Column robot welding workstation

Abstract

The utility model provides a stand column robot welding work station which comprises a welding gun, a welding robot, a cage type position changing machine, a carrying robot, an end plate automatic feeding machine, a stand column automatic feeding platform, a finished product automatic discharging platform and an automatic gun cleaning and wire shearing device, and the carrying robot is arranged in the center of the work station and used for grabbing an end stand column and an end plate; the end plate automatic feeding machine is arranged in front of the carrying robot. The cage type positioner is arranged behind the carrying robot and used for fixing and rotating the stand column; the automatic stand column feeding platform and the automatic finished product discharging platform are located on the right side and the left side of the carrying robot respectively, the automatic gun cleaning and wire shearing device is arranged on one side of the welding robot, the welding gun is arranged on a working shaft of the welding robot, and a laser sensor is further arranged on the working shaft of the welding robot. The automatic rivet welding and full welding functions of the stand column and the end plate through the industrial robot are achieved, the welding efficiency is greatly improved, and the technological attractiveness is greatly improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to MIC steel structure stand column welding technical field. BACKGROUND

[0002] Under the background of the current home double carbon policy, the construction industry as a major carbon emitter needs to be upgraded and transformed. As a kind of modular integrated construction, MIC gradually becomes the benchmark of modernization, digitization and greenization of the construction industry because of its efficiency, low cost, flexibility and environmental protection. However, in the current market, due to the development of technical force, most MIC manufacturers still use manual welding assembly in the production process. Among them, in the process of stand column welding, manual control of welding between stand column and end plate is needed, which cannot guarantee the appropriate welding angle, resulting in uneven welding quality.

[0003] Based on the current manual welding process, the applicant develops a stand column robot welding workstation for riveting and full welding processes, hoping to automate the riveting and full welding of stand column and end plate by industrial robots to improve welding efficiency and process aesthetics. UTILITY MODEL CONTENT

[0004] The utility model aims at the deficiencies of the prior art and provides a stand column robot welding workstation to improve welding efficiency and quality.

[0005] To achieve the above purpose, the technical scheme adopted by the utility model is as follows:

[0006] A stand column robot welding workstation comprises a welding gun, a welding robot, a cage type positioner, a carrying robot, an end plate automatic feeding machine, a stand column automatic feeding platform, a finished product automatic unloading platform and an automatic gun cleaning and wire cutting device. The carrying robot is arranged at the center position of the workstation and is used to grab end stand columns and end plates. The end plate automatic feeding machine is arranged in front of the carrying robot. The cage type positioner is arranged behind the carrying robot and is used to fix and rotate the stand column. The stand column automatic feeding platform and the finished product automatic unloading platform are respectively arranged on the right side and the left side of the carrying robot. The automatic gun cleaning and wire cutting device is arranged on one side of the welding robot. The welding gun is arranged on the working shaft of the welding robot. A laser sensor is also arranged on the working shaft of the welding robot.

[0007] The welding gun is an automatic welding gun, which comprises water cooling and air cooling forms and is used in cooperation with a matched automatic welding machine.

[0008] Further, the welding robot is provided with two sets, which are symmetrically centered on the workpiece center for welding. The welding robot is preferably six axes or more, and the repeatability is ±0.04mm. The automatic gun cleaning and wire cutting device is arranged between the two welding robots.

[0009] Further, the cage type positioner adopts a double-drive cage type positioner, with a maximum load of 200kg, a span of 2500mm, a repeatability of 0.2° or more, a single direction rotation angle of 280°, and a rotation speed of ≥10° / s. The clamping range of the workpiece is 200*100-200*200mm.

[0010] Further, the carrying robot is a six-axis carrying robot, with a repeatability of ±0.05mm.

[0011] The end plate automatic feeding machine preferably adopts the end plate feeding device of the present patent, which comprises a rack, a lifting plate, a lifting machine, a guide shaft, a connecting plate and a discharge mechanism. The rack is a multi-layer double sliding rail arranged side by side, which is used for layer-by-layer storage of end plates. The lifting plate is horizontally arranged at the moving end of the lifting machine, and the rack is arranged on the lifting plate. The guide shafts are arranged on the sides of the rack, and at least one guide shaft penetrates the lifting plate. The connecting plate is transversely connected with the top end of the guide shaft. The discharge mechanism is arranged in front of the rack, which is an automatic pull rod with a guide groove, used for taking out the end plates in the rack.

[0012] Further, the above-mentioned rack is composed of a left side plate, a right side plate and a plurality of sliding grooves. The sliding grooves are horizontally arranged on the inner walls of the left and right side plates at appropriate intervals, and the distance between two sliding grooves on the same plane is adapted to the size of the end plate.

[0013] Further, a vertical baffle is arranged in front of the rack, the upper edge of the baffle is fixed on the connecting plate, and the lower edge of the baffle is consistent with the height of the second-to-last sliding rail of the rack.

[0014] Further, a movable plate is arranged below the connecting plate and on the top of the rack, and the movable plate is connected with the guide shaft through a linear bearing.

[0015] Further, it further comprises a support frame, and the discharge mechanism is arranged on the support frame.

[0016] Further, it further comprises a base and a fence, and the support frame and the guide shaft are arranged on the base. The fence is arranged on the left and right sides and the rear of the base.

[0017] Further, the lifting machine adopts a screw lifting machine.

[0018] Further, the discharging mechanism comprises two guide grooves, a pull rod, a rodless cylinder, a positioning cylinder and an ejection cylinder, the pull rod is connected with the slider of the rodless cylinder, the guide groove is arranged above the pull rod, and the positioning cylinder is arranged outside the guide groove.

[0019] Further, the discharging mechanism further comprises a plurality of supporting columns fixed on the supporting frame and used for arranging the two guide grooves above the pull rod.

[0020] Further, a detection sensor is arranged on the top of the material rack, and an alarm signal is automatically sent and the system prompts feeding when there is no end plate.

[0021] Further, the end plate feeding device is arranged in groups on the lifting plate, and the corresponding discharging mechanism is arranged in groups in front of the material rack.

[0022] Further, the column automatic feeding platform is a belt conveyor with a control system; one or more than one rectangular pipe can be placed manually at a time, the conveying speed is stepless adjustable and is 0-10 m / min, and the conveying machine stops at the grabbing position.

[0023] Further, the finished product automatic discharging platform is a belt conveyor with a control system; after the column finished product with a welded end plate is placed in the belt conveyor, the belt conveyor runs forward at a set step length, the conveying speed is stepless adjustable and is 0-10 m / min, and the workpiece is taken away at the taking position manually.

[0024] Further, the laser sensors arranged in the column robot welding workstation and the conveying robot are provided with special cooling protective covers, the protective covers are automatically opened during scanning, arc light and spatter are effectively prevented, and the workpiece is quickly positioned.

[0025] In the patent, the directions such as "front", "back", "left" and "right" are used for facilitating understanding of the technical scheme contents, are described in the directions of the drawings, and are not limitations of the technical features and the technical scheme.

[0026] The column robot welding workstation has the following beneficial effects:

[0027] The column robot welding workstation provided by the utility model realizes the industrial robot automatic riveting and full welding of the column and the end plate, and greatly improves the welding efficiency and process appearance.

[0028] 1. The use of carrying robot, automatic end plate feeding device and automatic feeding and discharging platform realizes full-process automatic workpiece grabbing and transfer, and improves the transportation efficiency.

[0029] 2. The use of double-robot welding station enables the robot to perform welding with the workpiece center as the symmetric center, expanding the working range and efficiency of the welding robot.

[0030] 3. The use of double-drive cage type positioner enables the fixed column to rotate and cooperate with the carrying robot to position the end plate, and each weld can be welded in the state that the welding gun is downward, greatly improving the process quality and fineness of welding.

[0031] 4. The use of line laser in the visual sensor can accurately position the relative position between the end plate and the column, improving the fineness of splicing.

[0032] 5. The automatic gun cleaning and wire cutting device can clean the welding slag adhered to the welding gun in time, ensuring reliable welding quality.

[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 column robot welding workstation provided by the embodiment of the utility model.

[0035] Figure 2 The carrying robot structure schematic diagram in the column robot welding workstation provided by the embodiment of the utility model.

[0036] Figure 3 is the end plate feeding device structure schematic diagram in the column robot welding workstation provided by the embodiment of the utility model.

[0037] Figure 4 is Figure 3 The exploded view of the end plate feeding device.

[0038] Figure 5 is Figure 3 The discharging mechanism schematic diagram of the end plate feeding device.

[0039] Figure 6 is Figure 4 The exploded view of the discharging mechanism.

[0040] Figure 7 is the working flowchart of the column robot welding workstation provided by the embodiment of the utility model.

[0041] DRAWING MARK EXPLANATION:

[0042] 1 welding gun, 2 welding robot, 3 cage type positioner, 4 carrying robot

[0043] 5 end plate automatic feeding machine, 501 material rack, 502 lifting plate, 503 elevator, 504 guide shaft, 505 connecting plate, 506a two guide grooves, 506b pull rod, 506c rodless cylinder, 506d positioning cylinder 506e ejection cylinder, 506f support column

[0044] 506 discharging mechanism, 507 baffle, 508 movable plate, 509 support frame, 510 bottom table

[0045] 511 fence

[0046] 6 column automatic feeding platform, 7 finished product automatic discharging platform, 8 automatic gun cleaning and wire cutting device

[0047] 9 end plate, 10 column DETAILED DESCRIPTION

[0048] The specific embodiments described herein are merely illustrative of the technical solutions of the patent and are not a limitation on the disclosed technical solutions. In addition, it should be noted that, for the convenience of description, only part of the structures related to the technical solutions disclosed in the patent are shown in the drawings, rather than all structures.

[0049] 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, can be understood by those skilled in the art according to the existing disclosed technology or commercially available products.

[0050] Reference Figures 1-3 The embodiment provides a column robot welding workstation, which comprises a welding torch 1, a welding robot 2, a cage type positioner 3, a carrying robot 4, an end plate automatic feeding machine 5, a column automatic feeding platform 6, a finished product automatic discharging platform 7 and an automatic gun cleaning and wire cutting device 8. The carrying robot 4 is arranged at the center position of the workstation and is used for grabbing end columns and end plates. The end plate automatic feeding machine 5 is arranged in front of the carrying robot 4. The cage type positioner 3 is arranged behind the carrying robot 4 and is used for fixing and rotating the column. The column automatic feeding platform 6 and the finished product automatic discharging platform 7 are respectively located on the right side and the left side of the carrying robot 4. The automatic gun cleaning and wire cutting device 8 is arranged on one side of the welding robot 2. The welding torch 1 is arranged on the working shaft of the welding robot 2. A laser sensor is further arranged on the working shaft of the welding robot 2.

[0051] The welding torch 1 adopts an automatic welding torch, which comprises a water-cooled type and an air-cooled type, and is used in cooperation with a matched automatic welding machine.

[0052] Preferably, a double-robot welding station is adopted, that is, two welding robots 2 are arranged to perform welding with the workpiece center as the symmetric center; and the automatic gun cleaning and wire cutting device 8 is arranged between the two welding robots 2. The welding robot 2 is preferably more than six axes, and the repeat positioning accuracy is ±0.04 mm.

[0053] The cage type positioner 3 is preferably a double-drive cage type positioner, with a maximum load of 200 kg, a span of 2500 mm, a repeat positioning accuracy of ≤0.2°, a rotation angle of one-way 280°, a rotation speed of ≥10° / s, and a clamped workpiece range of 200*100-200*200 mm.

[0054] The gear ring of the double-drive cage type positioner is divided into two parts, which can be automatically opened and closed under the action of the electric cylinder, and the gear ring is locked by the rotary cylinder. The positioner is provided with a cylinder for pressing the workpiece, and after the workpiece is placed in position by the transfer robot, the cylinder is automatically pressed to realize the positioning and clamping of the workpiece. The maximum deflection load of the rotating shaft is 300 N.m, and the rotation positioning accuracy is ≤±0.1°. In actual application configuration, the output torque, speed and center height can be adjusted according to the weight of the clamp and the workpiece and the rotation radius to ensure that the positioner can meet the application requirements of the system.

[0055] The transfer robot 4 is preferably a six-axis transfer robot, with a repeat positioning accuracy of ±0.05 mm.

[0056] Reference Figure 4 The embodiment provides an end plate automatic feeding machine 5, which comprises a rack 501, a lifting plate 502, a lifting machine 503, guide shafts 504, connecting plates 505 and a discharging mechanism 506. The rack 501 is a multi-layer double sliding rail arranged side by side on the left and right, and is used for layer-by-layer storage of end plates. The lifting plate 502 is horizontally arranged at the moving end of the lifting machine 503, and the rack 501 is arranged on the lifting plate 502. The guide shafts 504 are arranged on the side surfaces of the rack 501 respectively, and at least one guide shaft 504 penetrates through the lifting plate 502. The connecting plates 505 are horizontally connected with the top ends of the guide shafts 504. The discharging mechanism 506 is arranged in front of the rack 501, and the discharging mechanism 506 is an automatic pull rod with a guide groove and is used for discharging the end plates in the rack 501.

[0057] The rack 501 described above can be composed of a left side plate, a right side plate and multiple pairs of sliding grooves. Each pair of sliding grooves is horizontally arranged on the inner walls of the left side plate and the right side plate respectively and is located on the same plane. The distance between a pair of sliding grooves located on the same plane is adapted to the size of the end plate. That is, the distance between the left and right adjacent sliding grooves is adapted to the planar size of the end plate, and the distance between the upper and lower adjacent sliding grooves is adapted to the thickness of the end plate. Generally, one rack is provided with more than 10 pairs of sliding grooves, and at least 10 end plates can be placed. Preferably, the rear of the left side plate and the right side plate is provided with a vertical folding edge to prevent the end plate from moving backward.

[0058] A vertical baffle 507 can also be arranged in front of the rack 501. The upper edge of the baffle 507 is fixed to the connecting plate 505, and the lower edge of the baffle 507 is consistent with the height of the second-to-last layer of the slide rail of the rack 501, thereby ensuring that the end plate is pulled out by the feeding mechanism 506 each time.

[0059] A detection sensor can also be further arranged on the top of the rack 501. When there is no end plate, an alarm signal is automatically sent out to prompt feeding.

[0060] A movable plate 508 can also be further arranged below the connecting plate 505 and on the top of the rack 501. The movable plate 508 is connected to the guide shaft 504 through a linear bearing, thereby further enhancing the safety of the workpieces on the rack.

[0061] Preferably, a support frame 509 is independently arranged, and the feeding mechanism 506 is arranged on the support frame 509, thereby having better adaptability.

[0062] Further, a base 510 and a fence 511 are further included. The support frame 509 and the guide shaft 504 are arranged on the base 510. The fence 511 is arranged on the left and right sides and the rear of the base 510.

[0063] Preferably, a base 10 is arranged. The fence 11 is arranged on the left and right sides and the rear of the base 10. The support frame 9 and the guide shaft 4 are arranged on the base 10, thereby facilitating overall position adjustment and transfer.

[0064] The elevator 503 is preferably a screw elevator. The recommended configuration is: 750w servo motor, 2.5t bearing specification, 650 effective stroke, and speed ratio 24.

[0065] Reference Figure 5 and Figure 6 The embodiment provides a feeding mechanism 506, which comprises two guide grooves 506a, a pull rod 506b, a rodless cylinder 506c, a positioning cylinder 506d, and an ejection cylinder 506e. The pull rod 506b is connected with the sliding block of the rodless cylinder 506c. The guide groove 506a is arranged above the pull rod 506b. The positioning cylinder 506d is arranged outside the guide groove 506a. The ejection cylinder 506e is arranged at the front end of the rodless cylinder 506c and is used for buffering and positioning.

[0066] The rodless cylinder 506c can be of the type SMC MY1B40-700Z-M9B or the like. The positioning cylinder 506d can be of the type Yadake TCL25*70S or the like.

[0067] In operation, the rodless cylinder 506c drives the pull rod 506b to complete the operation of pulling out the end plate along the guide groove 506a. After the end plate is pulled out, the positioning cylinder 506d performs secondary positioning on the end plate, thereby facilitating subsequent robot grabbing and transfer.

[0068] Further, a plurality of support columns 506f can be additionally arranged and fixed to the support frame 509, and used to support the two guide grooves 506a above the pull rod 506b.

[0069] Further, a detection sensor is arranged on the top of the material rack 501, and after the end plate is removed, an alarm signal can be automatically sent, and the system prompts the loading of the material.

[0070] One of the preferred solutions of the end plate loading device is that the material racks 501 are arranged in groups on the lifting plate 502, and the corresponding discharge mechanisms 506 are arranged in front of the material racks 501, so that the storage capacity and efficiency are increased.

[0071] All the end plates in the two material racks of the end plate loading machine are manually loaded, the end plate at the bottom of the material rack is taken out by the discharge mechanism, and then the end plate is sent to the welding position of the column by the carrying robot.

[0072] After the end plate pulled out is taken away, the discharge mechanism is retracted, and then the material rack is lowered by one guide groove, and the discharge mechanism pulls out an end plate again, so that all the end plates in the material rack can be automatically pulled out in sequence. When the detection sensor on the top does not sense the end plate, an alarm signal is sent, and the loading of the material rack is prompted.

[0073] The column automatic loading platform 6 is preferably a belt conveyor with a control system; more than 10 rectangular tubes can be manually placed at one time, the conveying speed is stepless and adjustable, and the conveying speed is 0-10 m / min, and the conveying speed is stopped at the grabbing position of the carrying robot 4. In addition, a workpiece detection sensor can be further arranged on the side, which is used for detecting the number and position of the workpiece. On both sides of the conveyor, a centering positioning and width positioning mechanism can be further configured, so that each column can be accurately positioned and measured.

[0074] The finished product automatic unloading platform 7 is preferably a belt conveyor with a control system; after the carrying robot 4 puts the column product with a welded end plate into the belt conveyor, the belt conveyor runs forward at a set step, the conveying speed is stepless and adjustable, and the conveying speed is 0-10 m / min, and the workpiece is taken away at the taking position by a worker. More than 10 finished products can be placed at one time with an interval of not less than 80 mm. Similarly, a workpiece detection sensor can be further configured, which is used for detecting the number and position of the workpiece.

[0075] All the vision systems in the column robot welding work station, such as the laser sensors arranged on the welding robot 2 and the carrying robot 4, are provided with special cooling protective covers, the protective covers are automatically opened during scanning, arc light and spatter are effectively prevented, and the workpiece can be quickly positioned.

[0076] The column robot welding work station construction process diagram of the utility modelFigure 7 .

[0077] The above is an example of a preferred embodiment of the present application, but the present application is not limited to the described embodiments, and those skilled in the art can make various equivalent modifications or replacements without departing from the spirit of the present application. These equivalent modifications or replacements are all included in the scope defined by the claims of the present application.

Claims

1. A column robot welding station characterized by: The welding gun (1), welding robot (2), cage type positioner (3), carrying robot (4), end plate automatic feeding machine (5), column automatic feeding platform (6), finished product automatic unloading platform (7) and automatic gun cleaning and wire cutting device (8), the carrying robot (4) is arranged at the center position of the work station, which is used for grabbing end column and end plate; the end plate automatic feeding machine (5) is arranged in front of the carrying robot (4); the cage type positioner (3) is arranged behind the carrying robot (4), which is used for fixing and rotating the column; the column automatic feeding platform (6) and the finished product automatic unloading platform (7) are respectively located on the right side and the left side of the carrying robot (4), the automatic gun cleaning and wire cutting device (8) is arranged on one side of the welding robot (2), the welding gun (1) is arranged on the working shaft of the welding robot (2), and a laser sensor is further arranged on the working shaft of the welding robot (2).

2. The column robot welding station of claim 1, wherein: The welding robot (2) is provided with two welding robots, which are used for welding with the center of the workpiece as the symmetric center.

3. The column robot welding station of claim 1, wherein: The welding robot (2) is more than six axes, and the repeated positioning accuracy is ±0.04mm.

4. The column robot welding station of claim 2, wherein: The automatic gun cleaning and wire cutting device (8) is arranged between the two welding robots (2).

5. The column robot welding station of claim 1, wherein: The cage type positioner (3) is a double-drive cage type positioner, the maximum load is 200kg, the span is 2500mm, the repeated positioning accuracy is 0.2°, the rotation angle is one-way 280°, the rotation speed is greater than or equal to 10° / s, and the clamping workpiece range is 200*100-200*200mm. The carrying robot (4) is a six-axis carrying robot, and the repeated positioning accuracy is ±0.05mm.

6. The column robot welding station of claim 1, wherein: The end plate automatic feeding machine (5) comprises a rack (501), a lifting plate (502), a lifting machine (503), a guide shaft (504), a connecting plate (505) and a discharging mechanism (506), the rack (501) is a plurality of double sliding rails arranged side by side, which is used for layer-by-layer storage of end plates; the lifting plate (502) is transversely arranged at the moving end of the lifting machine (503), and the rack (501) is arranged on the lifting plate (502); the guide shaft (504) is arranged on the side of the rack (501), and at least one guide shaft (504) penetrates the lifting plate (502); the connecting plate (505) is transversely connected with the top end of the guide shaft (504); and the discharging mechanism (506) is arranged in front of the rack (501), the discharging mechanism (506) is an automatic pull rod with a guide groove, which is used for taking out the end plate in the rack (501).

7. The column robot welding station of claim 1, wherein: The rack (501) is composed of a left side plate, a right side plate and a plurality of sliding grooves, the sliding grooves are transversely arranged on the inner walls of the left side plate and the right side plate at appropriate intervals, and the distance between two sliding grooves in the same plane is adapted to the size of the end plate.

8. The column robot welding station of claim 7, wherein: A vertical baffle (507) is arranged in front of the rack (501), the upper edge of the baffle (507) is fixed on the connecting plate (505), and the lower edge of the baffle (507) is consistent with the height of the second-to-last layer of the sliding rail of the rack (501).

9. The column robot welding station of claim 7, wherein: ​ 10. The column robot welding station of claim 7, wherein: An activity plate (508) is arranged at the top of the rack (501) below the connecting plate (505), and the activity plate (508) is connected with the guide shaft (504) through a linear bearing.

11. The column robot welding station of claim 7, wherein: The discharging mechanism (506) comprises two guide grooves (506a), a pull rod (506b), a rodless cylinder (506c), a positioning cylinder (506d) and an ejection cylinder (506e), the pull rod (506b) is connected with the slider of the rodless cylinder (506c), the guide groove (506a) is arranged above the pull rod (506b), and the positioning cylinder (506d) is arranged outside the guide groove (506a); the ejection cylinder (506e) is arranged at the front end of the rodless cylinder (506c) and is used for buffering and positioning.

12. The column robot welding station of claim 7, wherein: A detection sensor is arranged at the top of the rack (501) and is used for automatically sending an alarm signal and prompting the system to feed when there is no end plate.

13. The column robot welding station of claim 7, wherein: The racks (501) are arranged in groups on the lifting plate (502), and the corresponding discharging mechanisms (506) are arranged in groups in front of the racks (501).

14. The column robot welding station of claim 1, wherein: The column automatic feeding platform (6) is a belt conveyor with a control system, the conveying speed is stepless adjustable and is 0-10 m / min, and the column automatic feeding platform (6) is stopped at the grabbing position of the carrying robot (4).

15. The column robot welding station of claim 1, wherein: The finished product automatic discharging platform (7) is a belt conveyor with a control system, the conveying speed is stepless adjustable and is 0-10 m / min.

16. The column robot welding station of claim 1, wherein: The laser sensors in the workstation are all equipped with special cooling protective covers.

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