CN116000555A - Flexible production line for automatic overhaul and welding of wagon body - Google Patents
Flexible production line for automatic overhaul and welding of wagon body Download PDFInfo
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- CN116000555A CN116000555A CN202310074819.1A CN202310074819A CN116000555A CN 116000555 A CN116000555 A CN 116000555A CN 202310074819 A CN202310074819 A CN 202310074819A CN 116000555 A CN116000555 A CN 116000555A
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Abstract
A flexible production line for automatic overhaul and welding of a railway wagon body relates to the technical field of railway wagon repair. In order to solve the problems that the existing repair of the railway wagon adopts a manual mode, the mode is time-consuming and labor-consuming, the working efficiency is low, and the manual repair quality is poor. The repaired railway wagon is parked between the two overhead rails, and a triaxial automatic cutting unit is matched with a triaxial automatic welding unit, so that cutting and welding operations on damaged parts of the outer surface of the railway wagon are realized, an automatic repairing mode is realized, and a manual mode is avoided; the combined feeding unit is composed of a plasma cutting gantry and a plasma cutting head, mainly receives and identifies the cutting track of the cutting unit through a bus, and performs blanking according to the cutting track, so that the consumption of the repaired plate can be accurately controlled, and the working efficiency of repair operation is greatly improved. The invention is suitable for the technical field of wagon repair.
Description
Technical Field
The invention relates to the technical field of railway wagon repair, in particular to a flexible production line for automatic overhaul and welding of a railway wagon body.
Background
The railway freight trains in China are mainly divided into common types such as open cars, flat cars, vans, tank cars and the like according to different structures, for example, general open cars with the types such as C70EH, C80B, C and the like; p70 and other types of general caravans; tens of vehicle types such as X70 type flatcar, according to freight transportation type select different model motorcycle types.
The railway freight car has bad working conditions, the steel structure of the car body not only bears the friction and corrosion effects of cargoes in the full-temperature environment, but also bears the collision impact effect of loading and unloading machinery, the protective layer in/outside the car body can be damaged in a short time, and the car body matrix is corroded and the rust layer is damaged under the dual effects of corrosion of rainwater and medium and abrasion of other mediums in the later period, so that the car body is gradually thinned until perforation is invalid. The overhaul and maintenance of the railway freight car is an important guarantee of railway transportation safety and freight operation capability, and has important significance for improving the construction of railway transportation trunks in China.
The truck repairing operation has the problems of random deformation of the truck body, lack of positioning reference, extremely poor consistency of different truck bodies, large difference of truck body damage degree and the like, so that the existing truck repairing industry is manual work of workers. Manual inspection and calibration: manually drawing lines, and calibrating one by one in an iron hammer striking mode. And (3) manual disassembly: the cutter performs flame cutting (rough cutting+fine cutting). And (5) manual adjustment and repair: the fitter uses the comprehensive trimming machine, and part of the fitter uses flame heating and hammer striking. And (3) manual blanking: and (5) measuring the manual data, finishing blanking statistics and plate material statistics, and manually cutting by using a plate shearing machine. Manual welding: the welder manually stitches and welds with the aid of the crown block. The labor intensity of workers is high, the automation degree is low, the time is long, the product quality cannot be guaranteed, and the like; the working efficiency of the cutting procedure is low, the cutting straightness is poor, and the working environment of workers is bad; the efficiency of the cutting and blanking process is low, the operation is complex, and the plate waste is caused by great potential safety hazard; the welding process has large welding quantity, more operators, long working time, low efficiency and severe environment; and the information management is lacking, and various problems such as incapability of tracing all data before, during and after welding are solved.
In summary, the existing repair of the railway wagon adopts a manual mode, which is time-consuming and labor-consuming, and results in the problems of lower working efficiency and poor manual repair quality.
Disclosure of Invention
The invention provides a flexible production line for automatic overhaul and welding of a railway wagon body, which aims to solve the problems that the existing railway wagon body is manually repaired, the labor and time are wasted, the working efficiency is low, and the manual repair quality is poor.
The invention relates to a flexible production line for automatic overhaul and welding of a wagon body, which comprises a dust removing device 1, a cutting power supply 2, a cutting control console 3, a plasma cutting gantry 4, a plasma cutting head 5, an objective table 6, a plasma gantry track 7, a feeding track 8, an automatic cutting welding unit 9 and a movable feeding unit 10;
the interior of the factory building is sequentially provided with a dust removing device 1, a cutting power supply 2 and a cutting control console 3 from left to right, the left and right sides of the cutting control console 3 are respectively provided with a plasma gantry track 7, the plasma gantry track 7 is provided with a plasma cutting gantry 4, the moving end of the plasma cutting gantry 4 is provided with a plasma cutting head 5, an objective table 6 is arranged between the plasma gantry tracks 7, two feeding tracks 8 are arranged on the ground in the factory building, the two feeding tracks 8 are arranged in parallel, the pair of feeding tracks 8 are provided with a movable feeding unit 10, and the tail ends of the two feeding tracks 8 are connected with one end of an automatic cutting welding unit 9;
further, the automatic cutting and welding unit 9 comprises a top rail 9-1, an upright post 9-2, a wire slot assembly 9-3, a Y-axis assembly 9-4, a Z-axis assembly 9-5, an X-axis assembly 9-6, a driving power supply 9-7, a wire cutting and gun cleaning device 9-9, a control platform 9-10, a robot control platform 9-11, a platform 9-12, a laser tracking controller 9-13, a substation box 9-14, an automatic cutting mechanism 9-15 and an automatic welding mechanism 9-16;
the two antenna rails 9-1 are oppositely arranged in parallel, n upright posts 9-2 are uniformly arranged on the lower surface of each antenna rail 9-1 along the length direction, n is a positive integer, the bottom end of each upright post 9-2 is fixedly connected with the ground, one slot assembly 9-3 is arranged on the upper surface of one antenna rail 9-1, two Y-axis assemblies 9-4 are uniformly arranged between the two antenna rails 9-1 along the length direction, each Y-axis assembly 9-4 is provided with one Z-axis assembly 9-5, the bottom end of each Z-axis assembly 9-5 is provided with an X-axis assembly 9-6, the output end of one X-axis assembly 9-6 is provided with an automatic welding mechanism 9-16, the output end of the other X-axis assembly 9-6 is provided with an automatic cutting mechanism 9-15, two sides of the upright posts 9-2 on the other antenna rail 9-1 are respectively provided with a control platform 9-10 and a robot control platform 9-11, the middle part of the side surface of the other antenna rail 9-1 is provided with a platform 9-12, the end part of each antenna rail 9-1 and the Y-axis assembly 9-4 is provided with a laser tracking station 9-14, the side of the other antenna rail 9-1 is provided with a power supply station 9-14, and the other side of the other antenna rail 9-1 is provided with a power supply station 9-14;
further, the number n of the upright posts 9-2 is more than or equal to 5 and less than or equal to 10;
further, a lubrication lubricator 9-8 is arranged at the joint of the Y-axis assembly 9-4 and the Z-axis assembly 9-5;
further, the automatic cutting mechanism 9-15 comprises a six-axis industrial robot 9-15-1, a sensor bracket 9-15-2, a universal support arm 9-15-3, a pen container camera 9-15-4, a photographing identification camera 9-15-5, a cutting torch 9-15-6, a cutting torch connecting seat 9-15-7, a laser ranging sensor 9-15-8, a mounting plate 9-15-9 and an anti-collision sensor 9-15-10;
the top end of the six-axis industrial robot 9-15-1 is connected with the output end of the X-axis assembly 9-6, the output end of the six-axis industrial robot 9-15-1 is fixedly connected with the side surface of the mounting plate 9-15-9, the middle part of the other side surface of the mounting plate 9-15-9 is provided with a cutting torch connecting seat 9-15-7, the cutting torch connecting seat 9-15-7 is provided with a cutting torch 9-15-6, the edge of one end of the other side surface of the mounting plate 9-15-9 is provided with a laser ranging sensor 9-15-8, the edge of the other end of the other side surface of the mounting plate 9-15-9 is provided with a sensor bracket 9-15-2, the bottom of the sensor bracket 9-15-2 is provided with a photographing identification camera 9-15-5, the sensor bracket 9-15-2 is provided with a universal support arm 9-15-3, the end part of the universal support arm 9-15-3 is provided with a pen container camera 9-15-4, and the circumferential outer surface of the output end of the six-axis industrial robot 9-15-1 is provided with an anti-collision sensor 9-15-10;
further, the automatic welding mechanism 9-16 comprises a welding gun 9-16-1, a mechanical arm 9-16-2, a camera 9-16-3, a height sensor 9-16-4 and a fixing frame 9-16-5;
the top end of the mechanical arm 9-16-2 is connected with the output end of the X-axis assembly 9-6, a welding gun 9-16-1 is arranged on the output end of the mechanical arm 9-16-2, a fixing frame 9-16-5 is arranged at the joint of the welding gun 9-16-1 and the output end of the mechanical arm 9-16-2, a camera 9-16-3 is arranged at the end part of the fixing frame 9-16-5, a support arm is arranged on the fixing frame 9-16-5, and a height sensor 9-16-4 is arranged at the end part of the support arm;
further, the detection end of the height sensor 9-16-4 and the photographing end of the camera 9-16-3 are positioned on the same horizontal plane;
further, the movable feeding unit 10 comprises a feeding portal frame, a lifting cylinder 10-1, a gas detection device 10-2, a clamp carrying rod 10-3, a vacuum chuck 10-4 and an electromagnetic chuck 10-5;
the end part of the movable end of the feeding portal frame is fixedly connected with the middle part of the upper surface of the clamp carrying rod 10-3, a plurality of lifting cylinders 10-1 are uniformly arranged on the side surface of the clamp carrying rod 10-3 along the length direction, a connecting rod is arranged at the output end of the lifting cylinder 10-1 at the end part of the clamp carrying rod 10-3, two ends of the connecting rod are respectively provided with an electromagnetic chuck 10-5, the output end of the lifting cylinder 10-1 at the middle part of the clamp carrying rod 10-3 is connected with the upper surface of the supporting plate, a plurality of vacuum chucks 10-4 are uniformly arranged on the lower surface of the supporting plate, a gas detection device 10-2 is arranged at the middle part of the other side of the clamp carrying rod 10-3, and the gas detection device 10-2 is used for detecting the gas pressure inside the vacuum chucks 10-4;
further, the bottom of the feeding portal frame in the movable feeding unit 10 is in sliding connection with the feeding track 8;
further, the diameters of the bottom surfaces of the vacuum chuck 10-4 and the electromagnetic chuck 10-5 are the same;
further, when in use, the first station is a robot automatic cutting system; the robot is hung at the tail end of the three-dimensional outer shaft, and the cutting operation requirements of the abrasion parts of the side wall, the end wall and the bottom plate are met. The cutting mode is equal-pressure flame cutting, the cutting application range is wide, and the waste car body can be cut conveniently.
The station II is an automatic blanking system; the automatic blanking system is used for cutting and blanking the repair plate, and the cutting method is plasma cutting, so that the cutting precision is high and the waste area is small. The automatic discharging system comprises a plasma cutting machine, a three-dimensional truss feeding gantry and a dust collecting system.
The third station is an automatic welding system; the welding robot consists of two side gantry rails, three-dimensional external shafts, four sets of six-axis industrial robots and four sets of welding systems. The robot is hoisted at the tail end of the three-dimensional external shaft, so that the repair welding operation requirements of the side wall, the end wall and the bottom plate can be met.
The side gantry type overhead cabinet is supported by five upright posts, four platforms are arranged on the side gantry type overhead cabinet, and the platforms are provided with guide rails and sliding seats so as to facilitate the movement of the robot.
Since the car body is worn randomly, some car bodies are worn large and some are small, and lack positioning references required for the automation equipment. Therefore, a visual detection system is designed and developed through multi-sensor signal interaction, and the repair operation of the railway wagon without a positioning reference is realized. The integrated point IL300 laser height sensor, the IV2 photographing identification camera, the pen container camera, the SMC electronic flow sensor, the laser tracking sensor, the bright arc photographing system, the anti-collision sensor and the digital identification sensor are integrated into a whole, so that the cutting, efficiency and welding integrated automatic operation is realized. The whole working flow is as follows: the method comprises the steps of transferring a car body to a cutting station by a false car, manually judging the abrasion position and making a digital mark, starting a device button, automatically moving the robot to the vicinity of the car body, shooting numbers by an IV2 camera, calling different cutting programs according to the numbers, carrying out point laser locating by an IL300, determining the initial cutting position, starting cutting, controlling the proportion of oxygen and fuel gas by an SMC electronic flowmeter, observing a cutting track by a pen container camera, controlling the walking track of the robot by a robot flexible control technology in combination with a rocker so as to avoid the positions such as gaps, transverse ribs and the like, cutting, leaving a certain gap, manually supplementing the cutting track, synchronously transmitting the cutting track to a data management system, transmitting a base material to the lower part of the cutter by a data management system, carrying out cutting by a numerical control plasma cutting machine according to the track, automatically picking up the cut sheet material to a charging box by the three-dimensional truss, carrying the charging gantry to the welding station by the charging box, carrying out point fixation by a manual welding robot by a fork truck, carrying out welding by utilizing the laser tracking system, carrying out locating by the welding track by the laser tracking system, tracking by utilizing the clear sensor, and superposing the flexible control on the walking track of the robot and the robot flexible control technology with the robot tracking track. The whole welding process is carried out, namely the car body is transported from the station by the false car.
Compared with the prior art, the invention has the following beneficial effects:
the invention overcomes the defects of the prior art, the repaired railway wagon is parked between two overhead rails, and the three-axis automatic cutting unit is matched with the three-axis automatic welding unit, so that the cutting and welding operation on the damaged part of the outer surface of the railway wagon is realized, the automatic repairing mode is realized, the manual mode is avoided, the working efficiency of the repairing operation is greatly improved, and the time and the labor are saved; due to the adoption of the industrial mechanical arm, the cutting and welding precision can be improved, and the repairing quality is greatly improved.
Drawings
FIG. 1 is a schematic three-dimensional perspective view of a flexible production line for automated repair welding of a railway wagon body in accordance with the present invention;
FIG. 2 is a schematic three-dimensional perspective view of an automatic cutting and welding unit in a flexible production line for automatic overhaul welding of a wagon body according to the present invention;
FIG. 3 is a top view of an automatic cutting and welding unit in a flexible production line for automated inspection welding of rail wagon bodies in accordance with the present invention;
FIG. 4 is a right side view of an automatic cutting and welding unit in a flexible production line for automated inspection welding of a railway wagon body in accordance with the present invention;
FIG. 5 is a left side view of an automatic cutting and welding unit in a flexible production line for automated inspection welding of a railway wagon body in accordance with the present invention;
FIG. 6 is a schematic three-dimensional perspective view of an automatic cutting mechanism in an automatic cutting and welding unit of a flexible production line for automatic overhaul welding of a wagon body according to the present invention;
FIG. 7 is a schematic three-dimensional perspective view of an automatic welding mechanism of an automatic cutting and welding unit of a flexible production line for automatic overhaul welding of a wagon body according to the present invention;
fig. 8 is a schematic three-dimensional perspective view of a movable loading unit in a flexible production line for automatic overhaul welding of a wagon body according to the present invention.
Detailed Description
The first embodiment is as follows: referring to fig. 1, a flexible production line for automatic overhaul and welding of a wagon body according to the present embodiment is described, and comprises a dust removing device 1, a cutting power supply 2, a cutting control console 3, a plasma cutting gantry 4, a plasma cutting head 5, an objective table 6, a plasma gantry rail 7, a feeding rail 8, an automatic cutting and welding unit 9 and a movable feeding unit 10;
the inside of the factory building from left to right is provided with a dust collector 1, a cutting power supply 2 and a cutting control console 3 in sequence, the left and right sides of the cutting control console 3 are respectively provided with a plasma gantry track 7, the plasma gantry track 7 is provided with a plasma cutting gantry 4, the moving end of the plasma cutting gantry 4 is provided with a plasma cutting head 5, an objective table 6 is arranged between the plasma gantry tracks 7, two feeding tracks 8 are arranged on the ground inside the factory building, the two feeding tracks 8 are arranged in parallel, the pair of feeding tracks 8 are provided with a movable feeding unit 10, and the tail ends of the two feeding tracks 8 are connected with one end of an automatic cutting welding unit 9.
The second embodiment is as follows: the present embodiment is further limited to the production line according to the first embodiment, and the flexible production line for automatic overhaul and welding of a wagon body according to the present embodiment, where the automatic cutting and welding unit 9 includes a top rail 9-1, a column 9-2, a wire slot assembly 9-3, a Y-axis assembly 9-4, a Z-axis assembly 9-5, an X-axis assembly 9-6, a driving power supply 9-7, a wire cutting gun cleaner 9-9, a console 9-10, a robot console 9-11, a platform 9-12, a laser tracking controller 9-13, a substation box 9-14, an automatic cutting mechanism 9-15, and an automatic welding mechanism 9-16;
the two antenna rails 9-1 are oppositely arranged in parallel, n upright posts 9-2 are uniformly arranged on the lower surface of each antenna rail 9-1 along the length direction, n is a positive integer, the bottom end of each upright post 9-2 is fixedly connected with the ground, one slot assembly 9-3 is arranged on the upper surface of one antenna rail 9-1, two Y-axis assemblies 9-4 are uniformly arranged between the two antenna rails 9-1 along the length direction, each Y-axis assembly 9-4 is provided with a Z-axis assembly 9-5, the bottom end of each Z-axis assembly 9-5 is provided with an X-axis assembly 9-6, the output end of one X-axis assembly 9-6 is provided with an automatic welding mechanism 9-16, the output end of the other X-axis assembly 9-6 is provided with an automatic cutting mechanism 9-15, two sides of the upright posts 9-2 on the other antenna rail 9-1 are respectively provided with a control platform 9-10 and a robot control platform 9-11, the middle part of the side of the other antenna rail 9-1 is provided with a platform 9-12, the end part of each antenna rail 9-4 is provided with a Z-axis assembly 9-5, the end part of the antenna rail 9-4 is provided with a laser tracking station 9-14, the other side of the other antenna rail 9-1 is provided with a laser tracking station 9-14, and the other side of the other antenna 9-1 is provided with a laser station 9-14, and the other side of the station 9-9 is provided with a power supply station.
And a third specific embodiment: the present embodiment is further limited to the production line described in the second embodiment, and the number n of the upright posts 9-2 is greater than or equal to 5 and less than or equal to 10, and the flexible production line for automatic overhaul and welding of the wagon body described in the present embodiment is described with reference to fig. 2 to 5.
The specific embodiment IV is as follows: the present embodiment is further limited to the production line described in the second embodiment by referring to fig. 2 to 5, and the flexible production line for automatic maintenance welding of a wagon body according to the present embodiment is characterized in that a lubrication lubricator 9-8 is disposed at a connection portion between the Y-axis assembly 9-4 and the Z-axis assembly 9-5.
Fifth embodiment: referring to fig. 6, the present embodiment is further limited to the production line described in the second embodiment, and the automatic cutting mechanism 9-15 includes a six-axis industrial robot 9-15-1, a sensor bracket 9-15-2, a universal arm 9-15-3, a pen container camera 9-15-4, a photographing identification camera 9-15-5, a cutting torch 9-15-6, a cutting torch connecting seat 9-15-7, a laser ranging sensor 9-15-8, a mounting plate 9-15-9 and an anti-collision sensor 9-15-10;
the top end of the six-axis industrial robot 9-15-1 is connected with the output end of the X-axis assembly 9-6, the output end of the six-axis industrial robot 9-15-1 is fixedly connected with the side face of the mounting plate 9-15-9, the middle part of the other side face of the mounting plate 9-15-9 is provided with a cutting torch connecting seat 9-15-7, the cutting torch connecting seat 9-15-7 is provided with a cutting torch 9-15-6, the edge of one end of the other side face of the mounting plate 9-15-9 is provided with a laser ranging sensor 9-15-8, the edge of the other end of the other side face of the mounting plate 9-15-9 is provided with a sensor bracket 9-15-2, the bottom of the sensor bracket 9-15-2 is provided with a photographing identification camera 9-15-5, the sensor bracket 9-15-2 is provided with a universal support arm 9-15-3, the end part of the universal support arm 9-15-3 is provided with a pen container camera 9-15-4, and the circumferential outer surface of the output end of the six-axis industrial robot 9-15-1 is provided with an anti-collision sensor 9-15-10.
Specific embodiment six: the present embodiment is further limited to the production line described in the second embodiment by referring to fig. 7, and the automatic welding mechanism 9-16 includes a welding gun 9-16-1, a mechanical arm 9-16-2, a camera 9-16-3, a height sensor 9-16-4 and a fixing frame 9-16-5;
the top end of the mechanical arm 9-16-2 is connected with the output end of the X-axis assembly 9-6, a welding gun 9-16-1 is arranged on the output end of the mechanical arm 9-16-2, a fixing frame 9-16-5 is arranged at the joint of the welding gun 9-16-1 and the output end of the mechanical arm 9-16-2, a camera 9-16-3 is arranged at the end part of the fixing frame 9-16-5, a support arm is arranged on the fixing frame 9-16-5, and a height sensor 9-16-4 is arranged at the end part of the support arm.
Seventh embodiment: the present embodiment is further limited to the production line described in the sixth embodiment by referring to fig. 7, and the flexible production line for automatic repair welding of a wagon body described in the present embodiment is characterized in that the detection end of the height sensor 9-16-4 and the photographing end of the camera 9-16-3 are located on the same horizontal plane.
Eighth embodiment: referring to fig. 8, the present embodiment is further limited to the production line according to the first embodiment, and the flexible production line for automatic overhaul and welding of a wagon body according to the present embodiment, where the movable feeding unit 10 includes a feeding gantry, a lifting cylinder 10-1, a gas detection device 10-2, a clamp carrying rod 10-3, a vacuum chuck 10-4, and an electromagnetic chuck 10-5;
the movable end of the feeding portal frame is fixedly connected with the middle part of the upper surface of the clamp carrying rod 10-3, a plurality of lifting cylinders 10-1 are uniformly arranged on the side surface of the clamp carrying rod 10-3 along the length direction, a connecting rod is arranged at the output end of the lifting cylinder 10-1 at the end of the clamp carrying rod 10-3, two electromagnetic chucks 10-5 are respectively arranged at the two ends of the connecting rod, the output end of the lifting cylinder 10-1 at the middle part of the clamp carrying rod 10-3 is connected with the upper surface of the supporting plate, a plurality of vacuum chucks 10-4 are uniformly arranged on the lower surface of the supporting plate, a gas detection device 10-2 is arranged at the middle part of the other side of the clamp carrying rod 10-3, and the gas detection device 10-2 is used for detecting the gas pressure inside the vacuum chucks 10-4.
Detailed description nine: the present embodiment is further limited to the production line described in the eighth embodiment by referring to fig. 8, and the flexible production line for automatic overhaul and welding of a wagon body according to the present embodiment is described, and the bottom of a feeding portal frame in the movable feeding unit 10 is slidably connected with the feeding rail 8.
Detailed description ten: the present embodiment is further limited to the production line described in the eighth embodiment by referring to fig. 8, and the flexible production line for automatic overhaul and welding of a wagon body according to the present embodiment is described, wherein the diameters of the bottom surfaces of the vacuum chuck 10-4 and the electromagnetic chuck 10-5 are the same.
Principle of operation
When the robot cutting system is used, the first station is a robot automatic cutting system; the robot is hung at the tail end of the three-dimensional outer shaft, and the cutting operation requirements of the abrasion parts of the side wall, the end wall and the bottom plate are met. The cutting mode is equal-pressure flame cutting, the cutting application range is wide, and the waste car body can be cut conveniently.
The station II is an automatic blanking system; the automatic blanking system is used for cutting and blanking the repair plate, and the cutting method is plasma cutting, so that the cutting precision is high and the waste area is small. The automatic discharging system comprises a plasma cutting machine, a three-dimensional truss feeding gantry and a dust collecting system.
The third station is an automatic welding system; the welding robot consists of two side gantry rails, three-dimensional external shafts, four sets of six-axis industrial robots and four sets of welding systems. The robot is hoisted at the tail end of the three-dimensional external shaft, so that the repair welding operation requirements of the side wall, the end wall and the bottom plate can be met.
The side gantry type overhead cabinet is supported by five upright posts, four platforms are arranged on the side gantry type overhead cabinet, and the platforms are provided with guide rails and sliding seats so as to facilitate the movement of the robot.
Since the car body is worn randomly, some car bodies are worn large and some are small, and lack positioning references required for the automation equipment. Therefore, a visual detection system is designed and developed through multi-sensor signal interaction, and the repair operation of the railway wagon without a positioning reference is realized. The integrated point IL300 laser height sensor, the IV2 photographing identification camera, the pen container camera, the SMC electronic flow sensor, the laser tracking sensor, the bright arc photographing system, the anti-collision sensor and the digital identification sensor are integrated into a whole, so that the cutting, efficiency and welding integrated automatic operation is realized. The whole working flow is as follows: the method comprises the steps of transferring a car body to a cutting station by a false car, manually judging the abrasion position and making a digital mark, starting a device button, automatically moving the robot to the vicinity of the car body, shooting numbers by an IV2 camera, calling different cutting programs according to the numbers, carrying out point laser locating by an IL300, determining the initial cutting position, starting cutting, controlling the proportion of oxygen and fuel gas by an SMC electronic flowmeter, observing a cutting track by a pen container camera, controlling the walking track of the robot by a robot flexible control technology in combination with a rocker so as to avoid the positions such as gaps, transverse ribs and the like, cutting, leaving a certain gap, manually supplementing the cutting track, synchronously transmitting the cutting track to a data management system, transmitting a base material to the lower part of the cutter by a data management system, carrying out cutting by a numerical control plasma cutting machine according to the track, automatically picking up the cut sheet material to a charging box by the three-dimensional truss, carrying the charging gantry to the welding station by the charging box, carrying out point fixation by a manual welding robot by a fork truck, carrying out welding by utilizing the laser tracking system, carrying out locating by the welding track by the laser tracking system, tracking by utilizing the clear sensor, and superposing the flexible control on the walking track of the robot and the robot flexible control technology with the robot tracking track. The whole welding process is carried out, namely the car body is transported from the station by the false car.
Claims (10)
1. A flexible production line for automatic overhaul welding of railway wagon body, its characterized in that: the automatic cutting and welding device comprises a dust removing device (1), a cutting power supply (2), a cutting control console (3), a plasma cutting gantry (4), a plasma cutting head (5), an objective table (6), a plasma gantry track (7), a feeding track (8), an automatic cutting and welding unit (9) and a movable feeding unit (10);
the inside of factory building from left to right is equipped with dust collector (1), cutting power (2) and cutting control cabinet (3) in proper order, the left and right sides of cutting control cabinet (3) is equipped with a plasma longmen rail (7) respectively, be equipped with plasma cutting longmen (4) on this plasma longmen rail (7), be equipped with plasma cutting head (5) on the mobile terminal of plasma cutting longmen (4), and be equipped with objective table (6) between this plasma longmen rail (7), the inside subaerial two material loading rails (8) that are equipped with of factory building, and two material loading rails (8) parallel are equipped with, and be equipped with on this pair of material loading rail (8) and remove material loading unit (10), the end of two material loading rails (8) is connected with the one end of automatic cutout welding unit (9).
2. A flexible production line for automated inspection welding of rail wagon bodies according to claim 1, wherein: the automatic cutting and welding unit (9) comprises a top rail (9-1), an upright post (9-2), a wire slot assembly (9-3), a Y-axis assembly (9-4), a Z-axis assembly (9-5), an X-axis assembly (9-6), a driving power supply (9-7), a wire cutting gun cleaner (9-9), a control table (9-10), a robot control table (9-11), a platform (9-12), a laser tracking controller (9-13), a substation box (9-14), an automatic cutting mechanism (9-15) and an automatic welding mechanism (9-16);
the two antenna rails (9-1) are oppositely arranged in parallel, n upright posts (9-2) are uniformly arranged on the lower surface of each antenna rail (9-1) along the length direction, n is a positive integer, the bottom ends of the upright posts (9-2) are fixedly connected with the ground, a wire slot assembly (9-3) is arranged on the upper surface of one antenna rail (9-1), two Y-axis assemblies (9-4) are uniformly arranged between the two antenna rails (9-1) along the length direction, a Z-axis assembly (9-5) is arranged on each Y-axis assembly (9-4), an X-axis assembly (9-6) is arranged at the bottom end of each Z-axis assembly (9-5), an automatic welding mechanism (9-16) is arranged at the output end of one X-axis assembly (9-6), an automatic cutting mechanism (9-15) is arranged at the output end of the other X-axis assembly (9-6), a control platform (9-10) and a robot control platform (9-11) are respectively arranged on two sides of the upper upright posts (9-2) of the other antenna rail (9-1), a platform (9-14) is arranged at the side surface of the other antenna rail (9-1), one side of the substation box (9-14) is provided with a laser tracking controller (9-13), the other side of the substation box (9-14) is provided with a driving power supply (9-7), and the side face of the upright post (9-2) on the day rail (9-1) is provided with a wire cutting gun cleaner (9-9).
3. A flexible production line for automated inspection welding of rail wagon bodies according to claim 2, wherein: the number n of the upright posts (9-2) is more than or equal to 5 and less than or equal to 10.
4. A flexible production line for automated inspection welding of rail wagon bodies according to claim 2, wherein: the connecting part of the Y-axis assembly (9-4) and the Z-axis assembly (9-5) is provided with a lubrication lubricator (9-8).
5. A flexible production line for automated inspection welding of rail wagon bodies according to claim 2, wherein: the automatic cutting mechanism (9-15) comprises a six-axis industrial robot (9-15-1), a sensor bracket (9-15-2), a universal support arm (9-15-3), a pen container camera (9-15-4), a photographing identification camera (9-15-5), a cutting torch (9-15-6), a cutting torch connecting seat (9-15-7), a laser ranging sensor (9-15-8), a mounting plate (9-15-9) and an anti-collision sensor (9-15-10);
the top of six industrial robot (9-15-1) is connected with the output of X axle subassembly (9-6), six industrial robot (9-15-1)'s output and the side fixed connection of mounting panel (9-15-9), the other side middle part of mounting panel (9-15-9) is equipped with cutting torch connecting seat (9-15-7), be equipped with cutting torch (9-15-6) on cutting torch connecting seat (9-15-7), the other side one end edge of mounting panel (9-15-9) is equipped with laser range finding sensor (9-15-8), the other side other end edge of mounting panel (9-15-9) is equipped with sensor support (9-15-2), the bottom of sensor support (9-15-2) is equipped with and shoots discerns camera (9-15-5), be equipped with universal support arm (9-15-3) on sensor support (9-2), the tip of universal support arm (9-15-3) is equipped with pen container camera (9-15-4), be equipped with on six industrial robot (9-15-1) the circumference (9-10) of preventing collision on the output.
6. A flexible production line for automated inspection welding of rail wagon bodies according to claim 2, wherein: the automatic welding mechanism (9-16) comprises a welding gun (9-16-1), a mechanical arm (9-16-2), a camera (9-16-3), a height sensor (9-16-4) and a fixing frame (9-16-5);
the top of the mechanical arm (9-16-2) is connected with the output end of the X-axis assembly (9-6), a welding gun (9-16-1) is arranged on the output end of the mechanical arm (9-16-2), a fixing frame (9-16-5) is arranged at the joint of the welding gun (9-16-1) and the output end of the mechanical arm (9-16-2), a camera (9-16-3) is arranged at the end part of the fixing frame (9-16-5), a support arm is arranged on the fixing frame (9-16-5), and a height sensor (9-16-4) is arranged at the end part of the support arm.
7. A flexible production line for automated inspection welding of rail wagon bodies according to claim 6, wherein: the detection end of the height sensor (9-16-4) and the photographing end of the camera (9-16-3) are positioned on the same horizontal plane.
8. A flexible production line for automated inspection welding of rail wagon bodies according to claim 1, wherein: the movable feeding unit (10) comprises a feeding portal frame, a lifting cylinder (10-1), a gas detection device (10-2), a clamp carrying rod (10-3), a vacuum chuck (10-4) and an electromagnetic chuck (10-5);
the movable end of the feeding portal frame is fixedly connected with the middle part of the upper surface of the clamp carrying rod (10-3), a plurality of lifting cylinders (10-1) are uniformly arranged on the side surface of the clamp carrying rod (10-3) along the length direction, a connecting rod is arranged at the output end of the lifting cylinder (10-1) at the end of the clamp carrying rod (10-3), two electromagnetic chucks (10-5) are respectively arranged at the two ends of the connecting rod, the output ends of the lifting cylinders (10-1) at the middle part of the clamp carrying rod (10-3) are connected with the upper surface of the supporting plate, a plurality of vacuum chucks (10-4) are uniformly arranged on the lower surface of the supporting plate, a gas detection device (10-2) is arranged at the middle part of the other side of the clamp carrying rod (10-3), and the gas detection device (10-2) is used for detecting the gas pressure inside the vacuum chucks (10-4).
9. A flexible production line for automated repair welding of rail wagon bodies according to claim 8, wherein: the bottom of the feeding portal frame in the movable feeding unit (10) is in sliding connection with the feeding track (8).
10. A flexible production line for automated repair welding of rail wagon bodies according to claim 8, wherein: the diameters of the bottom surfaces of the vacuum sucker (10-4) and the electromagnetic sucker (10-5) are the same.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310074819.1A CN116000555A (en) | 2023-02-07 | 2023-02-07 | Flexible production line for automatic overhaul and welding of wagon body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310074819.1A CN116000555A (en) | 2023-02-07 | 2023-02-07 | Flexible production line for automatic overhaul and welding of wagon body |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116000555A true CN116000555A (en) | 2023-04-25 |
Family
ID=86037214
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310074819.1A Pending CN116000555A (en) | 2023-02-07 | 2023-02-07 | Flexible production line for automatic overhaul and welding of wagon body |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116000555A (en) |
-
2023
- 2023-02-07 CN CN202310074819.1A patent/CN116000555A/en active Pending
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