Multi-angle robot welding workstation for manufacturing walking mechanism

Abstract

The utility model discloses a multi-angle robot welding workstation for manufacturing a walking mechanism. The multi-angle robot welding workstation comprises a three-axis moving device, a welding robot, an L-shaped welding positioner and an RGV device. The welding robot is arranged on the three-axis moving device; the L-shaped welding positioner is located on one side of the three-axis moving device and comprises a stand column, a rotating and clamping mechanism, a cross beam, a conductive rod and a hydraulic clamp. The RGV device comprises an RGV trolley, a trolley track and a positioning device. The utility model aims to solve the problems of welding rate, multi-layer and multi-pass, welding position and full penetration.

Description

Technical Field

[0001] The utility model relates to a robot welding workstation, and more specifically, to a multi-angle robot welding workstation for preparing a traveling mechanism. Background Art

[0002] The traveling mechanism is an important part of large port machinery such as quay container cranes and rail-mounted gantry cranes, and has been widely used. Its main functions are to support the whole machine structure and transmit wheel pressure. Its strength and welding quality will directly affect the normal use of the crane.

[0003] In the existing welding technology, for the welding of thick plates in the traveling mechanism of port machinery, there are still many problems such as low welding penetration rate; the multi-layer and multi-pass welding is not full and smooth, the welding position and posture are not ideal, and full penetration welding cannot be achieved. Summary of the Utility Model

[0004] Aiming at the defects existing in the prior art, the purpose of the utility model is to provide a multi-angle robot welding workstation for preparing a traveling mechanism to solve the problems of welding penetration rate, multi-layer and multi-pass welding, welding position and full penetration welding.

[0005] To achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A multi-angle robot welding workstation for preparing a traveling mechanism, comprising a three-axis moving device, a welding robot, an L-shaped welding positioner and an RGV device;

[0007] The welding robot is arranged on the three-axis moving device;

[0008] The L-shaped welding positioner is located on one side of the three-axis moving device, and comprises a column, a rotation and clamping mechanism, a cross beam, a conductive rod and a hydraulic clamp;

[0009] The cross beam is arranged on the column and makes up-and-down lifting and flipping movements along the column;

[0010] The rotation and clamping mechanism is arranged on the cross beam;

[0011] The conductive rod is arranged on the rotation and clamping mechanism and is used to contact the balance beam of the traveling mechanism;

[0012] The hydraulic clamp is arranged on the rotation and clamping mechanism and is linked with the conductive rod to clamp the balance beam;

[0013] The RGV device comprises an RGV cart, a cart track and a positioning device;

[0014] The cart track is laid under the cross beam and extends to the loading position;

[0015] The RGV cart is arranged on the cart track and moves along the cart track to the position below the cross beam or the loading position.

[0016] The positioning device is arranged on the cart track and is located below the cross beam.

[0017] Preferably, the L-shaped welding positioner further includes a lifting device for driving the cross beam.

[0018] Preferably, a wire barrel, an electric control device, an X-axis moving device, a Y-axis moving device, and a Z-axis moving device are further arranged on the three-axis moving device.

[0019] The wire barrel is used to convey welding wire to the welding robot.

[0020] The electric control device realizes overall control.

[0021] A common platform is arranged between the X-axis moving device, the Y-axis moving device, and the Z-axis moving device.

[0022] Preferably, X-axis drives, Y-axis drives, and Z-axis drives are correspondingly arranged on the X-axis moving device, the Y-axis moving device, and the Z-axis moving device.

[0023] Preferably, one set of welding robots is arranged on the common platform.

[0024] A water cooling device and a wire feeding device are arranged on the welding torch of the welding robot, and the wire feeding device is matched with the wire barrel.

[0025] Preferably, a hydraulic system, a hydraulic cylinder, and a hydraulic lifting platform are further arranged on the RGV cart.

[0026] The hydraulic system is connected to the hydraulic cylinder.

[0027] The telescopic rod of the hydraulic cylinder is connected to the hydraulic lifting platform.

[0028] The hydraulic lifting platform is located at the top of the RGV cart.

[0029] The multi-angle robot welding workstation for preparing a walking mechanism provided by the present utility model realizes automatic operation, has accurate positioning, simple operation, and can solve the problems of welding penetration rate, multi-layer multi-pass welding, welding position, and full penetration welding in the prior art. Description of the Drawings

[0030] Figure 1 It is a top view schematic diagram of the multi-angle robot welding workstation of the present utility model;

[0031] Figure 2It is the front view schematic diagram of the multi-angle robot welding workstation of the present utility model;

[0032] Figure 3 It is the schematic diagram after the multi-angle robot welding workstation of the present utility model is flipped;

[0033] Figure 4 It is the schematic diagram of the conductive bar and the hydraulic clamp in the multi-angle robot welding workstation of the present utility model. Specific embodiments

[0034] In order to better understand the above technical solutions of the present utility model, the technical solutions of the present utility model will be further described below in conjunction with the accompanying drawings and embodiments.

[0035] Combined with Figures 1 to 4 As shown, a multi-angle robot welding workstation for preparing a walking mechanism provided by the present utility model includes a three-axis moving device 100, a welding robot 200, an L-shaped welding positioner 300, and an RGV device 400.

[0036] The welding robot 200 is installed on the three-axis moving device 100.

[0037] The L-shaped welding positioner 300 is located on one side of the three-axis moving device 100, and includes a column 301, a rotation and clamping mechanism 302, a cross beam 303, a conductive bar 304, and a hydraulic clamp 305.

[0038] The cross beam 303 is installed on the column 301 and makes up-and-down lifting and 180° flipping movements along the column 301.

[0039] The rotation and clamping mechanism 302 is installed on the cross beam 303.

[0040] The conductive bar 304 is installed on the rotation and clamping mechanism 302 for contacting the balance beam 500 of the walking mechanism.

[0041] The hydraulic clamp 305 is installed on the rotation and clamping mechanism 302 and is linked with the conductive bar 304 for clamping the balance beam 500.

[0042] The L-shaped welding positioner 300 is used for the 360° rotation of the balance beam 500 in space. The up-and-down lifting movement of the balance beam 500 is driven by the lifting device 306, and the rotation movement of the balance beam 500 is jointly driven by the rotation and clamping mechanism 302 and the cross beam 303, which can realize the multi-angle and dead-angle-free positioning of the balance beam 500. The driving of the L-shaped welding positioner 300 is an external axis of the robot.

[0043] The RGV device 400 includes an RGV cart 401, a cart track 402, and a positioning device 403.

[0044] The trolley track 402 is laid under the cross beam 303 and extends to the loading position, that is, one side of the L-shaped welding positioner 300.

[0045] The RGV trolley 401 is placed on the trolley track 402 and moves along the trolley track 402 to the position under the cross beam 303, that is, the loading position.

[0046] The positioning device 403 is installed on the trolley track 402 and is located under the cross beam 303.

[0047] The RGV trolley 401 is also equipped with a hydraulic system 404, a hydraulic cylinder 405 and a hydraulic lifting platform 406.

[0048] The hydraulic system 404 is connected to the hydraulic cylinder 405.

[0049] The telescopic rod of the hydraulic cylinder 405 is connected to the hydraulic lifting platform 406.

[0050] The hydraulic lifting platform 406 is located on the top of the RGV trolley 401.

[0051] The RGV device 400 is used for automatic loading and unloading of the walking mechanism balance beam 500.

[0052] The cross beam 303 on the L-shaped welding positioner 300 rotates to the loading posture of the walking mechanism balance beam 500 and waits for loading. The hydraulic lifting platform 406 of the RGV trolley 401 carrying the walking mechanism balance beam 500 travels to the lower part of the L-shaped welding positioner 300, and the cross beam 303 descends to the material taking position; the hydraulic lifting platform 406 slowly rises until it contacts the rotation and clamping mechanism 302 and then clamps, the hydraulic lifting platform 406 descends, and the RGV trolley 401 moves out of the welding area. The process for unloading is the opposite of that for loading.

[0053] The three-axis moving device 100 is also provided with a wire reel 101, an electric control device 102, an X-axis moving device 103, a Y-axis moving device 104 and a Z-axis moving device 105.

[0054] The wire reel 101 is used to provide welding wire for the welding robot 200.

[0055] The X-axis drive, Y-axis drive and Z-axis drive are correspondingly arranged on the X-axis moving device 103, Y-axis moving device 104 and Z-axis moving device 105.

[0056] There is one set of welding robots 200, which is installed on the common platform between the X-axis moving device 103, Y-axis moving device 104 and Z-axis moving device 105.

[0057] The welding torch of the welding robot 200 is provided with a water cooling device and a wire feeding device, and the wire feeding device is connected to the wire reel 101.

[0058] The welding robot 200 on the three-axis moving device 100 can stay at any position in the three-axis space (X-axis moving device 103, Y-axis moving device 104, and Z-axis moving device 105). The X-axis drive, Y-axis drive, and Z-axis drive are all external axes of the robot.

[0059] Through the non-dead-angle positioning of the L-shaped welding positioner 300 and the cooperation of the three-axis moving mechanism, all weld seams on the balance beam 500 can achieve fillet welding in the flat position, meeting the requirements of multi-layer multi-pass welding and full penetration welding processes.

[0060] The operation process of the multi-angle robot welding workstation of the present utility model is as follows:

[0061] The crossbeam 303 of the L-shaped welding positioner 300 rotates 180° to the upper and lower part posture. At the same time, the operator transports the balance beam 500 to be welded to the hydraulic lifting platform 406 of the RGV cart 401 through the workshop lifting device. The RGV cart 401 is controlled by the electric control device 102 to run on the cart track 402 to the positioning device 403. The L-shaped positioner 300 controls the crossbeam 303 to descend to the material taking position. The hydraulic cylinder 405 controls the hydraulic lifting platform 406 to slowly rise, lifting the balance beam 500 until it contacts the conductive bar 304. The hydraulic clamp 305 clamps the balance beam 500. The hydraulic cylinder 405 controls the hydraulic lifting platform 406 to descend, and the RGV cart 401 moves out of the welding area on the cart track 402. At the same time, the L-shaped welding positioner 300 controls the crossbeam 303 to rise and rotate 180° to the welding posture.

[0062] The welding robot 200 starts to weld the balance beam 500 according to the preset offline program.

[0063] The crossbeam 303 of the L-shaped welding positioner 300 can move up and down and rotate back and forth. The balance beam 500 can rotate 360° on the rotating and clamping device 302. In space, the weld seams at any position of the balance beam 500 can be welded in the flat position.

[0064] On the common platform between the X-axis moving device 103, Y-axis moving device 104, and Z-axis moving device 105, there are a welding robot 200 and the corresponding wire feeding device. The welding robot 200 can stay at any position in the three-axis space and can weld the weld seams at any position of the balance beam 500.

[0065] As the flat position posture of the balance beam 500 on the L-shaped welding positioner 300 changes continuously, the welding robot 200 and the wire feeding device also need to adjust their positions in space along with the change of the weld seam position. The cooperation welding of the L-shaped welding positioner 300 and the three-axis moving mechanism realizes the all-round multi-angle welding function of the balance beam 500.

[0066] After the balance beam 500 is welded according to the offline program, the X-axis moving device 103, Y-axis moving device 104, Z-axis moving device 105 and the welding robot 200 thereon return to the initial position. The L-shaped welding positioner 300 controls the cross beam 303 to rotate 180° to the upper and lower workpiece posture. The electric control device 102 controls the RGV cart 401 to run on the cart track 402 to the positioning device 403. The L-shaped welding positioner 300 controls the cross beam 303 to descend to the feeding position. The hydraulic cylinder 405 controls the hydraulic lifting platform 406 to slowly rise until it contacts the balance beam 500. The hydraulic clamp 305 releases the balance beam 500. The hydraulic cylinder 405 controls the hydraulic lifting platform 406 to descend. The RGV cart 401 moves out of the welding area on the cart track 402. At the same time, the L-shaped welding positioner 300 controls the cross beam 303 to rotate 180° to the welding posture and waits for the feeding of the next workpiece.

[0067] Those of ordinary skill in the art in this technical field should recognize that the above embodiments are only used to illustrate the present invention, rather than to limit the present invention. As long as it is within the scope of the spirit of the present invention, changes and modifications to the above embodiments will fall within the scope of the claims of the present invention.

Claims

1. A multi-angle robot welding workstation for preparing a walking mechanism, characterized in that: It includes three-axis mobile device, welding robot, L-shaped welding positioner and RGV device; The welding robot is arranged on the three-axis moving device; The L-shaped welding positioner is located on one side of the three-axis moving device, and includes a column, a rotating and clamping mechanism, a crossbeam, a conductive rod and a hydraulic clamp; The crossbeam is arranged on the column and moves up and down and turns along the column; The rotating and clamping mechanism is arranged on the crossbeam; The conductive rod is arranged on the rotating and clamping mechanism to contact the balance beam of the walking mechanism; The hydraulic clamp is arranged on the rotating and clamping mechanism and is linked with the conductive rod to clamp the balance beam; The RGV device includes an RGV trolley, a trolley track and a positioning device; The trolley track is laid below the crossbeam and extends to the loading position; The RGV trolley is arranged on the trolley track and moves along the trolley track to the bottom of the beam or the loading position; The positioning device is arranged on the trolley track and is located below the crossbeam.

2. The multi-angle robot welding workstation for preparing a walking mechanism according to claim 1, characterized in that: The L-shaped welding positioner also includes a lifting device for driving the crossbeam.

3. The multi-angle robot welding workstation for preparing a walking mechanism according to claim 1, characterized in that: The three-axis moving device is also provided with a welding wire barrel, an electric control device, an X-axis moving device, a Y-axis moving device and a Z-axis moving device; The welding wire barrel is used to convey welding wire to the welding robot; The electronic control device realizes overall control; A common platform is provided between the X-axis moving device, the Y-axis moving device and the Z-axis moving device.

4. The multi-angle robot welding workstation for preparing a walking mechanism according to claim 3, characterized in that: The X-axis moving device, the Y-axis moving device and the Z-axis moving device are provided with an X-axis drive, a Y-axis drive and a Z-axis drive respectively.

5. The multi-angle robot welding workstation for preparing a walking mechanism according to claim 4, characterized in that: The welding robot is provided in a set and is arranged on the common platform; The welding gun of the welding robot is provided with a water cooling device and a wire feeding device, and the wire feeding device cooperates with the welding wire barrel.

6. The multi-angle robot welding workstation for preparing a walking mechanism according to claim 1, characterized in that: The RGV trolley is also provided with a hydraulic system, a hydraulic cylinder and a hydraulic lifting platform; The hydraulic system is connected to the hydraulic cylinder; The telescopic rod of the hydraulic cylinder is connected to the hydraulic lifting platform; The hydraulic lifting platform is located on the top of the RGV trolley.

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