CN107953045B - Robot automatic flexible welding production line and production process for box-type transformer substation - Google Patents
Robot automatic flexible welding production line and production process for box-type transformer substation Download PDFInfo
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- CN107953045B CN107953045B CN201711423421.5A CN201711423421A CN107953045B CN 107953045 B CN107953045 B CN 107953045B CN 201711423421 A CN201711423421 A CN 201711423421A CN 107953045 B CN107953045 B CN 107953045B
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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 to a procedure covered by only one of the preceding main groups
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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 to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/36—Electric or electronic devices
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Abstract
The invention discloses a robot automatic flexible welding production line of a box-type transformer substation and a production process, wherein the robot automatic flexible welding production line comprises conveying equipment and assembly spot welding equipment which is sequentially arranged, and the assembly spot welding equipment comprises a first welding robot assembly and a flexible platform for frame assembly, and is used for assembling a frame and performing primary welding; the back welding device comprises a second welding robot assembly and is used for welding the back of the frame; the overturning device is used for clamping, moving up and down and overturning the frame; the front welding device comprises a third welding robot assembly and is used for welding the front of the frame; the panel welding equipment comprises a panel feeding table device and a fourth welding robot assembly, and is used for welding the panel to the frame. The invention uses the robot to automatically flexibly weld the production line, is suitable for welding the box-type substations with different sizes, improves the welding efficiency and welding quality, and reduces the production cost.
Description
Technical Field
The invention relates to the technical field of welding production, in particular to a robot automatic flexible welding production line and a production process of a box-type transformer substation.
Background
The box-type transformer substation, also called preassembled transformer substation, is a device integrating the functions of high-voltage switch and distribution transformation. The box-type substation has developed extremely rapidly since the advent of the prior art. Along with the rapid development of China modernization, the urban distribution network is updated and reformed continuously, and the box-type transformer substation is widely applied.
When the box-type transformer substation is produced, various sectional materials with different specifications are welded into a frame, and then the panel is welded on the basis of frame welding. Because the workpiece of the box-type transformer substation is large in size, the requirement on welding quality is high, and automatic welding is not easy to realize. At present, manual welding is mainly adopted for welding the box-type transformer substation in the industry, and the welding quality is unstable, the welding efficiency is low, the production cost is high, the working strength is high, and the method is not suitable for the development requirements of modern enterprises.
Disclosure of Invention
The invention aims to provide an automatic flexible welding production line and a production process for a box-type substation robot, which are low in processing and manufacturing cost, convenient to clamp and low in labor intensity of workers, so that the welding efficiency and positioning accuracy are improved, the welding deformation is reduced, and the product quality is improved.
In order to achieve the above object, the present invention provides the following solutions:
the invention discloses a robot automatic flexible welding production line of a box-type transformer substation, which carries out preset processing on semi-finished products along with the conveying of conveying equipment, and comprises the conveying equipment and the following components in sequence:
the assembly spot welding device comprises a first welding robot assembly and a flexible platform for frame assembly, and is used for assembling the frame and performing primary welding;
the back surface welding equipment comprises a second welding robot assembly which is used for welding the back surface of the frame;
the overturning device is used for clamping, moving up and down and overturning the frame;
the front welding equipment comprises a third welding robot assembly which is used for welding the front of the frame;
the panel welding equipment comprises a panel feeding table device and a fourth welding robot assembly, and the panel welding equipment is used for welding the panel to the frame.
Preferably, the conveying device comprises a track, a first module trolley, a second module trolley, a third module trolley and a fourth module trolley, wherein the first module trolley, the second module trolley, the third module trolley and the fourth module trolley are moved along the track, the first module trolley is used for conveying semi-finished products between the flexible platform for frame assembly and the back welding device, the second module trolley is used for conveying semi-finished products between the back welding device and the turning device, the third module trolley is used for conveying semi-finished products between the turning device and the front welding device, and the fourth module trolley is used for conveying semi-finished products between the front welding device and the panel welding device.
Preferably, the first module trolley, the second module trolley, the third module trolley and the fourth module trolley all comprise an electric flat car and a flexible tool system, the electric flat car comprises a frame, wheels, a gear motor and a buffer device, the wheels, the gear motor and the buffer device are arranged on the frame, and the flexible tool system comprises a length positioning manual tool, a width positioning manual tool and a width positioning servo tool.
Preferably, the first welding robot assembly comprises a first truss and a first welding robot movably arranged on the first truss, a first welding seam tracking system and a ground rail slidably connected with the first truss;
the second welding robot assembly comprises a second truss, a second welding robot, a second welding seam tracking system and a first lifting system, wherein the second welding robot, the second welding seam tracking system and the first lifting system are movably arranged on the second truss;
the third welding robot assembly comprises a third truss, a third welding robot, a third welding seam tracking system and a second lifting system, wherein the third welding robot, the third welding seam tracking system and the second lifting system are movably arranged on the third truss;
the fourth welding robot assembly comprises a fourth truss, a fourth welding robot movably arranged on the fourth truss, a fourth weld joint tracking system and a grabbing mechanism.
Preferably, the first truss, the second truss, the third truss and the fourth truss are all provided with a linear movement mechanism, the linear movement mechanism comprises a motor, a sliding block, a gear and a rack, the sliding block is slidably arranged on the first truss, the second truss, the third truss and the fourth truss, the motor drives the gear to rotate, the gear is meshed with the rack, and the sliding block is arranged on the rack.
Preferably, the flexible platform for frame assembly comprises an assembly working platform, a support adjusting module for adjusting the angle of the assembly working platform and a flexible combined fixture arranged on the assembly working platform.
Preferably, the flexible combined tool fixture comprises a plurality of positioning elements, supporting elements, adjusting elements and locking elements with different sizes.
Preferably, the turning device comprises a rotary positioner device, the rotary positioner device comprises a horizontal moving device, a vertical moving device, a turning frame and a hydraulic vice, the hydraulic vice is arranged on the turning frame, and the horizontal moving device and the vertical moving device are used for adjusting the horizontal position and the vertical position of the turning frame.
The invention also discloses an automatic flexible production process of the box-type substation robot, which comprises the following steps:
1) Conveying a frame of the box-packaged transformer substation to an assembly spot welding station, and sequentially assembling, clamping and spot welding the front surface of the frame downwards;
2) Conveying the frame to a back welding station, and performing back automatic welding;
3) Conveying the frame to a reverse repair welding station, and performing manual repair welding;
4) Conveying the frame to a turnover station and turning the frame to be right-side-up;
5) Conveying the frame to a front welding station, and performing front automatic welding;
6) Conveying the frame to a front repair welding station, and performing manual repair welding;
7) Respectively conveying the frame and the panel to a panel welding station, and automatically welding the panel to the frame to obtain a box-type transformer substation frame;
8) And conveying the box-type substation frame to the front repair welding station to finish panel repair welding.
Preferably, a module trolley is arranged between two adjacent stations, and semi-finished products are conveyed through the module trolley.
Compared with the prior art, the invention has the following technical effects:
the invention has the advantages of convenient work piece loading and unloading, low labor intensity, realization of welding of various box-type substations with different specifications and good flexibility. The front and back welding of the framework can be realized through the turnover equipment, the welding processing cost of the robot is reduced, the operation process is simplified, the processing precision is ensured, the working efficiency is improved, the labor intensity of workers, the labor cost and the management cost are reduced, and the enterprise needs are met.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a station schematic diagram of an automated flexible welding production line for a box-type substation robot of the present invention;
FIG. 2 is a schematic structural view of the automated flexible welding production line of the box-type substation robot of the present invention;
FIG. 3 is a schematic diagram of a structure of an assembled spot welding device in the automated flexible welding production line of a box-type substation robot;
FIG. 4 is an enlarged view of a portion of the flexible platform for frame assembly in the automated flexible welding line of the box-type substation robot of the present invention;
FIG. 5 is a schematic diagram of the structure of the conveying equipment in the automated flexible welding production line of the box-type substation robot of the present invention;
FIG. 6 is a schematic diagram of the structure of the back side welding equipment in the automated flexible welding production line of the box-type substation robot of the present invention;
FIG. 7 is a schematic structural view of a turnover device in the automated flexible welding production line of the box-type substation robot of the present invention;
FIG. 8 is a schematic structural view of a front welding device in the automated flexible welding production line of the box-type substation robot of the present invention;
FIG. 9 is a schematic structural view of a panel welding device in the automated flexible welding production line of the box-type substation robot of the present invention;
FIG. 10 is a schematic diagram of a modular cart in the automated flexible welding production line of a box-type substation robot according to the present invention;
reference numerals illustrate: a. assembling a spot welding station; b. a trolley feeding station; c. a back welding station; d. a reverse repair welding station; e. a turnover station; f. a front welding station; g. a front repair welding station; h. a panel welding station; 1. assembling spot welding equipment; 2. a conveying device; 3. a back welding device; 4. a flipping device; 5. front welding equipment; 6. a panel welding device; 10. a first welding robot assembly; 11. a flexible platform for frame assembly; 20. a first modular cart; 21. a second module trolley; 22. a third module trolley; 23. a fourth modular cart; 24. a track; 30. a second welding robot assembly; 40. a first rotary positioner device; 41. a second rotary positioner device; 50. a third welding robot assembly; 60. a fourth welding robot assembly; 61. a panel feeding table device; 100. a ground rail; 101. a first truss; 102. a first welding robot; 103. a first weld tracking system; 110. assembling a working platform; 111. a support adjustment module; 112. a flexible combined tool clamp; 200. an electric flatcar; 201. a flexible tooling system; 300. a second truss; 301. a first work lifting mechanism; 302. a second work piece lifting mechanism; 303. a second welding robot; 304 a second weld tracking system; 400. a horizontal movement device; 401. a vertical movement device; 402. a roll-over stand; 403. a hydraulic vice; 500. a third truss; 501. a third workpiece lifting mechanism; 502. a fourth work piece lifting mechanism; 503; a third welding robot; 504. a third weld tracking system; 600. a fourth truss; 601. a material grabbing mechanism; 602. a fourth welding robot; 603. a fourth weld tracking system; 2000. a frame; 2001. a wheel; 2002. a speed reducing motor; 2003. a buffer device; 2010. a length positioning manual tool; 2011. a width positioning manual tool; 2012. and (5) a width positioning servo tool.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only 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.
The invention aims to provide an automatic flexible welding production line and a production process for a box-type substation robot, which have the advantages of low processing and manufacturing cost, convenience in clamping and small labor intensity of workers, so as to solve the technical problems in the prior art.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 1, the embodiment provides an automated flexible production process for a box-type substation robot, which comprises the following steps:
1) Conveying frame parts forming the box-type transformer substation to an assembly spot welding station a, and sequentially assembling, clamping and spot welding the front face of the frame downwards;
2) Feeding the frame at a trolley feeding station b, conveying the frame to a reverse welding station c, and automatically welding the reverse;
3) Conveying the frame to a reverse repair welding station d, and performing manual repair welding;
4) Conveying the frame to a turnover station e and turning the frame to be right-side-up;
5) Conveying the frame to a front welding station f, and automatically welding the front;
6) Conveying the frame to a front repair welding station g, and performing manual repair welding;
7) Conveying the frame and the panel to a panel welding station h respectively, and automatically welding the panel to the frame to obtain a box-type transformer substation frame;
8) And conveying the box-type transformer substation to a front repair welding station g to finish panel repair welding.
As shown in fig. 2, the embodiment also provides a robot-automated flexible welding production line for a box-type substation, so as to complete the production process. The production line carries out preset processing on semi-finished products along with the conveying of the conveying equipment 2, and comprises the conveying equipment 2, and an assembly spot welding equipment 1, a back surface welding equipment 3, a turnover equipment 4, a front surface welding equipment 5 and a panel welding equipment 6 which are sequentially arranged. Wherein the assembly spot welding apparatus 1 includes a first welding robot assembly 10 and a flexible platform 11 for frame assembly for assembling a frame and performing preliminary welding. The back side welding apparatus 3 includes a second welding robot assembly 30 for welding the back side of the frame. The turning device 4 comprises a first rotary indexer device 40 and a second rotary indexer device 41 for clamping, moving up and down and turning the frame. The front face welding apparatus 5 includes a third welding robot assembly 50 for welding the front face of the frame. The panel welding apparatus 6 includes a fourth welding robot assembly 60 and a panel loading table device 61 for welding the panel to the frame after being loaded through the panel loading table device 61. The following is a detailed description with reference to the accompanying drawings.
As shown in fig. 3, the assembly spot welding apparatus 1 is provided at an assembly spot welding station a, and includes a first welding robot assembly 10 and a frame assembly flexible stage 11. The first welding robot assembly 10 includes a first truss 101 and a first welding robot 102 movably disposed on the first truss 101, a first weld tracking system 103, and a ground rail 100 slidably coupled to the first truss 101 such that the first welding robot 102 can automatically track the weld spot to any point of the frame plane, completing the stitch welding of the workpiece frame. The first welding robot 102 is a spot welding robot, and is a Nanjing Eston ER16-1600 small six-axis robot, the load capacity is 16kg, the movement range is 1600mm, and the welding requirement of a box-type transformer substation workpiece is met. Aiming at the characteristic of large size of the box-type transformer substation, the working space of the first welding robot assembly 10 is expanded by arranging the ground rail 100, so that the precision is high, the bearing is large, and the deformation is difficult.
As shown in fig. 4, the flexible platform 11 for frame assembly includes an assembly work platform 110, a support adjustment module 111 for adjusting the angle of the assembly work platform 110, and a flexible combination tool clamp 112 provided on the assembly work platform 110. The platform is suitable for rapid splicing of workpieces with the length of 1.8-8 m, the width of 1.2-3 m and the height of 80-200 mm. The working table surface of the assembly working platform 110 can be spliced and combined according to the shape and the size of a workpiece, the assembly working platform has high-precision characteristics and three-dimensional characteristics, and scales and module sizes on the table surface are designed, so that an operator can quickly put out required tool working table surfaces and round holes of D16 or D28 matched with various functional modules on the plane and four sides at intervals of 25mm, 50mm or 100mm, the hole spacing size tolerance of any hole is +/-0.05 mm, the precision of a machined workpiece is ensured, and the adjustment of a tool clamp in a three-dimensional space can be realized. The supporting and adjusting module 111 is disposed at the bottom of the assembly working platform 110 and supports the same, and can be used for three-dimensional space splicing, and is suitable for box-type substation workpieces with different specifications. The flexible combined fixture 112 comprises positioning elements, supporting elements, adjusting elements and locking elements with different sizes, is rapid to assemble and convenient to assemble and disassemble, and is suitable for rapid model changing of box-type substation products with different sizes.
As shown in fig. 5, the conveying apparatus 2 includes a rail 24 and first, second, third, and fourth modular carts 20, 21, 22, and 23 that move along the rail 24. The four module trolleys have the same structure, and feeding and taking among different stations are completed according to a set time sequence. The first modular trolley 20 is used for conveying semi-finished products between the flexible platform 11 for frame assembly and the back welding device 3, the second modular trolley 21 is used for conveying semi-finished products between the back welding device 3 and the turning device 4, the third modular trolley 22 is used for conveying semi-finished products between the turning device 4 and the front welding device 5, and the fourth modular trolley 23 is used for conveying semi-finished products between the front welding device 5 and the panel welding device 6.
As shown in fig. 6, the back surface welding apparatus 3 includes a second welding robot assembly 30, wherein the second welding robot assembly 30 includes a second truss 300 and a second welding robot 303, a second seam tracking system 304, and a first lifting system movably provided on the second truss 300 such that the second welding robot 303 can be welded to an arbitrary position of the back surface of the workpiece. The first lifting system comprises a first work piece lifting mechanism 301 and a second work piece lifting mechanism 302 for smooth lifting after clamping of both sides of the work piece to be machined. The moving speed of the suspension parts such as the second welding robot 303 on the second truss 300 can reach more than 30m/min, and the acceleration can reach 0.5m/s 2 Repeated positioning accuracy + -0.1 mm. The first workpiece lifting mechanism 301 and the second workpiece lifting mechanism 302 are driven by the air cylinder, and lift the frame of the box-type substation in place and separate from the trolley module to assist in completing the movement of replacing the trolley module by the frame.
As shown in fig. 7, the turning device 4 comprises a first rotary positioner device 40 and a second rotary positioner device 41, and the first rotary positioner device 40 and the second rotary positioner device 41 cooperate to finish 180-degree turning of the front and the back of the workpieces of different box-type substations. The rotary positioner device includes a horizontal movement device 400, a vertical movement device 401, a roll-over stand 402, and a hydraulic vice 403, the hydraulic vice 403 being provided on the roll-over stand 402, the horizontal movement device 400 and the vertical movement device 401 being used to adjust the horizontal position and the vertical position of the roll-over stand 403. After the workpiece is in place, the rotary positioner is in place through the cooperative action of the horizontal moving device 400 and the vertical moving device 401; the hydraulic vice 403 lifts up and compresses the workpiece from the second module trolley 21, and after clamping, the turnover frame finishes 180-degree front and back turnover; after the overturning is completed, the workpiece is placed on the third module trolley 22, and the workpiece is conveyed to the next equipment by the third module trolley 22. The rotary positioner device can move in the length and height directions of the chassis workpiece of the box transformer substation so as to adapt to 180-degree turnover of the front side and the back side of the box transformer substation frames with different specifications.
As shown in fig. 8, the front face welding apparatus 5 includes a third welding robot assembly 50, wherein the third welding robot assembly 50 includes a third truss 500 and a third welding robot 503, a third seam tracking system 504, and a second lifting system movably provided on the third truss 500 such that the third welding robot 503 completes automated welding of an arbitrary position of the front face of the workpiece. The second lifting system includes a third workpiece lifting mechanism 501 and a fourth workpiece lifting mechanism 502. The moving speed of the suspension parts such as the third welding robot 503 on the third truss 500 can reach more than 30m/min, and the acceleration can reach 0.5m/s 2 Repeated positioning accuracy + -0.1 mm. The third workpiece lifting mechanism 501 and the fourth workpiece lifting mechanism 502 are driven by an air cylinder, and are lifted after the frame of the box-type substation is in place and separated from the trolley module, so as to assist in completing the action of replacing the trolley module by the frame.
As shown in fig. 9, the panel welding apparatus 6 includes a fourth welding robot assembly 60 and a panel loading table device 61, wherein the fourth welding robot assembly 60 includes a fourth truss 600 and a material grabbing mechanism 601, a fourth welding robot 602, and a fourth seam tracking system 603 movably disposed on the fourth truss 600. The panel feeding table device 61 is provided with a magnetic separating mechanism, so that the overlapped panels can be separated in the material taking process. The panel welding equipment 6 can finish automatic feeding and welding (spot welding) of the panel, and can finish panel welding work with the panel thickness of 2mm and the panel size of 500x500 mm-1000 x2000 mm. Wherein the gripping mechanism 601 completes the transfer of the panel from the panel loading station apparatus 61 to the conveying device 2.
As shown in fig. 10, each modular cart includes an electric flatcar 200 and a flexible tooling system 201. The effective load of the modular trolley is 3 tons, the size specification is 32mm (length) X8150mm (width) X500mm (height), and the modular trolley can adapt to the transfer among stations of box-type substation frame workpieces with the length of 1.8-8 meters, the width of 1.2-3 meters, the height of 80-200mm and the weight of 90 Kg-1450 Kg. The electric flat car 200 includes a frame 2000 and wheels 2001, a gear motor 2002, and a buffer 2003 provided on the frame 2000. The flexible tooling system 201 includes a length positioning manual tooling 2010, a width positioning manual tooling 2011, and a width positioning servo tooling 2012. The length positioning manual tool 2010 and the width positioning manual tool 2011 are fixed tools, can be manually adjusted and moved only, and the width positioning servo tool 2012 is an automatic adjustment tool, and is driven by a servo motor to automatically adjust the linear modules, so that automatic clamping and positioning of box-type transformer substation frames with different specifications are completed.
The first truss 101, the second truss 300, the third truss 500 and the fourth truss 600 are all provided with linear movement mechanisms, each linear movement mechanism comprises a motor, a sliding block, a gear and a rack, the sliding blocks are slidably arranged on the first truss 101, the second truss 300, the third truss 500 and the fourth truss 600, the motor drives the gears to rotate, the gears are meshed with the racks, and the sliding blocks are arranged on the racks. By the linear movement mechanism, the movable arrangement of the structures such as the welding robot, the weld tracking system and the like along the length direction of the first truss 101, the second truss 300, the third truss 500 and the fourth truss 600 is realized.
In operation, referring to fig. 1, the flexible combined fixture 112 on the assembly working platform 110 is adjusted at the assembly spot welding station a manually, then the frame of the box-type transformer substation is assembled at the assembly working platform 110 manually, the front face is downward, the assembled frame is clamped, an operator exits, the first welding robot assembly 10 is started to perform spot welding positioning, the welding seam is taught and programmed through the first workpiece of the same kind, and the welding seam is automatically located, so that automatic welding is realized.
After the spot welding is finished, the frame after spot welding is placed on the first module trolley 20 through the first truss 101 at the trolley feeding station b, the flexible tool system 201 is automatically clamped and positioned, and the first module trolley 20 conveys the frame to the back welding station c.
In the back welding station c, the second welding robot assembly 30 performs welding, the welding seam is subjected to teaching programming through the first workpiece of the same kind, the welding seam is automatically located, automatic welding is realized, after welding is finished, the first workpiece lifting mechanism 301 and the second workpiece lifting mechanism 302 of the back welding device 3 lift the frame, the first module trolley 20 returns to the trolley feeding station b, the second module trolley 21 enters the back welding station c, the first workpiece lifting mechanism 301 and the second workpiece lifting mechanism 302 of the back welding device 3 drop the frame on the second module trolley 21, and the second module trolley 21 conveys the frame to the back manual repair welding station d.
And in the reverse side manual repair welding station d, repair welding is performed manually according to the welding condition of the robot, and after the repair welding is finished, the repair welding is conveyed to the base overturning station e by the second module trolley 21.
At the turning station e, the first rotary positioner device 40 and the second rotary positioner device 41 cooperatively lift and turn the frame, the second modular cart 21 returns to the reverse welding station d, the third modular cart 22 moves to the turning station e, the first rotary positioner device 40 and the second rotary positioner device 41 place the frame on the third modular cart 22 with the frame facing upward, and the third modular cart 22 moves to the front welding station f.
At the front welding station f, the third welding robot assembly 50 performs front welding on the frame, the welding seam is taught and programmed through the first workpiece of the same type, the welding seam is automatically located, automatic welding is achieved, after welding is completed, the frame is lifted by the third workpiece lifting mechanism 501 and the fourth workpiece lifting mechanism 502 of the front welding equipment 5, the third module trolley 22 returns to the overturning station e, the fourth module trolley 23 moves to the front welding station f, the frame is placed on the fourth module trolley 23 by the third workpiece lifting mechanism 501 and the fourth workpiece lifting mechanism 502, and the frame is conveyed to the front manual repair welding station g by the fourth module trolley 23.
In the front manual repair welding station g, repair welding is performed manually according to the welding condition of the robot, and after the repair welding is finished, the repair welding is conveyed to a panel welding station h by a fourth module trolley 23;
at the panel welding station h, the panel is sent to a designated position by the panel feeding table device 61, the panel is welded by the fourth welding robot assembly 60, after the panel is welded, the panel is conveyed to the front face manual repair welding station g by the fourth module trolley 23, and after the front face repair welding of the panel is manually finished, the finished chassis of the box-type transformer substation is transferred to the next working procedure.
It should be noted that the present embodiment exemplifies the number and configuration of the conveying apparatus, the welding robot, the truss, and other structures, and those skilled in the art may select according to actual needs, and is not limited to the above embodiment.
The principles and embodiments of the present invention have been described in this specification with reference to specific examples, the description of which is only for the purpose of aiding in understanding the method of the present invention and its core ideas; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (9)
1. Automatic flexible welding production line of box-type substation robot carries out predetermined processing along with thereby conveying equipment's semi-manufactured goods, its characterized in that: comprising the conveying equipment and the conveying equipment sequentially arranged
The assembly spot welding device comprises a first welding robot assembly and a flexible platform for frame assembly, and is used for assembling the frame and performing primary welding;
the back surface welding equipment comprises a second welding robot assembly which is used for welding the back surface of the frame;
the overturning device is used for clamping, moving up and down and overturning the frame;
the front welding equipment comprises a third welding robot assembly which is used for welding the front of the frame; and
the panel welding equipment comprises a panel feeding table device and a fourth welding robot assembly, and is used for welding the panel to the frame;
the first welding robot assembly comprises a first truss, a first welding robot movably arranged on the first truss, a first welding seam tracking system and a ground rail slidably connected with the first truss;
the second welding robot assembly comprises a second truss, a second welding robot, a second welding seam tracking system and a first lifting system, wherein the second welding robot, the second welding seam tracking system and the first lifting system are movably arranged on the second truss; the first lifting system comprises a first workpiece lifting mechanism and a second workpiece lifting mechanism, and is used for stably lifting after two sides of a workpiece to be machined are clamped;
the third welding robot assembly comprises a third truss, a third welding robot, a third welding seam tracking system and a second lifting system, wherein the third welding robot, the third welding seam tracking system and the second lifting system are movably arranged on the third truss; the second lifting system comprises a third workpiece lifting mechanism and a fourth workpiece lifting mechanism; the third workpiece lifting mechanism and the fourth workpiece lifting mechanism are driven by an air cylinder, so that the frame of the box-type transformer substation is lifted in place and separated from the trolley module, and the action of replacing the trolley module by the frame is assisted;
the fourth welding robot assembly comprises a fourth truss, a fourth welding robot movably arranged on the fourth truss, a fourth weld joint tracking system and a grabbing mechanism.
2. The automated flexible welding line for a box-type substation robot of claim 1, wherein:
the conveying equipment comprises a track, a first module trolley, a second module trolley, a third module trolley and a fourth module trolley, wherein the first module trolley, the second module trolley, the third module trolley and the fourth module trolley are moved along the track, the first module trolley is used for conveying semi-finished products between the flexible platform for frame assembly and the back welding equipment, the second module trolley is used for conveying the semi-finished products between the back welding equipment and the turnover equipment, the third module trolley is used for conveying the semi-finished products between the turnover equipment and the front welding equipment, and the fourth module trolley is used for conveying the semi-finished products between the front welding equipment and the panel welding equipment.
3. The automated flexible welding line for a box-type substation robot according to claim 2, wherein:
the first module trolley, the second module trolley, the third module trolley and the fourth module trolley all comprise an electric flat car and a flexible tool system, the electric flat car comprises a frame and wheels, a gear motor and a buffer device, the wheels, the gear motor and the buffer device are arranged on the frame, and the flexible tool system comprises a length positioning manual tool, a width positioning manual tool and a width positioning servo tool.
4. The automated flexible welding line for a box-type substation robot of claim 1, wherein:
the first truss, the second truss, the third truss and the fourth truss are all provided with linear movement mechanisms, each linear movement mechanism comprises a motor, a sliding block, a gear and a rack, the sliding blocks are slidably arranged on the first truss, the second truss, the third truss and the fourth truss, the motor drives the gears to rotate, the gears are meshed with the racks, and the sliding blocks are arranged on the racks.
5. The automated flexible welding line for a box-type substation robot of claim 1, wherein:
the flexible platform for frame assembly comprises an assembly working platform, a support adjusting module for adjusting the angle of the assembly working platform and a flexible combined tool clamp arranged on the assembly working platform.
6. The automated flexible welding line for a box-type substation robot of claim 5, wherein:
the flexible combined tool clamp comprises a plurality of positioning elements, supporting elements, adjusting elements and locking elements which are in different sizes.
7. The automated flexible welding line for a box-type substation robot of claim 1, wherein:
the turnover equipment comprises a rotary positioner device, wherein the rotary positioner device comprises a horizontal moving device, a vertical moving device, a turnover frame and a hydraulic vice, the hydraulic vice is arranged on the turnover frame, and the horizontal moving device and the vertical moving device are used for adjusting the horizontal position and the vertical position of the turnover frame.
8. An automated flexible production process for a box-type substation robot, which is completed by using the automated flexible welding production line for the box-type substation robot according to any one of claims 1 to 7, and is characterized by comprising the following steps:
1) Conveying a frame of the box-packaged transformer substation to an assembly spot welding station, and sequentially assembling, clamping and spot welding the front surface of the frame downwards;
2) Conveying the frame to a back welding station, and performing back automatic welding;
3) Conveying the frame to a reverse repair welding station, and performing manual repair welding;
4) Conveying the frame to a turnover station and turning the frame to be right-side-up;
5) Conveying the frame to a front welding station, and performing front automatic welding;
6) Conveying the frame to a front repair welding station, and performing manual repair welding;
7) Respectively conveying the frame and the panel to a panel welding station, and automatically welding the panel to the frame to obtain a box-type transformer substation;
8) And conveying the box-type transformer substation to the front repair welding station to finish panel repair welding.
9. The automated flexible production process of a box-type substation robot according to claim 8, which is characterized in that
The method is characterized in that:
and a module trolley is arranged between two adjacent stations, and semi-finished products are conveyed through the module trolley.
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