Automatic positioning and overturning welding line for air door

Abstract

The utility model discloses an air door automatic positioning and overturning welding line, and belongs to the technical field of robot automatic welding. The device comprises a feeding station, a welding robot and an overturning welding station, the feeding station is used for placing a plate and a pipe on the overturning welding station according to the shape of an air door, and the overturning welding station is used for overturning the plate and the pipe which are installed on the overturning welding station and are in the shape of the air door and welding the plate and the pipe through the welding robot. Semi-automatic machining of the door leaf is achieved; the intelligent operation of the equipment is realized, and the operation process is remotely monitored, so that faults are found in time, the response period is shortened, the utilization rate of the equipment is improved, and the working efficiency is improved; through an automatic welding mode, personnel and welding are isolated, the probability that employees get occupational diseases due to contact with harmful gas is reduced, and meanwhile other injuries such as scalding and mechanical injuries in the operation process of the employees are eliminated.

Description

Technical Field

[0001] The utility model relates to an automatic air door positioning and flipping welding line, belonging to the technical field of robot automatic welding. Background Art

[0002] Due to the different sizes of mine caverns and damper sizes, it is estimated that there are more than 30 damper sizes. Manual repositioning is required for each processing. Manual positioning has errors, and the accumulated errors lead to large deviations in door leaf sizes, affecting the airtightness of the damper. The damper door frame, door panel, and sealing baffle need to be turned over many times (at least 6 times) during welding. The turning efficiency is low, and there are safety hazards during the turning process. During welding, welders need to squat to perform welding operations. The smoke and dust generated during the welding process not only pollutes the working environment, but also poses serious occupational health risks to employees during operation. Utility Model Content

[0003] The utility model provides a damper automatic positioning flip welding line, which solves the problems of low flipping efficiency and potential safety hazards to manual welding during current manual welding.

[0004] The technical problem to be solved by the utility model is achieved by adopting the following technical solutions:

[0005] A damper automatic positioning flip welding line comprises a loading station, a welding robot and a flip welding station. The loading station is used to place plates and tubes on the flip welding station according to the shape of the damper. The flip welding station is used to flip the damper-shaped plates and tubes installed on the flip welding station and perform welding by the welding robot.

[0006] As a preferred example, the loading station includes a plate processing station and a plate loading robot. A first proximity switch is provided on one end of the plate processing station for detecting that a plate that has completed processing and is located on the plate processing station moves to the position of the plate processing station, so as to facilitate the plate loading robot to grab the plate. The plate loading robot is provided with a first sub-master control, a first fixture, a first camera, and a second proximity switch. The second proximity switch is installed on the first fixture, and the measuring end of the second proximity switch corresponds to the clamping end of the first fixture. The first camera and the second proximity switch are electrically connected to the first sub-master control. The first sub-master control is electrically connected to the first sub-master control. The driving electrical connection where a clamp is located is used to control the movement of the plate loading robot through the first sub-master control until the first camera captures the position of the plate on the plate processing station, and then uses the first sub-master control to control the first clamp to clamp the processed plate, and then uses the second proximity switch to judge the state of the first clamp grabbing the processed plate, and then controls the movement of the plate loading robot through the first sub-master control until the third proximity switch located on the flip welding station judges that the plate loading robot moves to the position on the flip welding station, then the first sub-master control controls the first clamp to open, so that the plate is placed on the flip welding station.

[0007] As a preferred example, there are multiple third proximity switches, and the multiple third proximity switches are installed in sequence on the flip welding station according to the positions set by the shape of the damper where the plate is placed on the flip welding station, and the position data of the multiple third proximity switches have been sent to the first sub-master control on the plate loading robot and stored, and the first sub-master control controls the placement of the processed plate in the designated area according to the position signals brought by the stored multiple third proximity switches.

[0008] As a preferred example, the loading station also includes a tube processing station and a tube loading robot, and the tube processing station is provided with a fourth proximity switch at the same position as that on the plate processing station, and the fourth proximity switch on the tube processing station has the same function as the first proximity switch on the plate processing station; the tube loading robot is provided with a second sub-master control, a second fixture, a second camera and a sixth proximity switch at the same position as those on the plate loading robot, and the second sub-master control, the second fixture, the second camera and the sixth proximity switch on the tube loading robot have the same functions as the first sub-master control, the first fixture, the first camera and the second proximity switch on the plate loading robot.

[0009] As a preferred example, the flip welding station includes a support frame, two clamps, a placement frame and a motor. The support frame is placed on one side of the loading station and the welding robot, and one of the clamps is rotatably arranged on the support frame, the fixed end of the motor is fixedly mounted on the side wall of the support frame, the output end of the motor is rotatably connected to the other clamp, the placement frame is fixed between the two clamps and placed on the top of the support frame, and the door panel is detachably mounted on the placement frame.

[0010] It should be noted that the door panel is manually mounted on the placement frame by means of pins.

[0011] As a preferred example, a plurality of fifth proximity switches are further provided on the support frame, and the plurality of fifth proximity switches are sequentially installed on the support frame in accordance with the positions set by the shapes of the dampers on which the pipes are placed on the support frame, and the position data of the plurality of fifth proximity switches have been sent to and stored in the second sub-master control on the pipe loading robot, and the second sub-master control controls the placement of the processed pipes in the designated area according to the position signals brought by the stored plurality of fifth proximity switches.

[0012] As a preferred example, the welding robot is provided with a third camera, and the third camera is used to photograph the contact between the plate and the tube or the contact between two adjacent plates or the contact between tubes installed on the flip welding robot, and transmit it to the third sub-master control on the welding robot. The third sub-master control controls the movement of the welding robot, and the third camera photographs the welding gun reaching the contact between the plate and the tube or the contact between two adjacent plates or the contact between tubes on the flip robot, and the third sub-master control controls the welding gun to weld each contact point.

[0013] It should be noted that the welding robot is also provided with a seventh proximity switch. The third camera captures the position information of each contact point and sends it to the third sub-master control. The third sub-master control controls the movement of the welding gun. The seventh proximity switch located on the welding robot is turned on to determine whether the welding gun has reached the above-mentioned position, that is, the contact point between the tube and the plate, the contact point between the plates, or the contact point between the tubes, so as to better perform the welding operation.

[0014] The beneficial effects of the utility model are as follows: the utility model realizes semi-automatic processing of door leaves; realizes intelligent operation of equipment, and remotely monitors and supervises the operation process at the same time, so as to timely discover faults, shorten response cycles, improve equipment utilization, and improve work efficiency; through automatic welding, personnel and welding are isolated, reducing the probability of employees getting occupational diseases due to contact with harmful gases, and eliminating other injuries such as burns and mechanical injuries during employee operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a top view of the utility model;

[0016] Figure 2 It is a three-dimensional structural schematic diagram of part of the structure of the utility model;

[0017] Figure 3 It is a structural schematic diagram of the damper product after welding in the utility model;

[0018] Figure 4It is the overall control flow chart of the utility model;

[0019] Figure 5 This is the control flow chart of the first sub-master control on the middle plate loading station of the utility model;

[0020] Figure 6 This is a control flow chart of the second sub-master control on the middle tube loading station of the utility model;

[0021] Figure 7 This is a control flow chart of the third sub-master control on the welding robot in the utility model;

[0022] In the figure: laser tube cutting machine 1; laser plate cutting machine 2; tube loading robot 3; plate loading robot 4; welding robot 5; automatic positioning flip welding station 6; air door 7. DETAILED DESCRIPTION

[0023] In order to make the technical means, creative features, objectives and effects of the present invention easier to understand, the present invention is further described below in conjunction with specific illustrations.

[0024] The damper is mainly used in the mine in this patent. Since the mine is long, many dampers are needed. During long-term use, the damper is damaged and needs to be repaired or replaced. Therefore, during the replacement process, considering the cost or time factors, the damper needs to be made on the spot, that is, the following scheme is adopted to achieve it:

[0025] like Figure 1-7As shown, a damper automatic positioning flip welding line includes a loading station, a welding robot 5, and a flip welding station 6. The loading station is used to place plates and tubes on the flip welding station 6 according to the shape of the damper 7. It includes a plate processing station 2 and a plate loading robot 4. A first proximity switch is provided on one end of the plate processing station 2 to detect that the plate that has completed the processing operation and is located on the plate processing station moves to the position of the plate processing station 2, so as to facilitate the plate loading robot 4 to grab it. The plate loading robot 4 is provided with a first sub-master control, a first fixture, a first camera, and a second proximity switch. The second proximity switch is installed on the first fixture, and the second proximity switch The measuring end corresponds to the clamping end of the first fixture, the first camera and the second proximity switch are electrically connected to the first sub-master control, and the first sub-master control is electrically connected to the drive where the first fixture is located, and is used to control the movement of the plate feeding robot 4 through the first sub-master control until the first camera captures the position of the plate on the plate processing station 2, and then use the first sub-master control to control the first fixture to clamp the processed plate, and then use the second proximity switch to judge the state of the first fixture grabbing the processed plate, and then control the movement of the plate feeding robot 4 through the first sub-master control until the third proximity switch located on the flip welding station 6 judges that the plate feeding robot 4 moves to the flip welding station The first sub-master controls the first clamp to open so that the plate is placed on the flip welding station 6; the number of third proximity switches is multiple, and the multiple third proximity switches are installed in sequence on the flip welding station 6 according to the positions set by the shape of the damper 7 on the plate placed on the flip welding station 6, and the position data of the multiple third proximity switches have been sent to the first sub-master on the plate feeding robot 4 and stored, and the first sub-master controls the processing The finished plate is placed in the designated area according to the position signals brought by the stored multiple third proximity switches; the flip welding station 6 is used to control the plate and The pipe is flipped and welded by a welding robot 5, which includes a flip welding station 6 including a support frame 61, two clamps 62, a placement frame 63 and a motor. The support frame 61 is placed on one side of the loading station and the welding robot 5, and one of the clamps 62 is rotatably arranged on the support frame 61, the fixed end of the motor is fixedly mounted on the side wall of the support frame 61, and the output end of the motor is rotatably connected to the other clamp 62. The placement frame 63 is fixed between the two clamps 62 and placed on the top of the support frame 61, and a pad 64 is arranged on the top of the support frame 61 (not limited to the fixing method of welding), and the door panel is fixed to the pad 64 by pins.

[0026] The loading station also includes a tube processing station 1 and a tube loading robot 3. The tube processing station 1 is provided with a fourth proximity switch at the same position as that at the plate processing station 2, and the fourth proximity switch on the tube processing station 1 has the same function as the first proximity switch on the plate processing station 2; the tube loading robot 3 is provided with a second sub-master control, a second fixture, a second camera and a sixth proximity switch at the same position as those on the plate loading robot 4, and the second sub-master control, the second fixture, the second camera and the sixth proximity switch on the tube loading robot 3 have the same function as the first sub-master control, the first fixture, the first camera and the second proximity switch on the plate loading robot 4.

[0027] The support frame 61 is also provided with a plurality of fifth proximity switches, which are installed in sequence on the support frame 61 according to the positions set by the shapes of the dampers 7 on which the pipes are placed on the support frame 61, and the position data of the plurality of fifth proximity switches have been sent to and stored by the second sub-master control on the pipe loading robot 3. The second sub-master control controls the placement of the processed pipes in the designated area according to the position signals brought by the stored plurality of fifth proximity switches.

[0028] The welding robot 5 is provided with a third camera and a seventh proximity switch. The third camera is used to photograph the contact between the plate and the tube or the contact between two adjacent plates or the contact between tubes installed on the flip welding robot, and transmit it to the third sub-master on the welding robot. The third sub-master controls the movement of the welding robot, and the third camera photographs the welding gun reaching the contact between the plate and the tube or the contact between two adjacent plates or the contact between tubes on the flip robot 5, and the third sub-master controls the welding gun to weld each contact point; the third camera photographs the position information of the contact between the tube and the plate or the contact between two adjacent plates or the contact between tubes and tubes and sends it to the third sub-master, and the third sub-master controls the movement of the welding gun, and the seventh proximity switch located on the welding robot 5 is opened to judge whether the welding gun reaches the above position, that is, the contact between the tube and the plate or the contact between two adjacent plates or the contact between tubes, so as to better perform the welding operation.

[0029] It should be noted that each sub-master control and the opening and closing of the plate cutting machine and the pipe cutting machine are controlled by one master control, and the master control can be installed in an adjacent and closed room to the room where the welding line is located, thereby isolating personnel from welding and reducing the probability of employees contracting occupational diseases due to exposure to harmful gases.

[0030] The working principle of this welding line is as follows:

[0031] First, use the plate processing station to process the plate (mainly the plate cutting machine used in the market), and the tube processing station to process the tube (mainly the tube cutting machine used in the market), then use the plate robot to grab the plate and place it on the pad of the support arm, then use the tube robot to grab the tube and place it on the pad of the support arm, and the plate and tube are placed according to the shape of the damper, then manually fix them with pins, and then start the welding robot to weld the contact between the tube and the plate, the contact between the tube and the tube, and the contact between the plate and the plate, and finally weld them into one side of the damper, then start the motor to drive the splint to rotate relative to the support arm, thereby driving the rotation of the placement frame, and then driving the rotation of the pad and the damper semi-finished product on the placement frame 63, that is, flipping the other side of the damper to be welded to the top (in order to ensure that the flipping is in place, a sensor can be set on the support frame to detect whether the placement frame 63 is flipped in place), after the welding is completed, manually remove the pin shaft, and use a gantry crane or other lifting tool to lift the damper out of the flip welding station.

[0032] The above process is only a welding process of a damper, and during the welding process of a damper, the two feeding robots are in a waiting state, so as to avoid the damper from fighting with another plate or tube that is about to form a damper.

[0033] The utility model realizes automatic unloading and loading of dampers with a door leaf width range of 1.5 to 2.7 meters and a fan height range of 1 to 2 meters, but does not require manual fixing, rapid automatic positioning, automatic welding, and automatic flipping; it realizes intelligent and fully automatic operation of the equipment, and remotely monitors and supervises the operation process at the same time, so as to timely discover faults, shorten the response cycle, improve equipment utilization, and improve work efficiency; through automatic welding, personnel and welding are isolated, and the waste gas generated by welding is recycled and processed (mainly through existing purification equipment), thereby reducing the probability of employees contracting occupational diseases due to contact with harmful gases, and eliminating other injuries such as burns and mechanical injuries during employee operation.

[0034] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited to the above embodiments. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection of the utility model is defined by the attached claims and their equivalents.

Claims

1. A damper automatic positioning and flipping welding line, characterized in that: It includes a loading station, a welding robot, and a flip welding station. The loading station is used to place plates and tubes on the flip welding station according to the shape of the damper. The flip welding station is used to flip the damper-shaped plates and tubes installed on the flip welding station, and weld them through the welding robot.

2. The damper automatic positioning and flipping welding line according to claim 1 is characterized in that: The loading station includes a plate processing station and a plate loading robot. A first proximity switch is provided at one end of the plate processing station for detecting that a plate that has completed processing and is located at the plate processing station moves to the position of the plate processing station, so as to facilitate the plate loading robot to grab. The plate loading robot is provided with a first sub-master control, a first fixture, a first camera, and a second proximity switch. The second proximity switch is installed on the first fixture, and the measuring end of the second proximity switch corresponds to the clamping end of the first fixture. The first camera and the second proximity switch are electrically connected to the first sub-master control. The first sub-master control is connected to the first fixture. The driving electrical connection is used to control the movement of the plate loading robot through the first sub-master control until the first camera captures the position of the plate on the plate processing station, and then use the first sub-master control to control the first fixture to clamp the processed plate, and then use the second proximity switch to judge the state of the first fixture grabbing the processed plate, and then control the movement of the plate loading robot through the first sub-master control until the third proximity switch located on the flip welding station judges that the plate loading robot moves to the position on the flip welding station, then the first sub-master control controls the first fixture to open, so that the plate is placed on the flip welding station.

3. The damper automatic positioning and flipping welding line according to claim 2 is characterized in that: There are multiple third proximity switches, and the multiple third proximity switches are installed in sequence on the flip welding station according to the positions set by the shape of the damper where the plate is placed on the flip welding station, and the position data of the multiple third proximity switches have been sent to the first sub-master control on the plate loading robot and stored. The first sub-master control controls the placement of the processed plate in the designated area according to the position signals brought by the stored multiple third proximity switches.

4. The damper automatic positioning and flipping welding line according to claim 1 is characterized in that: The flip welding station includes a support frame, two clamping plates, a placement frame and a motor. The support frame is placed on one side of the loading station and the welding robot, and one of the clamping plates is rotatably arranged on the support frame. The fixed end of the motor is fixedly mounted on the side wall of the support frame, and the output end of the motor is rotatably connected to the other clamping plate. The placement frame is fixed between the two clamping plates and placed on the top of the support frame, and the door panel is detachably mounted on the placement frame.

5. The damper automatic positioning and flipping welding line according to claim 1 is characterized in that: The welding robot is provided with a third camera, and the third camera is used to photograph the contact between the plate and the tube, the contact between two adjacent plates, or the contact between tubes installed on the flip welding robot, and transmit the photographs to the third sub-master control on the welding robot. The third sub-master control controls the movement of the welding robot, and the third camera photographs the welding gun reaching above the contact between the plate and the tube, the contact between two adjacent plates, or the contact between tubes on the flip robot, and the third sub-master control controls the welding gun to weld each contact.

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