Side plate welding robot workstation

Abstract

The utility model provides a side plate welding robot workstation which comprises a rotary positioner, a workpiece clamp, a robot external shaft truss, a welding robot, a child-mother conveying vehicle and a child-mother conveying vehicle ground rail, the workpiece clamp is arranged on the rotary positioner, the robot external shaft truss is arranged on one side of the rotary positioner, and the welding robot is arranged on the child-mother conveying vehicle ground rail. The welding robot is arranged on the robot external shaft truss, the child-mother conveying vehicle ground rail is arranged on the other side of the rotary positioner, and the child-mother conveying vehicle is used for workpiece conveying and feeding and discharging. The side plate welding robot workstation can adapt to workpieces of different sizes, the automatic side plate full-length welding function of a robot is achieved, and meanwhile the welding efficiency and the welding seam quality are greatly improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of robot welding system of metal side plate. BACKGROUND

[0002] Under the background of the current national double carbon policy, the construction industry, as a major carbon emitter, needs to be upgraded and transformed. Steel structure modular integrated building (MIC) gradually becomes a benchmark of modernization, digitization and greenization of the construction industry due to its efficiency, low cost, flexibility and environmental protection. However, in the current market, due to the development of technical force, most steel structure MIC manufacturers still use manual welding assembly in the production process. Among them, in the process of side plate welding, manual operation is needed to rivet and assemble first, and then manually perform full welding, which not only has low work efficiency, but also has a poor working environment. In addition, this manual welding process cannot take into account the welds on the back of the plate, and the welding quality is difficult to guarantee. SUMMARY

[0003] The utility model aims at the shortage of prior art, provides a kind of side plate welding robot workstation, to realize the function of robot automatic side plate full welding, improve welding efficiency and weld quality.

[0004] To achieve the above purpose, the technical scheme adopted by the utility model is as follows:

[0005] A kind of side plate welding robot workstation, including rotary positioner, workpiece clamp, robot external shaft truss, welding robot, child and mother transport vehicle and child and mother transport vehicle ground rail, the workpiece clamp is located on rotary positioner, the robot external shaft truss is located on one side of rotary positioner, the welding robot is located on robot external shaft truss, the child and mother transport vehicle ground rail is located on the other side of rotary positioner, and the child and mother transport vehicle is used for workpiece transportation and feeding and discharging.

[0006] The rotary positioner is single-axis or double-axis positioner, which can continuously rotate and position the objects loaded thereon around the shaft, and is anchored to the ground by bolts. Preferably, the double-axis positioner has a span of more than 14 meters, a maximum load of 10T and a repeat positioning accuracy of ±0.2°.

[0007] The workpiece clamp is designed according to the structural characteristics of the clamped side plate, and can be prepared with multiple different clamps. When used, it is fixed on the rotary positioner by fasteners. The workpiece clamp preferably comprises two sets of mutually orthogonal linear guide clamps, which have good adaptability and stability, and manual or / and electrically controlled sliders. More preferably, the slider of the workpiece clamp is driven by a servo motor combined with a gear rack, and the size information is given by the upper computer, and the slider is automatically moved after the angle of the lower computer encoder is calculated.

[0008] The main beam structure width of the workpiece clamp should be less than the workpiece width, the positioning points and clamping points are selected to the outermost beams and columns of the workpiece, so that the welding seam does not interfere. At the same time, under the condition of ensuring the rigidity of the clamp itself, the structure is as small as possible to reduce the weight, avoid the welding seam position and improve the welding rate.

[0009] The robot external shaft truss is preferably a truss with more than three external shafts, the size of which is set according to the largest machining workpiece, and is fixed to the ground by bolts. It is further preferred that the positioning accuracy of each shaft of the robot external shaft truss is ±0.1mm, which can ensure that the robot can still be accurately positioned after multiple repeated movements.

[0010] The robot external shaft truss is generally composed of a steel structure, a guide rail, a gear rack and a sliding block platform, which is driven by a servo motor. The welding robot loaded on the sliding block platform can be shifted, and it can be linked with the welding robot during welding to complete various welding actions with the welding robot. Preferably, multiple sliding block platforms are provided to support multiple welding robots to work simultaneously and provide welding efficiency.

[0011] The guide rails and sliding blocks of each shaft of the robot external shaft truss adopt centralized lubrication, which can supply oil in a timely and quantitative manner to ensure that each sliding structure is fully lubricated.

[0012] Preferably, a barrel welding wire and a smoke purifier are mounted on the sliding block platform of the robot external shaft truss. At the same time, an automatic gun cleaning and wire cutting device can be further mounted to avoid the adhesion of splashes during welding and ensure reliable welding quality.

[0013] The welding robot can use existing five-, six-, and seven-axis industrial robots.

[0014] The welding gun can be set on the working shaft of the welding robot before welding work, and an automatic welding gun is used, including water cooling and air cooling forms, which is matched with the corresponding automatic welding machine.

[0015] The sub-mother conveying vehicle is used to transport workpieces and feed and discharge materials, and can use existing available conveying vehicles. The present application is a professional metal plate sub-mother conveying vehicle designed to improve the overall welding efficiency of the welding workstation. The metal plate sub-mother conveying vehicle comprises a conveying track, a transfer platform, a lifting mechanism, a moving vehicle frame and a mother vehicle, the conveying track is arranged on the transfer platform, the transfer platform is arranged on the lifting mechanism, and the lifting mechanism is arranged on the moving vehicle frame; the moving vehicle frame is arranged on the mother vehicle and is movably connected with the mother vehicle.

[0016] The conveying track is a linear rail or a rail, and two or more parallel rails are arranged in the same direction as the moving direction of the moving vehicle frame. The preferred scheme is to arrange four conveying tracks with a maximum spacing of 8 meters, and the single-side cantilever of each conveying track is up to 2 meters long.

[0017] The transfer platform preferably has a load of 2.5T or more and a size of 8m*3m or more.

[0018] The lifting mechanism further requires that the lifting distance of the transfer platform is 2100mm from the ground at the high point and 1245mm from the ground at the low point; and a hydraulic power system or an electric system is used to ensure sufficient lifting support force.

[0019] When loading the workpiece, the lifting action of the primary-secondary vehicle is manually controlled, and the sensor detects the position after approaching the position, and the automatic stop is realized. The sensor installed on the primary vehicle can be a sheet proximity switch or an optical proximity switch.

[0020] The positioning accuracy of the moving vehicle frame is ±2mm, the moving components are configured according to the type of the ground rail laid in the working area, such as a sliding block if the ground rail is a linear rail, or a wheel if the ground rail is a track. The moving vehicle frame is locked on the primary vehicle by a mechanical method before moving, and the mechanical lock is opened when the moving vehicle frame is separated from the primary vehicle.

[0021] The primary vehicle is preferably an automatic ground rail moving vehicle, which uses a sliding beam distribution and is provided with a drag chain.

[0022] Further preferably, the primary vehicle is provided with a track alignment mechanism, which can lock and align the track before the moving vehicle frame is separated, and the primary vehicle is relatively locked with the track to ensure that the moving vehicle frame is aligned with the track. Furthermore, a sensor is arranged in front of the locking point of the primary-secondary conveying vehicle ground rail 6, and the primary vehicle 5 slows down after receiving the sensor signal to avoid a large impact caused by instantaneous stopping.

[0023] The primary-secondary conveying vehicle ground rail 6 comprises a primary vehicle ground rail 601 and a secondary vehicle ground rail 602, and the end of the secondary vehicle ground rail 602 is close to the rotary displacement machine 1, and the beginning of the primary vehicle ground rail 601 and the secondary vehicle ground rail 602 is connected.

[0024] Further, a sensor is arranged on the secondary vehicle ground rail 602 close to the workpiece loading point position, and the secondary vehicle slows down after receiving the sensor signal.

[0025] The beneficial effects of the utility model are as follows:

[0026] The side plate welding robot workstation provided by the utility model can adapt to workpieces of different sizes, realizes the automatic full-welding function of the robot, and greatly improves the welding efficiency and weld quality.

[0027] 1. Multiple welding robots can be configured to perform welding with the center of the workpiece as the symmetry center, which expands the working range and efficiency of the robot.

[0028] 2. The rotating positioner can fix the plate for rotation and positioning, each weld can be welded in the state that the welding gun is downward, and the process quality of welding is greatly improved.

[0029] 3. The automatic gun cleaning and wire cutting device can be configured simultaneously to avoid the splashing and firm adhesion during welding, and ensure the reliable welding quality.

[0030] 4. The robot can be loaded with a barrel-shaped welding wire on the sliding block platform of the external shaft truss of the robot, and the robot can continuously and automatically work.

[0031] 5. The orthogonal guide rail clamp installed on the rotating positioner can manually or automatically adjust the clamping position according to the model of the workpiece, and the adaptability of the workstation is improved.

[0032] 6. The automatic feeding and discharging is realized by using the primary and secondary conveying vehicles, the transportation efficiency is improved, and the labor intensity is reduced.

[0033] The specific embodiments of the utility model will be illustrated below in combination with the drawings: DRAWINGS

[0034] Figure 1 is the schematic diagram of the side plate welding robot workstation provided by the embodiment of the utility model.

[0035] Figure 2 is the structural schematic diagram of the primary and secondary conveying vehicles provided by the embodiment of the utility model.

[0036] Figure 3 is the exploded view of the structure of the primary and secondary conveying vehicles provided by the embodiment of the utility model.

[0037] Figure 4 The working flowchart of the primary and secondary conveying vehicles provided by the embodiment of the utility model.

[0038] Figure 5 is the working flowchart of the side plate welding robot workstation provided by the embodiment of the utility model.

[0039] Explanation of reference signs:

[0040] 1 rotating positioner, 2 workpiece clamp, 3 external shaft truss of robot, 4 welding robot

[0041] 5 primary and secondary conveying vehicles, 501 conveying rail, 502 transfer platform, 503 lifting mechanism,

[0042] 504 moving frame, 505 mother vehicle, 505a drag chain

[0043] 6 primary and secondary conveying vehicles, 601 mother vehicle ground rail, 602 child vehicle ground rail

[0044] 7 side plate DETAILED DESCRIPTION

[0045] The specific embodiments described herein merely illustrate the techniques of the present patent and are not intended to limit the disclosed techniques. In addition, it is to be appreciated that, for convenience and clarity, only those portions of the apparatuses that are necessary for an understanding of the present techniques are shown and described herein.

[0046] Before discussing the example embodiments in more detail, it should be mentioned that the structure of the device components and modules mentioned in the embodiments, if not specified in detail, is understood by the person skilled in the art on the basis of the prior art or is a commercially available product.

[0047] With reference to Figure 1 The embodiment improves a side plate welding robot workstation, which comprises a rotary positioner 1, a workpiece clamp 2, a robot external shaft gantry 3, a welding robot 4, a mother-daughter conveying vehicle 5 and a mother-daughter conveying vehicle ground rail 6. The workpiece clamp 2 is arranged on the rotary positioner 1. The robot external shaft gantry 3 is arranged on one side of the rotary positioner 1. The welding robot 4 is arranged on the robot external shaft gantry 3. The mother-daughter conveying vehicle ground rail 6 is arranged on the other side of the rotary positioner 1. The mother-daughter conveying vehicle 5 is used for workpiece transportation and feeding and discharging.

[0048] The rotary positioner 1 is a single-axis or double-axis positioner, which can continuously rotate and position the object loaded thereon around the shaft and is anchored to the ground by bolts. Preferably, the double-axis positioner has a span of more than 14 meters, a maximum load of 10T (including the weight of the beam and clamp), a rotation speed of 2.5 rpm and a repeated positioning accuracy of more than ±0.2°.

[0049] The workpiece clamp 2 is designed according to the structural features of the clamped side plate and can be prepared with multiple different clamps for replacement. In use, the workpiece clamp 2 is fixed to the rotary positioner by fasteners. Preferably, the workpiece clamp 2 is a two-group straight linear guide clamp orthogonal to each other, which has good adaptability and stability and is manually or electrically controlled. More preferably, the workpiece clamp 2 is driven by a servo motor combined with a gear rack, the size information is given by the upper computer, and the workpiece clamp 2 is automatically moved after the angle of the lower computer encoder is calculated.

[0050] The main beam structure width of the workpiece clamp 2 should be smaller than the width of the workpiece. The positioning points and clamping points are selected to be the outermost beams and columns of the workpiece, so that the welds do not interfere. At the same time, under the condition of ensuring the rigidity of the clamp itself, the structure is as small as possible to reduce the weight and avoid the weld position to improve the welding rate. For example, the workpiece clamp is initially designed to be compatible with workpieces with a length of 4-12 meters and a width of 2.98-3.5 meters. The width direction is divided into two grades of 2.98m and 3.5m. The replacement is realized by the guide rail sliding table mechanism, and the locking is realized by the manual locking bolt connection.

[0051] The robot external axis truss 3 is preferably a truss with three or more external axes, and the size is set according to the largest workpiece to be processed, and is fixed to the ground by bolts. It is further preferred that the positioning accuracy of each axis of the robot external axis truss 3 is ±0.1 mm, which can ensure that the robot can be accurately positioned after multiple repeated movements. For example, the effective stroke is X axis 13000 mm, Y axis 2500 mm, Z axis 1800 mm, and the repeat positioning accuracy is ≤±0.2 mm.

[0052] The robot external axis truss 3 is generally composed of a steel structure, guide rails, gear racks and a sliding block platform, and is driven by a servo motor. The welding robot 4 loaded on the sliding block platform can be moved, and the welding robot 4 can be linked during welding to complete various welding actions in cooperation with the welding robot 4. Preferably, multiple sliding block platforms are provided to support multiple welding robots to work simultaneously and provide welding efficiency.

[0053] The guide rails and sliding blocks of the robot external axis truss 3 are centrally lubricated, which can provide oil in a timely and quantitative manner to ensure that each sliding structure is fully lubricated.

[0054] Preferably, 2 barrels of 250 kg of barrel-shaped welding wire and 2 smoke purifiers are mounted on the sliding block platform of the robot external axis truss 3. At the same time, an automatic gun cleaning and wire cutting device can be further mounted to avoid the splashing and adhesion during welding, and to ensure reliable welding quality.

[0055] The welding robot 4 can use existing five-, six-, or seven-axis industrial robots. For example, a six-axis robot with an arm span of 1831 mm and a repeat positioning accuracy of ≤±0.02 mm.

[0056] The welding torch can be set on the working shaft of the welding robot 4 before welding work, and an automatic welding torch is used, including water cooling and air cooling forms, which are matched with corresponding automatic welding machines.

[0057] The child-mother conveying vehicle 5 is used to transport workpieces and feed and discharge materials, and can use existing conveying vehicles. The present application is a professional metal plate child-mother conveying vehicle designed to improve the overall welding efficiency of the welding workstation. Figure 2 and Figure 3 The metal plate child-mother conveying vehicle includes a conveying track 501, a transfer platform 502, a lifting mechanism 503, a moving frame 504 and a mother vehicle 505. The conveying track 501 is arranged on the transfer platform 502, the transfer platform 502 is arranged on the lifting mechanism 503, and the lifting mechanism 503 is arranged on the moving frame 504. The moving frame 504 is arranged on the mother vehicle 505 and is movably connected with the mother vehicle 505.

[0058] The conveying track 501 is a linear track or a rail track, and two or more parallel tracks are arranged in the same direction as the moving direction of the moving frame 504. Preferably, four conveying tracks 501 are arranged, and the maximum distance between the conveying tracks is 8 meters; the single-side cantilever of each conveying track 501 is 2 meters long.

[0059] The moving platform 502 preferably has a load of 2.5T or more and a size of 8m*3m or more.

[0060] The lifting mechanism 503 further requires that the lifting distance of the moving platform 502 is 2100mm from the ground at the highest point and 1245mm from the ground at the lowest point; a hydraulic power system or an electric system is used to ensure sufficient lifting support.

[0061] The moving frame 504 has a positioning accuracy of ±2mm, and the moving components are configured according to the type of the track laid in the working area. For example, if the track is a linear track, the moving component is a sliding block, and if the track is a rail track, the moving component is a wheel. The moving frame 504 is locked on the mother vehicle 505 by a mechanical method before the mother vehicle 505 moves, and the mechanical lock is opened when the moving frame 504 is separated from the mother vehicle 505, so that the moving frame 504 is disconnected. That is, the mechanical lock is in an open state when the moving frame 504 is separated from the mother vehicle 505.

[0062] The mother vehicle 505 is preferably an automatic track moving vehicle, which uses a sliding beam line distribution and is provided with a tow chain 505a.

[0063] Further preferably, the mother vehicle 505 is provided with a track alignment mechanism. Before the moving frame 504 is separated, the mother vehicle can be locked and aligned with the track to relatively lock the mother vehicle with the track, so as to ensure that the moving frame 504 can be aligned with the track to be entered.

[0064] The track 6 of the mother-daughter conveying vehicle includes a mother vehicle track 601 and a daughter vehicle track 602. The end of the daughter vehicle track 602 is close to the rotary displacement machine 1, and the beginning of the mother vehicle track 601 and the daughter vehicle track 602 is connected. The mother vehicle track 601 is arranged outside the working station to facilitate the transportation of workpieces to the station and the delivery of finished products; the daughter vehicle track 602 is mainly used for feeding and discharging, and a length of 5-8 meters is generally sufficient.

[0065] Further, a sensor is arranged in front of the locking point of the mother vehicle track 601. After receiving the sensor signal, the mother vehicle 505 drives at a reduced speed to avoid a large impact caused by instantaneous stopping.

[0066] Further, a sensor is arranged near the workpiece feeding point of the daughter vehicle track 602. After receiving the sensor signal, the daughter vehicle drives at a reduced speed to avoid a large impact caused by instantaneous stopping.

[0067] As shown in Figure 1 one or more sets of the metal plate daughter conveying vehicle of the utility model can be configured for the feeding and discharging of the cutting robot.

[0068] Take the general building side plate welding work area space as an example, the mother car stroke / track 26m, the child car stroke / track 6m, through the movement of the child and mother car on the track and the lifting action of the child car, the workpiece transportation and feeding are realized.

[0069] Reference Figure 4 Work flow chart, when the child and mother car run to the position of the child car track, the child car separates from the mother car, and independently transports the workpiece to the track at the welding work area position, and the lifting mechanism on the child car realizes the lifting operation of the workpiece. When the workpiece is lifted to the appropriate height, the workpiece is transported to the accurate welding station through the conveying line, and after the workpiece clamp in the welding area clamps the workpiece, the child car exits the welding work area. After the child car exits the welding work area, the child car returns to the mother car, and before the mother car moves, the child car is mechanically locked on the mother car.

[0070] When the side plate welding robot workstation provided in the patent carries out the welding operation, the work flow refers to Figure 5 .

[0071] Step 1: The rotating positioner drives the plane where the workpiece clamp is located to turn over 180°, so that the workpiece clamp faces downward;

[0072] Step 2: After the workpiece is transported to the welding station at the rotating positioner by the child and mother car, the lifting mechanism of the child car lifts the workpiece to the plane where the workpiece clamp is located, the workpiece is clamped by using the workpiece clamp, and the clamping mode (clamping force ≥ 200kg) of the air cylinder or electric cylinder is used;

[0073] Step 3: After the workpiece is clamped by the workpiece clamp, the lifting mechanism of the child car descends to the normal transportation plane, and the child car moves out of the position of the rotating positioner;

[0074] Step 4: The rotating positioner turns over 180 degrees to turn over the workpiece to the welding work plane;

[0075] Step 5: The welding starts, the welding robot and the welding gun are moved to the appropriate position by the external axis truss of the robot, and the workpiece is welded. During the welding, the rotating positioner can be operated to realize the welding of the front and back surfaces or a specific angle of the workpiece as needed.

[0076] The above is an example of the preferred implementation of the utility model, but the invention is not limited to the embodiments described, and those skilled in the art can make various equivalent modifications or substitutions without deviating from the spirit of the utility model. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present application.

Claims

1. A side panel welding robot workstation characterized by: The utility model relates to a welding robot system, which comprises a rotary positioner (1), a workpiece clamp (2), a robot external shaft truss (3), a welding robot (4), a mother-son conveying vehicle (5) and a mother-son conveying vehicle ground rail (6), the workpiece clamp (2) is arranged on the rotary positioner (1), the robot external shaft truss (3) is arranged on one side of the rotary positioner (1), the welding robot (4) is arranged on the robot external shaft truss (3), the mother-son conveying vehicle ground rail (6) is arranged on the other side of the rotary positioner (1), and the mother-son conveying vehicle (5) is used for workpiece transportation and feeding and discharging.

2. The side panel welding robotic work station of claim 1, wherein: The rotary positioner (1) is a double-shaft positioner, the span is more than 14m, the maximum load is 10T, and the repeated positioning accuracy is 0.2°.

3. The side panel welding robotic work station of claim 1, wherein: The workpiece clamp (2) is a two-group straight linear guide rail clamp which is perpendicular to each other, and the main beam structure width of the workpiece clamp (2) is less than the width of the workpiece.

4. The side panel welding robotic workcell of claim 1, wherein: The robot external shaft truss (3) is a three-shaft or more external shaft truss, and the repeated positioning accuracy of each shaft is 0.2mm.

5. The side panel welding robotic workcell of claim 1, wherein: The robot external shaft truss (3) is provided with a plurality of sliding block platforms for supporting a plurality of welding robots to work simultaneously.

6. The side panel welding robotic work station of claim 1, wherein: The sliding block platform of the robot external shaft truss (3) is loaded with a welding wire and a smoke purifier.

7. The side panel welding robotic work station of claim 1, wherein: The sliding block platform of the robot external shaft truss (3) is loaded with an automatic cleaning and cutting device.

8. The side panel welding robotic work station of claim 1, wherein: The welding robot (4) adopts a six-shaft or more industrial robot, the arm span is more than 1831mm, and the repeated positioning accuracy is 0.02mm.

9. The side panel welding robotic workcell of claim 1, wherein: The mother-son conveying vehicle (5) comprises a conveying rail (501), a moving platform (502), a lifting mechanism (503), a moving frame (504) and a mother vehicle (505), the conveying rail (501) is arranged on the moving platform (502), the moving platform (502) is arranged on the lifting mechanism (503), and the lifting mechanism (503) is arranged on the moving frame (504); the moving frame (504) is arranged on the mother vehicle (505) and movably connected with the mother vehicle (505).

10. The side panel welding robotic work station of claim 9, wherein: The conveying rail (501) is a linear rail or a track, and two or more parallel tracks are arranged, and the maximum distance is 8m; the longest single-side cantilever of each conveying rail (501) is 2m.

11. The side panel welding robotic work station of claim 9, wherein: The moving platform (502) is a platform with a load of more than 2.5T and a size of more than 8m*3m.

12. The side panel welding robotic work station of claim 9, wherein: The lifting mechanism (503) requires that the height of the moving platform (502) from the ground is 2100mm, and the lowest point is 1245mm from the ground; a hydraulic power system or an electric system is adopted.

13. The side panel welding robotic work station of claim 9, wherein: The moving frame (504) has a positioning accuracy of 2mm, and the moving parts are configured according to the type of the ground rail laid in the working area; the moving frame (504) is mechanically locked on the mother vehicle (505) before moving, and the mechanical lock is opened when the moving frame (504) is separated from the mother vehicle (505).

14. The side panel welding robotic work station of claim 9, wherein: The mother vehicle (505) is an automatic ground rail moving vehicle, and is provided with a rail alignment mechanism, the mother vehicle is aligned and locked with the rail before the moving frame (504) is separated, and the moving frame (504) is aligned with the rail to be entered.

15. The side panel welding robotic work station of claim 9, wherein: The sub-mother transport vehicle ground rail (6) comprises a mother vehicle ground rail (601) and a sub-vehicle ground rail (602), and the end of the sub-vehicle ground rail (602) is close to the rotary displacement machine (1), and the beginning of the mother vehicle ground rail (601) and the sub-vehicle ground rail (602) is connected.

16. The side panel welding robotic work station of claim 15, wherein: A sensor is arranged in front of the locking point of the mother vehicle ground rail (601), and the mother vehicle (505) drives at a low speed after receiving the sensor signal; a sensor is arranged near the workpiece loading point of the sub-vehicle ground rail (602), and the sub-vehicle drives at a low speed after receiving the sensor signal.

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