阅读说明：本技术 一种智能焊接系统 (Intelligent welding system ) 是由 邱甜 方兆文 洪建勇 龚健 周胜 袁方 陈添立 吕超群 邹俊 周留生 黄鹏 于 2021-03-30 设计创作，主要内容包括：本发明涉及一种智能焊接系统,包括焊接机器人组件、变位机和控制台,焊接机器人组件包括行走底梁以及机械手,两个机械手分别通过行走机构滑动设置在行走底梁上,且一个机械手上设有焊接组件,另一个机械手上设有上料组件；变位机设置在焊接机器人组件的一侧,两台变位机间隔固定在变位机底座上,且两台变位机分别对钢结构工件的两端进行夹持,且两台变位机由控制台控制同步运动；变位机上设有用来夹持钢结构工件的夹持机构,控制台通过信号控制变位机带动钢结构工件转动至相应的角度,控制台通过信号控制机械手在行走底梁滑动至钢结构工件处,对钢结构工件进行操作。本发明实现了钢结构工件自动化加工,且方便操作,加工效率高。(The invention relates to an intelligent welding system which comprises a welding robot assembly, a positioner and a control console, wherein the welding robot assembly comprises a walking bottom beam and two mechanical arms, the two mechanical arms are respectively arranged on the walking bottom beam in a sliding manner through a walking mechanism, one mechanical arm is provided with a welding assembly, and the other mechanical arm is provided with a feeding assembly; the two position changing machines are arranged on one side of the welding robot assembly, are fixed on the position changing machine base at intervals, respectively clamp two ends of a steel structure workpiece, and are controlled by the control console to move synchronously; the positioner is provided with a clamping mechanism for clamping a steel structure workpiece, the console controls the positioner through signals to drive the steel structure workpiece to rotate to a corresponding angle, and the console controls the manipulator to slide to the steel structure workpiece through signals at the walking bottom beam to operate the steel structure workpiece. The automatic machining device realizes the automatic machining of the steel structure workpiece, is convenient to operate and has high machining efficiency.)

1. An intelligent welding system, characterized in that: the welding robot assembly comprises a welding robot assembly (1), a positioner (2) and a control console (3), wherein the welding robot assembly (1) comprises a walking bottom beam (13) and two mechanical arms (11), the two mechanical arms (11) are respectively arranged on the walking bottom beam (13) in a sliding mode through a walking mechanism (12), a welding assembly is arranged on one mechanical arm (11), and a feeding assembly is arranged on the other mechanical arm (11); the two position changing machines (2) are arranged on one side of the welding robot assembly (1), the two position changing machines (2) are fixed on the position changing machine base (5) at intervals, the two position changing machines (2) respectively clamp two ends of a steel structure workpiece (4), and the two position changing machines (2) are controlled by the control console (3) to move synchronously; be equipped with the fixture who is used for centre gripping steel structure work piece (4) on machine of shifting (2), control cabinet (3) drive steel structure work piece (4) through signal control machine of shifting (2) and rotate to corresponding angle, control cabinet (3) are moved floorbar (13) through signal control manipulator (11) and are slided to steel structure work piece (4) department, operate the steel structure work piece.

2. The intelligent welding system of claim 1, wherein: the walking mechanism (12) comprises a moving platform used for fixing the manipulator (11) and a first driving motor (16) fixed in the moving platform, a linear moving guide rail (15) and a linear driving rack (14) are arranged on the walking bottom beam (13), the moving platform is arranged on the linear moving guide rail (15) in a sliding mode, an output gear of the first driving motor (16) is meshed with the linear driving rack (14), and therefore the moving platform moves on the linear moving guide rail (15).

3. The intelligent welding system of claim 2, wherein: the mobile platform is also internally provided with an electric control assembly (17), the electric control assembly (17) is in communication connection with the control console (3), and the electric control assembly (17) receives signals of the control console (3) and controls the first driving motor (16) to rotate forwards or backwards to drive the mobile platform to move.

4. The intelligent welding system of claim 1, wherein: the positioner (2) comprises a positioner frame (23), a turntable assembly (22), a clamping assembly (21) and a second driving motor (24), wherein one side of the turntable assembly (22) is rotated and arranged on the positioner frame (23) and is driven by the second driving motor (24) fixed on the positioner frame (23), and the clamping assembly (21) is arranged on the other side of the turntable assembly (22) in a sliding manner.

5. The intelligent welding system of claim 4, wherein: through holes are formed in the positioner frame (23) and the turntable assembly (22), and the two through holes are arranged concentrically.

6. The intelligent welding system of claim 4, wherein: the clamping assembly (21) comprises a clamping base (219), clamping blocks (214) and a transmission T-shaped screw rod (215), two ends of the transmission T-shaped screw rod (215) are respectively rotatably arranged on the clamping base (219) through bearings (212), the two clamping blocks (214) are respectively connected to the transmission T-shaped screw rod (215) through a forward rotating T-shaped nut (213) and a reverse rotating T-shaped nut (216), a second linear guide rail (218) is further arranged on the clamping base (219), the two clamping blocks (214) are respectively arranged on the second linear guide rail (218) in a sliding mode through second guide rail sliding blocks (217), and the two clamping blocks (214) are driven to be close to or separated from each other through rotation of the transmission T-shaped screw rod (215).

7. The intelligent welding system of claim 4, wherein: the rotary table component (22) comprises a rotary table (222) and a gear ring (221) fixed on one side of the rotary table (222), a slewing bearing is further fixed on the positioner rack (23), the rotary table (222) is arranged on the slewing bearing in a sliding mode through a sliding block, an output gear of the second driving motor (24) is meshed with the gear ring (221), and the rotary table (222) is driven to rotate.

8. The intelligent welding system of claim 7, wherein: still be fixed with photoelectric sensor (226) on machine frame (23) of shifting, be fixed with tablet (227) on ring gear (221), the rotatory initial point of carousel subassembly (22) is confirmed through photoelectric sensor (226) and tablet (227)'s signal in control cabinet (3).

9. The intelligent welding system of claim 8, wherein: the rotary table (222) is further fixed with a first linear guide rail (223), the two groups of clamping assemblies (21) are arranged on the first linear guide rail (223) in a sliding mode through first guide rail sliding blocks (224), and a driving structure is further arranged between the rotary table (222) and the clamping assemblies (21).

10. The intelligent welding system of claim 9, wherein: the driving structure comprises an adjusting screw (225) arranged on the turntable (222) and an adjusting block (210) fixed on the clamping assembly (21), and the adjusting screw (225) is in threaded connection with the adjusting block (210).

Technical Field

The invention relates to the technical field of steel structure workpiece production, in particular to an intelligent welding system.

Background

In recent years, the steel structure industry in China is rapidly developed and keeps a rapidly growing trend, and at present, the steel structure has more processing procedures, including cutting, welding and other processes, and mainly depends on manual work to cut, assemble and weld workpieces; however, the demand for high-speed growth causes shortage of welders who meet the skill requirements, and labor cost is high; moreover, because the steel structure manufacturing automation degree is low, the welding quality and efficiency are difficult to ensure, and the material waste is large; in addition, at present, domestic building steel structures are mostly designed in a non-standard mode, components are various, single-piece small-batch production is achieved, the process is complex, and due to the fact that blanking is conducted in the previous working procedure, assembly accuracy is low and the like, the robot welding of steel structure workpieces is difficult to achieve.

Chinese patent CN110614450A discloses a cutting, transport, welding integration workstation of building steel structure robot, the workstation includes: the system comprises a positioner, a carrying robot, a cutting robot, a welding robot, a storage table and an intelligent control system. The intelligent control system stores processing technological parameters and issues processing instructions, and plans the motion path of the cutting, transporting and welding robot; the cutting robot cuts the female part, accomplishes the work of opening the fore shaft, cutting the round hole, grooving, and the handling robot is responsible for the stiffening plate material loading, and the welding robot is responsible for the stiffening plate welding, and three robots of machine of shifting cooperation work in coordination. The workstation can realize the automatic and intelligent processing of the steel structure, and improve the processing efficiency of the steel structure workpiece; however, the whole structure of the workstation is complex, the cost is high, the position of the manipulator and the positioner is fixed, the spacing distance is small, and loading and unloading of steel structure workpieces are not facilitated; in addition, the structure customization degree of the positioner of the workstation is higher, the workstation can only be suitable for specific workpieces, the universality is poor, the fixing operation of the workpieces on the positioner is troublesome, manual assistance is still needed possibly, and the overall production efficiency is influenced.

Disclosure of Invention

In order to solve the technical problems, the invention aims to provide an intelligent welding system which can maximally reduce manual participation and improve the processing production efficiency of steel structure workpieces.

In order to achieve the purpose, the invention adopts the following technical scheme:

an intelligent welding system comprises a welding robot assembly, a positioner and a control console, wherein the welding robot assembly comprises a walking bottom beam and two mechanical arms, the two mechanical arms are arranged on the walking bottom beam respectively through a walking mechanism in a sliding mode, one mechanical arm is provided with a welding assembly, and the other mechanical arm is provided with a feeding assembly; the two position changing machines are arranged on one side of the welding robot assembly, are fixed on the position changing machine base at intervals, respectively clamp two ends of a steel structure workpiece, and are controlled by the control console to move synchronously; the steel structure workpiece positioner is characterized in that a clamping mechanism used for clamping a steel structure workpiece is arranged on the positioner, the console controls the positioner through signals to drive the steel structure workpiece to rotate to a corresponding angle, and the console controls the manipulator to slide to the steel structure workpiece through signals when the walking bottom beam operates the steel structure workpiece. And two manipulators are adopted to respectively carry out feeding and welding work, so that the whole efficiency is favorably improved. Meanwhile, the control console is adopted to coordinate and uniformly control the movement of the manipulator and the movement of the positioner, so that the overall matching is more accurate, and the processing precision and quality are improved.

As a preferable scheme: the walking mechanism comprises a moving platform for fixing the manipulator and a first driving motor fixed in the moving platform, a linear moving guide rail and a linear driving rack are arranged on the walking bottom beam, the moving platform is arranged on the linear moving guide rail in a sliding mode, and an output gear of the first driving motor is meshed with the linear driving rack, so that the moving platform moves on the linear moving guide rail. The traveling mechanism is driven by a gear and rack mode, the structure is simple and reliable, and the service life is prolonged.

As a preferable scheme: and an electric control assembly is also arranged in the mobile platform, is in communication connection with the console and receives signals of the console to control the first driving motor to rotate forwards or backwards so as to drive the mobile platform to move.

As a preferable scheme: the positioner comprises a positioner frame, a turntable assembly, a clamping assembly and a second driving motor, wherein one side of the turntable assembly is rotatably arranged on the positioner frame and is driven by the second driving motor fixed on the positioner frame, and the clamping assembly is slidably arranged on the other side of the turntable assembly.

As a preferable scheme: all be equipped with the through-hole on machine frame and the carousel subassembly of shifting, and two through-holes set up with one heart. The through holes are formed, so that a steel structure workpiece can be conveniently inserted into the turntable assembly from any end during feeding, and then the steel structure workpiece is fixed through the clamping assembly.

As a preferable scheme: the clamping assembly comprises a clamping base, clamping blocks and a transmission T-shaped lead screw, wherein two ends of the transmission T-shaped lead screw are respectively rotatably arranged on the clamping base through bearings, the two clamping blocks are respectively connected to the transmission T-shaped lead screw through a positive rotation T-shaped nut and a negative rotation T-shaped nut, a second linear guide rail is further arranged on the clamping base, the two clamping blocks are respectively slidably arranged on the second linear guide rail through a second guide rail sliding block, and the two clamping blocks are driven to be mutually close to or separated from each other through the rotation of the transmission T-shaped lead screw. The structure that the screw rod drives the two clamping blocks to move is adopted, the overall control precision is higher, the screw rod can adopt a manual or electric adjusting mode as the screw, and the use is more flexible.

As a preferable scheme: the turntable assembly comprises a turntable and a gear ring fixed on one side of the turntable, a slewing bearing is further fixed on the positioner frame, the turntable is arranged on the slewing bearing in a sliding mode through a sliding block, and an output gear of the second driving motor is meshed with the gear ring to drive the turntable to rotate.

As a preferable scheme: still be fixed with photoelectric sensor in the machine frame of shifting, be fixed with the tablet on the ring gear, the rotatory original point of carousel subassembly is confirmed through photoelectric sensor and tablet's signal to the control cabinet.

As a preferable scheme: the turntable is further fixed with a first linear guide rail, the two groups of clamping assemblies are arranged on the first linear guide rail in a sliding mode through first guide rail sliders respectively, and a driving structure is further arranged between the turntable and the clamping assemblies. Two sets of clamping components can draw close or separate through drive structure, the steel construction work piece of the different specifications of adaptation of being convenient for, and application scope is wider.

As a preferable scheme: the driving structure comprises an adjusting screw arranged on the turntable and an adjusting block fixed on the clamping assembly, and the adjusting screw is in threaded connection with the adjusting block. Adopt screw and regulating block screw-thread fit's mode, overall structure is simple reliable, convenient operation, and the adjustment screw can adopt manual operation, saves the cost, also can adopt the motor to drive, improves degree of automation, and the drive structure uses more in a flexible way on the whole.

Compared with the prior art, the invention has the beneficial effects that:

according to the automatic processing device, the movable welding robot assembly is matched with the positioner, so that the automatic processing of the steel structure workpiece is realized, more space can be made up when the steel structure workpiece is loaded and unloaded due to the movable position of the welding robot assembly, the operation is convenient, and the positioner fixes the steel structure workpiece through the clamping mechanism, so that the operation is more convenient; in addition, the movement of the manipulator and the movement of the positioner are uniformly and coordinately controlled by the console, so that the machining efficiency is more intelligent and can be further improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the overall structure of the welding robot assembly of the present invention;

FIG. 3 is a schematic view of an exploded structure of the welding robot assembly of the present invention;

FIG. 4 is a schematic view of the overall structure of the positioner of the present invention;

FIG. 5 is an exploded view of the positioner of the present invention;

FIG. 6 is a schematic diagram of an exploded view of the turntable assembly of the present invention;

FIG. 7 is a schematic view of the rear side of the turntable assembly of the present invention;

fig. 8 is an exploded view of the clamping assembly of the present invention.

Wherein the reference numerals are: 1. welding the robotic assembly; 2. a position changing machine; 3. a console; 4. a steel structure workpiece; 5. a positioner base; 11. a manipulator; 12. a traveling mechanism; 13. a walking bottom beam; 14. linearly driving the rack; 15. a linear moving guide rail; 16. a first drive motor; 17. an electronic control assembly; 18. a motor drag chain; 21. a clamping assembly; 22. a turntable assembly; 23. a frame of the positioner; 24. a second drive motor; 25. a drive motor housing; 211. a bearing cap; 212. a bearing; 213. positively rotating the T-shaped nut; 214. a clamping block; 215. driving the T-shaped screw rod; 216. reversely rotating the T-shaped nut; 217. a second rail block; 218. a second linear guide; 219. clamping the base; 210 a regulating block; 221. a ring gear; 222. a turntable; 223. a first linear guide rail; 224. a first rail block; 225. adjusting the screw; 226. a photosensor; 227. a sensing plate.

Detailed Description

The invention is further described with reference to the following figures and examples.

As shown in fig. 1 and 2 intelligent welding system, including welding robot subassembly 1, machine of shifting 2 and control cabinet 3, welding robot subassembly 1 is including walking floorbar 13 and manipulator 11, manipulator 11 slides through running gear 12 and sets up on walking floorbar 13, machine of shifting 2 sets up in one side of welding robot subassembly 1, and is equipped with the fixture that is used for centre gripping steel construction work piece 4 on machine of shifting 2, and two manipulators 11 slide respectively and set up on walking floorbar 13, and are equipped with the welding subassembly on one manipulator 11, are equipped with the material loading subassembly on another manipulator 11. The two position changing machines 2 are fixed on the position changing machine base 5 at intervals, the two position changing machines 2 respectively clamp two ends of a steel structure workpiece 4, and the two position changing machines 2 are controlled by the control console 3 to move synchronously. The control console 3 drives the steel structure workpiece 4 to rotate to a corresponding angle through the signal control positioner 2, and the control console 3 controls the mechanical arm 11 to slide to the steel structure workpiece 4 at the walking bottom beam 13 through a signal to operate the steel structure workpiece.

As shown in fig. 2 and 3, the traveling mechanism 12 includes a moving platform for fixing the manipulator 11 and a first driving motor 16 fixed in the moving platform, the traveling base beam 13 is provided with a linear moving guide 15 and a linear driving rack 14, the moving platform is slidably disposed on the linear moving guide 15, and an output gear of the first driving motor 16 is engaged with the linear driving rack 14, so that the moving platform moves on the linear moving guide 15. One side of walking floorbar still is equipped with motor tow chain 18, still be equipped with automatically controlled subassembly 17 in the moving platform, automatically controlled subassembly 17 is connected with control cabinet 3 communication, and automatically controlled subassembly 17 receives the signal of control cabinet 3, and the first driving motor 16 of control corotation or reversal drive the moving platform motion. In other embodiments, the driving mechanism of the mobile platform may also be in the form of an air cylinder, a hydraulic cylinder or an electric cylinder.

As shown in fig. 4 and 5, the positioner 2 includes a positioner frame 23, a turntable assembly 22, a clamping assembly 21 and a second driving motor 24, one side of the turntable assembly 22 is rotatably disposed on the positioner frame 23 and is driven by the second driving motor 24 fixed on the positioner frame 23, and the second driving motor 24 is embedded and fixed in the positioner frame 23 through a driving motor housing 25. The clamping assembly 21 is slidably disposed on the other side of the turntable assembly 22.

The positioner is responsible for clamping a steel structure workpiece and adjusting a welding angle, before formal welding, a component is clamped by adjusting the clamping assembly, and after welding starts, the turntable assembly is driven to rotate by a second driving motor through meshing of the gear ring and the gear ring, so that the adjustment of the welding angle of the component is realized.

As shown in fig. 6 and 7, the turntable assembly 22 includes a turntable 222 and a gear ring 221 fixed on one side of the turntable 222, a rotary support is further fixed on the positioner frame 23, the turntable 222 is slidably disposed on the rotary support through a slider, and an output gear of the second driving motor 24 is engaged with the gear ring 221 to drive the turntable 222 to rotate. Through holes are formed in the positioner frame 23 and the turntable assembly 22, and the two through holes are concentrically arranged. The through holes are formed, so that a steel structure workpiece can be conveniently inserted into the turntable assembly from any end during feeding, and then the steel structure workpiece is fixed through the clamping assembly. The rotary motion of the turntable is realized by driving the gear ring to rotate through the second driving motor, so that the rotation angle of the steel structure workpiece can be adjusted. Still be fixed with photoelectric sensor 226 on the machine frame 23 of shifting, be fixed with tablet 227 on the ring gear 221, the rotatory initial point of carousel subassembly 22 is confirmed through photoelectric sensor 226 and tablet 227's signal to control cabinet 3.

The turntable 222 is further fixed with first linear guide rails 223, the two first linear guide rails 223 are respectively arranged on two sides of the through hole in parallel, the two groups of clamping assemblies 21 are respectively arranged on the first linear guide rails 223 through first guide rail sliders 224 in a sliding manner, and a driving structure is further arranged between the turntable 222 and the clamping assemblies 21. The driving structure comprises an adjusting screw 225 arranged on the turntable 222 and an adjusting block 210 fixed on the clamping assembly 21, wherein the adjusting screw 225 is in threaded connection with the adjusting block 210. The clamping components can move on the guide rail by adjusting the adjusting screws, so that the distance between the left and right clamping components can be adjusted, and the clamping action can be better realized. In other embodiments, the driving structure may also be in the form of a pneumatic cylinder, a hydraulic cylinder or an electric cylinder.

As shown in fig. 8, the clamping assembly 21 includes a clamping base 219, a clamping block 214, and a transmission T-shaped screw rod 215, two ends of the transmission T-shaped screw rod 215 are respectively rotatably disposed on the clamping base 219 through bearings 212, two ends of the clamping base 219 are provided with side plates, the bearings 212 are embedded on the side plates, and the outer sides of the side plates are further fixed with bearing covers 211. The two clamping blocks 214 are respectively connected to the transmission T-shaped screw rod 215 through a forward-rotation T-shaped nut 213 and a reverse-rotation T-shaped nut 216, a second linear guide rail 218 is further arranged on the clamping base 219, the two clamping blocks 214 are respectively arranged on the second linear guide rail 218 in a sliding mode through second guide rail sliding blocks 217, and the two clamping blocks 214 are driven to mutually approach or separate through rotation of the transmission T-shaped screw rod 215.

The clamping assembly is responsible for clamping the steel structure workpiece on the positioner, and the workpiece is prevented from displacing in the rotating and welding processes, so that the welding precision is not influenced. When a component needs to be clamped, the transmission screw rod is rotated forwards, and under the action of the forward-rotation T-shaped nut 213 and the backward-rotation T-shaped nut 216, the upper clamping block and the lower clamping block move towards the center, so that the component is clamped.

The intelligent welding system is used for automatically welding typical components of a steel structure and mainly comprises two position changing machines and two automatic welding manipulators, wherein the position changing machines finish automatic clamping and welding angle adjustment of a steel structure workpiece through rotation of self rotating assemblies and bilateral clamping actions of clamping assemblies, and the two welding manipulators capable of automatically adjusting horizontal positions are matched to finish integral welding work of the components.

It should be noted that the above embodiments are merely representative examples of the present invention. Many variations of the invention are possible. Any simple modification, equivalent change and modification of the above embodiments according to the spirit of the present invention should be considered to be within the protection scope of the present invention.