CN112705818B - Robotic arc welding workstation for template welding and construction method thereof - Google Patents
Robotic arc welding workstation for template welding and construction method thereof Download PDFInfo
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- CN112705818B CN112705818B CN202110033515.1A CN202110033515A CN112705818B CN 112705818 B CN112705818 B CN 112705818B CN 202110033515 A CN202110033515 A CN 202110033515A CN 112705818 B CN112705818 B CN 112705818B
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- 238000003466 welding Methods 0.000 title claims abstract description 169
- 238000010276 construction Methods 0.000 title claims abstract description 12
- 238000000034 method Methods 0.000 claims description 22
- 229910000831 Steel Inorganic materials 0.000 claims description 20
- 239000010959 steel Substances 0.000 claims description 20
- 230000008569 process Effects 0.000 claims description 13
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 238000004140 cleaning Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 15
- 229910001018 Cast iron Inorganic materials 0.000 description 10
- 238000003780 insertion Methods 0.000 description 4
- 230000037431 insertion Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000007790 scraping Methods 0.000 description 2
- 230000035882 stress Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
- B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
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- Butt Welding And Welding Of Specific Article (AREA)
Abstract
用于模板焊接的机器人弧焊工作站及其施工方法，机器人弧焊工作站包括焊接平台，该焊接平台侧面设有焊接机器人；该焊接平台上固定安装有台面板，该台面板上设有定位孔及支撑件；该支撑件包括第一板和第二板；该第一板的圆孔或该第二板的长孔内设有固定件；相邻的支撑件之间设有第一夹头和/或第二夹头；该第一夹头包括第一竖杆，该第一竖杆顶部设有第一圆筒；该第一圆筒穿设有第一横杆，该第一横杆一端具有第一旋转手柄，另一端具有第一定位头；该第二夹头包括第二竖杆，该第二竖杆顶部设有第二圆筒，该第二圆筒内插设有第二横杆，该第二横杆末端设有第三圆筒，该第三圆筒穿设有第三竖杆，该第三竖杆一端具有第二旋转手柄，另一端具有第二定位头。
A robot arc welding workstation for template welding and a construction method thereof, the robot arc welding workstation comprises a welding platform, a welding robot is arranged on the side of the welding platform; a table panel is fixedly installed on the welding platform, and a positioning hole and a support member are arranged on the table panel; the support member comprises a first plate and a second plate; a fixing member is arranged in the circular hole of the first plate or the long hole of the second plate; a first chuck and/or a second chuck are arranged between adjacent support members; the first chuck comprises a first vertical rod, a first cylinder is arranged on the top of the first vertical rod; a first cross bar is passed through the first cylinder, one end of the first cross bar has a first rotating handle, and the other end has a first positioning head; the second chuck comprises a second vertical rod, a second cylinder is arranged on the top of the second vertical rod, a second cross bar is inserted into the second cylinder, a third cylinder is arranged at the end of the second cross bar, a third vertical rod is passed through the third cylinder, one end of the third vertical rod has a second rotating handle, and the other end has a second positioning head.
Description
Technical Field
The invention belongs to the technical field of prefabricated building engineering, and particularly relates to a robot arc welding workstation for template welding and a construction method thereof.
Background
At present, the country is advocating the industrialization of the house, namely, the house is built by an industrialized production mode, so that the labor productivity of the house production is improved, the integral quality of the house is improved, the cost is reduced, and the advantages of material consumption, energy consumption and the like are rapidly raised. The house industrialized components are all prefabricated in factories by using moulds which are spliced together by templates with various sizes, and then welded and fixed to be manufactured. Because the mold has low reuse rate and large template manufacturing amount, a large amount of labor is needed, and the production cost is increased. Moreover, the existing die welding is manually assembled, the precision is not easy to ensure, and the welding quality is not easy to control. In addition, when the mould is assembled manually, the efficiency is lower.
Disclosure of Invention
The invention aims to provide a robot arc welding workstation for template welding, which can greatly reduce the labor intensity of workers, has high degree of automation, can reduce the production cost and improves the production efficiency.
Another object of the present invention is to provide a construction method of a robot arc welding workstation for welding a template, which can greatly reduce the labor intensity of workers, has high degree of automation, can reduce the production cost, and improves the production efficiency.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
A robot arc welding workstation for template welding comprises a welding platform, wherein a welding track is arranged on the side surface of the welding platform, and the welding track is parallel to the welding platform; the welding track is provided with a welding robot capable of moving on the welding track; the welding platform is fixedly provided with a platform panel, a plurality of positioning holes which are arranged in an array are formed in the platform panel, an L-shaped supporting piece is arranged at the position corresponding to the outer vertical surface of the template, the supporting piece comprises a first plate and a second plate which are mutually perpendicular, the first plate is provided with a plurality of round holes which correspond to the positioning holes, the second plate is provided with a long hole, a fixing piece is arranged in the round hole of the first plate or the long hole of the second plate, the fixing piece comprises a positioning rod, a screw hole is formed in the positioning rod, a screw is arranged in the screw hole, the top of the screw is fixedly connected with a nut, the diameter of the nut is larger than that of the round hole and is larger than the width of the long hole, the bottom of the screw is provided with a conical insertion part, the circumferential surface of the bottom of the positioning rod is provided with a plurality of concave holes which are connected with the screw hole, steel balls which can slide in the concave hole, the opening inner diameter of the outer end of the concave hole is smaller than that of the steel balls, the inner ends of the steel balls are exposed out of the inner end opening of the concave hole and mutually propped against the inner end to form a ring shape, a vertical channel is formed in the center position, and when the screw rotates downwards, the insertion part can be inserted into the vertical channel and push each steel ball to move downwards and push the steel balls to the positioning rod to move towards the opening to the outer end of the concave hole;
The first clamping head and/or the second clamping head are/is arranged between the adjacent supporting pieces, the first clamping head comprises a first vertical rod, a horizontal first cylinder is arranged at the top of the first vertical rod, the first cylinder is provided with internal threads, a first transverse rod with external threads is arranged in a penetrating mode, one end of the first transverse rod is provided with a first rotating handle, the other end of the first transverse rod is provided with a first positioning head, the second clamping head comprises a second vertical rod, a horizontal second cylinder is arranged at the top of the second vertical rod, a second transverse rod is inserted in the second cylinder, a vertical third cylinder is arranged at the tail end of the second transverse rod, the third cylinder is provided with internal threads, a third vertical rod with external threads is arranged in a penetrating mode, one end of the third vertical rod is provided with a second rotating handle, and the other end of the third vertical rod is provided with a second positioning head.
Further, a first ball body is arranged at the tail end of the first cross rod, a second ball body is arranged at the tail end of the third vertical rod, the first positioning head comprises a first positioning disc and a first positioning end head fixedly connected with the inner side of the first positioning disc, a first connecting concave part corresponding to the first ball body is arranged on the first positioning end head, the first ball body can rotate in the first connecting concave part, the second positioning head comprises a second positioning disc and a second positioning end head fixedly connected with the inner side of the second positioning disc, and a second connecting concave part corresponding to the second ball body is arranged on the second positioning end head, so that the second ball body can rotate in the second connecting concave part.
Furthermore, the outer side surfaces of the first positioning disc and the second positioning disc are provided with positioning grooves, and buffer rubber gaskets are respectively arranged between the first ball body and the first connecting concave part and between the second ball body and the second connecting concave part.
Further, the periphery of the first vertical rod and the second vertical rod is provided with a convex positioning circular ring, the outer diameter of the positioning circular ring is larger than the inner diameter of the positioning hole, and the bottom surface of the positioning circular ring is perpendicular to the first vertical rod and the second vertical rod.
Further, the top surface of the nut is provided with a concave spanner hole.
Furthermore, the two welding platforms are parallel to each other, the welding track is positioned between the two welding platforms, or the welding track is H-shaped, and the number of the welding platforms is three or four and is positioned around the welding track.
A construction method of the robotic arc welding workstation for template welding, comprising the following steps:
A. Cleaning a deck plate of the welding platform, and preparing a support piece, a first chuck, a second chuck and a blanking template;
B. placing the template on the table top board, aligning the edges of the template with the grid lines on the table top board, and aligning one long edge with one short edge respectively;
C. the method comprises the steps of placing an upper band plate, a rib plate and a lower band plate, placing a first chuck at a corresponding position of a supporting piece, fastening the first chuck corresponding to the middle rib plate firstly, placing the rib plates at two ends between the upper band plate and the lower band plate, fastening the corresponding first chucks, checking the plane perpendicularity and the vertical perpendicularity of the rib plates, knocking and finely adjusting the positions of the rib plates;
D. placing other rib plates according to the position of the drawing, tightly fixing a first chuck corresponding to the rib plate, and finely adjusting the position of the rib plate according to the method of the step C to ensure that the plane and the vertical surface of the rib plate are vertical;
E. Programming according to the operation program of the welding robot, simulating the welding operation process, and starting the automatic welding process after confirming that the welding operation process is correct.
Further, the support piece is tightly fixed by the following steps that the second plate of the support piece is tightly attached to the upper surface of the table top plate, the locating rod of the fixing piece penetrates through the oblong hole of the second plate and is inserted into the locating hole of the table top plate, the screw cap is screwed, the screw rod is driven to move downwards along with the screwing of the screw cap, and the steel balls at the bottom are ejected to abut against the inner wall of the locating hole of the table top plate.
Further, when the positioning rod of the fixing member is too long, a cushion layer is placed on the second plate, and the cushion layer is provided with a through hole corresponding to the long hole.
Further, two first chucks are fixed on the outer side of the short side of the template, and one first chuck is fixed at a distance of 400-500mm between the long sides.
The robot arc welding workstation for template welding and the construction method thereof have the advantages that the robot arc welding workstation for template welding can greatly reduce the labor intensity of workers, has high degree of automation, reduces the production cost and improves the production efficiency.
Drawings
Fig. 1 is a schematic structural view of embodiment 1 of a robotic arc welding workstation for template welding of the present invention.
Fig. 2 is a front view of embodiment 1 of a robotic arc welding workstation for template welding of the present invention.
Fig. 3 is a side view of embodiment 1 of a robotic arc welding workstation for template welding of the present invention.
Fig. 4 is a top view of embodiment 1 of a robotic arc welding workstation for template welding of the present invention.
Fig. 5 is a schematic structural view of embodiment 2 of a robotic arc welding workstation for template welding of the present invention.
Fig. 6 is a front view of embodiment 1 of the support of the robotic arc welding workstation for template welding of the present invention.
Fig. 7 is a side view of embodiment 1 of the support of the robotic arc welding workstation for template welding of the present invention.
Fig. 8 is a top view of embodiment 1 of the support of the robotic arc welding workstation for template welding of the present invention.
Fig. 9 is a front view of embodiment 2 of the support of the robotic arc welding workstation for template welding of the present invention.
Fig. 10 is a side view of embodiment 2 of the support of the robotic arc welding workstation for template welding of the present invention.
Fig. 11 is a top view of embodiment 2 of the support of the robotic arc welding workstation for template welding of the present invention.
Fig. 12 is a schematic structural view of a screw of a robotic arc welding workstation for template welding of the present invention.
Fig. 13 is a schematic view of the construction of the positioning bar of the robotic arc welding workstation for template welding of the present invention.
Fig. 14 is a schematic view showing the movement process of the screw and the steel ball of the robot arc welding workstation for welding the template according to the present invention.
Fig. 15 is a schematic view of the structure of a first chuck of the robotic arc welding workstation for template welding of the present invention.
Fig. 16 is a schematic view of the structure of a second chuck of the robotic arc welding workstation for template welding of the present invention.
Fig. 17 is a schematic view of the structure of a first cross bar of the robotic arc welding workstation for template welding of the present invention.
Fig. 18 is a schematic structural view of a third vertical bar of the robotic arc welding station for template welding of the present invention.
Detailed Description
The invention is further illustrated by the following figures and examples.
As shown in fig. 1 to 4, the present invention provides a robot arc welding workstation for welding a template, comprising a welding platform 1, wherein a welding track 2 is arranged on the side surface of the welding platform 1, and the welding track 2 is parallel to the welding platform 1. The welding rail 2 is provided with a welding robot 3 movable on the welding rail 2. A deck plate 11 is fixedly mounted on the welding platform 1, and a plurality of positioning holes 12 arranged in an array are formed in the deck plate 11. An L-shaped supporting piece 4 is arranged at the position corresponding to the outer vertical surface of the template.
The above is an embodiment 1 of the robot arc welding station for template welding of the present invention, which is an embodiment 2 of the robot arc welding station for template welding of the present invention, as shown in fig. 5, and is different from the embodiment 1 in that the welding stages 1 are two, parallel to each other, and the welding track 2 is located between the two welding stages 1. In the embodiment 2 of the invention, an H-shaped layout is adopted, the welding robot 3 can walk horizontally and linearly in the middle, the tools on two sides are arranged, and one side of the tool is used for loading and unloading a workpiece on the other side during welding. Of course, the invention can also be that one welding robot 3 corresponds to three or four welding platforms 1, and at this time, the welding track 2 is in an H shape, and the welding platforms 1 are positioned around the welding track.
As shown in fig. 6-11, the support 4 comprises a first plate 41 and a second plate 42 perpendicular to each other. The first plate 41 is provided with a plurality of round holes 411 corresponding to the positioning holes 12, and the number of the round holes 411 is not limited, and may be 1 or 3 as shown in two embodiments of the present invention. The second plate 42 is provided with a long hole 421. A fixing member 5 is provided in the circular hole 411 of the first plate 41 or the long hole 421 of the second plate 42. As shown in fig. 12-14, the fixing member 5 includes a positioning rod 51, a screw hole 511 is formed in the positioning rod 51, a screw rod 52 is disposed in the screw hole 511, the top of the screw rod 52 is fixedly connected with a nut 53, the diameter of the nut 53 is larger than the diameter of the round hole 411 and larger than the width of the long hole 421, and a concave wrench hole 531 is disposed on the top surface of the nut 53. The screw 52 has a conical insertion portion 521 at its bottom end. The circumference of the bottom of the positioning rod 51 is provided with a plurality of concave holes 512 connected with the screw holes 511, each concave hole 512 is internally provided with a steel ball 54 capable of sliding in the concave hole 512, and the inner diameter of an opening at the outer end of the concave hole 512 is smaller than the diameter of the steel ball 54. The inner ends of the steel balls 54 are exposed out of the inner end openings of the concave holes 512 and mutually propped against each other to form a ring shape, and a vertical channel is formed at the center position. When the screw 52 rotates downwards, the insertion portion 521 can be inserted into the vertical channel, and push each steel ball 54 outwards to expose the opening at the outer end of the concave hole 512, so as to prop against the inner wall of the positioning hole 12 and block the movement of the positioning rod 51.
A first jaw 6 and/or a second jaw 7 are arranged between adjacent support members 4. As shown in fig. 15-18, the first chuck 6 includes a first vertical rod 61, and a horizontal first cylinder 62 is disposed on top of the first vertical rod 61. The first cylinder 62 has an internal thread and is threaded with an externally threaded first cross bar 63, the first cross bar 63 having a first rotary handle 64 at one end and a first positioning head 65 at the other end. The second chuck 7 comprises a second vertical rod 71, a horizontal second cylinder 72 is arranged at the top of the second vertical rod 71, a second cross rod 73 is inserted into the second cylinder 72, a vertical third cylinder 74 is arranged at the tail end of the second cross rod 73, the third cylinder 74 is provided with internal threads, a third vertical rod 75 with external threads is penetrated, one end of the third vertical rod 75 is provided with a second rotary handle 76, and the other end of the third vertical rod 75 is provided with a second positioning head 77.
The first cross bar 63 is provided with a first ball 631 at its end and the third vertical bar 75 is provided with a second ball 751 at its end. The first positioning head 65 includes a first positioning disk 651 and a first positioning tip 652 fixedly connected to an inner side of the first positioning disk 651, the first positioning tip 652 being provided with a first coupling recess 653 corresponding to the first ball 631, so that the first ball 631 can rotate in the first coupling recess 653. The second positioning head 77 includes a second positioning disk 771 and a second positioning head 772 fixedly connected to the inner side of the second positioning disk 771, and the second positioning head 772 is provided with a second connection recess 773 corresponding to the second sphere 751, so that the second sphere 751 can rotate in the second connection recess 773. Preferably, a buffer rubber pad 66 is disposed between the first ball 631 and the first connection recess 653, and a buffer rubber pad 78 is disposed between the second ball 751 and the second connection recess 773. The outer sides of the first positioning disk 651 and the second positioning disk 772 have positioning grooves 8. The outer circumferences of the first vertical rod 61 and the second vertical rod 71 are provided with convex positioning circular rings 9, the outer diameter of each positioning circular ring 9 is larger than the inner diameter of each positioning hole 12, and the bottom surface of each positioning circular ring 9 is perpendicular to the first vertical rod 61 and the second vertical rod 71, so that the first vertical rod 61 and the second vertical rod 71 can be positioned on the table top 11 in the vertical direction.
The invention also provides a construction method of the robot arc welding workstation for template welding, which comprises the following steps:
A. Cleaning up the deck plate 11 of the welding platform 1, and preparing the supporting piece 4, the first clamping head 6, the second clamping head 7 and the blanking template M;
B. Placing the template M on the table panel 11, aligning the edges of the template M with the grid lines on the table panel 11, and aligning one long edge with one short edge respectively;
C. The method comprises the steps of placing an upper band plate, rib plates and a lower band plate, placing first chucks 6 at corresponding positions of a supporting piece 4, fastening first chucks 6 corresponding to the rib plates in the middle firstly, then placing rib plates at two ends between the upper band plate and the lower band plate, fastening the corresponding first chucks 6, checking the plane perpendicularity and the vertical perpendicularity of the rib plates, knocking and finely adjusting the positions of the rib plates, further fixing two first chucks 6 on the outer side of a short side of a template M, and fixing one first chuck 6 at a long side interval of 400-500 mm;
D. Placing other rib plates according to the position of the drawing, tightly fixing a first chuck 6 corresponding to the rib plates, and finely adjusting the position of the rib plates according to the method of the step C to ensure that the plane and the vertical surface of the rib plates are vertical;
E. programming according to the operation program of the welding robot 3, simulating the welding operation process, and starting the automatic welding process after confirming that the welding operation process is correct.
The fastening process of the support 4 is that the second plate 42 of the support 4 is tightly attached to the upper surface of the table top 11, the positioning rod 51 of the fixing member 5 is inserted into the positioning hole 12 of the table top 11 through the oblong hole 421 of the second plate 42, the nut 53 is rotated, the screw 52 is driven to move downwards along with the tightening of the nut 53, and the bottom steel balls 54 are ejected to abut against the inner wall of the positioning hole 12 of the table top 11.
When the positioning rod 51 of the fixing member 5 is excessively long, a cushion layer is placed on the second plate 42, and the cushion layer is provided with a through hole corresponding to the long hole 421, so that the steel ball 54 of the fixing member 5 is positioned on the inner wall of the positioning hole 12.
The invention adopts a vertical overturning position changing machine to be matched with a welding robot, the parts of the template are manually aligned and clamped on the table panel of the welding platform by using a supporting piece, a first chuck and a second chuck, the robot automatically welds all welding seams, two welding stations can be arranged symmetrically, and when one station is welded, the other station is used for loading and unloading workpieces, and the work stations are circulated in sequence. The welding robot welds in turn at two stations, has improved work efficiency greatly.
The invention adopts the welding robot to realize full automation of the processing process, thereby reducing the labor intensity of workers. The welding robot teaching programmer is a 6.5-inch color touch screen and Chinese display, and is convenient to operate. The motion trail of the welding robot can be taught, the motion of any path in space can be completed, and a plurality of sets of programs can be stored simultaneously to correspond to products with various specifications. The welding robot has zero point memory, process memory and return functions. The control system is controlled by a PLC and has the functions of automatic control, detection, protection, alarm and the like. When the specification or production outline of the workpiece is changed, different programs can be selected on the operation panel to adapt to new production requirements. The robot control cabinet (DX 200), the teaching box, the operation panel and the operation box are all provided with emergency stop buttons, and when the system is in emergency, the emergency stop buttons can be pressed to realize the emergency stop of the system and send out alarm signals.
The welding positioning tool (the supporting piece, the fixing piece, the first chuck and the second chuck) is a novel welding fixture which is modularized, standardized, reusable and extremely wide in application range, and is used for welding, machining and detecting workpieces. The device is based on a workbench with grid holes and a scale, is provided with various standard modules for positioning, is connected through a fixing piece, and is used for rapidly clamping workpieces in various shapes, so that the welded or processed workpieces are guaranteed to achieve high precision. The tool replaces the traditional special tool, so that a user can shorten a large amount of design and manufacturing time, can repeatedly use the tool, saves development and production costs, and is a very economical and practical choice. The welding positioning tool (the supporting piece, the fixing piece, the first clamping head and the second clamping head) is a clamp capable of being freely combined, can adapt to different workpiece shapes, can replace a large number of high-cost special tools, and can save the cost and time of the special tools input due to product change after the tool is used. The economical efficiency is particularly obvious in the production of various and personalized moulds.
The deck plate of the invention adopts a cast iron platform and has the following characteristics:
1. after the cast iron platform is worn, the precision of the cast iron platform can be restored by scraping again.
2. The cast iron platform can be used for checking the flatness of the part by using a painting method, and has the advantages of accuracy, intuitiveness and convenience. The gauge stand and the workpiece are pushed on the scraped cast iron platform smoothly, the feeling of acerbity is avoided, the measurement is convenient, and the measurement accuracy is ensured.
3. The cast iron quality and heat treatment quality of the cast iron platform have great influence on the service performance of the flat plate, or the working surface is deformed due to residual large internal stress, or the precision cannot be maintained due to wear resistance, or the roughness with small value cannot be obtained due to scraping difficulty. Therefore, the selection of cast iron materials must be paid attention to using the cast iron platform, and the residual stress of the cast iron platform is eliminated by adopting methods such as aging treatment and the like.
The above embodiments may be modified within the scope of the present invention, and therefore the above description should be taken as illustrative, not limiting the scope of the invention.
Claims (10)
1. A robot arc welding workstation for template welding is characterized by comprising a welding platform, a welding robot, a table panel, an L-shaped supporting piece, a first plate and a second plate, wherein a welding track is arranged on the side surface of the welding platform, the welding track is parallel to the welding platform, a welding robot capable of moving on the welding track is arranged on the welding track, the table panel is fixedly arranged on the welding platform, a plurality of positioning holes arranged in an array are arranged on the table panel, the L-shaped supporting piece is arranged at the position corresponding to the outer vertical surface of the template, the supporting piece comprises a first plate and a second plate which are mutually perpendicular, the first plate is provided with a plurality of round holes corresponding to the positioning holes, the second plate is provided with a long hole, a fixing piece is arranged in the round hole of the first plate or the long hole of the second plate, the fixing piece comprises a positioning rod, a screw hole is arranged in the positioning rod, a screw is arranged in the screw hole, the screw rod, the top of the screw rod is fixedly connected with a nut, the diameter of the screw rod is larger than the diameter of the round hole, and is larger than the width of the long hole, a plurality of steel balls are arranged on the circumference surface of the bottom of the positioning rod and are connected with the screw hole, the concave holes, the steel balls are arranged in the concave holes and can slide in the concave holes, the inner ends are mutually perpendicular to each steel balls are pushed to move towards the vertical position to the vertical position, and are pushed to the vertical position, and are exposed out of the vertical position of the steel balls, and the vertical position channel is pushed to the vertical position, and the steel balls are pushed to move towards the vertical position opening and the vertical position, and the steel balls and the vertical position;
The first clamping head and/or the second clamping head are/is arranged between the adjacent supporting pieces, the first clamping head comprises a first vertical rod, a horizontal first cylinder is arranged at the top of the first vertical rod, the first cylinder is provided with internal threads, a first transverse rod with external threads is arranged in a penetrating mode, one end of the first transverse rod is provided with a first rotating handle, the other end of the first transverse rod is provided with a first positioning head, the second clamping head comprises a second vertical rod, a horizontal second cylinder is arranged at the top of the second vertical rod, a second transverse rod is inserted in the second cylinder, a vertical third cylinder is arranged at the tail end of the second transverse rod, the third cylinder is provided with internal threads, a third vertical rod with external threads is arranged in a penetrating mode, one end of the third vertical rod is provided with a second rotating handle, and the other end of the third vertical rod is provided with a second positioning head.
2. The robot arc welding workstation for welding templates according to claim 1, wherein a first ball is arranged at the tail end of the first cross rod, a second ball is arranged at the tail end of the third vertical rod, the first positioning head comprises a first positioning disc and a first positioning end fixedly connected with the inner side of the first positioning disc, a first connecting concave part corresponding to the first ball is arranged on the first positioning end to enable the first ball to rotate in the first connecting concave part, the second positioning head comprises a second positioning disc and a second positioning end fixedly connected with the inner side of the second positioning disc, and a second connecting concave part corresponding to the second ball is arranged on the second positioning end to enable the second ball to rotate in the second connecting concave part.
3. The robot arc welding workstation for welding templates of claim 2, wherein the outer sides of the first positioning disk and the second positioning disk are provided with positioning grooves, and buffer rubber pads are arranged between the first ball and the first connecting concave part and between the second ball and the second connecting concave part.
4. The robot arc welding workstation for template welding of claim 1, wherein the outer circumferences of the first vertical rod and the second vertical rod are provided with convex positioning circular rings, the outer diameter of each positioning circular ring is larger than the inner diameter of each positioning hole, and the bottom surfaces of the positioning circular rings are perpendicular to the first vertical rod and the second vertical rod.
5. The robotic arc welding station for template welding according to claim 1, wherein the top surface of the nut is provided with a recessed spanner hole.
6. The robot arc welding workstation for welding templates according to claim 1, wherein the number of the welding platforms is two, the welding tracks are parallel to each other, the welding tracks are positioned between the two welding platforms, or the welding tracks are H-shaped, and the number of the welding platforms is three or four, and the welding tracks are positioned around the welding tracks.
7. A construction method of the robotic arc welding workstation for template welding according to any one of claims 1 to 6, comprising the steps of:
A. Cleaning a deck plate of the welding platform, and preparing a support piece, a first chuck, a second chuck and a blanking template;
B. placing the template on the table top board, aligning the edges of the template with the grid lines on the table top board, and aligning one long edge with one short edge respectively;
C. the method comprises the steps of placing an upper band plate, a rib plate and a lower band plate, placing a first chuck at a corresponding position of a supporting piece, fastening the first chuck corresponding to the middle rib plate firstly, placing the rib plates at two ends between the upper band plate and the lower band plate, fastening the corresponding first chucks, checking the plane perpendicularity and the vertical perpendicularity of the rib plates, knocking and finely adjusting the positions of the rib plates;
D. placing other rib plates according to the position of the drawing, tightly fixing a first chuck corresponding to the rib plate, and finely adjusting the position of the rib plate according to the method of the step C to ensure that the plane and the vertical surface of the rib plate are vertical;
E. Programming according to the operation program of the welding robot, simulating the welding operation process, and starting the automatic welding process after confirming that the welding operation process is correct.
8. The method of claim 7, wherein the second plate of the support is tightly attached to the upper surface of the deck plate, the positioning rod of the fixing member is inserted into the positioning hole of the deck plate through the oblong hole of the second plate, the nut is screwed, the screw is driven to move downwards along with the screwing of the nut, and the bottom steel balls are ejected to abut against the inner wall of the positioning hole of the deck plate.
9. The construction method of the robot arc welding station for template welding according to claim 8, wherein a cushion layer is placed on the second plate, the cushion layer being provided with a through hole corresponding to the long hole, when the positioning rod of the fixture is excessively long.
10. The construction method of a robot arc welding station for welding a template according to claim 7, wherein two first chucks are fixed on the outer side of a short side of the template, and one first chuck is fixed at a long side interval of 400-500 mm.
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| CN113478133A (en) * | 2021-08-16 | 2021-10-08 | 南通科钛机器人系统有限公司 | Six-axis robot is with full-automatic welded platform that has protective structure |
| CN113909722B (en) * | 2021-09-29 | 2022-11-18 | 长沙中创海通智能科技有限公司 | Be used for building templates floor welded device |
| CN117047383B (en) * | 2023-10-12 | 2023-12-05 | 吉林大学 | Anti-slip and wear-resistant automatic positioning tooling for welding production lines based on digital twins |
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| KR101407626B1 (en) * | 2013-04-30 | 2014-06-13 | 김창신 | Welding apparatus |
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