US 12,304,014 B1
Automatic welding production line for large complex workpiece and production method
Lianyong Xu, Tianjin (CN); Kangda Hao, Tianjin (CN); Hao Wang, Tianjin (CN); Yongdian Han, Tianjin (CN); Lei Zhao, Tianjin (CN); Wenjing Ren, Tianjin (CN); and Tianzhu Wang, Tianjin (CN)
Assigned to Tianjin University, Tianjin (CN)
Filed by Tianjin University, Tianjin (CN)
Filed on Oct. 24, 2024, as Appl. No. 18/925,096.
Claims priority of application No. 202410048146.7 (CN), filed on Jan. 12, 2024.
Int. Cl. B23K 9/095 (2006.01); B23K 37/04 (2006.01)
CPC B23K 9/0956 (2013.01) [B23K 37/0443 (2013.01)] 4 Claims
OG exemplary drawing
 
1. An automatic welding production line for a large complex workpiece, comprising a base station, a welding robot, a displacement worktable, an auxiliary robot, a feeding system, and a blanking system, wherein the displacement worktable is arranged in the base station, the welding robot and the auxiliary robot are arranged on the base station and located on both sides of the displacement worktable, and move along the base station, the blanking system is arranged on the base station and located below the displacement worktable, the feeding system comprises a main reinforcement feeding structure and a hopper, the main reinforcement feeding structure is connected to the base station, and the hopper is arranged on the auxiliary robot;
the main reinforcement feeding structure comprises a chain plate conveyor belt and a placing frame, the placing frame is arranged on the base station and located above the displacement worktable, the chain plate conveyor belt is located on a side of the placing frame, and a discharging end of the chain plate conveyor belt is connected to the placing frame; the blanking system comprises a silo and a conveyor belt, the silo is arranged on the base station and located below the displacement worktable, and a receiving end of the conveyor belt is connected to the silo;
the displacement worktable comprises support frames, a main rotary power structure, a main frame, a sub-power structure, a sub-frame, and a worktable, the support frames are arranged in a central part of the base station, the main frame is arranged between the support frames, the main rotary power structure is arranged at an end of the main frame and located between the main frame and the support frames, the sub-frame is arranged in the main frame through the sub-power structure, the sub-power structure is arranged at front and rear ends of the sub-frame, and the worktable is arranged on the sub-frame;
the sub-power structure comprises a sub-rotary power device and a displacement device, the displacement device is arranged inside the main frame, the sub-rotary power device is arranged at an end of the sub-frame to drive the sub-frame to rotate, and the displacement device is connected to the sub-rotary power device to drive the sub-rotary power device to translate;
the displacement device comprises a displacement guide rail, a sliding table, and a translation power device, the displacement guide rail is arranged on an inner side of the main frame, the sliding table is movably arranged on the displacement guide rail and connected to the sub-rotary power device, and the translation power device is connected to the sliding table;
the main rotary power structure comprises a main rotary positioner and a main rotary shaft, the main rotary positioner and the main rotary shaft are respectively arranged on outer sides of two ends of the main frame to drive the main frame to rotate, the sub-rotary power device comprises a sub-rotary positioner, a sub-rotary shaft, and a rotary table, the sub-rotary positioner and the sub-rotary shaft are arranged on the sliding table and located at both ends of the sub-frame, the rotary table is connected to the sub-frame through a hinge and is connected to the sub-rotary positioner and the sub-rotary shaft;
the main rotary positioner and the sub-rotary positioner are provided with torque sensors, each of the torque sensors is used to measure a deflection torque caused by a position deviation of placement of the large complex workpiece and parts, and each of the main frame and the sub-frame is provided with a torque balance block;
the welding robot comprises a moving base, a first manipulator, a seam-finding structure, and a first welding structure, the first manipulator is arranged on the base station through the moving base, and the seam-finding structure and the first welding structure are arranged on the first manipulator and cooperated with the worktable;
the auxiliary robot comprises a mounting base, a second manipulator, an observation structure, a second welding structure, and an auxiliary fixture, the second manipulator is arranged on the base station through the mounting base, and the observation structure, the second welding structure and the auxiliary fixture are arranged on the second manipulator and cooperated with the worktable;
a positioning fixture structure is arranged on the worktable, and the positioning fixture structure is arranged on a surface of the worktable, and cooperates with the seam-finding structure and the observation structure;
the sub-frame is arranged in pairs, and the sub-power structure is arranged with the sub-frame correspondingly, the welding robot and the auxiliary robot are symmetrically arranged on both sides of the displacement worktable and cooperate with the sub-frame; and
the placing frame comprises a conveyor rod arranged at intervals, when a main reinforcement falls onto the placing frame through the chain plate conveyor belt, the conveyor rod rotates and pushes the main reinforcement forward to a grasping position, the conveyor rod is set to be three or more, the main reinforcement is flat suspension.