CN109967904B - Automatic assembling and welding method for trailer - Google Patents
Automatic assembling and welding method for trailer Download PDFInfo
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- CN109967904B CN109967904B CN201711467834.3A CN201711467834A CN109967904B CN 109967904 B CN109967904 B CN 109967904B CN 201711467834 A CN201711467834 A CN 201711467834A CN 109967904 B CN109967904 B CN 109967904B
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- trailer
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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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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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
-
- 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
- B23K37/02—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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/006—Vehicles
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- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Automatic Assembly (AREA)
Abstract
The invention relates to the technical field of automatic control, in particular to an automatic assembling and welding method of a trailer, which comprises the following steps: acquiring image information of a material tray, analyzing the image information of the material tray, and decomposing part image information corresponding to each trailer part in the material tray from the image information of the material tray; according to the part image information, positioning the positions of the trailer parts in the material tray, and controlling a transfer robot to transfer the trailer parts to a preset welding position; the welding robot performs spot welding fixing on the trailer parts moving to the preset welding position to obtain a preliminarily fixed trailer assembly; and the welding robot performs full welding on the position needing to be welded in the preliminarily fixed trailer assembly. The invention greatly improves the assembly precision of trailer parts, so that the trailer parts can be assembled by using the robot in the production welding process of the trailer, and the production efficiency of the trailer is greatly improved.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to an automatic assembling and welding method for a trailer.
Background
A trailer refers to a vehicle that is towed by a car without power drive per se, which is an important vehicle category for road transport. The trailer is divided into a full trailer and a semitrailer according to the connection mode of the trailer and the tractor. A trailer with the full trailer pulled by a tractor and the full mass borne by itself; a trailer that is towed by a tractor and whose part of the mass is taken up by the tractor. The structure of the semitrailer comprises: traction module, spring support and traction pin; the traction module is used as a force transmission connecting piece of the tractor and the semitrailer and is the most central part in the whole semitrailer structure, the spring bracket and the traction pin are the most important stressed parts of the whole semitrailer body, and the requirements of the parts on production precision are quite high due to the importance of the parts on the semitrailer body. In the prior art, because the assembly precision of the robot is not high, in order to ensure the production precision and the production quality of the robot, the assembly welding of the parts can be produced only by a manual processing mode, and the production efficiency is not high.
Disclosure of Invention
In order to overcome the above-mentioned drawbacks, the present invention provides an automatic manufacturing method for a trailer.
The purpose of the invention is realized by the following technical scheme:
the invention relates to an automatic assembling and welding method of a trailer, which comprises the following steps:
acquiring image information of a material tray, and identifying the position information of each trailer part; analyzing the image information of the material tray, and decomposing part image information corresponding to each trailer part in the material tray from the image information of the material tray;
controlling a carrying robot to grab the corresponding part and carry the part to a preset welding position according to the position information of the part placement;
controlling a welding robot to perform spot welding fixing on the trailer parts conveyed to the preset welding position;
and after all parts placed on the material tray are fixed by spot welding, obtaining the primarily fixed trailer assembly, and controlling the welding robot to fully weld the positions needing to be welded in the primarily fixed trailer assembly.
In the present invention, the control welding robot, after performing spot welding fixing on the trailer part transported to the predetermined welding position, comprises:
judging whether trailer parts exist in the material tray or not according to the image information of the material tray and the part image information, if so, continuously controlling the carrying robot to grab corresponding parts and carry the parts to a preset welding position; and if not, controlling the welding robot to carry out full welding on the position needing to be welded in the trailer assembly after the initial fixing.
In the present invention, the acquiring the image information of the tray comprises:
scanning and identifying the identification code on the material tray to obtain identification information corresponding to the identification code;
and matching the identification information with pre-input production task information, if the matching is successful, acquiring the image information of the material tray in the material tray, and if the matching is unsuccessful, giving an alarm.
In the present invention, before scanning and identifying the identification code on the tray, the method includes:
stacking a predetermined number of trailer parts in a material tray in a material preparing area according to a predetermined sequence, wherein the information of the trailer parts is consistent with the identification code on the material tray;
more than two material trays with trailer parts are stacked, and the stacked material trays are transported to a feeding area by an unmanned guide vehicle.
In the present invention, the determining whether there are trailer parts in the tray according to the image information of the tray and the part image information further comprises:
and if not, controlling the transfer robot to transfer the empty material tray to the empty material tray placing area.
In the invention, after the stacked material trays are transported to the feeding area by the unmanned guide vehicle, the method comprises the following steps:
and controlling the unmanned guide vehicle to transport the material trays placed in the empty material tray placing area to the material preparing area.
In the invention, before the control welding robot performs full welding on the position needing welding in the preliminarily fixed trailer assembly, the control welding robot comprises the following steps:
and clamping the preliminarily fixed trailer assembly and turning the trailer assembly to a preset angle.
In the present invention, the controlling the transfer robot to pick up the corresponding part and transfer the part to the predetermined welding position further includes:
acquiring rotation angle information of a clamping piece in the transfer robot;
and adjusting the rotation angle of the clamping piece according to the image information of the part, so that the rotation angle of the clamping piece is matched with the upper surface of the trailer part.
In the invention, after the control welding robot performs full welding on the position needing welding in the trailer assembly after the initial fixing, the control welding robot comprises the following steps:
and controlling the transfer robot to transfer the fully welded trailer assembly to a blanking area, and transporting the trailer assembly to a preset area by using an unmanned guide vehicle.
In the invention, after the control welding robot performs full welding on the position needing welding in the trailer assembly after the initial fixing, the control welding robot comprises the following steps:
and controlling the unmanned guided vehicle to acquire the trailer assembly from the welding position and transport the trailer assembly to a preset area.
The invention utilizes the visual identification technology to identify and position and assemble the parts to be processed, thereby greatly improving the assembly precision of trailer parts, leading trailer parts in the production and welding process of the trailer to be assembled by using the robot, realizing full-automatic production by using the robot and greatly improving the production efficiency of the trailer.
Drawings
For the purpose of easy explanation, the present invention will be described in detail with reference to the following preferred embodiments and the accompanying drawings.
FIG. 1 is a schematic view of the operation of an embodiment of the automatic assembly welding method of a trailer of the present invention;
FIG. 2 is a schematic view of the operation of another embodiment of the automatic assembly welding method for a trailer of the present invention;
fig. 3 is a schematic work flow diagram of another embodiment of the automatic splicing and welding method for the trailer of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it is to 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", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the description of the present invention, it should be noted that the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected unless otherwise explicitly stated or limited. Either mechanically or electrically. Either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The following describes a method for automatically assembling and welding a trailer according to the present invention, taking the production of a semitrailer as an example, with reference to fig. 1, which includes:
s101, acquiring part image information
Acquiring image information of a material tray by using a camera to take a picture, wherein the image information of the material tray contains images of various trailer parts and position information of the trailer parts in the material tray; analyzing the image information of the material tray, and decomposing part image information corresponding to each trailer part in the material tray from the image information of the material tray; taking a traction module as an example, 6-8 parts are generally placed in a material tray of the traction module, and comprise parts such as a traction plate, a traction cross beam, a traction longitudinal beam, a traction guide plate and the like, a camera respectively and independently shoots 1-2 pieces of contour characteristic information of the parts from top to bottom, the contour characteristic information generally selects diagonal characteristics of the parts, and the position offset of the parts is calculated; the contour characteristic information of the part is identified to analyze which part the part is, so that the image information of the material tray is analyzed to obtain the images of the parts such as the traction plate, the traction cross beam, the traction longitudinal beam, the traction guide plate and the like, and the positions of the parts in the material tray;
s102, carrying trailer parts
Respectively identifying images of the trailer parts according to the part image information, positioning the positions of the trailer parts in a material tray, and controlling a transfer robot to transfer the trailer parts and move the trailer parts to a preset welding position; when the transfer robot transfers the trailer parts, controlling the center line of the gripper of the transfer robot to keep parallel to the center line of the trailer parts according to the position offset identified by the camera; so that the hand grips of the transfer robot can accurately grip the trailer parts; because different trailer parts need to be arranged at different positions, part image information corresponding to each trailer part needs to be identified respectively, the corresponding trailer parts are provided and moved to the corresponding positions, and the situation that the parts are misplaced can be prevented;
s103, spot welding of parts of fixed trailer
The welding robot carries out spot welding fixing on the trailer parts moving to the preset welding position to obtain a primarily fixed trailer assembly, the carrying robot moves the trailer parts to the preset welding position, and then the welding robot carries out welding on the trailer parts clamped by the carrying robot and other trailer parts already placed on the welding position to enable the trailer parts to be fixed to form an integral trailer assembly; the assembling table arranged on the welding position does not need to be provided with a complex tool clamp, and the assembling and spot welding work can be completed under the cooperation of the welding robot only by utilizing the accurate positioning precision of the transfer robot;
s104, performing full welding on the position needing to be welded
The welding robot carries out full welding on the positions needing to be welded in the primarily fixed trailer assembly, and after all trailer parts are fixed, the welding robot welds all the positions fixed by spot welding and the welding seams among other parts to reach a full welding state, wherein the full welding is also called full welding, namely fusion welding is carried out on all the contact places of two workpieces to be welded together, and the full welding is suitable for the condition requiring higher welding strength; and the welding robot has the functions of automatic deviation correction of the welding seam starting point and automatic tracking of the long and straight welding seam, and can effectively ensure that the welding quality meets the requirements. Since the spot welding in step S103 is merely a fixing function between the respective parts, in this step, full-welding is required at the spot welding position; so as to ensure that the semi-trailer can meet the stress requirement of the semi-trailer. In addition, in the process of full welding in the step, the carrying robot is not required to participate, so that the carrying robot can finish other work in the full welding process, and the overall production efficiency is effectively improved.
The following describes a method for automatically assembling and welding a trailer according to the present invention, taking a welding process of a traction module in a semitrailer as an example, with reference to fig. 2, which requires controlling the cooperative work of an unmanned guided vehicle, a transfer robot, a welding robot, and a welding positioner, and includes:
s201, placing trailer parts in a material tray
Stacking trailer parts of a traction module in a material tray in a material preparing area according to a preset sequence, wherein the information of the trailer parts is consistent with an identification code on the material tray; because the traction module of the semitrailer is composed of parts such as a traction plate, a traction cross beam, a traction longitudinal beam, a traction guide plate and the like, and the parts need to be assembled in a certain sequence, when the parts are loaded into the material tray, the parts are stacked in a preset sequence, so that the area of the material tray is saved, the parts are conveniently taken out and assembled by a carrying robot in sequence, the parts of the traction module are loaded into the material tray provided with the identification code corresponding to the traction module, and the type of the parts in the material tray is conveniently identified by a system;
wherein, the identification code can be a bar code, a two-dimensional code and the like;
s202, conveying the material tray to a material loading area
More than two material trays with trailer parts are stacked, and the stacked material trays are transported to a feeding area by using the unmanned guide vehicle, so that the unmanned guide vehicle can transport a plurality of material trays at one time;
after the unmanned guide vehicle transports the material tray to the material loading area, the unmanned guide vehicle connects the material tray placed in the empty material tray placing area before the unmanned guide vehicle prepares to return to the material preparing area, and transports the material tray to the material preparing area for the next round of material preparing; the travel of the unmanned guide vehicle is effectively utilized, and the overall production efficiency is improved.
S203, obtaining identification information of the material tray
Scanning and identifying the identification code on the material tray to obtain identification information corresponding to the identification code;
s204, judging whether the identification information is matched or not
And matching the identification information with pre-input production task information, if the matching is successful, acquiring the image information of the material tray, and if the matching is unsuccessful, giving an alarm. In the assembling and welding process of the traction module, the production task information which is input in advance is 'traction module assembling', the identification code on the material tray is obtained, whether the identification code is 'traction module' or not is judged, if yes, the step S206 is carried out, the image information of the part is obtained, if not, the transported material tray is wrong, and the step S205 is carried out, and alarm prompt is carried out;
s205. alarm prompt
A buzzer, an indicator light and/or a display screen are/is utilized to carry out sound and/or light alarm prompt, and prompt information such as 'material tray error' and the like can be displayed in the display screen; meanwhile, the transfer robot transfers the tray to a predetermined area, and the predetermined area may include: an empty tray placement area or a wrong tray placement area; the empty tray placing area is used for placing empty trays, and the wrong tray placing area is used for placing wrong trays;
s206, acquiring part image information
Acquiring image information of a material tray in the material tray in a camera shooting mode, wherein the image information of the material tray contains images of various trailer parts and position information of the trailer parts in the material tray; analyzing the image information of the material tray, and decomposing part image information corresponding to each trailer part in the material tray from the image information of the material tray; images of parts such as a traction plate, a traction cross beam, a traction longitudinal beam, a traction guide plate and the like and positions of the parts in the material tray respectively can be obtained after the image information of the material tray is analyzed;
s207. carrying trailer parts
Identifying the part image information to obtain part type information corresponding to the part image information; meanwhile, rotation angle information of a clamping piece in the transfer robot at the current moment is acquired; the rotation angle of the clamping piece is adjusted according to the part image information, so that the rotation angle of the clamping piece is matched with the upper surface of the trailer part, the trailer part can be accurately clamped by the clamping piece in the transfer robot, the clamping is more stable, and the trailer part is effectively prevented from falling;
in the carrying process of the carrying robot, according to the part type information, selecting and carrying the trailer parts from the material trays in the feeding area in sequence according to the preset sequence, and moving the carried trailer parts to a preset welding position; the method comprises the following steps: the carrying robot sequentially grabs parts such as a traction plate, a traction cross beam, a traction longitudinal beam, a traction guide plate and the like from the material tray to a welding position on the welding positioner;
because different trailer parts need to be arranged at different positions, part image information corresponding to each trailer part needs to be identified respectively, the corresponding trailer parts are provided and moved to the corresponding positions, and the situation that the parts are misplaced can be prevented;
s208, spot welding to fix trailer parts
Controlling a welding robot to perform spot welding fixing on the trailer parts moving to the preset welding position to obtain a primarily fixed trailer assembly, moving the trailer parts to the preset welding position by a carrying robot, and welding the trailer parts clamped by the carrying robot with other trailer parts already placed on the welding position by the welding robot to fix the trailer assemblies into a whole; the assembling table arranged on the welding position does not need to be provided with a complex tool clamp, and the assembling and spot welding work can be completed under the cooperation of the welding robot only by utilizing the accurate positioning precision of the transfer robot;
s209, judging whether trailer parts exist
Judging whether trailer parts exist in the material tray or not according to the image information of the material tray and the part image information, if so, indicating that the assembly of the parts in the material tray is not completed, then S207. controlling the transfer robot to continuously transfer the trailer parts in the material tray to a preset welding position; if not, the assembly of the parts in the material tray is finished, the welding robot is controlled to fully weld the spot-welded positions in the preliminarily fixed trailer assembly, meanwhile, the carrying robot is controlled to carry the empty material tray to the empty material tray placing area, and after the unmanned guided vehicle carries out the next round of feeding, the empty material tray is carried back to the batching area;
s210, controlling the welding positioner to turn over
After a clamp on the welding positioner is controlled to clamp the preliminarily fixed trailer assembly, the welding positioner is turned over to turn over the trailer assembly to a preset angle, so that full welding of a welding robot is facilitated;
s211, carrying out full welding on the position needing to be welded
Controlling a welding robot to carry out full welding on positions needing to be welded in the primarily fixed trailer assembly, and after all trailer parts are fixed, welding the positions which are fixed by spot welding and welding seams among other parts by the welding robot to enable the positions to reach a full welding state, wherein the full welding is also called full welding, namely all contact positions of two workpieces to be welded together are subjected to fusion welding, and the full welding is suitable for the condition requiring higher welding strength; and the welding robot has the functions of automatic deviation correction of the welding seam starting point and automatic tracking of the long and straight welding seam, and can effectively ensure that the welding quality meets the requirements. Since the spot welding in step s208 is only for fixing the parts, full welding is required to be performed at the spot welding position in this step; so as to ensure that the semi-trailer can meet the stress requirement of the semi-trailer. In addition, in the process of performing full welding in the step, the carrying robot is not required to participate, so that in the full welding process, the carrying robot carries the empty material tray to the empty material tray placing area, and the overall production efficiency is effectively improved.
S212, transporting the trailer assembly to a preset area
And controlling the welding robot to convey the fully welded trailer assembly to a blanking area, and transporting the trailer assembly to a preset area by using an unmanned guide vehicle, wherein the preset area comprises a station or a storage area for further processing, and the like.
The following describes a method for automatically assembling and welding a trailer according to the present invention, taking a welding process of a spring bracket in a semitrailer as an example, with reference to fig. 3, which needs to control the cooperative work of an unmanned guided vehicle, a transfer robot, and a welding robot, and includes:
s301, placing trailer parts in material trays
Placing a spring bracket part with a trolley weight into a material tray in a material preparing area, wherein the information of the trailer part is consistent with the identification code on the material tray; the spring support of the semitrailer consists of parts such as a front spring, a middle spring, a rear spring, a spring support triangular rib plate and the like, and the parts of the spring support of one trolley weight are arranged in a material disc with a corresponding identification code, so that the system can conveniently identify the types of the parts in the material disc;
wherein, the identification code can be a bar code, a two-dimensional code and the like;
s302, conveying the material tray to a material loading area
More than two material trays with trailer parts are stacked, and the stacked material trays are transported to a feeding area by using the unmanned guide vehicle, so that the unmanned guide vehicle can transport a plurality of material trays at one time;
after the unmanned guide vehicle transports the material tray to the material loading area, the unmanned guide vehicle connects the material tray placed in the empty material tray placing area before the unmanned guide vehicle prepares to return to the material preparing area, and transports the material tray to the material preparing area for the next round of material preparing; the travel of the unmanned guide vehicle is effectively utilized, and the overall production efficiency is improved.
S303, acquiring identification information of the material tray
Scanning and identifying the identification code on the material tray to obtain identification information corresponding to the identification code;
s304, judging whether the identification information is matched or not
And matching the identification information with pre-input production task information, if the matching is successful, acquiring the image information of the material tray in the material tray, and if the matching is unsuccessful, giving an alarm. In the assembling and welding process of the traction module, the production task information which is pre-input is 'assembling of a spring support', the identification code on the material disc is obtained, whether the identification code is 'the spring support' or not is judged, if yes, the step S306 is carried out, the image information of the part is obtained, if not, the transported material disc is mistaken, and the step S305 is carried out, and alarm prompt is carried out;
s305. alarm prompt
A buzzer, an indicator light and/or a display screen are/is utilized to carry out sound and/or light alarm prompt, and prompt information such as 'material tray error' and the like can be displayed in the display screen; meanwhile, the transfer robot transfers the tray to a predetermined area, and the predetermined area may include: an empty tray placement area or a wrong tray placement area; the empty tray placing area is used for placing empty trays, and the wrong tray placing area is used for placing wrong trays;
s306, acquiring part image information
Acquiring image information of a material tray in the material tray in a camera shooting mode, wherein the image information of the material tray contains images of various trailer parts and position information of the trailer parts in the material tray; analyzing the image information of the material tray, and decomposing part image information corresponding to each trailer part in the material tray from the image information of the material tray; images of parts such as a traction plate, a traction cross beam, a traction longitudinal beam, a traction guide plate and the like and positions of the parts in the material tray respectively can be obtained after the image information of the material tray is analyzed;
s307, carrying trailer parts
Identifying the part image information to obtain part type information corresponding to the part image information; meanwhile, rotation angle information of a clamping piece in the transfer robot at the current moment is acquired; the rotation angle of the clamping piece is adjusted according to the part image information, so that the rotation angle of the clamping piece is matched with the upper surface of the trailer part, the trailer part can be accurately clamped by the clamping piece in the transfer robot, the clamping is more stable, and the trailer part is effectively prevented from falling;
in the carrying process of the carrying robot, the carrying robot respectively selects and carries the trailer parts in the material tray, and moves the carried trailer parts to a preset welding position; the welding position is arranged on a movable platform, and a frame assembly is placed on the platform in advance; because different trailer parts need to be arranged on different positions of the frame assembly, the whole transfer robot can move according to a preset track, the transfer robot is provided with an X-shaped external shaft, and the external shaft consists of main parts such as a rack guide rail, a servo motor, a speed reducer and the like. The servo motor is different from a common motor in that the number of turns and the degree of rotation of a motor bearing can be calculated according to the walking distance set by a system, and the control precision can reach +/-0.1 mm. And the servo motor can accurately rotate a designated angle and accurately position to a position required by a program when the system sends an instruction to enable the external shaft of the robot to move for a certain distance along the track. Therefore, based on the high-precision positioning principle of the transfer robot, the decoupling of the dimensional relationship among different parts can be completed by matching with a program instruction;
s308, spot welding to fix the parts of the trailer
Controlling a welding robot to perform spot welding fixing on the trailer parts moving to the preset welding position to obtain a preliminarily fixed frame assembly, moving the trailer parts to the preset welding position in the frame assembly by a carrying robot, and welding the trailer parts clamped by the carrying robot and other trailer parts already placed on the welding position by the welding robot to fix the trailer parts to form an integral frame assembly; the assembling table arranged on the welding position does not need to be provided with a complex tool clamp, and the assembling and spot welding work can be completed under the cooperation of the welding robot only by utilizing the accurate positioning precision of the transfer robot;
s309, judging whether trailer parts exist
Judging whether trailer parts exist in the material tray or not according to the image information of the material tray and the part image information, if so, indicating that the assembly of the parts in the material tray is not completed, carrying out step S307, controlling the carrying robot to carry the trailer parts in the material tray continuously and moving the trailer parts to a preset welding position; if not, the assembly of the parts in the material tray is finished, the welding robot is controlled to fully weld the spot-welded positions in the preliminarily fixed trailer assembly, meanwhile, the carrying robot is controlled to carry the empty material tray to the empty material tray placing area, and after the unmanned guided vehicle carries out the next round of feeding, the empty material tray is carried back to the batching area;
s310, performing full welding on positions needing to be welded
Controlling a welding robot to carry out full welding on spot-welded positions in the preliminarily fixed trailer assembly, and after all trailer parts are fixed, welding the welding robot to weld all the positions fixed by spot welding and welding seams among other parts to enable the welding seams to reach a full-welding state, wherein the full welding is also called full welding, namely all contact positions of two workpieces to be welded together are subjected to fusion welding, and the full-welding method is suitable for conditions requiring higher welding strength; and the welding robot has the functions of automatic deviation correction of the welding seam starting point and automatic tracking of the long and straight welding seam, and can effectively ensure that the welding quality meets the requirements. Since the spot welding in step s308 is only for fixing the parts, full welding is required to be performed at the spot welding position in this step; so as to ensure that the semi-trailer can meet the stress requirement of the semi-trailer. In addition, in the process of performing full welding in the step, the carrying robot is not required to participate, so that in the full welding process, the carrying robot carries the empty material tray to the empty material tray placing area, and the overall production efficiency is effectively improved.
S311. transporting the trailer assembly to a predetermined area
And controlling the unmanned guided vehicle to acquire the trailer assembly from the welding position and transport the trailer assembly to a predetermined area, wherein the predetermined area comprises a work station or a storage area for further processing and the like.
Similarly, the assembling and welding mode of the towing pin is similar to that of the present embodiment, and the assembling and welding of the towing pin can also be completed in the present embodiment, and if the towing pin and the spring bracket need to be assembled and welded together, the frame assembly needs to be turned to a proper angle by using the welding positioner before the full welding step.
In the description of the present specification, reference to the description of the terms "one embodiment", "some embodiments", "an illustrative embodiment", "an example", "a specific example", or "some examples", etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. An automatic assembling and welding method for a trailer is characterized by comprising the following steps:
the trailer parts are stacked according to a preset sequence, so that the area of a material tray is saved, and the parts can be conveniently taken out and assembled by a carrying robot in sequence; acquiring image information of a material tray, and identifying the position information of each trailer part; analyzing the image information of the material tray, and decomposing part image information corresponding to each trailer part in the material tray from the image information of the material tray;
selecting diagonal characteristics of the parts according to the position information of the placement of the parts, calculating the position offset of the parts, enabling the center line of a gripper of the transfer robot to be parallel to the center line of the trailer parts according to the position offset, and controlling the transfer robot to grip the corresponding parts and transfer the parts to a preset welding position;
controlling a welding robot to perform spot welding fixing on the trailer parts conveyed to the preset welding position;
and after all parts placed on the material tray are fixed by spot welding, obtaining the primarily fixed trailer assembly, and controlling the welding robot to fully weld the positions needing to be welded in the primarily fixed trailer assembly.
2. The automatic assembly welding method for the trailer according to claim 1, wherein the controlling of the welding robot after the spot welding fixing of the trailer parts carried to the predetermined welding position comprises:
judging whether trailer parts exist in the material tray or not according to the image information of the material tray and the part image information, if so, continuously controlling the carrying robot to grab corresponding parts and carry the parts to a preset welding position; and if not, controlling the welding robot to carry out full welding on the position needing to be welded in the trailer assembly after the initial fixing.
3. The automatic assembly welding method for the trailer according to claim 2, wherein the acquiring the image information of the material tray comprises:
scanning and identifying the identification code on the material tray to obtain identification information corresponding to the identification code;
and matching the identification information with pre-input production task information, if the matching is successful, acquiring the image information of the material tray in the material tray, and if the matching is unsuccessful, giving an alarm.
4. The automatic assembly welding method for the trailer according to claim 3, wherein the scanning and identifying the identification code on the tray comprises:
stacking a predetermined number of trailer parts in a material tray in a material preparing area according to a predetermined sequence, wherein the information of the trailer parts is consistent with the identification code on the material tray;
more than two material trays with trailer parts are stacked, and the stacked material trays are transported to a feeding area by an unmanned guide vehicle.
5. The automatic assembling and welding method for the trailer according to claim 4, wherein the step of judging whether the trailer parts exist in the material tray through the image information of the material tray and the part image information further comprises the following steps:
and if not, controlling the transfer robot to transfer the empty material tray to the empty material tray placing area.
6. The automatic assembly welding method for the trailer according to claim 5, wherein the transportation of the stacked material trays to the feeding area by using the unmanned guide vehicle comprises the following steps:
and controlling the unmanned guide vehicle to transport the material trays placed in the empty material tray placing area to the material preparing area.
7. The automatic assembly welding method for the trailer according to claim 6, wherein the controlling of the welding robot before full welding the position needing welding in the initially fixed trailer assembly comprises:
and clamping the preliminarily fixed trailer assembly and turning the trailer assembly to a preset angle.
8. The method for automatically assembling and welding the trailer according to claim 7, wherein the controlling the transfer robot to grasp the corresponding part and transfer the part to the predetermined welding position further comprises:
acquiring rotation angle information of a clamping piece in the transfer robot;
and adjusting the rotation angle of the clamping piece according to the image information of the part, so that the rotation angle of the clamping piece is matched with the upper surface of the trailer part.
9. The automatic assembly welding method for the trailer according to claim 8, wherein the controlling the welding robot to perform full welding on the position needing welding in the initially fixed trailer assembly comprises:
and controlling the transfer robot to transfer the fully welded trailer assembly to a blanking area, and transporting the trailer assembly to a preset area by using an unmanned guide vehicle.
10. The automatic assembly welding method for the trailer according to claim 8, wherein the controlling the welding robot to perform full welding on the position needing welding in the initially fixed trailer assembly comprises:
and controlling the unmanned guided vehicle to acquire the trailer assembly from the welding position and transport the trailer assembly to a preset area.
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| CN110561017A (en) * | 2019-10-10 | 2019-12-13 | 株洲天一自动焊接装备有限公司 | Welding tool and welding method for multi-axis frame type workpiece |
| CN111390432A (en) * | 2020-03-02 | 2020-07-10 | 中船第九设计研究院工程有限公司 | Welding station conveying and positioning system for machining of shipyard parts |
| CN113182866A (en) * | 2021-05-17 | 2021-07-30 | 江南造船(集团)有限责任公司 | Intelligent production system and method for ship crane |
| CN114211180B (en) * | 2021-12-20 | 2023-06-06 | 柳州柳新汽车冲压件有限公司 | Automobile white body welding production line and automobile whole vehicle assembly production line |
| CN114669926B (en) * | 2022-05-26 | 2022-08-19 | 山东智迈德智能科技有限公司 | Intelligent welding system for steel beam accessories |
| CN114669925A (en) * | 2022-05-26 | 2022-06-28 | 山东智迈德智能科技有限公司 | Intelligent welding method for steel beam accessories |
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