CN109420870A - Door end frame welding system - Google Patents
Door end frame welding system Download PDFInfo
- Publication number
- CN109420870A CN109420870A CN201710730606.4A CN201710730606A CN109420870A CN 109420870 A CN109420870 A CN 109420870A CN 201710730606 A CN201710730606 A CN 201710730606A CN 109420870 A CN109420870 A CN 109420870A
- Authority
- CN
- China
- Prior art keywords
- end frame
- welding
- conveying equipment
- welding system
- door end
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000003466 welding Methods 0.000 title claims abstract description 98
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 238000000034 method Methods 0.000 claims description 8
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000011324 bead Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
-
- 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 to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
-
- 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 to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
Landscapes
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention discloses a kind of end frame welding systems comprising conveying equipment, width adjustment mechanism and welding robot, conveying equipment are configured to that door end frame to be welded is moved to predetermined position along first direction；Width adjustment mechanism is connect with conveying equipment, to move conveying equipment along the second direction vertical with first direction, to clamp door end frame to be welded；Welding robot is for welding door end frame to be welded.Door end frame welding system according to the present invention includes for conveying the conveying equipment of door end frame and can adjust the width adjustment mechanism of conveying equipment width, and the welding robot for welding.Full-automation is welded in the tracking that width adjustment operating in a key and door end frame hinge, lock and corner weld seam can be achieved.Cost of labor is saved, and can be improved welding quality.
Description
Technical field
The present invention relates to machinery field more particularly to a kind of end frame welding systems.
Background technique
For the door end frame size of container product between 2438mm~2600mm, the current door end frame of industry welds the position of foetus,
The substantially standard packing box position of foetus does not adapt to the production of the special chamber door such as ultra-wide, ultra-narrow end frame.Width adjustment uses waist-shaped hole, bolt
There are the problems such as slow, employment is more, Adjustment precision is poor that change the line of production in the modes such as compression；Workpiece push and welding are manual work, labour
Intensity is big, and welding quality varies with each individual, extremely unstable.More and more inadaptable special case multi items, more specification flexibilities are raw for which
The needs of production, being badly in need of research and development can adjust automatically width, automatic welding, unmanned door end frame robot welding system.
Accordingly, it is desirable to provide a kind of end frame welding system, at least to be partially solved issue noted above.
Summary of the invention
A series of concept of reduced forms is introduced in Summary, this will be in specific embodiment part into one
Step is described in detail.Summary of the invention is not meant to attempt to limit the pass of technical solution claimed
Key feature and essential features do not mean that the protection scope for attempting to determine technical solution claimed more.
In order at least be partially solved the above problem, the invention discloses a kind of end frame welding systems, which is characterized in that
Include:
Conveying equipment, the conveying equipment are configured to that door end frame to be welded is moved to predetermined position along first direction；
Width adjustment mechanism, the width adjustment mechanism are connect with the conveying equipment, to hang down along with the first direction
The mobile conveying equipment of straight second direction, to clamp the door end frame to be welded；And
Welding robot, the welding robot is for welding the door end frame to be welded.
Door end frame welding system according to the present invention includes for conveying the conveying equipment of door end frame and can adjust conveying
The width adjustment mechanism of plant width, and the welding robot for welding.Width adjustment operating in a key can be achieved, and
The tracking of door end frame hinge, lock and corner weld seam is welded full-automatic.Cost of labor is saved, and can be improved welding quality.
Optionally, the width adjustment mechanism includes:
Motor, the motor are arranged on the conveying equipment；And
Spiral expanding device, the spiral expanding device couple with the conveying equipment, and the spiral expanding device can
By the motor drive operational to move the conveying equipment along the second direction.
Optionally, the spiral expanding device includes:
Screw rod, the screw rod are arranged along the second direction；And
Connecting elements, the connecting elements are fixedly provided on the conveying equipment, and are set on the screw rod,
The screw rod can be rotated by the motor driven, so that the connecting elements drives the conveying equipment phase
It is mobile for the screw rod.
Optionally, the motor is connect via universal connecting shaft with the screw rod, to drive the screw rod to rotate.
Optionally, the door end frame welding system further comprises the track along second direction setting, the conveying
Equipment is movably disposed on the track.
Optionally, the door end frame welding system further includes control system, and the control system controls the welding robot
At least one of people, the conveying equipment and described width adjustment mechanism.
Optionally, laser tracker is provided on the welding robot, the welding robot is configured to fill in workpiece
With movement at position, to determine welding track, and difference is determined according to the width of the fit-up gap at the workpiece rigging position
Welding method.
Optionally, when the fit-up gap is less than or equal to 1mm, the welding robot is welded with First Speed；When
When the fit-up gap is greater than 1mm and is less than or equal to 2mm, the welding robot first carries out backing welding with second speed, then
With First Speed welding；When the fit-up gap is greater than 2mm, the welding robot first carries out bottoming with third speed
Weldering, then welded with the First Speed.
Optionally, the second speed is than the First Speed fastly at least 30%；And/or the third speed is than described
One speed slowly at least 30%.
Optionally, the door end frame welding system includes two conveying equipments being oppositely arranged, described two conveyings
At least one of equipment is provided with the width adjustment mechanism.
Optionally, the width adjustment mechanism moves the conveying equipment along the second direction, so that two described defeated
The range for sending the workpiece size between equipment in a second direction is 2438mm-2600mm.
Detailed description of the invention
The following drawings of the embodiment of the present invention is incorporated herein as part of the present invention for the purpose of understanding the present invention.It is shown in attached drawing
Embodiments of the present invention and descriptions thereof are used to explain the principles of the present invention.In the accompanying drawings,
Fig. 1 is the front view of door end frame；
Fig. 2 is a kind of front view of the door end frame welding system of preferred embodiment according to the present invention；
Fig. 3 be Fig. 2 shows door end frame welding system side view；And
Fig. 4 be Fig. 2 shows door end frame welding system top view.
Description of symbols:
1: lock 2: angle supporting device
3: hinge 4: bottom corner piece
10: rack 11: welding robot
20: conveying equipment 30: track
40: width adjustment mechanism 41: motor
42: universal connecting shaft 43: screw rod
44: connecting elements 50: door end frame
Specific embodiment
In the following description, a large amount of concrete details are given so as to provide a more thorough understanding of the present invention.So
And it will be apparent to one skilled in the art that embodiment of the present invention may not need it is one or more of these thin
It saves and is carried out.In other examples, in order to avoid obscuring with embodiment of the present invention, for well known in the art
Some technical characteristics are not described.
In order to thoroughly understand embodiment of the present invention, detailed structure will be proposed in following description.Obviously, of the invention
The execution of embodiment is not limited to the specific details that those skilled in the art is familiar with.Better embodiment of the invention
It is described in detail as follows, however other than these detailed descriptions, the present invention can also have other embodiments.
As shown in Figures 2 to 4, the present invention provides a kind of end frame welding systems comprising conveying equipment 20, width tune
Save mechanism 40 and welding robot 11.Specifically, conveying equipment 20 is configured to door end frame 50 to be welded along first direction D1
It is moved to predetermined position, width adjustment mechanism 40 is connect with conveying equipment 20, along the second direction vertical with first direction D1
D2 moves conveying equipment 20, to clamp door end frame 50 to be welded.Welding robot 11 is used for on conveying equipment 20
Door end frame 50 is welded.
In the optional embodiment of diagram, door end frame welding system further comprises the track of D2 setting in a second direction
30, conveying equipment 20 is movably disposed on track 30.
Width adjustment mechanism 40 includes the motor 41 and spiral expanding device being arranged on conveying equipment 20, spiral expanding
Device couples with conveying equipment 20, and can be driven work with the mobile conveying equipment 20 of D2 in a second direction by motor 41.
Further, spiral expanding device includes the screw rod 43 of D2 setting in a second direction, and is fixedly provided in conveying
Connecting elements 44 in equipment 20.Connecting elements 44 is set on screw rod 43, and by this method, screw rod 43 can be driven by motor 41
And rotate, drive conveying equipment 20 mobile relative to screw rod 43 with connecting elements 44, for example, motor 41 can be via universal connecting shaft
42 connect with screw rod 43, to drive screw rod 43 to rotate.
Fig. 4 please be now go to, in the shown embodiment, door end frame welding system includes two conveying equipments being oppositely arranged
20, at least one of two conveying equipments 20 are provided with width adjustment mechanism 40.
Track 30 can be two tracks 30 disposed in parallel, and conveying equipment 20 is erected on two tracks 30, and is arranged
1 motor 41 on conveying equipment 20 can be connected with two screw rods 43 respectively by shaft coupling, so that conveying equipment 20 exists
Movement on track 30 is more smooth.
Motor 41 can drive screw rod 43 to rotate, so that D2 moves conveying equipment 20 to width adjustment mechanism 40 in a second direction,
As shown in figure 3, the range of the workpiece size of D2 is W1 (such as 2438mm) to W2 in a second direction between two conveying equipments 20
(such as 2600mm).
Optionally, door end frame welding system further includes control system, and control system controls welding robot 11, conveying equipment
At least one of 20 and width adjustment mechanism 40.Control system can control door end frame welding system, to realize door end frame 50
It conveys, positioning (such as passing through optoelectronic switch), clamp, scanning, full-automation gap judgement, welded, reliable for operation, safety.
A welding process for end frame welding system will now be described.Welding robot 11 can be the machine of such as six axle construction
People, and it is provided with welding gun and laser tracker.Welding robot 11 is configured to the movement at workpiece rigging position, to determine weldering
Integrate with mark, and different welding methods is determined according to the width of the fit-up gap at workpiece rigging position.
Specifically, referring to Fig. 1, for door end frame 50, such as lock 1,3 equipotential of angle supporting device 2, bottom corner piece 4 and hinge
The place of setting is welded, and herein, lock 1, angle supporting device 2, bottom corner piece 4 and hinge 3 are consolidated by way of such as spot welding
It is scheduled on an end frame 50.
As shown in Figure 4, four welding robots 11 are arranged in rack 10, respectively to hinge 3, lock 1, apex angle
It is welded in gap at part 2 and bottom corner piece 4.The workload of four welding robots 11 is almost the same, each robot
Weld interval is substantially uniform, so as to improve efficiency, can satisfy most fast beat requirement in 20 ' casees 2.75 minutes.
Welding tracking takes a scheme using laser scanning, according to change in displacement, accurately calculates the position of weld seam, tracking accuracy
Up to 0.5mm, laser tracker is mounted on welding robot 11, and by process control, it is fast moved in workpiece surface, is formed
It scans track (scan line).
Simultaneously on control system acquisition scans line laser data, obtain the shape of scanning track section, then by specific
Mathematical operation, calculate the exact space position of the one or more features (usually step or intersection point) occurred on section.
The position and number for scanning track can be set according to different workpiece features, determine institute enough with the characteristic of acquisition
Having sealing wire is principle.Hinge 3, lock 1 belong to substantially regular workpiece, by deviating, prolonging after obtaining several essential characteristic points
It the methods of stretches and to form welding track.For example, hinge 3 needs 3 scan lines, 5 features are obtained.Lock 1 needs 4 scan lines,
Obtain 8 features.Corner complexity weld seam is made of multistage straight bead, and longer straight line obtains feature in a manner of two o'clock boning out
Number, shorter straight line only scan a feature and assume that the mode for being parallel to some direction determines straight line.And the starting point of weld seam,
The coordinate of terminal is calculated by space geometry method and is obtained, and welding condition is added, and robot command presses workpiece physical location
It is welded.This system has fabulous fit to the position error (X/Y plane ± 50mm, Z-direction ± 20mm rotate ± 10 °) of workpiece
It should be able to power.
Optionally, when need the fit-up gap of two parts (such as between angle supporting device 2 and door end frame 50) welded be less than or
When equal to 1mm, welding robot 11 is welded with First Speed；When fit-up gap is greater than 1mm and is less than or equal to 2mm, welding
Robot 11 first carries out backing welding with second speed, then is welded with First Speed；When fit-up gap is greater than 2mm, welding robot
People 11 first carries out backing welding with third speed, then is welded with First Speed.Further, second speed is faster than First Speed extremely
Few 30%；And/or third speed slower than First Speed at least 30%.And the first different speed can be set according to plate thickness
Degree, second speed and third speed.
Door end frame welding system according to the present invention includes for conveying the conveying equipment 20 of door end frame 50 and can adjust
The width adjustment mechanism 40 of 20 width of conveying equipment, and the welding robot 11 for welding.One key of width adjustment can be achieved
Formula operation and the tracking of 50 hinge 3 of door end frame, lock 1 and corner weld seam are welded full-automatic.Save cost of labor, and energy
Enough improve welding quality.
Unless otherwise defined, technical and scientific term used herein and those skilled in the art of the invention
Normally understood meaning is identical.Term used herein is intended merely to describe specifically to implement purpose, it is not intended that limitation is originally
Invention.Terms such as herein presented " components " can both indicate single part, can also indicate the group of multiple parts
It closes.The terms such as herein presented " installation ", " setting " can both indicate that a component was attached directly to another component,
It can also indicate that a component is attached to another component by middleware.The feature described in one embodiment herein
It can be applied in combination another embodiment individually or with other feature, unless this feature is in the another embodiment
In be not suitable for or be otherwise noted.
The present invention is illustrated by above embodiment, but it is to be understood that, above embodiment is
Purpose for illustrating and illustrating, and be not intended to limit the invention within the scope of described embodiment.Art technology
Personnel are it is understood that introduction according to the present invention can also make more kinds of variants and modifications, these variants and modifications
All fall within the scope of the claimed invention.
Claims (11)
1. a kind of end frame welding system characterized by comprising
Conveying equipment, the conveying equipment are configured to that door end frame to be welded is moved to predetermined position along first direction；
Width adjustment mechanism, the width adjustment mechanism are connect with the conveying equipment, along vertical with the first direction
The mobile conveying equipment of second direction, to clamp the door end frame to be welded；And
Welding robot, the welding robot is for welding the door end frame to be welded.
2. according to claim 1 end frame welding system, which is characterized in that the width adjustment mechanism includes:
Motor, the motor are arranged on the conveying equipment；And
Spiral expanding device, the spiral expanding device couple with the conveying equipment, and the spiral expanding device can be by institute
Motor drive operational is stated to move the conveying equipment along the second direction.
3. according to claim 2 end frame welding system, which is characterized in that the spiral expanding device includes:
Screw rod, the screw rod are arranged along the second direction；And
Connecting elements, the connecting elements are fixedly provided on the conveying equipment, and are set on the screw rod,
The screw rod can be rotated by the motor driven so that the connecting elements drive the conveying equipment relative to
The screw rod is mobile.
4. according to claim 3 end frame welding system, which is characterized in that the motor is via universal connecting shaft and institute
Screw rod connection is stated, to drive the screw rod to rotate.
5. according to claim 1 end frame welding system, which is characterized in that the door end frame welding system further wraps
The track along second direction setting is included, the conveying equipment is movably disposed on the track.
6. according to claim 1 end frame welding system, which is characterized in that the door end frame welding system further includes control
System processed, the control system control in the welding robot, the conveying equipment and the width adjustment mechanism at least
One.
7. according to claim 1 end frame welding system, which is characterized in that be provided with laser on the welding robot
Tracker, the welding robot is configured to the movement at workpiece rigging position, to determine welding track, and according to the workpiece
The width of fit-up gap at rigging position determines different welding methods.
8. according to claim 7 end frame welding system, which is characterized in that
When the fit-up gap is less than or equal to 1mm, the welding robot is welded with First Speed；
When the fit-up gap is greater than 1mm and is less than or equal to 2mm, the welding robot first carries out bottoming with second speed
Weldering, then with First Speed welding；
When the fit-up gap is greater than 2mm, the welding robot first carries out backing welding with third speed, then with described first
Speed is welded.
9. according to claim 8 end frame welding system, which is characterized in that
The second speed is than the First Speed fastly at least 30%；And/or
The third speed is than the First Speed slowly at least 30%.
10. according to claim 1 end frame welding system, which is characterized in that the door end frame welding system includes phase
To two conveying equipments of setting, at least one of described two conveying equipments are provided with the width adjustment mechanism.
11. according to claim 1 end frame welding system, which is characterized in that the width adjustment mechanism is along described
The mobile conveying equipment in two directions, so that the range of the workpiece size between two conveying equipments in a second direction is
2438mm-2600mm。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710730606.4A CN109420870A (en) | 2017-08-23 | 2017-08-23 | Door end frame welding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710730606.4A CN109420870A (en) | 2017-08-23 | 2017-08-23 | Door end frame welding system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109420870A true CN109420870A (en) | 2019-03-05 |
Family
ID=65499162
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710730606.4A Pending CN109420870A (en) | 2017-08-23 | 2017-08-23 | Door end frame welding system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109420870A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6023044A (en) * | 1996-04-12 | 2000-02-08 | Fanuc Ltd. | Control method in multi-layer welding |
| CN203794124U (en) * | 2014-04-21 | 2014-08-27 | 安徽江淮汽车股份有限公司 | Conveying device |
| CN205203991U (en) * | 2015-12-03 | 2016-05-04 | 山东新华联新能源科技有限公司 | Material conveying device |
| CN106808076A (en) * | 2017-03-06 | 2017-06-09 | 成都德瑞斯可科技有限公司 | The automatic welding binder of expanded metal lath and welding procedure |
| CN207104200U (en) * | 2017-08-23 | 2018-03-16 | 广东新会中集特种运输设备有限公司 | Door end frame welding system |
-
2017
- 2017-08-23 CN CN201710730606.4A patent/CN109420870A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6023044A (en) * | 1996-04-12 | 2000-02-08 | Fanuc Ltd. | Control method in multi-layer welding |
| CN203794124U (en) * | 2014-04-21 | 2014-08-27 | 安徽江淮汽车股份有限公司 | Conveying device |
| CN205203991U (en) * | 2015-12-03 | 2016-05-04 | 山东新华联新能源科技有限公司 | Material conveying device |
| CN106808076A (en) * | 2017-03-06 | 2017-06-09 | 成都德瑞斯可科技有限公司 | The automatic welding binder of expanded metal lath and welding procedure |
| CN207104200U (en) * | 2017-08-23 | 2018-03-16 | 广东新会中集特种运输设备有限公司 | Door end frame welding system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104874956B (en) | Corrugated web plate H-shaped steel assembling and welding integrated machine | |
| CN108746972B (en) | Automatic change robot spot welding equipment | |
| CN104690415A (en) | Fillet welding device with function of circumferential self restraint to lateral sides of thin-wall shell | |
| CN111604892A (en) | Heavy-load assembly robot | |
| CN110560840B (en) | System and method for identifying weld joint position and automatically welding by laser | |
| CN207104200U (en) | Door end frame welding system | |
| CN109420870A (en) | Door end frame welding system | |
| CN109986255B (en) | Hybrid vision servo parallel robot and operation method | |
| CN104607836B (en) | Automatic welding device for vertical swinging of ship rib plate stringer | |
| CN113119095A (en) | Material transports arm | |
| CN208556296U (en) | Automatic machinery people is spot welded equipment | |
| CN210648951U (en) | System for laser identification welding seam position and automatic welding | |
| CN112658559A (en) | Rotary welding gun device | |
| CN213499201U (en) | Heavy-load assembly robot | |
| CN204686309U (en) | A kind of antinode plate H profile steel assembly and welding integrated machine | |
| CN211541198U (en) | Robot moving ground rail | |
| CN112792161B (en) | Straightening hydraulic press | |
| CN204843329U (en) | Four -axis control system of antinode board H shaped steel assembly welding all -in -one | |
| CN205552571U (en) | Be used for industry transport robot arm mechanism | |
| CN208728925U (en) | A kind of laser-beam welding machine | |
| CN210060186U (en) | Double-station symmetrical adjusting welding device | |
| CN205112493U (en) | Tablet press fin -outlet mechanism's support device | |
| CN204725132U (en) | The many parts of a kind of metal material strip automatic soldering device altogether | |
| CN207723776U (en) | A kind of three axis positioner of formula end to end | |
| CN208199744U (en) | A kind of four axis gantry manipulators of aluminium sheet intelligence |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |