CN108311832B - Processing method and device for spot welding workpiece of spot welding robot workstation - Google Patents
Processing method and device for spot welding workpiece of spot welding robot workstation Download PDFInfo
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- CN108311832B CN108311832B CN201810338516.5A CN201810338516A CN108311832B CN 108311832 B CN108311832 B CN 108311832B CN 201810338516 A CN201810338516 A CN 201810338516A CN 108311832 B CN108311832 B CN 108311832B
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- 238000003466 welding Methods 0.000 title claims abstract description 205
- 238000003672 processing method Methods 0.000 title claims abstract description 8
- 230000010485 coping Effects 0.000 claims abstract description 9
- 238000000034 method Methods 0.000 claims description 57
- 239000008235 industrial water Substances 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 10
- 239000000498 cooling water Substances 0.000 claims description 5
- 238000002955 isolation Methods 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000002457 bidirectional effect Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- 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 for a procedure covered by only one of the other main groups of this subclass
-
- 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 for a procedure covered by only one of the other main groups of this subclass
- B23K37/003—Cooling means for welding or cutting
-
- 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 for a procedure covered by only one of the other main groups of this subclass
- B23K37/02—Carriages for supporting the welding or cutting element
-
- 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 for a procedure covered by only one of the other main groups of this subclass
- B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Resistance Welding (AREA)
- Manipulator (AREA)
Abstract
The invention provides a processing method and a processing device for spot welding workpieces at a spot welding robot workstation, comprising a spot welding robot body (1), a robot controller (2), a servo robot welding tongs (3), a spot welding controller (4), a system control cabinet (5), an industrial cold water machine (6), an electrode coping device (7), a robot mounting base (8), a connecting component (9), a pneumatic sliding table (10) and an electric control clamp (11), wherein the spot welding robot body (1) is mounted on the upper part of the robot mounting base (8), the servo robot welding tongs (3) are mounted on the spot welding robot body (1), and the robot mounting base (8) is connected with the pneumatic sliding table (10) through the connecting component (9). The invention completes corresponding spot welding work by executing a series of steps, has convenient control and orderly spot welding work, and can realize robot automatic spot welding of automobile products.
Description
Technical Field
The invention belongs to the field of industrial automation, and particularly relates to a processing method and a processing device for spot welding workpieces at a work station of a spot welding robot.
Background
Application number 201610863810.9, application publication number CN10627126a, discloses an intelligent control method in robot spot welding. The robot is in bidirectional connection with the PLC, the PLC is in bidirectional connection with the upper computer and the welding controller, and the PLC is in bidirectional connection with the upper computer and the welding controller; the output end of the upper computer is connected with the display screen; the input end of the welding controller is connected with the output end of the current sensor; 2 station fixtures of the robot are arranged, and operation buttons of the robot are arranged on the station fixtures; and the PLC is provided with a manual load rate module and a spot welding quality monitoring module. Compared with the prior art, the scientific calculation arranges artificial workload, ensures the scientificity of the working intensity of personnel, reduces the artificial waste, ensures that the labor can meet the production requirement of a production line, and improves the benefit and the competitiveness of enterprises. The quality problems can be treated in time, and the quality problems occurring subsequently are reduced.
However, the actual production situation cannot be considered, the number of tool stations in the actual production situation is the number of redundant spot welding robots, when one pneumatic station is welded, the spot welding robots move to other pneumatic stations to weld workpieces, and perhaps the work mode is not optimal; welding workpieces with high priority can not be well adjusted in the welding process, and two or more spot welding robot bodies in the welding process collide.
Therefore, it is necessary to provide a new welding robot workstation and a welding control method which meet the requirements of the existing welding mode, optimize the existing welding operation program, and provide a time-saving, labor-saving, safe and efficient welding control mode.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a processing method and a processing device for spot welding workpieces by a spot welding robot workstation, which can optimize the welding process of a spot welding robot body, weld the workpieces, optimize the movement route and avoid the accident that two spot welding robot bodies move to one station at the same time to collide.
The spot welding robot workstation device comprises a spot welding robot body 1, a robot controller 2, a servo robot welding tongs 3, a spot welding controller 4, a system control cabinet 5, an industrial water chiller 6, an electrode grinding device 7, a robot mounting base 8, a connecting component 9, a pneumatic sliding table 10 and an electric control clamp 11;
the spot welding robot body 1 is arranged on the upper part of the robot mounting base 8, the servo robot welding tongs 3 are arranged on the spot welding robot body 1, the robot mounting base 8 is connected with the pneumatic sliding table 10 through the connecting component 9, the electric control clamp 11 is arranged on the pneumatic sliding table 10, the rear side of the spot welding robot body 1 is provided with the robot controller 2, the spot welding controller 4, the system control cabinet 5 and the industrial water chiller 6, the left rear side of the spot welding robot body 1 is provided with the electrode grinding device 7, and the safety fence 12 surrounds all components to realize man-machine safety isolation;
the welding machine is characterized in that a PLC (programmable logic controller) for optimizing a welding program is arranged in the system control cabinet 5, the system control cabinet 5 controls the electric control clamp 11 to clamp a workpiece and controls the electric control clamp 11 to move on the pneumatic sliding table 10 along the connecting member 9, the robot controller 2 controls the welding robot body 1 to rotate on the mounting base 8, the spot welding controller 4 controls the servo robot welding tongs 3 to rotate on the robot body 1 to weld the workpiece, the industrial water chiller 11 is used for providing water for a welding point, and the electrode coping device 7 is used for coping electrodes of the servo robot welding tongs 3.
As the preference of this technical scheme, robot installation base 8 on install 1 robot body 1,4 connecting elements 9 are connected with spot welding robot body 1 respectively, set up a pneumatic slip table 10 respectively on each connecting element 9, install an automatically controlled anchor clamps 11 on each pneumatic slip table 10.
As the preference of this technical scheme, the workstation sets up 2 installation bases 8, installs a robot body 1 on each installation base 8, installs 2 connecting elements 9 on a robot body 1, sets up a pneumatic slip table 10 on each connecting element 9 respectively, installs an automatically controlled anchor clamps 11 on each pneumatic slip table 10.
A method of processing spot welded workpieces at a spot welding robot workstation, comprising:
s1, dividing a workpiece to be spot-welded into 4 process steps according to a spot welding process, and designing a special electric control clamp 11 for each process step;
s2, respectively mounting the electric control clamps 11 corresponding to the 4 working procedures on the 4 pneumatic sliding tables 10;
s3, the control cabinet 5 controls the electric control clamp 11 to clamp a workpiece to be spot-welded, and the workpiece is automatically sent into the operation range of the spot-welding robot body 1 through the pneumatic sliding table 10;
s4, the robot controller 2 controls the spot welding robot body 1 to move to the station of the corresponding pneumatic sliding table 10 according to a reserved queuing mechanism and a time-sharing operation control mode, and the spot welding controller 4 controls the servo robot welding tongs 3 to adjust the corresponding angle so as to realize the welding of the workpiece to be welded by the servo robot welding tongs 3;
a. if stations of the pneumatic sliding tables with high priority appear, the manual operation control cabinet 5 cancels the reserved queue, and then the moving sequence of the pneumatic sliding tables 10 is set in the control cabinet 5 according to the priority again;
b. if not, welding according to the normal set priority order;
s6, automatically sending the sliding table out of the operation area to reach the manual operation area by the system after welding the workpieces on the pneumatic sliding table 10, automatically loosening the electric control clamp 11, and manually taking down the workpieces.
S7, clamping the workpiece on the pneumatic sliding table 10 of the welding station of the next procedure again, and repeating the process until the whole workpiece to be welded is welded;
s8, taking down the welded workpiece, clamping a new workpiece to be welded, and repeating the steps.
The further preferable technical scheme is that the spot welding process is divided into 4 process steps, wherein the first step is to selectively combine two parts of the workpieces to be welded for welding; the second step is to select the remaining 1 workpiece from the remaining combined workpieces to be welded and spliced with the workpiece welded in the first step, the third step is to select the remaining 1 workpiece from the remaining combined workpieces to be welded and spliced with the workpiece welded in the second step, and the fourth step is to select the remaining 1 workpiece from the remaining combined workpieces to be welded and spliced with the workpiece welded in the third step.
It is further preferable that the number of workpieces to be welded is prioritized according to the number, and the higher the number is, the higher the priority is.
The further preferable technical scheme is that the priorities are divided according to the number of to-be-welded points of the welded workpieces, and the higher the number of to-be-welded points is, the higher the priority is.
The further preferable technical scheme is that the priorities are divided according to the number of the workpieces to be welded and the number of the welding spots, under the condition that the yields are different, the priorities of the number of the workpieces to be welded are higher than the priorities of the number of the welding spots, and under the condition that the yields are the same, the priorities of the number of the welding spots are higher.
The invention provides a processing method for spot welding workpieces by a spot welding robot workstation, which can optimize the welding process of a spot welding robot body, weld the workpieces, optimize the movement route and avoid the accident that two spot welding robot bodies move to one station at the same time to collide; the robot operation and manual operation area separation is realized, and the safety is higher.
Drawings
FIG. 1 is a schematic view of the structure of an embodiment 1 of the present invention;
FIG. 2 is a schematic structural view of embodiment 2 of the present invention;
FIG. 3 is a flow chart of the process of the present invention;
fig. 4 is a flow chart of the welding step of the present invention.
In the figure: 1-spot welding robot body, 2-robot controller, 3-servo robot welding tongs, 4 spot welding controller, 5-system control cabinet, 6-industrial cold water machine, 7-electrode coping ware, 8-robot installation base, 9-connecting elements, 10-pneumatic slip table, 11-automatically controlled anchor clamps.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the present invention will be clearly and completely described below, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1 is a spot welding robot workstation of a multi-station, single point welding robot body 1
As shown in fig. 1, a spot welding robot workstation device comprises a spot welding robot body 1, a robot controller 2, a servo robot welding tongs 3, a spot welding controller 4, a system control cabinet 5, an industrial cold water machine 6, an electrode grinding device 7, a robot mounting base 8, a connecting component 9, a pneumatic sliding table 10 and an electric control clamp 11;
the spot welding robot body 1 is arranged on the upper part of the robot installation base 8, 1 robot body 1 and 4 connecting members 9 are respectively connected with the spot welding robot body 1, each connecting member 9 is provided with a pneumatic sliding table 10, each pneumatic sliding table 10 is provided with an electric control clamp 11, the rear side of the spot welding robot body 1 is provided with a robot controller 2, the spot welding controller 4, a system control cabinet 5 and an industrial water chiller 6, the left rear side of the spot welding robot body 1 is provided with an electrode coping 7, and a safety fence 12 surrounds all components to realize man-machine safety isolation;
the welding machine is characterized in that a PLC (programmable logic controller) for optimizing a welding program is arranged in the system control cabinet 5, the system control cabinet 5 controls the electric control clamp 11 to clamp a workpiece and controls the electric control clamp 11 to move on the pneumatic sliding table 10 along the connecting member 9, the robot controller 2 controls the welding robot body 1 to rotate on the mounting base 8, the spot welding controller 4 controls the servo robot welding tongs 3 to rotate on the robot body 1 to realize welding of the workpiece, the industrial water chiller 11 is used for providing cooling water for a welding point and cooling water, and the electrode repairing and grinding device 7 is used for repairing and grinding electrodes of the servo robot welding tongs 3.
Example 2 spot welding robot workstation of a multi-station, multi-spot welding robot body 1 as shown in fig. 2, a spot welding robot workstation device comprises a spot welding robot body 1, a robot controller 2, a servo robot welding tongs 3, a spot welding controller 4, a system control cabinet 5, an industrial water chiller 6, an electrode dresser 7, a robot mounting base 8, a connecting member 9, a pneumatic sliding table 10, and an electric control clamp 11;
the workstation is provided with 2 mounting bases 8, a robot body 1 is mounted on each mounting base 8, 2 connecting members 9 are mounted on the robot body 1, a pneumatic sliding table 10 is respectively arranged on each connecting member 9, an electric control clamp 11 is mounted on each pneumatic sliding table 10, a robot controller 2, a spot welding controller 4, a system control cabinet 5 and an industrial water chiller 6 are arranged on the rear side of the spot welding robot body 1, an electrode grinding device 7 is arranged on the rear left side of the spot welding robot body 1, and a safety fence 12 surrounds all components to realize man-machine safety isolation;
the welding machine is characterized in that a PLC (programmable logic controller) for optimizing a welding program is arranged in the system control cabinet 5, the system control cabinet 5 controls the electric control clamp 11 to clamp a workpiece and controls the electric control clamp 11 to move on the pneumatic sliding table 10 along the connecting member 9, the robot controller 2 controls the welding robot body 1 to rotate on the mounting base 8, the spot welding controller 4 controls the servo robot welding tongs 3 to rotate on the robot body 1 to realize welding of the workpiece, the industrial water chiller 11 is used for providing cooling water for a welding point and cooling water, and the electrode repairing and grinding device 7 is used for repairing and grinding electrodes of the servo robot welding tongs 3.
Example 3 prioritizing the invention according to product quantity
As shown in fig. 3 and 4, a method for processing spot welding workpieces by a spot welding robot workstation comprises
S1, dividing a workpiece to be spot-welded into 4 process steps according to a spot welding process, and designing a special electric control clamp 11 for each process step;
s2, respectively mounting the electric control clamps 11 corresponding to the 4 working procedures on the 4 pneumatic sliding tables 10;
s3, the control cabinet 5 controls the electric control clamp 11 to clamp a workpiece to be spot-welded, and the workpiece is automatically sent into the operation range of the spot-welding robot body 1 through the pneumatic sliding table 10;
s4, the robot controller 2 controls the spot welding robot body 1 to move to the station of the corresponding pneumatic sliding table 10 according to a reserved queuing mechanism and a time-sharing operation control mode, and the spot welding controller 4 controls the servo robot welding tongs 3 to adjust the corresponding angle so as to realize the welding of the workpiece to be welded by the servo robot welding tongs 3;
a. if stations of the pneumatic sliding tables with high priority appear, the manual operation control cabinet 5 cancels the reserved queue, and then the moving sequence of the pneumatic sliding tables 10 is set in the control cabinet 5 according to the priority again;
prioritizing according to the number of workpieces to be welded, wherein the higher the number is, the higher the priority is;
b. if not, welding according to the normal set priority order;
s6, automatically sending the sliding table out of the operation area to reach the manual operation area by the system after welding the workpieces on the pneumatic sliding table 10, automatically loosening the electric control clamp 11, and manually taking down the workpieces.
S7, clamping the workpiece on the pneumatic sliding table 10 of the welding station of the next procedure again, and repeating the process until the whole workpiece to be welded is welded;
s8, taking down the welded workpiece, clamping a new workpiece to be welded, and repeating the steps.
The further preferable technical scheme is that the spot welding process is divided into 4 steps of process procedures, and the first step is to selectively combine two parts of the workpieces to be welded for welding; the second step is to select the remaining 1 workpiece from the remaining combined workpieces to be welded and spliced with the workpiece welded in the first step, the third step is to select the remaining 1 workpiece from the remaining combined workpieces to be welded and spliced with the workpiece welded in the second step, and the fourth step is to select the remaining 1 workpiece from the remaining combined workpieces to be welded and spliced with the workpiece welded in the third step.
Of course, the welding process can be divided into 2 steps, 3 steps, 5 steps and more according to the number of parts of the combined workpiece, and the welding mode is consistent with the 4 steps.
Example 4 prioritizing the invention according to product weld points
As shown in fig. 3 and 4, a method for processing spot welding workpieces by a spot welding robot workstation comprises
S1, dividing a workpiece to be spot-welded into 4 process steps according to a spot welding process, and designing a special electric control clamp 11 for each process step;
s2, respectively mounting the electric control clamps 11 corresponding to the 4 working procedures on the 4 pneumatic sliding tables 10;
s3, the control cabinet 5 controls the electric control clamp 11 to clamp a workpiece to be spot-welded, and the workpiece is automatically sent into the operation range of the spot-welding robot body 1 through the pneumatic sliding table 10;
s4, the robot controller 2 controls the spot welding robot body 1 to move to the station of the corresponding pneumatic sliding table 10 according to a reserved queuing mechanism and a time-sharing operation control mode, and the spot welding controller 4 controls the servo robot welding tongs 3 to adjust the corresponding angle so as to realize the welding of the workpiece to be welded by the servo robot welding tongs 3;
a. if stations of the pneumatic sliding tables with high priority appear, the manual operation control cabinet 5 cancels the reserved queue, and then the moving sequence of the pneumatic sliding tables 10 is set in the control cabinet 5 according to the priority again;
the priority is divided according to the number of to-be-welded points of the welded workpiece, and the higher the number of to-be-welded points is, the higher the priority is;
b. if not, welding according to the normal set priority order;
s6, automatically sending the sliding table out of the operation area to reach the manual operation area by the system after welding the workpieces on the pneumatic sliding table 10, automatically loosening the electric control clamp 11, and manually taking down the workpieces.
S7, clamping the workpiece on the pneumatic sliding table 10 of the welding station of the next procedure again, and repeating the process until the whole workpiece to be welded is welded;
s8, taking down the welded workpiece, clamping a new workpiece to be welded, and repeating the steps.
The further preferable technical scheme is that the spot welding process is divided into 4 process steps, wherein the first step is to selectively combine two parts of the workpieces to be welded for welding; the second step is to select the remaining 1 workpiece from the remaining combined workpieces to be welded and spliced with the workpiece welded in the first step, the third step is to select the remaining 1 workpiece from the remaining combined workpieces to be welded and spliced with the workpiece welded in the second step, and the fourth step is to select the remaining 1 workpiece from the remaining combined workpieces to be welded and spliced with the workpiece welded in the third step.
Of course, the welding process can be divided into 2 steps, 3 steps, 5 steps and more according to the number of parts of the combined workpiece, and the welding mode is consistent with the 4 steps.
Example 5 prioritizing the invention according to product quantity and weld points
As shown in fig. 3 and 4, a method for processing spot welding workpieces by a spot welding robot workstation comprises
S1, dividing a workpiece to be spot-welded into 4 process steps according to a spot welding process, and designing a special electric control clamp 11 for each process step;
s2, respectively mounting the electric control clamps 11 corresponding to the 4 working procedures on the 4 pneumatic sliding tables 10;
s3, the control cabinet 5 controls the electric control clamp 11 to clamp a workpiece to be spot-welded, and the workpiece is automatically sent into the operation range of the spot-welding robot body 1 through the pneumatic sliding table 10;
s4, the robot controller 2 controls the spot welding robot body 1 to move to the station of the corresponding pneumatic sliding table 10 according to a reserved queuing mechanism and a time-sharing operation control mode, and the spot welding controller 4 controls the servo robot welding tongs 3 to adjust the corresponding angle so as to realize the welding of the workpiece to be welded by the servo robot welding tongs 3;
a. if stations of the pneumatic sliding tables with high priority appear, the manual operation control cabinet 5 cancels the reserved queue, and then the moving sequence of the pneumatic sliding tables 10 is set in the control cabinet 5 according to the priority again;
the method comprises the steps of dividing the priorities according to the number of workpieces to be welded and the number of welding spots, wherein under the condition of different yields, the number of the workpieces to be welded is higher than the number of the welding spots, and under the condition of the same yields, the number of the welding spots is higher;
b. if not, welding according to the normal set priority order;
s6, automatically sending the sliding table out of the operation area to reach the manual operation area by the system after welding the workpieces on the pneumatic sliding table 10, automatically loosening the electric control clamp 11, and manually taking down the workpieces.
S7, clamping the workpiece on the pneumatic sliding table 10 of the welding station of the next procedure again, and repeating the process until the whole workpiece to be welded is welded;
s8, taking down the welded workpiece, clamping a new workpiece to be welded, and repeating the steps.
The further preferable technical scheme is that the spot welding process is divided into 4 process steps, wherein the first step is to selectively combine two parts of the workpieces to be welded for welding; the second step is to select the remaining 1 workpiece from the remaining combined workpieces to be welded and spliced with the workpiece welded in the first step, the third step is to select the remaining 1 workpiece from the remaining combined workpieces to be welded and spliced with the workpiece welded in the second step, and the fourth step is to select the remaining 1 workpiece from the remaining combined workpieces to be welded and spliced with the workpiece welded in the third step.
Of course, the welding process can be divided into 2 steps, 3 steps, 5 steps and more according to the number of parts of the combined workpiece, and the welding mode is consistent with the 4 steps.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (1)
1. A processing method for spot welding work pieces of a spot welding robot workstation is characterized by comprising the following steps: the processing method comprises the following steps:
s1, dividing a workpiece to be spot-welded into 4 process steps according to a spot welding process, and distributing a special electric control clamp (11) for each process step;
s2, respectively mounting the electric control clamps (11) corresponding to the 4 working procedures on the 4 pneumatic sliding tables (10);
s3, the system control cabinet (5) controls the electric control clamp (11) to clamp a workpiece to be spot-welded, and the workpiece is automatically sent into the operation range of the spot-welding robot body (1) through the pneumatic sliding table (10);
s4, a robot controller (2) controls the spot welding robot body (1) to move to a station of a corresponding pneumatic sliding table (10) according to a reservation queuing mechanism and a time-sharing operation control mode, and the spot welding controller (4) controls a servo robot welding clamp (3) to adjust a corresponding angle so as to realize welding of a workpiece to be welded by the servo robot welding clamp (3);
a. if stations of the pneumatic sliding tables with high priority appear, the manual operation system control cabinet (5) cancels the reservation queue, and the moving sequence of the pneumatic sliding tables (10) is set in the system control cabinet (5) according to the priority again;
b. if not, welding according to the normal set priority order;
s6, automatically sending the sliding table out of the operation area to reach a manual operation area by the system through the welded workpiece on the pneumatic sliding table (10), automatically loosening an electric control clamp (11), and manually taking down the workpiece;
s7, clamping the workpiece on a pneumatic sliding table (10) of a welding station of the next procedure again, and repeating the process until the whole workpiece to be welded is welded;
s8, taking down the welded workpiece, clamping a new workpiece to be welded, and repeating the steps;
the spot welding process is divided into 4 process steps, wherein the first step is to selectively combine two parts of the workpieces to be welded for welding; the second step is to select the remaining 1 workpiece from the remaining combined workpieces to be welded and spliced with the workpiece welded in the first step, the third step is to select the remaining 1 workpiece from the remaining combined workpieces to be welded and spliced with the workpiece welded in the second step, and the fourth step is to select the remaining 1 workpiece from the remaining combined workpieces to be welded and spliced with the workpiece welded in the third step;
the method comprises the steps of dividing the priorities according to the number of workpieces to be welded and the number of welding spots, wherein under the condition of different yields, the number of the workpieces to be welded is higher than the number of the welding spots, and under the condition of the same yields, the number of the welding spots is higher;
wherein, spot welding robot workstation device includes:
the spot welding robot comprises a spot welding robot body (1), a robot controller (2), a servo robot welding tongs (3), a spot welding controller (4), a system control cabinet (5), an industrial water chiller (6), an electrode coping device (7), a robot mounting base (8), a connecting component (9), a pneumatic sliding table (10) and an electric control clamp (11);
the spot welding robot comprises a spot welding robot body (1), a servo robot welding tongs (3), a robot installation base (8), an electric control clamp (11), a robot controller (2), a spot welding controller (4), a system control cabinet (5) and an industrial water chiller (6), wherein the spot welding robot body (1) is arranged on the upper part of the robot installation base (8), the servo robot welding tongs (3) are arranged on the spot welding robot body (1), the robot installation base (8) is connected with a pneumatic sliding table (10) through a connecting component (9), the electric control clamp (11) is arranged on the pneumatic sliding table (10), the rear side of the spot welding robot body (1) is provided with the robot controller (2), the spot welding controller (4), the system control cabinet (5) and the industrial water chiller (6), the left rear side of the spot welding robot body (1) is provided with an electrode coping (7), and a safety fence (12) surrounds all components to realize man-machine safety isolation;
a PLC (programmable logic controller) for optimizing a welding program is arranged in the system control cabinet (5), the system control cabinet (5) controls the electric control clamp (11) to clamp a workpiece and controls the electric control clamp (11) to move on the pneumatic sliding table (10) along the connecting component (9), the robot controller (2) controls the spot welding controller (4) to control the servo robot welding tongs (3) to rotate on the spot welding robot body (1) so as to realize welding of the workpiece, the industrial water chiller (6) is used for providing cooling water, and the electrode coping device (7) is used for coping electrodes of the servo robot welding tongs (3);
the robot mounting base (8) is provided with 1 spot welding robot body (1), 4 connecting members (9) are respectively connected with the spot welding robot body (1), each connecting member (9) is provided with a pneumatic sliding table (10), and each pneumatic sliding table (10) is provided with an electric control clamp (11);
the workstation sets up 2 robot installation base (8), installs a spot welding robot body (1) on each robot installation base (8), installs 2 connecting elements (9) on a spot welding robot body (1), sets up a pneumatic slip table (10) on each connecting element (9) respectively, installs an automatically controlled anchor clamps (11) on each pneumatic slip table (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810338516.5A CN108311832B (en) | 2018-04-16 | 2018-04-16 | Processing method and device for spot welding workpiece of spot welding robot workstation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810338516.5A CN108311832B (en) | 2018-04-16 | 2018-04-16 | Processing method and device for spot welding workpiece of spot welding robot workstation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108311832A CN108311832A (en) | 2018-07-24 |
| CN108311832B true CN108311832B (en) | 2024-03-22 |
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