CN116652454A - Intelligent robot preheating device for flat plate welding and method thereof - Google Patents

Abstract

The invention relates to the technical field of welding deformation control, in particular to a preheating device and a preheating method for an intelligent robot for flat welding. The preheating device comprises a carrying servo sliding table, an intelligent carrying robot, an inverted servo sliding table, an intelligent welding robot, a position changing machine, a welding tool and a heating module, wherein the carrying servo sliding table and the inverted servo sliding table are arranged in parallel, the position changing machine is arranged below the inverted servo sliding table, the welding tool is arranged on the position changing machine, and the welding tool is used for fixing a welding assembly; the intelligent welding robot is reversely hung on the reverse-hanging servo sliding table, and the execution tail end is connected with the welding gun; the intelligent carrying robot is arranged on the carrying servo slipway, and the execution tail end is connected with the end effector; the heating module is arranged in the welding tool and is used for heating the bottom of the welding assembly. According to the invention, unmanned operation of reverse deformation is realized through preheating before welding, so that the labor capacity of personnel is reduced, and the elimination of welding stress is completed.

Description

Intelligent robot preheating device for flat plate welding and method thereof

Technical Field

The invention relates to the technical field of welding deformation control, in particular to a preheating device and a preheating method for an intelligent robot for flat welding.

Background

In general, during the welding process, the workpiece often deforms. The welding deformation mainly comprises three stages: the first stage occurs when welding is performed, and at the moment, the workpieces are clamped and fixed by a clamp and then welded and connected, and the welding stress and the thermal expansion are main deformations of the stage; the second stage starts from the completion of welding, at this time, the welding workpiece enters a cooling process from high temperature to normal temperature, and the release of welding stress during cold shrinkage is the reason of deformation at this stage; the third stage takes the longest time, and after complete cooling, the different structures will eventually lead to the residual of local stresses due to the different joining modes of the plates. Therefore, the deformation will cause a substantial decrease or deviation in the dimensional accuracy of the workpiece; or the machining allowance is too large to be assembled; some even result in the rejection of structural members. In order to improve the product quality, the welding process can be selectively improved or the clamping device can be used for clamping to prevent deformation, and the improvement of the welding process is high in requirements and high in cost; the existing deformation-preventing mechanisms are mostly manual clamping devices. The manual clamping device generally fixes and welds a workpiece through a nut; and after the welding is finished, unscrewing the nut to take off the workpiece. However, as the clamping device gives a reverse deformation pressure to the workpiece to control the deformation of the workpiece in welding, the nut is often deformed under force after the welding is finished, and the nut is difficult to unscrew and even damaged when the workpiece is disassembled; in addition, the number of nuts is large, so that the clamping operation speed is low and the efficiency is low due to one-to-one tightening. In order to solve the problem of welding deformation, a great deal of technical improvement is carried out by technicians, wherein the Chinese patent with the patent number of CN207344031U adopts a welding step after the angle is adjusted in advance, but when the welding of different materials is handled, the deformation amplitude cannot be controlled, so that the welding of the different materials cannot be adapted, manual adjustment is needed before the welding, and the efficiency is low. The Chinese patent application with the application number of CN108406148A discloses an anti-deformation device applied to intelligent robot welding, but the anti-deformation device is used for preventing deformation by a correction device in the walking process, the correction is performed passively, the stress residue in the welding process cannot be dealt with, and hidden danger is buried in the use process at a later stage. Therefore, the conventional method is to perform the reverse deformation by an external clamp, and the shrinkage after welding reduces the shrinkage cooling deformation of the welding as much as possible, but the clamp has an external load and causes a certain force.

Disclosure of Invention

Aiming at the problems, the invention aims to provide a preheating device and a preheating method for a plate welding intelligent robot, which are used for solving the problem that the existing anti-deformation device is poor in control of the anti-deformation pressure.

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

the invention provides a preheating device of an intelligent robot for flat plate welding, which comprises a carrying servo slipway, an intelligent carrying robot, an inverted servo slipway, an intelligent welding robot, a position changing machine, a welding tool and a heating module, wherein the carrying servo slipway and the inverted servo slipway are arranged in parallel, the position changing machine is arranged below the inverted servo slipway, the welding tool is arranged on the position changing machine, and the welding tool is used for fixing a welding assembly; the intelligent welding robot is reversely hung on the reverse-hanging servo sliding table, and the execution tail end is connected with the welding gun; the intelligent carrying robot is arranged on the carrying servo slipway, and the execution tail end is connected with the end effector; the heating module is arranged in the welding tool and is used for heating the bottom of the welding assembly.

In one possible implementation manner, the welding tool is a rectangular frame structure, and the heating module is disposed in the rectangular frame structure of the welding tool and is movable along the length direction of the welding tool.

In one possible implementation manner, the heating module is of an inverted T-shaped structure, and a heating device is arranged inside the heating module;

the bottom of the heating module is a sliding plane contacted with the welding tool, and the top of the heating module is a heating end.

In one possible implementation, the outer end of the heating module is provided with a locating spigot.

In one possible implementation, the top of the welding fixture is provided with a clamping device for fixing the welding assembly.

In one possible implementation, the intelligent carrier robot drives the heating module to move via an end effector.

In one possible implementation manner, the end effector comprises a main body frame, an interface flange and an electromagnet, wherein the interface flange is arranged on one side of the main body frame and is connected with the execution end of the intelligent transfer robot; the other side of the main body frame is provided with an electromagnet which is used for adsorbing the welding assembly.

In one possible implementation manner, the main body frame is of a cuboid structure, and the two end parts are provided with shifting forks which have electromagnetic absorptivity.

In another embodiment of the present invention, a method for performing preheating welding by using the intelligent robot preheating device for plate welding is provided, which includes the following steps:

1) The positioner drives the welding tool to be in a horizontal position;

2) The intelligent carrying robot adsorbs the heating module through the end effector, and the heating module is placed in the welding tool;

3) The intelligent transfer robot adsorbs the bottom plate through the end effector, and places the bottom plate on the welding tool, and the bottom plate is fixed through the clamping device;

4) The intelligent carrying robot adsorbs the vertical plate through the end effector, and places the vertical plate on the bottom plate; the intelligent welding robot is fixedly connected with the relative positions of the locking vertical plate and the bottom plate through the assembly welding of the welding gun;

5) The intelligent carrying robot adsorbs the reinforcing ribs through the end effector, and the reinforcing ribs are placed on the bottom plate; the intelligent welding robot is fixedly connected with the relative positions of the reinforcing ribs, the vertical plates and the bottom plate through the assembly welding of the welding gun;

6) The positioner drives the welding tool to rotate by a set angle;

7) The intelligent transfer robot magnetically attracts the heating module through the end effector, and the heating module is placed in the welding tool;

8) The heating module is used for carrying out local heating on the bottom of the bottom plate;

9) The intelligent welding robot performs space six-degree-of-freedom welding through the welding gun, and welding of welding seams of the joint positions of the bottom plate, the vertical plate and the reinforcing ribs is completed.

In one possible implementation, the heating module is driven by the intelligent transfer robot to move synchronously with the welding gun.

The invention has the advantages and beneficial effects that:

1. according to the invention, the preheating deformation is used for replacing the conventional fixture for reverse deformation, no human participation is needed in the whole process, unmanned operation of reverse deformation is realized, the labor capacity of personnel is reduced, and the elimination of welding stress is completed.

2. According to the invention, through the set heating parameter range value, the preheating deformation is used for replacing the conventional fixture for reverse deformation, so that the influence of the deformation on the welded product is reduced, the welded product is fixed in the original shape, and particularly, the welding product can have plasticity in the welding process, and the plastic transformation of the product is completed.

3. The invention replaces the conventional fixture with the pre-heated deformation, and the deformation amplitude of the thick plate is reduced due to the heating of the two sides.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.

The technical scheme of the invention is further described in detail through the drawings and the embodiments.

Drawings

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:

FIG. 1 is one of the isometric views of a preheating device for a plate welding intelligent robot of the present invention;

FIG. 2 is a second perspective view of a preheating device for a flat welding intelligent robot according to the present invention;

FIG. 3 is a side view of a preheating device for a plate welding intelligent robot of the present invention;

FIG. 4 is an enlarged view of FIG. 3 at A;

FIG. 5 is a schematic view of an end effector according to the present invention;

in the figure: 1 is a carrying servo sliding table, 2 is an intelligent carrying robot, 3 is an end effector, 301 is a main body frame, 302 is an interface flange, 303 is a shifting fork, 304 is an electromagnet, 4 is a reverse hanging servo sliding table, 5 is an intelligent welding robot, 6 is a welding gun, 7 is a positioner, 8 is a welding tool, 801 is a side plate, 802 is a left lower beam, 803 is a right lower beam, 804 is a left upper beam, 805 is a right upper beam, 9 is a heating module, 901 is a sliding plane, 902 is a positioning spigot, 903 is a heating end, 10 is a welding component, 1001 is a bottom plate, 1002 is a vertical plate, 1003 is a reinforcing rib, and 1004 is a welding seam.

Detailed Description

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.

According to the intelligent robot preheating device for flat welding, the preheating deformation is used for replacing the conventional fixture for reverse deformation, no human participation is needed in the whole process, unmanned operation of reverse deformation is achieved, the labor amount of personnel is reduced, and the elimination of welding stress is completed. Referring to fig. 1 to 3, the preheating device of the intelligent robot for flat welding comprises a carrying servo slipway 1, an intelligent carrying robot 2, an inverted servo slipway 4, an intelligent welding robot 5, a position changing machine 7, a welding tool 8 and a heating module 9, wherein the carrying servo slipway 1 and the inverted servo slipway 4 are arranged in parallel, the position changing machine 7 is arranged below the inverted servo slipway 4, the welding tool 8 is arranged on the position changing machine 7, the welding tool 8 is used for fixing a welding assembly 10, and the position changing machine 7 provides certain rotation and position changing of the welding tool 8; the intelligent welding robot 5 is reversely hung on the reverse-hanging servo sliding table 4, and the execution tail end is connected with the welding gun 6; the intelligent carrying robot 2 is arranged on the carrying servo slipway 1, and the execution tail end is connected with the tail end executor 3; the heating module 9 is arranged in the welding tool 8, and the heating module 9 is used for heating the bottom of the welding assembly 10.

In the embodiment of the invention, the welding tool 8 is of a rectangular frame structure, and the heating module 9 is arranged in the rectangular frame structure of the welding tool 8 and can move along the length direction of the welding tool 8.

Specifically, referring to fig. 4, the welding fixture 8 includes four beams disposed in parallel, wherein the four beams are a left lower beam 801, a right lower beam 803, an upper left beam 804 and an upper right beam 805, two ends of the four beams are connected through two opposite side plates 801, and a center of the side plate 801 is connected with the positioner 7.

Referring to fig. 4, in the embodiment of the present invention, the heating module 9 has an inverted T-shaped structure, and a heating device is disposed inside the heating module; the bottom of the heating module 9 is a sliding plane 901 contacted with a left lower beam 801 and a right lower beam 803 of the welding tool 8, and the top of the heating module 9 is a heating end 903. The heating end 903 heats or preheats the welding assembly 10 on line by a non-contact heating induction coil, thereby realizing the local preheating welding reverse deformation of the welding assembly 10.

Further, the outer side end of the heating module 9 is provided with a positioning spigot 902, and the positioning spigot 902 is positioned by the left lower beam 801. Specifically, the intelligent transfer robot 2 drives the heating module 9 to move through the end effector 3, and the heating module 9 translates in any direction on the upper plane of the left lower beam 802 and the right lower beam 803.

In the embodiment of the present invention, the top of the welding tool 8 is provided with a clamping device for fixing the welding assembly 10, and the clamping device may be any existing device capable of clamping a workpiece, which is not limited herein.

Referring to fig. 5, in the embodiment of the present invention, the end effector 3 includes a main body frame 301, an interface flange 302, and an electromagnet 304, where the interface flange 302 is disposed on one side of the main body frame 301, and the interface flange 302 is connected to the execution end of the intelligent carrier robot 2; at least two electromagnets 304 are disposed on the other side of the main body frame 301, and the electromagnets 304 are used for attracting the welding assembly 10.

Further, the main body frame 301 has a rectangular parallelepiped structure, and the two end portions are provided with a fork 303, and the fork 303 has electromagnetic attraction.

The embodiment of the invention provides a preheating device of an intelligent robot for flat welding, which replaces the conventional fixture with the preheated deformation, reduces the influence of the deformation on a welded product through the set heating parameter range value, ensures that the welded product is fixed in the original shape, and particularly can be endowed with plasticity through the existence of welding heat during welding, and completes the plastic transformation of the product.

On the basis of the foregoing embodiments, a further embodiment of the present invention provides a method for performing preheating welding by using the intelligent robot preheating device for plate welding in any one of the foregoing embodiments, where the method includes the following steps:

1) The positioner 7 drives the welding tool 8 to be in a horizontal position;

2) The intelligent transfer robot 2 adsorbs the heating module 9 through the end effector 3, and places the heating module 9 into the welding tool 8;

3) The intelligent transfer robot 2 adsorbs the bottom plate 1001 through the end effector 3, and places the bottom plate 1001 on the welding fixture 8, and the bottom plate 1001 is fixed through the clamping device;

4) The intelligent transfer robot 2 adsorbs the vertical plate 1002 by the end effector 3, and places the vertical plate 1002 on the bottom plate 1001; the intelligent welding robot 5 is fixedly connected with the relative positions of the locking vertical plate 1002 and the bottom plate 1001 through the assembly welding of the welding gun 6;

5) The intelligent transfer robot 2 adsorbs the reinforcing ribs 1003 through the end effector 3, and places the reinforcing ribs 1003 on the base plate 1001; the intelligent welding robot 5 is fixedly connected with the relative positions of the locking reinforcing ribs 1003, the vertical plates 1002 and the bottom plate 1001 through the assembly welding of the welding gun 6;

6) The positioner 7 drives the welding tool 8 to rotate by a set angle;

7) The intelligent transfer robot 2 magnetically attracts the heating module 9 through the end effector 3, and the heating module 9 is placed in the welding tool 8;

specifically, the intelligent transfer robot 2 adsorbs the heating end 903 of the heating module 9 through the end effector 3, so that the heating module 9 descends from the space between the upper left beam 804 and the upper right beam 805, then rotates by 90 °, and descends again to the position where the heating module 9 contacts the lower beam of the welding tool 8;

8) The heating module 9 performs local heating on the bottom of the bottom plate 1001 through the heating end 903, and the local preheating of the welding assembly 10 generates welding reverse deformation;

9) The intelligent welding robot 5 performs space six-degree-of-freedom welding by the welding gun 6, and completes welding of the weld 1004 at the joint between the bottom plate 1001, the vertical plate 1002 and the reinforcing rib 1003. The heating module 9 is driven by the intelligent transfer robot 2 to move in synchronization with the welding gun 6.

Specifically, the lower extreme of carrying servo slip table 1 is installed subaerial, and intelligent transfer robot 2 is installed to the removal end, and the linear motion of intelligent transfer robot 2 certain stroke is provided to servo slip table 1 of carrying. The reverse-hanging servo sliding table 4 is of a gantry type structure, the lower end of the reverse-hanging servo sliding table is installed on the ground, the reverse-hanging intelligent welding robot 5 is installed at the moving tail end of the reverse-hanging servo sliding table 4, and the reverse-hanging servo sliding table 4 provides linear motion of the intelligent welding robot 5 with a certain stroke. The linear motion directions of the carrying servo sliding table 1 and the reverse hanging servo sliding table 4 are parallel and unequal in height. The intelligent transfer robot 2 can provide six-degree-of-freedom spatial movement of the end effector 3, and the intelligent welding robot 5 can provide six-degree-of-freedom spatial welding process movement of the welding gun 6.

In the welding point fixing process of workpiece assembly, the workpiece is subjected to reverse deformation when the heating module is used for carrying out local preheating, and the workpiece is not realized by using a fixture; in the long welding line process, local preheating and heat preservation are carried out, and welding stress is eliminated.

According to the invention, the preheating deformation is used for replacing the conventional fixture for reverse deformation, no human participation is needed in the whole process, the unmanned operation of reverse deformation is realized, the labor amount of personnel is reduced, the elimination of welding stress is completed, the workpiece is fixed in the original shape, and particularly, the workpiece can have plasticity through the existence of welding heat during welding, so that the plastic transformation of a product is completed.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims (10)

1. The utility model provides a dull and stereotyped welding intelligent robot preheating device, a serial communication port, including transport servo slip table (1), intelligent transfer robot (2), hang upside down servo slip table (4), intelligent welding robot (5), machine of shifting (7), welding frock (8) and heating module (9), wherein transport servo slip table (1) and hang upside down servo slip table (4) parallel arrangement, machine of shifting (7) set up in the below of hanging upside down servo slip table (4), welding frock (8) set up on machine of shifting (7), welding frock (8) are used for fixed welding subassembly (10); the intelligent welding robot (5) is reversely hung on the reverse-hanging servo sliding table (4), and the execution tail end is connected with the welding gun (6); the intelligent carrying robot (2) is arranged on the carrying servo sliding table (1), and the carrying tail end is connected with the tail end executor (3); the heating module (9) is arranged in the welding tool (8), and the heating module (9) is used for heating the bottom of the welding assembly (10).

2. The intelligent robot preheating device for flat welding according to claim 1, wherein the welding fixture (8) is a rectangular frame structure, and the heating module (9) is disposed in the rectangular frame structure of the welding fixture (8) and is movable along the length direction of the welding fixture (8).

3. The intelligent robot preheating device for flat welding according to claim 2, wherein the heating module (9) is of an inverted T-shaped structure, and a heating device is arranged inside;

the bottom of the heating module (9) is a sliding plane (901) contacted with the welding tool (8), and the top of the heating module (9) is a heating end (903).

4. A plate welding intelligent robot preheating device according to claim 3, characterized in that the outer end of the heating module (9) is provided with a positioning spigot (902).

5. The intelligent robot preheating device for flat welding according to claim 2, wherein the top of the welding fixture (8) is provided with a clamping device for fixing the welding assembly (10).

6. The intelligent robot preheating apparatus for flat welding according to claim 2, wherein the intelligent handling robot (2) drives the heating module (9) to move through an end effector (3).

7. The flat welding intelligent robot preheating device according to claim 1, wherein the end effector (3) comprises a main body frame (301), an interface flange (302) and an electromagnet (304), wherein the interface flange (302) is arranged on one side of the main body frame (301), and the interface flange (302) is connected with the execution end of the intelligent transfer robot (2); an electromagnet (304) is arranged on the other side of the main body frame (301), and the electromagnet (304) is used for adsorbing the welding assembly (10).

8. The intelligent robot preheating device for flat welding according to claim 7, wherein the main body frame (301) has a rectangular parallelepiped structure, and both end portions are provided with a fork (303), and the fork (303) has electromagnetic attraction.

9. A method of performing a preheating weld using the intelligent robotic preheating device for plate welding as claimed in any of claims 1 to 8, the method comprising the steps of:

1) The positioner (7) drives the welding tool (8) to be in a horizontal position;

2) The intelligent transfer robot (2) adsorbs the heating module (9) through the end effector (3), and the heating module (9) is placed into the welding tool (8);

3) The intelligent carrying robot (2) adsorbs the bottom plate (1001) through the end effector (3), and places the bottom plate (1001) on the welding tool (8), and the bottom plate (1001) is fixed through the clamping device;

4) The intelligent transfer robot (2) adsorbs the vertical plate (1002) through the end effector (3), and places the vertical plate (1002) on the bottom plate (1001); the intelligent welding robot (5) is fixedly connected with the relative positions of the locking vertical plate (1002) and the bottom plate (1001) through the assembly welding of the welding gun (6);

5) The intelligent transfer robot (2) adsorbs the reinforcing ribs (1003) through the end effector (3), and places the reinforcing ribs (1003) on the bottom plate (1001); the intelligent welding robot (5) is fixedly connected with the relative positions of the locking reinforcing ribs (1003), the vertical plates (1002) and the bottom plate (1001) through the assembly welding of the welding gun (6);

6) The positioner (7) drives the welding tool (8) to rotate by a set angle;

7) The intelligent transfer robot (2) magnetically attracts the heating module (9) through the end effector (3), and the heating module (9) is placed in the welding tool (8);

8) The heating module (9) is used for carrying out local heating on the bottom of the bottom plate (1001);

9) The intelligent welding robot (5) performs space six-degree-of-freedom welding through the welding gun (6) to finish welding of the welding seam (1004) at the joint part of the bottom plate (1001), the vertical plate (1002) and the reinforcing rib (1003).

10. Method according to claim 9, characterized in that the heating module (9) is moved in synchronization with the welding gun (6) by the driving of the intelligent carrier robot (2).