CN113134692A - Automatic assembly welding device for train side wall and welding method thereof - Google Patents

Abstract

The invention discloses an automatic assembly welding device for train side walls and a welding method thereof, wherein the automatic assembly welding device comprises a feeding AGV, a feeding area, a track grabbing robot, a welding station, a blanking station and a blanking AGV, wherein the track grabbing robot consists of a moving track and a grabbing robot, the grabbing robot is arranged on the moving track and freely moves along the track, and an automation line is adopted in the automatic assembly welding device for train side walls, so that the production efficiency of products, the stability of the products and the quality of the products can be improved; the labor condition can be improved, the production floor area is reduced, and the production cost is reduced; the production period is shortened, and the production balance is ensured; when one set of workpieces is welded, the other set of workpieces can be assembled, the assembling and disassembling time is saved, and the production efficiency is improved; people can be liberated from heavy physical labor, partial mental labor and severe and dangerous working environments; personal safety accidents of personnel caused by personnel operation can be reduced; the model is automatically identified by scanning the two-dimensional code of the workpiece, so that the rapid model changing is realized.

Description

Automatic assembly welding device for train side wall and welding method thereof

Technical Field

The invention relates to the technical field of metal welding, in particular to an automatic assembling and welding device for a train side wall, a welding method and a welding method thereof.

Background

At present, the side wall of a train is manually hoisted by means of a truss car, and G-shaped clamps are needed to match all parts, so that the manual working strength is high, the working environment is dangerous, and the production efficiency is seriously influenced; the whole parts are placed dispersedly, the occupied area is large, and the requirement on the area of a factory building is high; the production efficiency is influenced by various factors, and stable production cannot be realized; the manual work is assembled, can't guarantee the welding seam clearance to influence whole welding quality.

Disclosure of Invention

The invention aims to provide an automatic assembly welding device for train side walls, a welding method of the automatic assembly welding device and the welding method of the automatic assembly welding device, and aims to solve the problems in the background art.

The purpose of the invention is realized by the following technical scheme:

the invention provides an automatic assembly welding device for train side walls and a welding method thereof, the automatic assembly welding device comprises a feeding AGV, a feeding area, a track grabbing robot, a welding station, a blanking station and a blanking AGV, wherein the track grabbing robot consists of a moving track and a grabbing robot, the grabbing robot is arranged on the moving track and freely moves along the track, one side of the moving track is provided with the feeding area and the blanking station which are adjacent and mutually independent, the feeding AGV is correspondingly arranged in the feeding area, the blanking AGV is correspondingly arranged in the blanking station, the other side of the moving track is provided with the welding station, the welding station comprises two groups of welding robots, a gantry, a position changer, a welding clamp and a 3D camera, the two welding robots are respectively arranged on the gantry, the 3D camera is correspondingly arranged on the welding robots, the beam vibration welding clamp is correspondingly arranged below the gantry, and a positioner is arranged below the welding fixture.

According to the invention, the feeding area consists of a feeding support, a feeding shelf and a workpiece, and the feeding shelf is provided with a distance sensor for identifying whether the workpiece of the three-dimensional shelf exists or not and identifying the number of layers of the workpiece on the three-dimensional shelf, so that the height at which the grabbing robot should grab the workpiece is calculated.

According to the automatic unloading device, the unloading station comprises an unloading support, an unloading goods shelf and finished workpieces, a distance sensor is arranged above the unloading goods shelf and used for recognizing the number of layers of the finished workpieces on the three-dimensional goods shelf, so that the position of the workpieces at which the grabbing robot should place is calculated, and if the goods shelf workpieces are recognized to be full, an unloading AGV is signaled to perform unloading operation.

According to the invention, the track grabbing robot comprises a grabbing robot, a track, a clamping claw and a 2D scanner, wherein the 2D scanner is connected and fixed with a grabbing robot main body, the grabbing robot determines the height position of a workpiece according to the obtained height data, the 2D scanner is used for scanning the two-dimensional code of the workpiece, the specific type of the workpiece is determined, the specific grabbing position of the workpiece is determined, and an instruction is given to a clamp for automatic switching so as to adapt to workpieces of different types; after the workpiece is grabbed, assembling operation is carried out on the clamp, and finally the clamp is used for clamping; and when a blanking instruction is received, the grabbing robot moves to a specified welding station, and grabs and places the workpiece in a finished product area.

The invention discloses an automatic assembling and welding device for train side walls and a specific welding method of the welding method, which are characterized in that: the method comprises the following steps:

step 1: when the goods shelf has no materials, after receiving an instruction, the feeding AGV moves the workpieces with the required models to the designated feeding position together with the bracket in a jacking mode, so that the accessibility of the subsequent grabbing robot is ensured;

step 2: the grabbing robot of the rail grabbing robot scans the two-dimensional codes or other marks of the workpieces at the appointed positions in the step 1 by using a self-contained 2D scanner, identifies the models, positions, grabs the corresponding workpieces into a clamp on a welding station by using a clamping claw of the grabbing robot, fixedly clamps the workpieces by using the clamp, and restores the grabbing robot to the initial position along the rail;

and step 3: after the workpiece in the step is fixed by the fixture, transmitting a signal to two welding robots in a welding station, moving the two welding robots to an appointed position along the gantry, welding the workpiece, and displacing by the positioner during the period to realize the welding of two sides of the workpiece;

and 4, step 4: when welding is carried out, the grabbing robot of the rail grabbing robot repeats the process of the step 2, and clamps the next group of workpieces on the other set of fixture for assembly operation and fixed clamping, so that beat optimization is realized;

and 5: after the welding in the step 3 is finished, loosening the clamp, waiting for the workpiece to be cooled for five minutes, transmitting a signal to a grabbing robot, moving the grabbing robot to a specified position, grabbing a finished product, and placing the finished product in a finished product area;

step 6: when finished goods district goods shelves are full, the unloading AGV signal can be given to the goods shelves sensor, moves the work piece to appointed storage position through the form of jacking with the bracket through AGV to settle empty goods shelves again.

Compared with the prior art, the automatic assembling and welding device for the train side wall and the welding method thereof have the advantages that:

1. the production efficiency, the stability and the quality of the product can be improved by adopting an automatic line;

2. the labor condition can be improved, the production floor area is reduced, and the production cost is reduced;

3. the production period is shortened, and the production balance is ensured;

4. when one set of workpieces is welded, the other set of workpieces can be assembled, the assembling and disassembling time is saved, and the production efficiency is improved;

5. people can be liberated from heavy physical labor, partial mental labor and severe and dangerous working environments;

6. personal safety accidents of personnel caused by personnel operation can be reduced; the model is automatically identified by scanning the two-dimensional code of the workpiece, so that the rapid model changing is realized.

Drawings

FIG. 1 is an overall structural view of an automatic assembly welding device for train side walls and a welding method thereof according to the present invention;

in the figure: 1. material loading AGV, 2, material loading district, 3, track snatch robot, 4, welding station, 5, unloading station, 6, unloading AGV.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.

As shown in figure 1, the invention discloses an automatic assembling and welding device for train side walls, which comprises a feeding AGV1, a feeding area 2, a track grabbing robot 3, a welding station 4, a discharging station 5 and a discharging AGV6, wherein the track grabbing robot 3 consists of a moving track and a grabbing robot, the grabbing robot is arranged on the moving track and freely moves along the track, the feeding area 2 and the discharging station 5 which are close to each other and independent are arranged on one side of the moving track, the feeding AGV1 is correspondingly arranged in the feeding area 2, the discharging AGV6 is correspondingly arranged in the discharging station 5, the welding station 4 is arranged on the other side of the moving track, the welding station 4 comprises two groups of welding robots, a gantry, a position changer, a welding fixture and a 3D camera, the two welding robots are respectively arranged on the gantry, and the 3D camera is correspondingly arranged on the welding robots, welding fixtures are correspondingly arranged below the gantry, and a positioner is arranged below the welding fixtures.

According to the invention, the feeding area consists of a feeding support, a feeding shelf and a workpiece, and the feeding shelf is provided with a distance sensor for identifying whether the workpiece of the three-dimensional shelf exists or not and identifying the number of layers of the workpiece on the three-dimensional shelf, so that the height at which the grabbing robot should grab the workpiece is calculated.

According to the invention, the blanking station 5 consists of a blanking support, a blanking shelf and finished workpieces, a distance sensor is arranged above the blanking shelf and used for identifying the number of layers of the finished workpieces on the three-dimensional shelf, so that the height at which the grabbing robot should place the workpieces is calculated, and if the shelf workpieces are identified to be full, a signal is given to a blanking AGV to perform unloading operation.

In the invention, the track grabbing robot 3 comprises a grabbing robot, a track, a clamping claw and a 2D scanner, wherein the 2D scanner is connected and fixed with a grabbing robot main body, the grabbing robot determines the height position of a workpiece according to the obtained height data, the 2D scanner is used for scanning the two-dimensional code of the workpiece, determining the specific type of the workpiece and the specific grabbing position of the workpiece, and giving an instruction to a clamp for automatic switching so as to adapt to workpieces of different types; after the workpiece is grabbed, assembling operation is carried out on the clamp, and finally the clamp is used for clamping; and when a blanking instruction is received, the grabbing robot moves to a specified welding station, and grabs and places the workpiece in a finished product area.

The specific welding method of the automatic assembling and welding device for the train side wall comprises the following steps:

step 1: when the goods shelf has no materials, after receiving an instruction, the feeding AGV moves the workpieces with the required models to the designated feeding position together with the bracket in a jacking mode, so that the accessibility of the subsequent grabbing robot is ensured;

step 2: a grasping robot of the track grasping robot 3 scans the workpiece two-dimensional code or other marks at the appointed positions in the step 1 by using a self-contained 2D scanner, identifies the model, positions the model, grasps the corresponding workpiece into a clamp on the welding station 4 by using a clamp of the grasping robot, fixedly clamps the workpiece by using the clamp, and restores the grasping robot to the initial position along the track;

and step 3: after the fixture fixes the workpiece in the step 2, transmitting a signal to two welding robots in the welding station 4, moving the two welding robots to an appointed position along the gantry, welding the workpiece, and displacing through a positioner during the period to realize the welding of two sides of the workpiece;

and 4, step 4: when the welding work is carried out in the step 3, the grabbing robot of the track grabbing robot 3 repeats the process of the step 2, and clamps the next group of workpieces on the other set of fixture for assembly operation and fixed clamping, so that the beat optimization is realized;

and 5: after the welding in the step 3 is finished, loosening the clamp, waiting for the workpiece to be cooled for five minutes, transmitting a signal to a grabbing robot, moving the grabbing robot to a specified position, grabbing a finished product, and placing the finished product in a finished product area;

step 6: when finished goods district goods shelves are full, the unloading AGV signal can be given to the goods shelves sensor, moves the work piece to appointed storage position through the form of jacking with the bracket through AGV to settle empty goods shelves again.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (5)

1. The utility model provides an automatic assembly welding set of train side wall, snatchs robot (3), welding station (4), unloading station (5) and unloading AGV (6), its characterized in that including material loading AGV (1), material loading district (2), track: the track snatchs robot (3) by moving the track with snatch the robot and constitute, snatch the robot and install on moving the track and freely remove along the track, it is equipped with adjacent and mutually independent material loading district (2) and unloading station (5) to remove orbital one side, it is equipped with material loading AGV (1) to correspond in material loading district (2), it is equipped with unloading AGV (6) to correspond in unloading station (5), it is equipped with welding station (4) to move orbital opposite side, welding station (4) include that two sets of welding robot, longmen, machine of shifting, welding jig and 3D camera are constituteed, two welding robot installs respectively on longmen, and the correspondence is equipped with the 3D camera on the welding robot, the correspondence of longmen below is equipped with welding jig, welding jig's below is equipped with the machine of shifting.

2. The automatic assembly welding device for the train side wall according to claim 1, wherein: the feeding area is composed of a feeding support, a feeding shelf and workpieces, and the feeding shelf is provided with a distance sensor for identifying whether the workpieces of the three-dimensional shelf exist or not and identifying the number of layers of the workpieces on the three-dimensional shelf, so that the height at which the grabbing robot should grab the workpieces is calculated.

3. The automatic assembly welding device for the train side wall according to claim 1, wherein: unloading station (5) comprises unloading support, unloading goods shelves and finished product work piece, unloading goods shelves top is equipped with distance sensor for the function of finished product work piece number of piles on the discernment three-dimensional goods shelves to this calculates and snatchs robot and should carry out placing of work piece at what height, if discerning goods shelves work piece and having filled with, then give unloading AGV signal, unload and operate the operation.

4. The automatic assembly welding device for the train side wall according to claim 1, wherein: the track grabbing robot (3) comprises a grabbing robot, a track, a clamping claw and a 2D scanner, wherein the 2D scanner is connected and fixed with a grabbing robot main body, the grabbing robot determines the height position of a workpiece according to the obtained height data, the 2D scanner is used for scanning the two-dimensional code of the workpiece, the specific type of the workpiece is determined, the specific grabbing position of the workpiece is determined, and an instruction is given to a clamp for automatic switching so as to adapt to workpieces of different types; after the workpiece is grabbed, assembling operation is carried out on the clamp, and finally the clamp is used for clamping; and when a blanking instruction is received, the grabbing robot moves to a specified welding station, and grabs and places the workpiece in a finished product area.

5. The concrete welding method of the automatic assembly welding device for the train side wall according to any one of claims 1 to 4, wherein: the method comprises the following steps:

step 1: when the goods shelf has no materials, after receiving an instruction, the feeding AGV moves the workpieces with the required models to the designated feeding position together with the bracket in a jacking mode, so that the accessibility of the subsequent grabbing robot is ensured;

step 2: a grabbing robot of the track grabbing robot (3) scans the workpiece two-dimensional code or other marks at the appointed position in the step 1 by using a self-contained 2D scanner, identifies the model, positions the workpiece, grabs the corresponding workpiece into a clamp on the welding station (4) by using a clamping claw of the grabbing robot, fixedly clamps the workpiece by using the clamp, and restores the grabbing robot to the initial position along the track;

and step 3: after the fixture fixes the workpiece in the step 2, transmitting a signal to two welding robots in a welding station (4), moving the two welding robots to an appointed position along the gantry, welding the workpiece, and displacing through a positioner during the period to realize the welding of two sides of the workpiece;

and 4, step 4: when the welding work is carried out in the step 3, the grabbing robot of the track grabbing robot (3) repeats the process of the step 2, and clamps the next group of workpieces on the other set of fixture for assembly operation and fixed clamping, so that the beat optimization is realized;

and 5: after the welding in the step 3 is finished, loosening the clamp, waiting for the workpiece to be cooled for five minutes, transmitting a signal to a grabbing robot, moving the grabbing robot to a specified position, grabbing a finished product, and placing the finished product in a finished product area;

step 6: when finished goods district goods shelves are full, the unloading AGV signal can be given to the goods shelves sensor, moves the work piece to appointed storage position through the form of jacking with the bracket through AGV to settle empty goods shelves again.

Images