Welding robot workstation

Abstract

The utility model relates to the technical field of welding equipment, and discloses a welding robot workstation. The automatic welding device comprises a welding robot, a workpiece fixing and overturning system is arranged beside the welding robot, the workpiece fixing and overturning system integrates the functions of fixing a workpiece and overturning the workpiece when necessary, the workpiece fixing and overturning system comprises a power overturning machine and a driven overturning machine, the power overturning machine is fixed on the ground, and the driven overturning machine is fixed on the ground. A moving track is arranged on one side of the power turnover machine, wheels are arranged below the driven turnover machine, the driven turnover machine can move on the moving track, the distance between the power turnover machine and the driven turnover machine can be changed according to joist steel of different lengths, and special clamping jaws are arranged on the power turnover machine and the driven turnover machine and used for grabbing workpieces. The I-shaped steel is fixed, the power tilter provides power for turning over the I-shaped steel, and the driven tilter is matched with the I-shaped steel for turning over.

Description

Technical Field

[0001] The utility model relates to the technical field of welding equipment, in particular to a welding robot workstation. Background Art

[0002] In the construction steel structure industry, H-shaped steel has been widely used in steel structure factories, airports, high-rise buildings and bridges. Welded H-shaped steel can be optimized and combined according to the requirements of actual engineering projects to manufacture various special specifications, which can not only meet the diverse needs of architectural styles but also take into account the overall economy. Therefore, it is very popular in the steel construction industry and the demand is increasing significantly year by year. To further improve the material utilization rate and economic performance of H-shaped steel, local reinforcement and optimization are often required, and adding stiffeners is a commonly used local strengthening method. At present, in the vast majority of steel structure processing and manufacturing enterprises, the assembly and welding of H-shaped steel plates are still carried out manually on a large scale.

[0003] In terms of welding process, from the comparison of the process parameters of vertical welding and flat welding, it can be seen that the welding efficiency of flat welding is 3-4 times that of vertical welding, and the weld formation of flat welding is more beautiful than that of vertical welds. In addition, according to the requirements of Japanese welding specifications, vertical welding is not allowed for steel components exported to Japan, and only flat welding can be used.

[0004] Therefore, a welding robot workstation with a vertical-to-flat continuous automatic welding process is designed. By using the cooperation mode of a welding robot and a special turning machine, all the welds of the assembled H-shaped steel components are adjusted to flat welds for welding. The robot replaces manual welding, releasing labor force and improving production efficiency and safety. Content of the Utility Model

[0005] The utility model provides a welding robot workstation to solve the technical problems existing in the above-mentioned prior art.

[0006] To achieve the above purpose, the utility model adopts the following technical solution: a welding robot workstation includes a welding robot. A workpiece fixing and turning system is arranged beside the welding robot. The workpiece fixing and turning system combines the functions of fixing the workpiece and turning the workpiece. The workpiece fixing and turning system includes a power turning machine and a driven turning machine. The power turning machine is fixed on the ground. A moving track is arranged on one side of the power turning machine. Wheels are arranged below the driven turning machine, enabling the driven turning machine to move on the moving track, so that the distance between the two can be changed according to the length of different I-beams. Special jaws are arranged on both the power turning machine and the driven turning machine for grasping and fixing the workpiece. The power turning machine provides the power to turn the I-beam, and the driven turning machine cooperates with the turning.

[0007] Preferably, the power turnover machine includes a driving frame, a reduction motor is arranged inside the driving frame, a bearing seat is arranged above the driving frame, a main shaft is rotatably arranged on the bearing seat, a special jaw is arranged at the front end of the main shaft, a sprocket group is arranged between the main shaft and the reduction motor, and a proximity sensor is arranged on the driving frame. The reduction motor transmits power through the sprocket group to drive the special jaw to rotate at a low speed. The central control system collects the signals of the proximity sensor. When it detects that the main shaft reaches the specified angle, it controls the reduction motor to stop and sends a signal to the welding robot.

[0008] Preferably, the driven turnover machine includes a moving frame, a bearing seat is arranged on the moving frame, a driven shaft is arranged on the bearing seat, a special jaw is arranged at the front end of the driven shaft, wheels are arranged below the moving frame, and anti-hook plates are arranged at the front and rear ends of the moving frame. By using the anti-hook plate assembly in combination, it can ensure that the driven turnover machine will not tip over during the loading and unloading process of the H-shaped steel members, improving safety.

[0009] Preferably, the welding robot includes X and Y-axis translation components and a Z-axis lifting component. The walking platform is installed on the moving part of the Y-axis translation component to ensure that the welding system can meet the welding in the length direction of the H-shaped steel members. A column is installed on the walking platform, an X-axis translation component is installed on the column, and the Z-axis lifting component is installed on the moving part of the X-axis translation component. A six-axis welding robot is arranged at the bottom of the Z-axis lifting component.

[0010] Preferably, a set of workpiece fixing and turnover system is arranged on each side of the welding robot. At the same time, a rotary drive is arranged at the bottom of the column, which can drive the column to rotate 360°. In this way, the six-axis robot rotates to the right working station through the rotary drive to weld the workpiece at the right working station. At the same time, the workpiece at the left working station is replaced for welding. After the workpiece at the right working station is welded, the welding is switched to realize seamless connection and alternating welding of the workpieces on the left and right sides, improving the welding efficiency.

[0011] The beneficial effects of the present utility model are as follows:

[0012] 1. The fixed-angle rotation of the turnover machine eliminates the manual turnover work of the H-shaped steel, always ensures the levelness of the H-shaped steel, improves the yield rate of workpieces and the welding quality, and improves the processing efficiency of the factory.

[0013] 2. Using a six-axis robot plus an external configured three-axis structure increases the operating range of the welding torch on the six axes of the robot, and can adapt to a larger range of H-shaped steels.

[0014] 3. Adjusting the vertical welding process to the flat welding process improves the welding efficiency by 3-4 times, reduces the production cost, ensures the welding quality at the same time, and the weld formation is more beautiful.

[0015] 4. The tilter is combined with a welding robot to achieve automatic flipping and welding, reducing the risk coefficient to personnel during the flipping process and greatly improving the welding efficiency.

[0016] 5. This welding robot is equipped with a slewing drive and can rotate 360°, enabling the welding robot to switch between the left and right workstations, improving the space utilization rate of the welding workshop, reducing the equipment investment by 1 time, and simultaneously enhancing the welding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural view of the present utility model;

[0018] Figure 2 is a schematic structural view of the power tilter of the present utility model;

[0019] Figure 3 is a schematic structural view of the driven tilter of the present utility model;

[0020] Figure 4 is a schematic structural view of the welding robot of the present utility model;

[0021] Figure 5 is a welding process flow chart.

[0022] In the figure: 1. Power tilter; 1.1 Special tooling plate; 1.2 Special jaw assembly; 1.2.1 Guide groove; 1.3 Main shaft; 1.4 Reduction motor; 1.5 Active frame; 1.6 Sprocket group; 1.7 Proximity sensor; 2. Driven tilter; 2.1 Driven shaft; 2.2 Moving frame; 2.3 Reverse hook plate; 2.4 Wheels; 2.5 Moving track; 3. Welding robot; 3.1 Y-axis translation assembly; 3.2 Walking platform; 3.3 Wire cutting and gun cleaning station; 3.4 Welding power source; 3.5 Central control system; 3.6 X-axis translation assembly; 3.7 Z-axis lifting assembly; 3.8 Six-axis welding robot; 3.9 Intelligent welding system; 3.10 Slewing drive; 3.10.1 Stepper motor; 3.10.2 Slewing drive; 3.10.3 4. Workpiece. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The technical solutions of the present utility model will be further specifically described below through embodiments in conjunction with the drawings.

[0024] Embodiment: A welding robot workstation, as Figures 1-5 shown, includes a welding robot, and workpiece fixing and flipping systems are arranged on both sides of the welding robot. The workpiece fixing and flipping system combines the functions of fixing the workpiece and flipping the workpiece when necessary.

[0025] The workpiece fixing and turning system includes a power turning machine and a driven turning machine. The power turning machine is fixed on the ground. A moving track is arranged on one side of the power turning machine. Wheels are arranged under the driven turning machine so that the driven turning machine can move on the moving track, thereby being able to change the distance between the two according to the different lengths of I-beams. Both the power turning machine and the driven turning machine are provided with special clamps for grabbing the workpiece and fixing it. The power turning machine provides the power to turn the I-beam, and the driven turning machine cooperates with the turning.

[0026] The power turning machine includes an active frame, a reduction motor is arranged inside the active frame, a bearing seat is arranged above the active frame, a main shaft is rotatably arranged on the bearing seat, a special clamp is arranged at the front end of the main shaft, a sprocket set is arranged between the main shaft and the reduction motor, and a proximity sensor is arranged on the active frame. The reduction motor transmits power through the sprocket set to cause the special clamp to rotate at a low speed. The central control system collects the signal of the proximity sensor, controls the reduction motor to stop when it detects that the main shaft reaches the specified angle, and gives a signal to the welding robot.

[0027] The driven turning machine includes a moving frame, a bearing seat is arranged on the moving frame, a driven shaft is arranged on the bearing seat, a special clamp is arranged at the front end of the driven shaft, wheels are arranged at the bottom of the moving frame, and anti-hook plates are arranged at the front and rear ends of the moving frame. The use of the anti-hook plate assembly can ensure that the driven turning machine will not roll over during the loading and unloading process of the H-shaped steel structure, thereby improving safety.

[0028] The special clamp includes a split tooling plate, and the I-beam is fixed to the tooling plate by screws when in use. The special clamp is provided with a guide groove, which is a double-sided U-shaped structure, so that the tooling plate fixed with the I-beam can be inserted conveniently. The side of the special clamp is provided with a latch and a screw, and the tooling plate has a mounting hole. The latch is first inserted into the mounting hole to limit the tooling plate, and then fixed by screws.

[0029] The welding robot includes an X-axis translation component and a Z-axis lifting component. The movement of the X-axis translation component and the Z-axis lifting component can be achieved by a screw pair, can be achieved by the drive of a chain sprocket, or can be other driving structures that cause it to translate or lift. The walking platform is installed on the moving part of the Y-axis translation component to ensure that the welding system can meet the welding of the H-shaped steel structure in the length direction. A column is installed on the walking platform, and the X-axis translation component is installed on the column, while the Z-axis lifting component is installed on the moving part of the X-axis translation component. A six-axis welding robot is provided at the bottom of the Z-axis lifting component. The Y-axis translation component is linked with the X-axis translation component and the Z-axis lifting component, so that the welding gun at the front end of the six-axis welding robot arm can obtain a larger range of motion to meet the welding of large H-shaped steel structures. A rotary drive is provided between the column and the walking platform to cause the column to rotate, thereby adjusting the position of the six-axis robot.

[0030] The walking platform is equipped with a welding power source, a central control system, and a wire trimming and gun cleaning station. The wire trimming and gun cleaning station can regularly trim the length of the welding wire, and at the same time clean the spatter inside the welding gun and spray oil to ensure the welding quality. The welding power source has high-speed sampling and full digital control functions, real-time monitors the welding current, can cooperate with other systems to achieve arc tracking function, and timely corrects the welding trajectory. The central control system connects all information collection devices and drive components, processes the information collected from each part and sends relevant instructions.

[0031] An intelligent welding system can also be set at the bottom of the Z-axis lifting component, which is connected to the central control system. The intelligent welding system includes a vision scanning component and a data processor. Welding parameters are set from the welding model. Through vision scanning, it provides accurate welding paths and welding parameters for the robot, ensuring the welding effect and aesthetics.

[0032] These six-axis welding robots and related supporting facilities are all prior arts and are not the innovative points of this patent, so they will not be elaborated. The innovation of this patent lies in greatly improving the welding range of the six-axis welding robot through the moving components in the three directions of X, Y, and Z, as well as the circular motion effect driven by rotation.

[0033] The overall structure is as Figure 1 , including a power turnover machine, a driven turnover machine, and a ten-axis welding robot; the H-shaped steel member to be welded is placed between the power turnover machine and the driven turnover machine. The power turnover machine provides the turnover power. The turnover machine can realize the forward and reverse rotation of the H-shaped steel member at any angle, and four rotation positioning angles of 90°, 180°, 270°, and 360° are preset to meet the requirement of converting the weld seam of the H-shaped steel to be welded into a flat weld seam. The distance between the special jaw components on the power turnover machine and the driven turnover machine can be adjusted by moving the driven turnover machine, so as to adapt to H-shaped steel members of different lengths. After the welding of the workpiece on the left station is completed, the robot rotates to the right station through the rotary drive to weld the workpiece on the right station. At the same time, the welding workpiece is replaced on the left station. After the welding of the workpiece on the right station is completed, the welding is switched to realize the seamless connection and alternating welding of the workpieces on the left and right sides, improving the welding efficiency. Due to the setting of the X-axis and Y-axis translation components and the Z-axis lifting component, three more motion positions are added to the six-axis robot, and the rotary drive adds one more circular position adjustment, making the welding robot a ten-axis one.

[0034] The welding process flow is as Figure 5 , including an intelligent welding system, a turnover machine system, a robot system, and a welding power source system. The operation process is as follows:

[0035] 1. Load the H-shaped steel member that has completed assembly and tack welding onto the turnover machine, and operate the turnover machine system 4 to rotate the workpiece until the detection sensor sends an in-place signal, so that one welding surface of the workpiece remains horizontal;

[0036] 2. Select the steel members to be welded as planned in the modeling software and export the relevant steel member model packages;

[0037] 3. Select the workpiece welding surface, import the model package into the intelligent welding system, and the software automatically identifies the welds and preliminarily plans the welding trajectory according to the weld positions and numbers;

[0038] 4. The intelligent welding system schedules the robot system 4, adjusts the robot's posture and position, and performs an initial positioning scan on the entire H-shaped steel member through the vision system to determine the steel member's posture;

[0039] 5. Based on the model data obtained from the scan, the intelligent welding system automatically generates a fine positioning scan program and a six-axis robot operation program, and performs automatic simulation optimization. According to the results of the simulation optimization, manual intervention can be carried out to adjust individual welds.

[0040] 6. The intelligent welding system schedules the robot system to make the six-axis robot complete the fine positioning scan to confirm the weld positions;

[0041] 7. The intelligent welding system retrieves the welding expert database in the welding power supply system and schedules the robots in the robot system to complete the automatic welding of all flat welds on the current plane.

[0042] 8. After the automatic welding is completed, the turnover machine flips the H-shaped steel member by 90°, adjusts the next vertical welding to flat welding, and repeats steps 3-7. After the welding of the entire steel member is completed, it automatically stops and waits for blanking.

[0043] 9. After the welding of the entire steel member is completed, it automatically stops. The worker unloads the welded workpiece, and at the same time, the welding robot rotates to the other side station through the rotary drive and starts welding the workpiece on the other side station, repeating steps 3-8 to complete the welding of the workpiece.

[0044] The above content is a further detailed description of the provided technical solution in combination with the preferred embodiments of this patent. It cannot be determined that the specific implementation of the present utility model is only limited to these descriptions. For those of ordinary skill in the technical field to which this patent belongs, without departing from the concept of this patent, several simple deductions or substitutions can be made, and all should be regarded as belonging to the protection scope of this patent.

Claims

1. A welding robot workstation, characterized in that: The invention comprises a welding robot, and a workpiece fixing and flipping system is arranged beside the welding robot. The workpiece fixing and flipping system integrates the functions of fixing the workpiece and flipping the workpiece when necessary. The workpiece fixing and flipping system comprises a power flipper and a driven flipper. The power flipper is fixed on the ground, and a moving track is arranged on one side of the power flipper. Wheels are arranged under the driven flipper so that the driven flipper can move on the moving track, so that the distance between the two can be changed according to different lengths of I-beams. Special clamps are arranged on the power flipper and the driven flipper for grabbing the workpiece and fixing it. The power flipper provides power for flipping the I-beam, and the driven flipper cooperates with the flipping. The welding robot comprises X-axis and Y-axis translation components and a Z-axis lifting component. The walking platform is installed on the moving part of the Y-axis translation component to ensure that the welding system can meet the welding of the length direction of the H-shaped steel member. A column is installed on the walking platform, and the X-axis translation component is installed on the column, and the Z-axis lifting component is installed on the moving part of the X-axis translation component. A six-axis welding robot is arranged at the bottom of the Z-axis lifting component.

2. A welding robot workstation according to claim 1, characterized in that: The power turning machine includes an active frame, a reduction motor is arranged inside the active frame, a bearing seat is arranged above the active frame, a main shaft is rotatably arranged on the bearing seat, the special clamp is arranged at the front end of the main shaft, a sprocket group is arranged between the main shaft and the reduction motor, and a proximity sensor is arranged on the active frame.

3. A welding robot workstation according to claim 1, characterized in that: The driven turning machine comprises a moving frame, a bearing seat is arranged on the moving frame, a driven shaft is arranged on the bearing seat, a special clamp is arranged at the front end of the driven shaft, wheels are arranged below the moving frame, and anti-hook plates are arranged at the front and rear ends of the moving frame.

4. A welding robot workstation according to claim 1, characterized in that: A set of workpiece fixing and turning systems is respectively arranged on both sides of the welding robot. Meanwhile, a rotary drive is arranged at the bottom of the column to cause the column to rotate, thereby realizing workpiece welding at two stations.

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