CN218081131U

CN218081131U - Automatic production line for panel of box-type substation

Info

Publication number: CN218081131U
Application number: CN202222027544.XU
Authority: CN
Inventors: 赖加建; 杨寿全; 梁诗华; 孙程伟; 朱达贤
Original assignee: Xiamen Aerospace Siert Robot System Co Ltd
Current assignee: Xiamen Aerospace Siert Robot System Co Ltd
Priority date: 2022-08-03
Filing date: 2022-08-03
Publication date: 2022-12-20
Anticipated expiration: 2032-08-03

Abstract

The utility model provides an automatic production line for panels of box-type substations, which comprises a conveying frame, and further comprises an automatic assembly welding unit, a manual assembly welding unit, a panel overturning unit, an automatic panel reverse side welding unit and a blanking unit which are sequentially arranged on the conveying frame; the automatic assembly welding unit is suitable for performing assembly welding on the panel; the manual assembling unit is suitable for performing secondary assembling welding on the panel; the panel overturning unit comprises an overturning mechanism, and the overturning mechanism is suitable for overturning the panel to enable the reverse side of the panel to be upward; the automatic welding unit for the reverse side of the panel is suitable for automatically welding the reverse side of the panel; the blanking unit is suitable for transferring the welded panel to the material frame. The automation degree of panel production is improved through the scheme, and the improvement of production efficiency is facilitated.

Description

Automatic production line for panel of box-type substation

Technical Field

The utility model relates to a production facility technical field of transformer substation particularly, relates to a box-type substation panel automation line.

Background

The substation is an indispensable device in an electric power facility, and the demand is increasing in recent years, but the production efficiency cannot meet the demand due to the complicated process and steps of the production. In the production of the box-type substation, the production of panels is the most complex, the panels need to be subjected to processes such as assembly, double-sided welding and the like, the existing production generally needs manual marking, manual assembly, manual welding and manual transfer, and therefore production efficiency is low and production cannot be standardized.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing a box-type substation panel automation line to solve the aforesaid and lead to low in production efficiency, and produce the unable standardized problem.

The utility model adopts the following scheme:

the application provides an automatic production line for a panel of a box-type substation, which comprises a conveying frame, and further comprises an automatic assembly welding unit, a manual assembly welding unit, a panel overturning unit, an automatic panel reverse side welding unit and a blanking unit which are sequentially arranged on the conveying frame; the automatic assembly welding unit is suitable for performing assembly welding on the panel; the manual assembling unit is suitable for performing secondary assembling welding on the panel; the panel overturning unit comprises an overturning mechanism, and the overturning mechanism is suitable for overturning the panel to enable the reverse side of the panel to be upward; the automatic welding unit for the back surface of the panel is suitable for automatically welding the back surface of the panel; the blanking unit is suitable for transferring the welded panel to the material rack.

Further, the automatic assembly welding unit comprises a first assembly butt welding platform, a first traveling mechanism, a first welding robot and a grabbing robot, wherein the first assembly butt welding platform is arranged on the conveying frame and is suitable for receiving the panel conveyed from the upstream conveying frame; the grabbing robots are arranged on two sides of the first group of butt welding platforms and are suitable for grabbing parts placed on the part racks to corresponding positions of the panels; the first walking mechanism is arranged right above the first group of butt welding platforms, and the first welding robot is arranged on the walking mechanism and is suitable for welding parts and panels.

Furthermore, a clamping device and a pressing mechanism are arranged on two sides of the first group of butt welding platforms and used for fixing the panel on the first group of butt welding platforms.

Further, a visual recognition system is arranged on the first travelling mechanism and comprises an industrial camera, and the industrial camera faces the first pair of welding platforms.

Further, the manual assembly welding unit comprises a second assembly welding platform and a dust collection device, and the dust collection device is fixedly arranged above the second assembly welding platform.

Furthermore, turn-over mechanism includes machine of shifting, fixed establishment and upset frame, the upset frame erect and arrange in on the machine of shifting, it is suitable for fixedly the panel overturns under the rotation of machine of shifting, fixed establishment set up in on the upset frame, be used for fixing the panel.

Further, a guide rail is arranged on the turnover frame, and the fixing mechanism is slidably arranged on the guide rail.

Further, the automatic welding unit for the reverse side of the panel comprises a third group of butt welding platforms, a second welding robot and a second walking mechanism, wherein the third group of butt welding platforms are suitable for bearing the panel turned over by the turn-over mechanism; the second walking mechanism is arranged above the conveying frame, and the second welding robot is arranged on the second walking mechanism and is suitable for welding the panels placed on the third group of butt welding platforms.

Furthermore, an induction device is arranged on the third group of butt welding platforms and is electrically connected to the control center; the control center can control the turnover mechanism to cancel fixing of the panel when the induction device induces that the panel is turned over in place.

Further, the unloading unit includes the unloading tongs, the unloading tongs set up in on the second running gear, and it is provided with a plurality of sucking discs that are used for absorbing the panel, the sucking disc is connected with the air pump.

Has the beneficial effects that:

1. the workload of manual scribing and manual assembly is reduced; the travelling crane is not needed to be used for loading, unloading and transferring processes, so that the production efficiency is improved, and the production is more standardized;

2. the automatic pairing through visual guidance improves the pairing accuracy.

Drawings

Fig. 1 is a schematic view of the overall structure of an automatic production line for panels of a box-type substation according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of an automatic assembly welding unit of an automatic production line for panels of a box-type substation according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a panel turnover unit and a panel reverse automatic welding unit of an automatic production line for panels of a box-type substation according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a turnover mechanism of an automatic production line for panels of a box-type substation according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a pressing mechanism of an automatic production line of a panel of a box-type substation according to an embodiment of the present invention;

icon: the automatic assembly welding device comprises a conveying frame 10, an automatic assembly welding unit 20, a first assembly butt welding platform 21, a clamping device 22, a pressing mechanism 23, an air cylinder 231, a rotating body 232, a pressing block 233, a seat body 234, a first travelling mechanism 24, a sliding block 241, a first welding robot 25, a grabbing robot 26, a part frame 27, a manual assembly welding unit 30, a dust suction device 31, a second assembly butt welding platform 32, a panel overturning unit 40, an overturning mechanism 41, a positioner 411, a raceway group 412, an overturning frame 413, a guide rail 414, a sensing device 415, a panel reverse automatic welding unit 50, a third assembly butt welding platform 51, a second portal frame 52, a second welding robot 53, a blanking unit 60, a blanking gripper 61, a square frame 62, a suction cup 63, a control center 70 and a panel 80.

Detailed Description

Examples

With reference to fig. 1 to 5, the present embodiment provides an automatic production line for panels of a box-type substation, which includes a conveying frame 10, and further includes an automatic assembly welding unit 20, a manual assembly welding unit 30, a panel turnover unit 40, an automatic welding unit 50 for back surface of panel, and a blanking unit 60, which are sequentially disposed on the conveying frame 10; wherein the automatic group butt welding unit 20 is adapted to perform a stitch welding of the panel 80; the manual assembling unit is suitable for performing assembling welding on the panel 80 again; the panel turnover unit 40 comprises a turnover mechanism 41, wherein the turnover mechanism 41 is suitable for turning over the panel 80 to enable the reverse side of the panel 80 to face upwards; the panel reverse side automatic welding unit 50 is adapted to automatically weld the reverse side of the panel 80; the blanking unit 60 is adapted to transfer the welded panels 80 to a stack.

In this embodiment, the conveying frame 10 extends through the entire production line, and the upper portion thereof may be driven by a roller or a plate chain, which is provided with a driving mechanism to drive the roller or the plate chain to run. In the production line, a control center 70 is further provided for controlling the movement of the traveling mechanism and the robot, and here, the control center 70 may use a PLC controller or other existing industrial control system such as an MPU, which is electrically connected to all the electric devices in the apparatus and performs coordinated control.

As shown in fig. 1 and 2, in particular, the automatic pair-up welding unit 20 includes a first pair of welding platforms 21, a first traveling mechanism 24, a welding robot, a gripping robot 26, wherein the first pair of welding platforms 21 are provided on the transfer rack 10, and are adapted to receive the panel 80 transferred from the upstream transfer rack 10; the grabbing robots 26 are arranged at two sides of the first group of butt welding platforms 21 and are suitable for grabbing the parts placed on the part racks 27 to corresponding positions of the panels 80; the grabbing robot 26 is integrated with an electromagnet suction tool and a three-jaw clamp, the electromagnet is used for sucking bent pieces and reinforcing ribs, the three jaws and positioning nails are used for accurately clamping parts such as a lifting seat, the first travelling mechanism 24 is arranged right above the first group of butt welding platforms 21 through the first portal frame, and the welding robot is arranged on the first travelling mechanism 24 and suitable for welding parts and the panel 80. Here, this process is mainly used to assemble parts to the panel 80 and perform spot welding. The first set of butt welding platforms 21 are arranged on the conveying frame 10, and the bottom surface of the first set of butt welding platforms 21 can be provided with the highest point slightly lower than the roller, so that the panel 80 can smoothly enter the first set of butt welding platforms 21 after being conveyed from the conveying frame 10; of course, in other embodiments, the rollers or the drag chain of the first pair of welding platforms 21 may be configured to descend, so that after the sensors disposed on the first pair of welding platforms 21 sense that the panel 80 is in place, the rollers or the drag chain may be controlled to descend, so that the panel 80 is more stably fixed on the first pair of welding platforms 21. Set up clamping device 22 in the both sides of first set of butt welding platform 21, clamping device 22 includes slide rail and splint, and the splint is movably set up on the slide rail, when panel 80 gets into, can adjust the splint inward movement on both sides to press from both sides tight to the side of panel 80, can also play the effect of alignment position simultaneously. Preferably, a telescopic cylinder is also used here to connect the clamping plates, by which the clamping plates are controlled to be telescopic to clamp the sides of the panel 80. The pressing mechanism 23 is further arranged on the side edge of the first set of butt welding platforms 21, the pressing mechanism 23 comprises an air cylinder 231, a rotating body 232 and a pressing block 233, the end portion of the telescopic rod of the air cylinder 231 is hinged to the rotating body 232, the rotating body 232 is hinged to a base 234, the pressing block 233 is fixed to the other end of the rotating body 232, when the air cylinder 231 extends out, the rotating body 232 rotates downwards around the base 234, so that the pressing block 233 is pressed downwards, the upper direction and the lower direction of the panel 80 are limited, the pressing mechanism 23 is arranged on two sides of the first set of butt welding platforms 21 and is matched with the clamping device 22 to limit the panel 80. The first traveling mechanism 24 comprises a first portal frame arranged above the conveying frame 10, an X-direction sliding rail is arranged above the first portal frame, a Y-direction sliding rail is arranged on the transverse sliding rail, the Y-direction sliding rail is suitable for sliding on the X-direction sliding rail, a sliding block 241 is arranged on the Y-direction sliding rail, a first welding robot 25 is arranged on the sliding block 241, and the first welding robot 25 is used for spot welding or full welding of parts. In a preferred embodiment, the first travelling mechanism 24 is provided with a visual recognition system comprising an industrial camera directed towards the first set of pairs of welding platforms 21; here, the industrial camera may be disposed on the sliding block 241, and is used for recognizing the position of the opening on the panel 80 to guide the grabbing robot 26 to perform positioning assembly on the parts such as the lifting seat in the first step, and transmitting the position information of the workpiece to the control center 70, and the control center 70 analyzes and judges the position to be welded, and then controls the welding robot to move to the corresponding position to perform welding. Here, the first traveling mechanism 24 and the industrial camera are conventional techniques, and the welding robot is a conventional multi-axis welding robot, and when the two are engaged, the welding robot can perform spot welding at various positions on the panel 80. The grabbing robot 26 is also electrically connected to the control center 70, and can grab the parts to the corresponding positions of the panel 80 under the control of the control center 70; here the pick and place position can be obtained by machine learning.

In the manual assembly welding unit 30, a second pair of welding platforms 32 and a dust suction device 31 are included, and the dust suction device 31 is fixedly arranged above the second pair of welding platforms 32. Some parts are small or inconvenient, the parts grabbed by the grabbing robot 26 can be manually processed, and meanwhile, the parts can be fully welded, so that the parts which are not suitable for being fully welded by the welding robot are manually processed at the station, and smoke is processed by the dust suction device 31 during welding. The dust extraction 31 can here be handled with existing smoke handlers, said dust extraction 31 being fixed to the floor.

As shown in fig. 3 to 5, the panel turnover unit 40 is mainly used for turning over the panel 80 to enable the reverse side of the panel 80 to be assembled and welded, the panel turnover unit 40 includes a turnover mechanism 41, where the turnover mechanism 41 includes a positioner 411, a fixing mechanism 416 and a turnover frame 413, the turnover frame 413 is disposed on the positioner 411 and is adapted to fix the panel 80 and turn over under the rotation of the positioner 411, and the fixing mechanism 416 is disposed on the turnover frame 413 and is used for fixing the panel, where the fixing mechanism may use the above mentioned combination of the pressing mechanism 23 and the clamping device 22 to fix the panel in multiple directions. The pressing mechanism 23 is provided with a roller path group 412 for abutting against the roller or the plate chain of the conveying frame 10, and after the panel 80 is in place, the pressing mechanism 23 presses the panel 80. The pressing mechanism 23 and the raceway group 412 are provided on a guide rail 414, and the position is adjustable by the guide rail 414. The positioner 411 is provided with two, and sets up at the both ends of transfer frame 10, and upset frame 413 is used for accepting panel 80 to carry on spacingly through above-mentioned the same hold-down mechanism 23 to panel 80, panel 80 drops when preventing to overturn. Here, a clamping device 22 similar to the above-mentioned one is further provided at the side of the pressing mechanism 23 to clamp the side of the panel 80.

With reference to fig. 3 to 5, after the positioner 411 is turned over, the panel 80 is transferred to a third pair of welding platforms 51 on the automatic panel-back welding unit 50, the automatic panel-back welding unit 50 further includes a second welding robot 53 and a second traveling mechanism, and the third pair of welding platforms 51 are provided with a pressing tool for pressing the panel 80, where the pressing tool may also be a pressing mechanism 23; the second traveling mechanism is provided above the transfer rack 10, and the second welding robot 53 is provided on the second traveling mechanism and adapted to weld the panel 80 placed on the third set of butt welding platforms 51. The second traveling mechanism includes a second portal frame 52, the second portal frame 52 includes two traveling frames disposed in parallel at both sides of the transfer frame 10, and a traveling beam disposed across the two traveling frames, and the traveling frames are extended between the panel reverse side automatic welding unit 50 and the blanking unit 60. A second welding robot 53 adapted to spot-weld or full-weld the parts on the panel 80 is provided on the transfer beam at a side close to the panel reverse side automatic welding unit 50. Here, another grabbing robot 26 may be provided to grab and assemble other components, or may manually perform assembling and assembling. In the preferred embodiment, the third pair of welding platform 51 and the turnover mechanism are provided with a sensing device 415, the sensing device 415 is electrically connected to the control center 70, and the control center 70 is electrically connected to the positioner 411 and the cylinder 231 of the pressing mechanism 23. Here, the sensing device 415 may be a photoelectric sensor or a pressure sensor, the sensing device on the turnover mechanism is used for sensing whether the panel 80 is in place, and the panel 80 is fixed after being in place, and the third group senses whether the panel 80 is in place through the sensing device 415 for the welding platform 51, and when the panel is in place, the pressing mechanism 23 and the clamping device 22 on the control panel turnover unit 40 release the clamping of the panel 80, so that the panel 80 falls on the third group of welding platform 51, and then the positioner 411 is controlled to rotate reversely, and the turnover frame 413 is reset.

Referring to fig. 1 and 3, the discharging unit 60 includes a discharging gripper 61, the discharging gripper 61 is disposed on the second traveling mechanism, and is provided with a plurality of suction cups 63 for sucking the panel 80, and the suction cups 63 are connected to an air pump. Here, the blanking gripper 61 is fixed below the movable beam and comprises a square frame 62 for fixing the suction cups 63, a plurality of suction cups 63 are arranged at the bottom of the square frame 62, the suction cups 63 are communicated with an air pump unit through a common pipeline, the suction cups 63 have suction force on the panel 80 through the suction of the air pump unit so as to suck the panel 80, and then the panel 80 is placed on the rack through the movable beam, so that the whole processing process of the panel 80 is completed. Of course, here, the blanking gripper 61 is connected to the moving beam through a lifting mechanism, so that it can be lifted up and down to grip the panel 80; the lifting mechanism is an existing mechanism, and is controlled by a lifting motor or an air cylinder.

In still another preferred embodiment, another dust suction device is provided on each of the welding devices of the first and

second welding robots

25 and 53, and is used for absorbing the generated dust during spot welding or full welding of the first and

second welding robots

25 and 53. The dust suction device can be fixed on the travelling mechanism and moves along with the welding robot so as to suck dust or smoke at any time during welding.

Through the utility model discloses the scheme has reached following effect:

2. the automatic pairing guided by the vision improves the pairing precision. The deformation of the panel 80 due to the transfer, transportation and welding process results in the instability of the position of the hole site on the panel 80. The precise location of the holes on the panel 80 is identified using an industrial camera fixed to the robot's travel mechanism and positional information is passed to the robot to guide the robot's precise set of elevated seats. The position accuracy of the threaded hole of the lifting seat is guaranteed through a positioning nail on a robot clamping jaw, and the orientation and the inclination angle of the inclined lifting seat are guaranteed through an industrial camera.

3) The traveling crane is not needed to be used for loading, unloading and transferring the work procedure.

It should be understood that: above only the utility model discloses an it is preferred embodiment, the utility model discloses a scope of protection not only limits in above-mentioned embodiment, and the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection.

The above description of the drawings used in the embodiments is only to illustrate some embodiments of the invention and should not be taken as limiting the scope, from which other relevant drawings can be derived by a person skilled in the art without inventive effort.

Claims

1. An automatic production line for a panel of a box-type substation comprises a conveying frame and is characterized by further comprising an automatic assembly welding unit, a manual assembly welding unit, a panel overturning unit, an automatic panel reverse side welding unit and a blanking unit which are sequentially arranged on the conveying frame; wherein,

the automatic assembly welding unit is suitable for carrying out assembly welding on the panel;

the manual assembly welding unit is suitable for performing secondary assembly welding on the panel;

the panel overturning unit comprises an overturning mechanism, and the overturning mechanism is suitable for overturning the panel to enable the reverse side of the panel to face upwards;

the automatic welding unit for the back surface of the panel is suitable for automatically welding the back surface of the panel;

and the blanking unit is suitable for transferring the welded panel to the material rack.

2. The automated box substation panel production line according to claim 1, wherein the automated set-up welding unit comprises a first set-up pair of welding platforms, a first travelling mechanism, a first welding robot, a gripping robot, wherein the first set-up pair of welding platforms are arranged on the transfer rack and adapted to receive panels transported from an upstream transfer rack; the grabbing robots are arranged on two sides of the first group of butt welding platforms and are suitable for grabbing parts placed on the part racks to corresponding positions of the panels; the first walking mechanism is arranged right above the first group of butt welding platforms, and the first welding robot is arranged on the walking mechanism and is suitable for welding parts and panels.

3. The automated line of claim 2, wherein a clamping device and a hold-down mechanism are provided on both sides of the first set of pairs of welding platforms for securing the panels to the first set of pairs of welding platforms.

4. The automated production line for panels of box-type substations according to claim 2, wherein a vision recognition system is provided on the first running gear, the vision recognition system including an industrial camera facing the first pair of welding platforms.

5. The automated production line for panels of box-type substations according to claim 1, wherein the manual butt-welding unit includes a second butt-welding platform and a dust suction device, and the dust suction device is fixedly disposed above the second butt-welding platform.

6. The automatic production line for panels of box-type substations according to claim 1, wherein the turn-over mechanism comprises a position changing machine, a fixing mechanism and a turn-over frame, the turn-over frame is arranged on the position changing machine and is suitable for fixing the panels and turning over under the rotation of the position changing machine, and the fixing mechanism is arranged on the turn-over frame and is used for fixing the panels.

7. The automated line of claim 6, wherein the roll-over frame is provided with guide rails on which the securing mechanisms are slidably disposed.

8. The automatic production line for panels of box-type substations according to claim 7, wherein the automatic welding unit for back side of panels comprises a third set of butt welding platforms, a second welding robot and a second traveling mechanism, the third set of butt welding platforms is adapted to receive the panels turned over by the turn-over mechanism; the second walking mechanism is arranged above the conveying frame, and the second welding robot is arranged on the second walking mechanism and is suitable for welding the panels placed on the third group of butt welding platforms.

9. The automated line of production of panels for box substations of claim 8, wherein the third set of pairs of welding platforms is provided with a sensing device electrically connected to the control center, configured to control the turn-over mechanism to cancel the fixing of the panel when the sensing device senses that the panel is turned over in place.

10. The automatic production line for panels of box-type substations according to claim 8, wherein the blanking unit comprises a blanking gripper, the blanking gripper is arranged on the second travelling mechanism and provided with a plurality of suckers for sucking panels, and the suckers are connected with an air pump.