Automatic welding production system for thrust wheels

Abstract

The utility model discloses an automatic welding production system for thrust wheels, and particularly relates to the technical field of thrust wheel welding production, the automatic welding production system comprises a rotary assembly table, a carrying robot, a positioner and a welding robot, the rotary assembly table comprises a rack, a liquid injection brush assembly is arranged at the top end of the rack, the carrying robot comprises a mechanical arm, and the mechanical arm is connected with the positioner. A gripper mounting seat is fixedly arranged on the mechanical arm, a two-finger parallel gripper is fixedly arranged on one side of the gripper mounting seat, a three-finger centering gripper is connected to the bottom end of the gripper mounting seat through a connecting mechanism, the number of the position changing machines is two, and each position changing machine comprises a base. And a rotary driving side mounting structural part and a rotary driven side mounting structural part are arranged on the two sides of the top of the base correspondingly. According to the utility model, the unmanned and automatic welding production whole process flow of automatic conveying, disordered grabbing, automatic assembling, automatic feeding and discharging during welding, automatic welding seam identification, automatic intermediate-frequency preheating and automatic welding of the thrust wheels is realized.

Description

Technical Field

[0001] The utility model relates to the technical field of track wheel welding production, and more specifically to an automatic track wheel welding production system. Background Art

[0002] Track rollers support the weight of construction machinery while rolling on the track rails (track links) or track shoes. They also restrain the track, preventing it from slipping laterally. When the tractor turns, the track rollers force the track to slide on the ground. Currently, to alleviate the pressure on the dwindling number of track roller welders, large-scale robotic equipment is being introduced to automate welding operations.

[0003] Automated welding of track rollers is implemented to improve the level of automated welding of track rollers, release welding capacity, and promote the transformation from outsourcing to in-house production. Since automated welding of track rollers involves multiple processes such as assembly, preheating, and welding, simply solving the problem of welding automation is not effective in improving the level of welding automation and reducing production costs. Based on this, the utility model provides an automated welding production system for track rollers, which realizes unmanned and automated welding production throughout the entire process. Utility Model Content

[0004] In order to overcome the above-mentioned defects of the prior art, the utility model provides an automated welding production system for supporting wheels, which realizes the unmanned and automated welding production process of automatic conveying of supporting wheels, disordered grabbing, automatic pairing, automatic loading and unloading of welding, autonomous identification of welds, automatic medium frequency preheating, and automatic welding, so as to solve the problems arising from the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automated welding production system for supporting rollers, comprising a rotary assembly platform, the rotary assembly platform comprising a frame, a liquid injection brush assembly being provided on the top of the frame;

[0006] A handling robot comprising a robotic arm, wherein a gripper mounting base is fixedly provided on the robotic arm, a two-finger parallel gripper is fixedly provided on one side of the gripper mounting base, and a three-finger central gripper is connected to the bottom end of the gripper mounting base via a connecting mechanism;

[0007] Positioner, the number of which is set to two, the positioner comprising a base, a rotary drive side mounting structure and a rotary driven side mounting structure are respectively provided on both sides of the top of the base, the rotary drive side mounting structure and the rotary driven side mounting structure are both connected to a clamping head for fixing the supporting roller, and the rotary drive side mounting structure and the rotary driven side mounting structure are connected by a centering clamping mechanism;

[0008] Welding robot, used for inspecting and welding track rollers.

[0009] In a preferred embodiment, it also includes a laser AGV, a first unloading conveyor line, and a second unloading conveyor line. A robot vision guidance system is provided between the laser AGV and the rotary assembly table to guide the handling robot to grab the supporting wheels, which is used to assist the handling robot in automatically grabbing the supporting wheel raw materials.

[0010] In a preferred embodiment, the frame is connected to a pneumatic rotary joint, the pneumatic rotary joint is connected to a hollow turntable, the top of the hollow turntable is connected to an adapter plate, the top of the adapter plate is fixed with a three-finger central cylinder, the bottom of the frame is fixed with a rotating motor that drives the pneumatic rotary joint to rotate, and the top of the frame is fixed with a quantitative liquid injection pump. The rotating motor can realize automatic rotation of the three-finger central cylinder, thereby facilitating splash-proof work on the raw materials of the supporting wheels.

[0011] In a preferred embodiment, the liquid injection brush assembly includes a liquid injection brush body, a liquid injection cotton is installed on one side of the liquid injection brush body, and a liquid injection port joint and a liquid receiving port joint connected to a quantitative liquid injection pump are provided on the other side of the liquid injection brush body. A mounting rod passes through the liquid injection brush body, and a rotating cylinder is fixed to the bottom end of the mounting rod. The bottom end of the rotating cylinder is fixed to the top end of the frame through a bracket, and the position of the liquid injection brush body can be automatically adjusted by using the rotating cylinder.

[0012] In a preferred embodiment, the centering clamping mechanism includes a centering driving side rack and a centering driven side rack, the centering driving side rack is fixed to the bottom of the rotating driving side mounting structure, the centering driven side rack is fixed to the bottom of the rotating driven side mounting structure, a parallel relative motion transmission gear is engaged between the centering driving side rack and the centering driven side rack, the parallel relative motion transmission gear is rotatably connected to the top of the base, a centering clamping cylinder is fixed in the rotating driven side mounting structure, the centering clamping cylinder is fixed to the base through a cylinder base, and is used to realize the centering clamping function of the two clamping heads on the raw materials of the supporting wheels.

[0013] In a preferred embodiment, the bottom ends of the rotating driving side mounting structure and the rotating driven side mounting structure are mounted on the top of the base through a linear rail combination, a servo motor is fixed inside the rotating driving side mounting structure, one end of the servo motor output shaft is connected to a precision planetary reducer, and the precision planetary reducer is fixed to the inner wall of the rotating driving side mounting structure through an installation adjustment plate, and the servo motor and the precision planetary reducer are used to drive the clamping head to rotate, thereby realizing the automatic rotation of the raw material of the supporting wheel.

[0014] In a preferred embodiment, the two clamping heads are respectively connected to a rotating driving side tooling base and a rotating driven side tooling base on the side away from each other. The rotating driving side tooling base is engaged with the output gear of the precision planetary reducer through a toothed slewing support, and the rotating driven side tooling base is fixed to the inner wall of the rotating driven side mounting structure through a carbon brush device. The two clamping heads rotate on the rotating driving side tooling base and the rotating driven side tooling base respectively, thereby supporting the rotation of the supporting wheel raw material for welding.

[0015] In a preferred embodiment, a medium frequency preheating system is fixedly provided at the rear ends of the two bases, and cooperates with the positioner to heat and weld the raw materials of the supporting wheels.

[0016] The technical effects and advantages of this utility model are:

[0017] 1. This utility model realizes the unmanned and automated process of the entire welding production process, including automatic conveying of supporting wheels, disordered grabbing, automatic pairing, automatic loading and unloading of welding materials, autonomous identification of welds, automatic medium-frequency preheating, and automatic welding;

[0018] 2. The handling robot can realize disordered grabbing of the material frame wheel and precise grabbing of the positioning pair, giving a single handling robot multiple execution functions such as disordered material frame grabbing, pair grabbing, and welding loading and unloading grabbing, which effectively solves the bottleneck problem of realizing the automation of welding auxiliary processes;

[0019] 3. The two clamping heads on the positioner automatically align and clamp the raw materials of the track rollers. The positioner has a simple structure, stable precision, and reliable performance. It also meets the requirements of automatic clamping and automatic positioning of the track rollers during welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0021] Figure 2 This is a structural diagram of the rotary assembly platform of the utility model;

[0022] Figure 3 This is a structural diagram of the liquid injection brush assembly of the present utility model;

[0023] Figure 4 This is a structural diagram of the handling robot of the present utility model;

[0024] Figure 5 This is a three-dimensional diagram of the positioner of the present utility model;

[0025] Figure 6 This is a plan view of the positioner of the present utility model;

[0026] Figure 7 This is a top plan view of the positioner and centering clamping mechanism of the present invention;

[0027] Figure 8 This is a schematic diagram of welding of the welding robot of the present invention.

[0028] The accompanying drawings are marked as follows: 1, rotary assembly table; 101, frame; 102, injection brush assembly; 103, pneumatic rotary joint; 104, hollow rotary table; 105, adapter plate; 106, three-finger centrifugal cylinder; 107, rotary motor; 108, quantitative injection pump;

[0029] 1021. Liquid injection brush body; 1022. Liquid injection cotton; 1023. Liquid injection port connector; 1024. Liquid collection port connector; 1025. Mounting rod; 1026. Rotating cylinder; 1027. Bracket;

[0030] 2. Handling robot; 201. Robotic arm; 202. Gripper mounting base; 203. Two-finger parallel gripper; 204. Three-finger centrifugal gripper;

[0031] 3. Positioner; 301. Base; 302. Rotary drive side mounting structure; 303. Rotary driven side mounting structure; 304. Clamping head; 305. Linear rail assembly; 306. Servo motor; 307. Precision planetary reducer; 308. Rotary drive side tooling base; 309. Rotary driven side tooling base; 310. Toothed slewing support; 311. Carbon brush assembly; 312. Intermediate frequency preheating system;

[0032] 4. Centering clamping mechanism; 401. Centering drive side rack; 402. Centering driven side rack; 403. Parallel relative motion transmission gear; 404. Centering clamping cylinder; 405. Cylinder base;

[0033] 5. Welding robot; 6. Laser AGV; 7. Unloading conveyor line 1; 8. Unloading conveyor line 2; 9. Robot vision guidance system. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0035] Refer to the instruction manual Figure 1-8The present invention provides an automated welding production system for supporting rollers, including a rotary assembly platform 1 for assembling supporting rollers. The rotary assembly platform 1 includes a frame 101, a pneumatic rotary joint 103 is connected to the frame 101, a hollow rotating platform 104 is connected to the pneumatic rotary joint 103, an adapter plate 105 is connected to the top of the hollow rotating platform 104, a three-finger centring cylinder 106 is fixed to the top of the adapter plate 105, a rotary motor 107 for driving the pneumatic rotary joint 103 to rotate is fixed to the bottom end of the frame 101, a quantitative injection pump 108 is fixed to the top of the frame 101, and the rotary motor 107 can realize the automatic rotation of the three-finger centring cylinder 106, so as to facilitate the splash-proof work of the raw materials of the supporting rollers;

[0036] The top of the frame 101 is provided with a liquid injection brush assembly 102. Specifically, the liquid injection brush assembly 102 includes a liquid injection brush body 1021, and a liquid injection cotton 1022 is installed on one side of the liquid injection brush body 1021. The other side of the liquid injection brush body 1021 is provided with a liquid injection port joint 1023 and a liquid collection port joint 1024 connected to the quantitative liquid injection pump 108. The liquid injection brush body 1021 is penetrated by a mounting rod 1025, and a rotating cylinder 1026 is fixed to the bottom end of the mounting rod 1025. The bottom end of the rotating cylinder 1026 is fixed to the top of the frame 101 through a bracket 1027. The position of the liquid injection brush body 1021 can be automatically adjusted by using the rotating cylinder 1026.

[0037] The invention also includes a handling robot 2 for handling and transferring the supporting rollers. The handling robot 2 includes a mechanical arm 201. A gripper mounting base 202 is fixedly provided on the mechanical arm 201. A two-finger parallel gripper 203 is fixedly provided on one side of the gripper mounting base 202. A three-finger central gripper 204 is connected to the bottom end of the gripper mounting base 202 via a connecting mechanism.

[0038] The present invention also includes a positioner 3, the number of which is set to two, and the positioner 3 includes a base 301, and two sides of the top of the base 301 are respectively provided with a rotating drive side mounting structure 302 and a rotating driven side mounting structure 303, and the rotating drive side mounting structure 302 and the rotating driven side mounting structure 303 are both connected to a clamping head 304 for fixing the supporting roller;

[0039] The rotating driving side mounting structure 302 and the rotating driven side mounting structure 303 are connected through a centering clamping mechanism 4. Specifically, the centering clamping mechanism 4 includes a centering driving side rack 401 and a centering driven side rack 402. The centering driving side rack 401 is fixed at the bottom of the rotating driving side mounting structure 302, and the centering driven side rack 402 is fixed at the bottom of the rotating driven side mounting structure 303. A parallel relative motion transmission gear 403 is engaged between the centering driving side rack 401 and the centering driven side rack 402. The parallel relative motion transmission gear 403 is rotatably connected to the top of the base 301. A centering clamping cylinder 404 is fixed in the rotating driven side mounting structure 303, and the centering clamping cylinder 404 is fixed on the base 301 through a cylinder base 405.

[0040] While the rotating driven side mounting structure 303 is driven to move by the centering clamping cylinder 404, the rotating driven side mounting structure 303 drives the rotating driving side mounting structure 302 to move together through the centering driving side rack 401, the centering driven side rack 402, and the parallel relative motion transmission gear 403. That is, the rotating driving side mounting structure 302 and the rotating driven side mounting structure 303 perform centering motion together, further realizing the centering clamping function of the two clamping heads 304 on the raw material of the supporting roller;

[0041] It also includes a welding robot 5 for detecting and welding the track wheels;

[0042] It also includes a laser AGV 6, a first unloading conveyor line 7 and a second unloading conveyor line 8. A robot vision guidance system 9 is provided between the laser AGV 6 and the rotary assembly table 1 for guiding the handling robot 2 to grab the supporting wheels.

[0043] When in use, the laser AGV 6 is first used to transfer the raw material of the supporting roller to the recognizable area of ​​the robot vision guidance system 9, and then the 3D vision guidance system of the robot vision guidance system 9 is used to scan the raw material of the supporting roller, and the coordinate parameters of the raw material of the supporting roller are given to guide the handling robot 2 to automatically grab the workpiece;

[0044] The robotic arm 201 drives the two-finger parallel gripper 203 and the three-finger centrifugal gripper 204 to move and grab the raw material of the roller, and place the raw material of the roller on the rotary assembly table 1. Specifically, the raw material of the roller is placed on the top of the three-finger centrifugal cylinder 106. Then, a quantitative liquid injection pump 108 is used to transport liquid into the liquid injection brush body 1021. The liquid flows to the surface of the raw material of the roller through the liquid injection cotton 1022. At the same time, the rotating motor 107 is used to drive the pneumatic rotary joint 103, the hollow rotary table 104, the adapter plate 105 and the raw material of the roller on the three-finger centrifugal cylinder 106 to rotate, so that the liquid is evenly applied to the surface of the raw material of the roller.

[0045] Then use the handling robot 2 to transfer the supporting wheel raw materials on the three-finger centring cylinder 106 to the positioner 3. The supporting wheel raw materials are preheated on the positioner 3. Then use the welding contact function on the welding robot 5 to realize weld recognition and weld the supporting wheel raw materials. At the same time, through the welding detection program of the welding robot 5, it is detected that the weld is located on the left and right side of the center line of the supporting wheel. After the welding is completed, the handling robot 2 grabs the supporting wheel raw materials from the positioner 3 and places them on the unloading conveyor line 1 7 or the unloading conveyor line 2 8. Specifically, since the weld is not in the center position, such as Figure 8 As shown, the weld may be on the left or right side of the center line. The weld on the right side corresponds to procedure A, and the weld on the left side corresponds to procedure B. The weld detection is detected on the right side of the center line by default. If the weld is detected there, the welding procedure A is executed. If the weld is not on the right side of the center line, the weld is assumed to be on the left side of the center line and the welding procedure B is executed.

[0046] The raw materials for the track rollers on unloading conveyor line 1 7 or unloading conveyor line 2 8 are conveyed to a heat treatment furnace for conditioning, thereby enabling the automated welding production of the raw materials for the track rollers. This embodiment utilizes various technical means, including independent design and technological integration, to achieve unmanned and automated welding production processes, including automated track roller conveying, random grabbing, automatic assembly, automatic loading and unloading for welding, autonomous weld seam identification, automatic medium-frequency preheating, and automatic welding.

[0047] Refer to the instruction manual Figure 1-8 The bottom ends of the rotating driving side mounting structure 302 and the rotating driven side mounting structure 303 are mounted on the top of the base 301 through a linear rail assembly 305. A servo motor 306 is fixed inside the rotating driving side mounting structure 302. One end of the output shaft of the servo motor 306 is connected to a precision planetary reducer 307. The precision planetary reducer 307 is fixed to the inner wall of the rotating driving side mounting structure 302 through an installation adjustment plate. The servo motor 306 and the precision planetary reducer 307 are used to drive the clamping head 304 to rotate, thereby realizing the automatic rotation of the raw material of the supporting wheel;

[0048] The two clamping heads 304 are connected to a rotary drive side tooling base 308 and a rotary driven side tooling base 309 on the side away from each other. The rotary drive side tooling base 308 is meshed with the output gear of the precision planetary reducer 307 via a toothed slewing support 310. The rotary driven side tooling base 301 is fixed to the inner wall of the rotary driven side mounting structure 303 via a carbon brush device 311. The two clamping heads 304 rotate on the rotary drive side tooling base 308 and the rotary driven side tooling base 309 respectively, thereby supporting the rotation of the raw material of the supporting roller for welding.

[0049] The rear ends of the two bases 301 are fixed with a medium frequency preheating system 312, which cooperates with the positioner 3 to heat and weld the raw materials of the supporting wheels.

[0050] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A roller automatic welding production system, characterized in that: include: A rotary assembly platform (1), the rotary assembly platform (1) comprising a frame (101), a top end of the frame (101) being provided with a liquid injection brush assembly (102); A handling robot (2), the handling robot (2) comprising a mechanical arm (201), a gripper mounting seat (202) being fixedly provided on the mechanical arm (201), a two-finger parallel gripper (203) being fixedly provided on one side of the gripper mounting seat (202), and a three-finger central gripper (204) being connected to the bottom end of the gripper mounting seat (202) via a connecting mechanism; A positioner (3), wherein the number of the positioners (3) is set to two, and the positioner (3) comprises a base (301), and a rotating drive side mounting structure (302) and a rotating driven side mounting structure (303) are respectively provided on both sides of the top of the base (301), and the rotating drive side mounting structure (302) and the rotating driven side mounting structure (303) are both connected to a clamping head (304) for fixing a supporting roller, and the rotating drive side mounting structure (302) and the rotating driven side mounting structure (303) are connected via a centering clamping mechanism (4); The welding robot (5) is used for detecting and welding the track rollers.

2. The automatic welding production system for supporting wheels according to claim 1, characterized in that: It also includes a laser AGV (6), a first unloading conveyor line (7), and a second unloading conveyor line (8). A robot vision guidance system (9) for guiding a handling robot (2) to grab a supporting wheel is provided between the laser AGV (6) and the rotary assembly table (1).

3. The automatic welding production system for supporting wheels according to claim 1, characterized in that: The frame (101) is connected to a pneumatic rotary joint (103), the pneumatic rotary joint (103) is connected to a hollow rotary table (104), the top of the hollow rotary table (104) is connected to an adapter plate (105), the top of the adapter plate (105) is fixedly provided with a three-finger centring cylinder (106), the bottom end of the frame (101) is fixedly provided with a rotary motor (107) for driving the pneumatic rotary joint (103) to rotate, and the top end of the frame (101) is fixedly provided with a quantitative injection pump (108).

4. The automatic welding production system for supporting wheels according to claim 1, characterized in that: The liquid injection brush assembly (102) comprises a liquid injection brush body (1021), a liquid injection cotton (1022) being installed on one side of the liquid injection brush body (1021), and a liquid injection port joint (1023) and a liquid receiving port joint (1024) being provided on the other side of the liquid injection brush body (1021), the liquid injection brush body (1021) being connected to a quantitative liquid injection pump (108), a mounting rod (1025) passing through the liquid injection brush body (1021), a rotating cylinder (1026) being fixedly provided at the bottom end of the mounting rod (1025), and the bottom end of the rotating cylinder (1026) being fixed to the top end of the frame (101) via a bracket (1027).

5. The automatic welding production system for supporting wheels according to claim 1, characterized in that: The centering clamping mechanism (4) comprises a centering driving side rack (401) and a centering driven side rack (402), wherein the centering driving side rack (401) is fixed to the bottom of the rotating driving side mounting structure (302), and the centering driven side rack (402) is fixed to the bottom of the rotating driven side mounting structure (303), and a parallel relative motion transmission gear (403) is meshed between the centering driving side rack (401) and the centering driven side rack (402), and the parallel relative motion transmission gear (403) is rotatably connected to the top of the base (301), and a centering clamping cylinder (404) is fixed in the rotating driven side mounting structure (303), and the centering clamping cylinder (404) is fixed to the base (301) through a cylinder base (405).

6. The automatic welding production system for track rollers according to claim 1, characterized in that: The bottom ends of the rotary drive side mounting structure (302) and the rotary driven side mounting structure (303) are mounted on the top of the base (301) via a linear rail assembly (305); a servo motor (306) is fixedly provided inside the rotary drive side mounting structure (302); one end of the output shaft of the servo motor (306) is connected to a precision planetary reducer (307); and the precision planetary reducer (307) is fixed to the inner wall of the rotary drive side mounting structure (302) via a mounting adjustment plate.

7. The automatic welding production system for track rollers according to claim 6, characterized in that: The two clamping heads (304) are connected to a rotary drive side tooling base (308) and a rotary driven side tooling base (309) on the side away from each other, respectively. The rotary drive side tooling base (308) is engaged with the output gear of the precision planetary reducer (307) through a toothed rotary support (310), and the rotary driven side tooling base (301) is fixed to the inner wall of the rotary driven side mounting structure (303) through a carbon brush device (311).

8. The automatic welding production system for track rollers according to claim 1, characterized in that: An intermediate frequency preheating system (312) is fixedly provided at the rear ends of the two bases (301).

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