Z direction.

[0012] Furthermore, the visual detection mechanism also includes a power component 1 and a power component 2 that are relatively arranged, and the visual detection component A and the visual detection component B can move along the X direction, the Y direction, and the Z direction under the action of the power component 1 and the power component 2.

[0013] Furthermore, the visual inspection component A includes an X-direction visual inspection component A, a Y-direction visual inspection component A, and a Z-direction visual inspection component A; the X-direction visual inspection component A is used to position the baffle groove side in the X direction, the Y-direction visual inspection component A is used to position the baffle groove side in the Y direction, and the Z-direction visual inspection component A is used to position the baffle groove side in the Z direction.

[0014] Furthermore, two X-direction visual detection components A are provided, two Y-direction visual detection components A are provided, and three Z-direction visual detection components A are provided; the visual detection component A also includes a column A1 and a column A2 arranged opposite to each other, the column A1 is arranged on the power component A1, and the column A2 is arranged on the power component A2; one X-direction visual detection component A, one Y-direction visual detection component A, and two Z-direction visual detection components A are provided on the column A1; one X-direction visual detection component A, one Y-direction visual detection component A, and one Z-direction visual detection component A are provided on the column A2.

[0015] Furthermore, the visual detection component B includes an X-direction visual detection component B, a Y-direction visual detection component B, and a Z-direction visual detection component B; the X-direction visual detection component B is used to position the shovel plate groove side in the X direction, the Y-direction visual detection component B is used to position the shovel plate groove side in the Y direction, and the Z-direction visual detection component B is used to position the shovel plate groove side in the Z direction.

[0016] Furthermore, two X-direction visual detection components B are provided, two Y-direction visual detection components B are provided, and three Z-direction visual detection components B are provided; the visual detection component B also includes a column B1 and a column B2 arranged opposite to each other, the column B1 is arranged on the power component 1, and the column B2 is arranged on the power component 2; one X-direction visual detection component B, one Y-direction visual detection component B, and two Z-direction visual detection components B are provided on the column B1; one X-direction visual detection component B, one Y-direction visual detection component B, and one Z-direction visual detection component B are provided on the column B2.

[0017] Furthermore, the middle groove spot welding system also includes a silo device, which includes a plurality of material trays, in which the middle plate, the baffle plate groove side, and the shovel plate groove side are placed.

[0018] Furthermore, the middle groove spot welding system also includes a transport robot device for transporting the middle plate, the shovel plate groove side, and the baffle plate groove side from the material tray to the spot welding platform device; the material tray device and the transport robot device are both located on the first side of the spot welding platform device.

[0019] Furthermore, the welding robot device is located on the second side of the spot welding platform device.

[0020] After adopting the above technical scheme, the beneficial effect of the utility model is that the middle slot spot welding system is used to spot weld the middle plate, shovel plate slot side, and baffle plate slot side of the middle slot and splice them together. The middle slot spot welding system includes a spot welding platform device and a welding robot device. The welding robot device is used to spot weld the middle plate, shovel plate slot side, and baffle plate slot side and splice them together; the spot welding platform device is provided with a visual detection mechanism for detecting whether the baffle plate slot side and the shovel plate slot side are in place. The middle slot spot welding system of the utility model can realize automatic spot welding of the middle plate, shovel plate slot side, and baffle plate slot side of the middle slot and splice them together, improve the spot welding quality and spot welding efficiency, and reduce the labor intensity of workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a three-dimensional diagram of the middle slot spot welding system of the utility model;

[0022] Figure 2 It is a structural schematic diagram of the middle slot spot welding system of the utility model;

[0023] Figure 3 yes Figure 2 Side view of

[0024] Figure 4 yes Figure 2 (without the tray device) top view;

[0025] Figure 5 yes Figure 1 A three-dimensional diagram of the center spot welding platform device;

[0026] Figure 6 yes Figure 1 The structural schematic diagram of the center spot welding platform device;

[0027] Figure 7 yes Figure 6 A top view of

[0028] Figure 8 yes Figure 6 Side view of

[0029] Fig. 9 yes Figure 1 The structural diagram of the welding robot device;

[0030] Fig.10 yes Figure 1 A perspective view of a handling robot device;

[0031] Fig.11 It is a structural schematic diagram of a middle slot produced by using the middle slot spot welding system of the utility model;

[0032] In the figure, 1. spot welding platform device; 11. platform; 12. power component 1; 13. power component 2; 14. column A1; 15. column A2; 16. visual inspection component A; 161. X-axis visual inspection component A; 162. Y-axis visual inspection component A; 163. Z-axis visual inspection component A; 2. welding robot device; 21. welding robot slide rail; 22. welding robot mounting seat; 23. welding robot; 3. handling robot device; 31. handling robot slide rail; 32. suction cup gripper; 33. handling robot; 34. handling robot mounting seat; 4. silo device; 41. material tray; 5. middle slot; 51. shovel plate slot side; 52. bottom plate; 53. baffle plate slot side; 54. middle plate. DETAILED DESCRIPTION

[0033] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0034] Combination Fig.11 As shown, the middle trough 5 includes a middle plate 54, a bottom plate 52, a shovel plate trough side 51, a baffle plate trough side 53, a vertical plate, and two rail seats, and the two rail seats are symmetrically arranged. The middle trough 5 is a prior art, and the specific structure of the middle trough 5 and the connection relationship between the various components are not repeated here.

[0035] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 ,as well as Fig.11 As shown together, the middle groove spot welding system of the present invention is used to spot weld and splice the middle plate 54, the shovel plate groove side 51, and the baffle plate groove side 53 together.

[0036] Combination Figure 1 , Figure 2 , Figure 3 ,as well as Figure 4 As shown together, the middle slot spot welding system includes a spot welding platform device 1 and a welding robot device 2. The welding robot device 2 is used to spot weld the middle plate 54, the shovel plate slot side 51, and the baffle plate slot side 53 and splice them together.

[0037] Combination Figure 1 , Figure 5 , Figure 6 , Figure 7 As shown in FIGS. 8 and 8 , the spot welding platform device 1 includes a platform 11 , on which a visual inspection mechanism is provided for inspecting whether the baffle plate groove 53 and the scraper plate groove 51 are in place.

[0038] Preferably, the visual detection mechanism includes two groups of visual detection components, namely visual detection component A16 and visual detection component B. Visual detection component A16 is used to detect whether the baffle groove 53 is in place, and visual detection component B is used to detect whether the shovel groove 51 is in place; visual detection component A16 and visual detection component B can move along the X direction, Y direction, and Z direction.

[0039] Further preferably, the visual inspection mechanism further comprises a power assembly 1 12 and a power assembly 2 13 which are relatively arranged on the upper surface of the platform 11, and the visual inspection assembly A16 and the visual inspection assembly B can move along the X direction, the Y direction, and the Z direction under the action of the power assembly 1 12 and the power assembly 2 13. The power assembly 1 12 and the power assembly 2 13 use conventional power assemblies well known to those skilled in the art, and the use of the power assembly can realize automatic or manual adjustment in the X direction, the Y direction, and the Z direction. The specific structure, working principle, and working process are common knowledge to those skilled in the art, and will not be repeated here.

[0040] Preferably, the visual inspection component A16 includes an X-direction visual inspection component A161, a Y-direction visual inspection component A162, and a Z-direction visual inspection component A163; the X-direction visual inspection component A161 is used to position the baffle groove 53 in the X direction, the Y-direction visual inspection component A162 is used to position the baffle groove 53 in the Y direction, and the Z-direction visual inspection component A163 is used to position the baffle groove 53 in the Z direction.

[0041] Further preferably, there are two X-direction visual detection parts A161, two Y-direction visual detection parts A162, and three Z-direction visual detection parts A163. Visual detection assembly A16 also includes a column A14 and a column A15 arranged opposite to each other, wherein the column A14 is arranged on the power assembly 12, and the column A14 can move along the X direction, the Y direction, and the Z direction under the action of the power assembly 12. Column A15 is arranged on the power assembly 213, and the column A15 can move along the X direction, the Y direction, and the Z direction under the action of the power assembly 213. Column A14 is provided with an X-direction visual detection part A161, a Y-direction visual detection part A162, and two Z-direction visual detection parts A163. Column A15 is provided with an X-direction visual detection part A161, a Y-direction visual detection part A162, and a Z-direction visual detection part A163.

[0042] Combination Figure 6 , Figure 7 ,as well as Figure 8 As shown together, the two X-direction visual detection parts A 161 are used to detect the values ​​of X1 and X2, and are used to locate the position of the baffle groove side 53 of the middle groove 5 in the X-axis direction; the two Y-direction visual detection parts A 162 are used to locate the position of the baffle groove side 53 of the middle groove 5 in the Y-axis direction to ensure Figure 7 The A surface of the middle baffle groove 53 is parallel to the reference surface C; the three Z-direction visual detection parts A 163 are used to locate the position of the baffle groove 53 of the middle groove 5 in the Z-axis direction to ensure Figure 8 The surface B of the middle baffle groove 53 is parallel to the reference surface D.

[0043] Preferably, the visual inspection assembly B includes an X-direction visual inspection component B, a Y-direction visual inspection component B, and a Z-direction visual inspection component B. The X-direction visual inspection component B is used to position the shovel plate groove 51 in the X direction, the Y-direction visual inspection component B is used to position the shovel plate groove 51 in the Y direction, and the Z-direction visual inspection component B is used to position the shovel plate groove 51 in the Z direction.

[0044] Further preferably, two X-direction visual detection parts B are provided, two Y-direction visual detection parts B are provided, and three Z-direction visual detection parts B are provided. The visual detection assembly B also includes a column B1 and a column B2 that are arranged opposite to each other, the column B1 is arranged on a power assembly 12, and the column B1 can move along the X direction, the Y direction, and the Z direction under the action of the power assembly 12. The column B2 is arranged on a power assembly 2 13, and the column B2 can move along the X direction, the Y direction, and the Z direction under the action of the power assembly 2 13. The column B1 is provided with an X-direction visual detection part B, a Y-direction visual detection part B, and two Z-direction visual detection parts B; the column B2 is provided with an X-direction visual detection part B, a Y-direction visual detection part B, and a Z-direction visual detection part B.

[0045] Combination Figure 6 , Figure 7 ,as well as Figure 8 As shown together, the two X-direction visual detection parts B are used to detect the values ​​of X1 and X2, and are used to locate the position of the shovel groove side 51 of the middle groove 5 in the X-axis direction; the two Y-direction visual detection parts B are used to locate the position of the shovel groove side 51 of the middle groove 5 in the Y-axis direction to ensure Figure 7 The A surface of the middle shovel groove 51 is parallel to the reference surface C; the three Z-direction visual detection parts B are used to locate the Z-axis direction of the shovel groove 51 of the middle groove 5 to ensure Figure 8 The B surface of the middle shovel plate groove side 51 is parallel to the reference surface D.

[0046] The visual inspection component of the above-mentioned visual inspection assembly is a purchased part. The structure of the visual inspection component, the inspection process, and the principle of using laser for inspection are common knowledge to those skilled in the art and will not be elaborated here.

[0047] Preferably, the middle slot spot welding system further comprises a silo device 4, which comprises a plurality of trays 41, in which the middle plate 54, the baffle plate slot side 53, and the shovel plate slot side 51 are placed.

[0048] Combination Figure 1 as well as Fig.10 As shown together, the middle slot spot welding system also includes a transport robot device 3 for transporting the middle plate 54, the shovel plate slot side 51, and the baffle plate slot side 53 from the material tray 41 to the spot welding platform device 1; the material tray device 4 and the transport robot device 3 are both located on the first side of the spot welding platform device 1.

[0049] The transport robot device 3 includes a transport robot slide rail 31, on which a transport robot mounting seat 34 is slidably arranged. The fixed part of the transport robot 33 is fixedly installed together with the transport robot mounting seat 34. When the transport robot mounting seat 34 slides on the transport robot slide rail 31, the transport robot 33 also slides on the transport robot slide rail 31.

[0050] The handling robot 33 is also provided with a suction cup gripper 32 for grabbing materials. The suction cup gripper 32 can provide up and down, left and right, front and back movements under the drive of the handling robot 33. Its working principle and working process are common knowledge to those skilled in the art and will not be described in detail here.

[0051] Combination Figure 1 as well as Fig. 9 As shown together, the welding robot device 2 is located on the second side of the spot welding platform device 1. The welding robot device 2 includes a welding robot slide rail 21, on which a welding robot mounting seat 22 is slidably arranged, and a fixed portion of a welding robot 23 is fixedly mounted together with the welding robot mounting seat 22. When the welding robot mounting seat 22 slides on the welding robot slide rail 21, the welding robot 23 also slides on the welding robot slide rail 21.

[0052] The power component in the power assembly involved in this embodiment is a conventional power component that can provide power, and the power component can be an electric cylinder, a gas cylinder, an oil cylinder, a motor, etc. Of course, it can also be manually operated.

[0053] In this embodiment, before the middle groove electric welding system of the present invention starts processing the middle groove 5, it is necessary to manually program the control system and set parameters.

[0054] The following is a detailed description of the process of welding the middle groove 5 using the middle groove electric welding system of the utility model:

[0055] 1. The transport robot 33 of the transport robot device 3 grabs the middle plate 54 and places it at a fixed position on the platform 11 of the spot welding platform device 1, and the middle plate positioning assembly completes the position positioning of the middle plate 54;

[0056] 2. The transport robot 33 of the transport robot device 3 grabs the shovel plate groove 51 to the spot welding platform device 1. According to the signal feedback from the laser detection component B, the transport robot 33 automatically adjusts the spatial position of the shovel plate groove 51 in the X direction, the Y direction, and the Z direction to realize the positioning of the shovel plate groove 51;

[0057] 3. According to the different models and specifications of the middle groove 5, the handling robot 33 grabs the shovel plate groove 51 positioned in step 2 to a relative position with the middle plate 54, and the welding robot 23 in the welding robot device 2 welds the shovel plate groove 51 and the middle plate 54;

[0058] 4. The transport robot 33 of the transport robot device 3 grabs the baffle groove 53 to the spot welding platform device 1. According to the signal feedback of the laser detection component A16, the transport robot 33 automatically adjusts the spatial position of the baffle groove 53 in the X direction, the Y direction, and the Z direction to achieve the positioning of the baffle groove 53;

[0059] 5. According to the different models and specifications of the middle groove 5, the handling robot 33 grabs the baffle groove side 53 positioned in step 4 to a relative position with the middle plate 54, and the welding robot 23 of the welding robot device 2 welds the baffle groove side 53 and the middle plate 54.

[0060] The technical features with serial number names involved in this specification (such as power component one, power component two, column A1, column A2, column B1, column B2, visual inspection component A, X-direction visual inspection component A, Y-direction visual inspection component A, Z-direction visual inspection component A, visual inspection component B, X-direction visual inspection component B, Y-direction visual inspection component B, Z-direction visual inspection component B, first side, second side, etc.) are only for distinguishing the various technical features and do not represent the positional relationship, installation sequence and working sequence between the various technical features.

[0061] In the description of this specification, it is necessary to understand that the orientation or positional relationship described by "upper surface", "middle plate", "bottom plate", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model.

[0062] The present utility model is not limited to the above-mentioned specific implementation modes. Various changes made by ordinary technicians in this field based on the above-mentioned concepts without creative work are all within the protection scope of the present utility model.

Claims

1. A middle slot spot welding system, which is used to spot weld the middle plate, shovel plate slot side, and baffle plate slot side of the middle slot and splice them together; the middle slot spot welding system comprises a spot welding platform device and a welding robot device, and the welding robot device is used to spot weld the middle plate, the shovel plate slot side, and the baffle plate slot side and splice them together; it is characterized in that: The spot welding platform device is provided with a visual detection mechanism for detecting whether the baffle plate groove side and the shovel plate groove side are in place.

2. The middle slot spot welding system according to claim 1, characterized in that: The visual detection mechanism includes two groups of visual detection components, namely visual detection component A and visual detection component B. The visual detection component A is used to detect whether the baffle groove is in place, and the visual detection component B is used to detect whether the shovel plate groove is in place; the visual detection component A and the visual detection component B can move along the X direction, the Y direction, and the Z direction.

3. The middle slot spot welding system according to claim 2, characterized in that: The visual inspection mechanism also includes a power component 1 and a power component 2 which are arranged relatively to each other. The visual inspection component A and the visual inspection component B can move along the X direction, the Y direction, and the Z direction under the action of the power component 1 and the power component 2.

4. The middle slot spot welding system according to claim 3, characterized in that: The visual inspection component A includes an X-direction visual inspection component A, a Y-direction visual inspection component A, and a Z-direction visual inspection component A; the X-direction visual inspection component A is used to position the baffle groove side in the X direction, the Y-direction visual inspection component A is used to position the baffle groove side in the Y direction, and the Z-direction visual inspection component A is used to position the baffle groove side in the Z direction.

5. The middle slot spot welding system according to claim 4, characterized in that: Two X-direction visual detection components A are provided, two Y-direction visual detection components A are provided, and three Z-direction visual detection components A are provided; the visual detection component A also includes a column A1 and a column A2 which are arranged opposite to each other, the column A1 is arranged on the power component A1, and the column A2 is arranged on the power component A2; one X-direction visual detection component A, one Y-direction visual detection component A, and two Z-direction visual detection components A are provided on the column A1; one X-direction visual detection component A, one Y-direction visual detection component A, and one Z-direction visual detection component A are provided on the column A2.

6. The middle slot spot welding system according to claim 5, characterized in that: The visual inspection component B includes an X-direction visual inspection component B, a Y-direction visual inspection component B, and a Z-direction visual inspection component B; the X-direction visual inspection component B is used to position the shovel plate groove side in the X direction, the Y-direction visual inspection component B is used to position the shovel plate groove side in the Y direction, and the Z-direction visual inspection component B is used to position the shovel plate groove side in the Z direction.

7. The middle slot spot welding system according to claim 6, characterized in that: Two X-direction visual detection components B are provided, two Y-direction visual detection components B are provided, and three Z-direction visual detection components B are provided; the visual detection component B also includes a column B1 and a column B2 which are arranged opposite to each other, the column B1 is arranged on the power component 1, and the column B2 is arranged on the power component 2; one X-direction visual detection component B, one Y-direction visual detection component B, and two Z-direction visual detection components B are provided on the column B1; one X-direction visual detection component B, one Y-direction visual detection component B, and one Z-direction visual detection component B are provided on the column B2.

8. The middle slot spot welding system according to claim 1, characterized in that: The middle groove spot welding system also includes a silo device, which includes a plurality of material trays, in which the middle plate, the baffle plate groove side, and the shovel plate groove side are placed.

9. The middle slot spot welding system according to claim 8, characterized in that: The middle groove spot welding system also includes a transport robot device for transporting the middle plate, the shovel plate groove side, and the baffle plate groove side from the material tray to the spot welding platform device; the material tray device and the transport robot device are both located on the first side of the spot welding platform device.

10. The mid-slot spot welding system according to claim 9, characterized in that: The welding robot device is located on the second side of the spot welding platform device.

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