CN115740876A - Standard knot welding equipment and using method thereof - Google Patents
Standard knot welding equipment and using method thereof Download PDFInfo
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- CN115740876A CN115740876A CN202211607036.7A CN202211607036A CN115740876A CN 115740876 A CN115740876 A CN 115740876A CN 202211607036 A CN202211607036 A CN 202211607036A CN 115740876 A CN115740876 A CN 115740876A
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Abstract
The invention discloses a standard knot welding device, which comprises: the rotating mechanism is provided with a front and back through avoiding hole; the linear driving mechanism is arranged on the rotating mechanism; the plurality of tools are connected to the plurality of linear driving mechanisms in a one-to-one correspondence mode, every four tools which are sequentially vertical form a tool group, and the number of the tool groups is at least two; a feeding mechanism; the first welding robot extends into the plurality of tools from the front end of the avoiding hole; and the second welding robot is arranged outside the rotating mechanism, the first welding robot and the second welding robot weld four single-sided structures into a standard knot, and the standard knot is taken out from the rear end of the clearance hole. The standard knot welding equipment disclosed by the invention has the advantages that the waiting time of the first welding robot and the second welding robot when a workpiece is clamped is greatly reduced, the production efficiency is improved, all welding positions of the standard knot are covered, manual repair welding is not needed, and the production efficiency is improved. The invention can be applied to the field of fixing tools for welding standard knots.
Description
Technical Field
The invention relates to the field of fixed tools for welding standard knots, in particular to standard knot welding equipment and a using method thereof.
Background
The standard knot for the construction elevator is a rectangular frame structure formed by welding a plurality of rod pieces. At present, the clamping tool is arranged on the rotating table by the existing standard knot welding equipment, four main chords are clamped into the clamping tool, a plurality of web members are clamped between every two main chords, the clamping tool is driven to rotate through the rotating table, and the welding robot sequentially welds the plurality of web members and the main chords to form the standard knots.
However, after the standard knot welding equipment clamps the main chord member and the web member, the welding robot needs to wait in the clamping process before clamping again after welding is completed, the waiting time of the standard knot welding equipment is long, and the production efficiency of the standard knot welding equipment is low.
And, when welding robot stretches into the space between four main chords from the outside and welds, because the space between main chord and a plurality of members is comparatively narrow, welding robot's action is limited, and the standard festival has the position that welding robot can't weld, therefore above-mentioned welding process must carry out the repair welding by the artifical position that welding robot can't weld, influences production efficiency equally.
Disclosure of Invention
The invention aims to provide a standard knot welding device and a using method thereof, which are used for solving one or more technical problems in the prior art and at least provide a beneficial selection or creation condition.
The technical scheme adopted for solving the technical problems is as follows:
a standard knot welding apparatus comprising:
the rotating mechanism rotates around a front axis and a rear axis and is provided with a front-rear through avoiding hole;
the linear driving mechanisms are arranged on the rotating mechanism, and the plurality of linear driving mechanisms are distributed around the periphery of the avoidance hole;
the plurality of tools are connected to the plurality of linear driving mechanisms in a one-to-one correspondence mode, the linear driving mechanisms drive the tools to be close to or far away from the rotating axis of the rotating mechanism, every four tools which are sequentially vertical form a tool group, and at least two tool groups are provided;
a feeding station is arranged in the rotating mechanism and is positioned on the motion trail of any one tool;
the feeding mechanism is arranged outside the rotating mechanism, and when the tool moves to the feeding station, the feeding mechanism conveys a plurality of workpieces to the tool;
the first welding robot is arranged in front of the rotating mechanism and extends into the plurality of tools from the front end of the avoiding hole;
the second welding robot, it is located slewing mechanism's outside, first welding robot with the second welding robot will a plurality of the frock work piece welds into the simplex structure, first welding robot with the second welding robot will arbitrary one four of frock assembly clamp the simplex structure welds into the standard festival, the standard festival is followed the rear end in a hole is kept away takes out.
The beneficial effects of the invention are: the feeding mechanism conveys a plurality of workpieces to a tool positioned at a feeding station, the rotating mechanism rotates the tool which is clamped with the plurality of workpieces to a position between a first welding robot and a second welding robot, then the first welding robot and the second welding robot weld the plurality of workpieces into a single-sided structure, meanwhile, the feeding mechanism conveys the plurality of workpieces to another tool positioned at the feeding station, after the first welding robot and the second welding robot complete the single-sided structure, the rotating mechanism drives the tool to rotate, so that the tool which is newly clamped in place rotates to a position between the first welding robot and the second welding robot, the workpiece feeding of another tool is completed in the welding process of the first welding robot and the second welding robot, and the waiting time of the first welding robot and the second welding robot when the workpieces are clamped is greatly reduced; after the four tools in the same tool group clamp the welded single-sided structures, the four linear driving mechanisms of the same tool group drive the corresponding tools to fold towards the rotating axis of the rotating mechanism, so that every two adjacent single-sided structures are abutted, the first welding robot and the second welding robot weld the four single-sided structures into a standard knot, and finally the welded standard knot is taken out from the rear end of the avoiding hole; and first welding robot and second welding robot weld a plurality of work pieces and the simplex structure of standard festival from the inside and outside both sides of standard festival, and the work piece of avoiding the standard festival hinders the welding action of first welding robot and second welding robot to cover all welding positions of standard festival, need not artifical repair welding, improve production efficiency.
As a further improvement of the above technical solution, the rotating mechanism has a welding station, the welding station is located on a motion trajectory of any one of the tools, when the tool holding a plurality of the workpieces moves to the welding station, the first welding robot and the second welding robot weld the plurality of workpieces into the single-sided structure, and the first welding robot and the second welding robot weld four single-sided structures of any one of the tool groups into the standard knot.
Welding station and material loading station are separated, feed mechanism carries a plurality of work pieces to the frock at the material loading station, the frock that the clamping has a plurality of work pieces moves and welds on the welding station, avoid feed mechanism's transport action to disturb the action of first welding robot and second welding robot, four frock clamping of same frock group have the uniplanar structure of welding completion after, linear drive mechanism drive frock is foldd to slewing mechanism's axis, make four uniplanar structure enclose into the rectangle, last first welding robot and second welding robot weld four uniplanar structure together and form standard festival.
As a further improvement of the above technical solution, at least one of the tools moves to the feeding station, at least one of the tools moves to the welding station, and the conveying action of the feeding mechanism, the welding action of the first welding robot, and the welding action of the second welding robot are performed synchronously.
A frock moves to material loading station, another frock moves to welding station, and then feed mechanism's transport action, first welding robot and second welding robot's welding action go on in step, help saving first welding robot and second welding robot's latency.
As a further improvement of the above technical scheme, each tooling faces the side wall of the first welding robot is provided with a main chord groove and a plurality of web grooves, the main chord groove is communicated with the front and the back, the web grooves are communicated with the left and the right, the rotating mechanism is provided with a plurality of feeding holes communicated with the front and the back, the feeding mechanism is provided with a first conveying channel and a plurality of second conveying channels, the first conveying channel is conveyed along the front and the back direction, the second conveying channels are conveyed along the left and the right direction, when the tooling is positioned on the feeding station, the first conveying channel is right opposite to the feeding holes, the main chord groove, the plurality of second conveying channels and the plurality of web grooves are in one-to-one correspondence, and the first conveying channel and the second conveying channel respectively convey the workpiece to the main chord groove and the web grooves.
When the tool moves to the feeding station, the first conveying channel of the feeding mechanism conveys the main chord members to the main chord member grooves through the feeding hole, and the second conveying channel of the feeding mechanism conveys the web members to the web member grooves, so that the feeding efficiency of the feeding mechanism is improved.
As a further improvement of the above technical scheme, the second conveying channel is arranged obliquely, the top end of the second conveying channel faces away from the feeding station, when the tool is located at the feeding station, the tool is inclined relative to a horizontal plane, and the bottom end of the second conveying channel is opposite to the web member groove.
The second conveying channel is obliquely arranged, the web members in the second conveying channel slide to the tool located at the feeding station due to the action of gravity, and the tool is inclined relative to the horizontal plane, so that the web members in the second conveying channel can slide into the web member groove of the tool, and the web members are conveyed more conveniently.
As a further improvement of the above technical solution, the first conveying path conveys first, the second conveying path conveys second, and the main chord groove is located at the bottom end of the web groove.
After the main chord is conveyed to the main chord groove of the tool by the first conveying channel, the web members are conveyed to the web member groove of the tool by the second conveying channel, and the web members slide towards the main chord under the action of gravity, so that the web members are abutted against the main chord, and the main chord and the web members are quickly positioned.
As a further improvement of the technical scheme, the standard knot welding equipment further comprises a plurality of rotating mechanisms, one rotating mechanism is arranged between each group of linear driving mechanisms and the tool, and the rotating mechanisms drive the tool to rotate around the front axis and the rear axis.
A rotating mechanism is arranged between the linear driving mechanism and the tools, each tool group consists of four tools, assembly errors exist between the four tools, angle difference easily occurs between single-sided structures on every two adjacent tools, a large gap is formed between the two adjacent single-sided structures, the tools are rotated through the rotating mechanism, the single-sided structures on the tools are rotated around the front axis and the rear axis through the rotating mechanism, and the two adjacent single-sided structures are attached together more tightly.
As a further improvement of the above technical scheme, the standard knot welding equipment further comprises a material taking mechanism, the material taking mechanism is arranged behind the rotating mechanism and moves back and forth, a material taking clamp is arranged on the front side of the material taking mechanism, the material taking mechanism drives the material taking clamp to extend into a plurality of tools from the rear end of the avoiding hole, the material taking clamp clamps any one standard knot welded by the tool set, and the material taking mechanism takes out the standard knot from the rear end of the avoiding hole.
The material taking machine of the material taking mechanism clamps the welded standard knot from the rear end of the avoiding hole, and the material taking mechanism moves backwards from the rear part of the rotating mechanism to take out the standard knot, so that the material taking of the standard knot is more convenient.
As a further improvement of the above technical solution, the first welding robot and the second welding robot both move in the front-rear direction.
First welding robot and second welding robot are along fore-and-aft direction adjustment position to the welding spot position adjustment angle of first welding robot and second welding robot according to the standard festival.
A method of using a standard knot welding device, comprising the standard knot welding device as described above, the method further comprising the steps of:
s1, the feeding mechanism sequentially conveys a plurality of workpieces to four tools of a first tool group, and the first welding robot and the second welding robot sequentially weld the workpieces of the four tools into a single-sided structure;
s2, driving four tools to fold towards a rotating axis of the rotating mechanism by four linear driving mechanisms of a first tool group, enabling four single-sided structures to form a rectangle, sequentially conveying a plurality of workpieces to four tools of a second tool group by the feeding mechanism, and welding every two adjacent single-sided structures by the first welding robot and the second welding robot to enable the four single-sided structures to form the standard knot;
s3, taking out the standard knot welded by the first tool set from the position avoiding hole;
s4, sequentially welding a plurality of workpieces of the four tools of the second tool group into the single-sided structure by the first welding robot and the second welding robot;
s5, driving four tools to fold towards a rotating axis of the rotating mechanism by four linear driving mechanisms of a second tool group, enabling the four single-sided structures to form a rectangle, sequentially conveying a plurality of workpieces to the four tools of a first tool group by the feeding mechanism, and welding every two adjacent single-sided structures by the first welding robot and the second welding robot to enable the four single-sided structures to form the standard knot;
s6, taking out the standard knot welded by the second tool set from the avoiding hole;
s7, sequentially welding a plurality of workpieces of the four tools of the first tool set into the single-sided structure by the first welding robot and the second welding robot;
and S8, repeating the steps S2 to S7 until the machine is stopped.
Feed mechanism is in proper order to first frock group and a plurality of work pieces of second frock group transport, and first welding robot welds the work piece of first frock group and second frock group with second welding robot in proper order, and the material loading action goes on with the welding action is synchronous, helps reducing the latency of first welding robot and second welding machine robot.
Drawings
The invention is further explained by the following figures and embodiments;
FIG. 1 is a schematic structural diagram of a standard knot welding device provided by the invention in a shutdown state;
FIG. 2 is a schematic structural view of a standard section welding device provided by the invention, in a shutdown state of one embodiment of the standard section welding device, from another angle;
FIG. 3 is a schematic structural diagram of an embodiment of a standard section welding device provided by the present invention;
FIG. 4 is a schematic view of another embodiment of the standard knot welding equipment provided by the invention in a working state;
FIG. 5 is a schematic cross-sectional view of an embodiment of the standard knot welding equipment provided by the invention for welding a standard knot;
FIG. 6 is a schematic structural diagram of a standard knot welding device provided by the invention, wherein a material taking device of one embodiment of the device clamps a standard knot;
FIG. 7 is a schematic view of a standard knot welding device provided by the present invention, wherein an exemplary material-taking device takes out a standard knot;
FIG. 8 is a schematic structural diagram of a tooling in an embodiment of the standard joint welding equipment provided by the invention;
FIG. 9 is a schematic view of a standard joint welding apparatus according to an embodiment of the present invention, wherein a tool set is closed;
fig. 10 is a schematic structural diagram of a tool set separation in an embodiment of the standard joint welding device provided by the present invention.
10. The welding device comprises a standard knot, 30, a tool set, 100, a rotating mechanism, 101, a loading station, 102, a welding station, 110, a avoiding hole, 120, a feeding hole, 200, a linear driving mechanism, 300, a tool, 310, a main chord groove, 320, a web member groove, 400, a loading mechanism, 410, a first conveying channel, 420, a second conveying channel, 500, a first welding robot, 600, a second welding robot, 700, a material taking mechanism, 710 and a material taking clamp.
Detailed Description
Reference will now be made in detail to the present embodiments of the present invention, preferred embodiments of which are illustrated in the accompanying drawings, wherein the drawings are provided for the purpose of visually supplementing the description in the specification and so forth, and which are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, if words such as "a plurality" are described, the meaning is one or more, the meaning of a plurality is two or more, more than, less than, more than, etc. are understood as excluding the present number, and more than, less than, etc. are understood as including the present number.
In the description of the present invention, unless otherwise specifically limited, terms such as set, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention by combining the specific contents of the technical solutions.
Referring to fig. 1 to 10, the standard knot welding equipment of the present invention makes the following embodiments:
the standard knot welding equipment comprises a rotating mechanism 100, a linear driving mechanism 200, a tool 300, a feeding mechanism 400, a first welding robot 500, a second welding robot 600 and a material taking mechanism 700.
The rotating mechanism 100 includes a driving turntable and a driven turntable, which are spaced apart from each other in the front-rear direction.
The driving turntable comprises a driving base, a driving rotary table, a driving motor, a driving gear and a driven gear. The initiative base is equipped with the mounting hole that link up along the fore-and-aft direction, and the initiative revolving platform rotates and sets up in the mounting hole, is equipped with a plurality of bearings on the inside wall of mounting hole, and the circumference interval distribution of a plurality of bearings along the mounting hole, the lateral wall and a plurality of bearings of initiative revolving platform offset.
The driving base is provided with a limiting ring on the front side and the rear side of the mounting hole respectively, the limiting ring is connected to the driving base through bolts, a plurality of cavities are formed in the side wall of the limiting ring towards the mounting hole, each cavity is provided with a ball and an end cover, the balls are limited in the cavities by the aid of the end covers, the end covers are provided with through holes which are communicated with one another, the outer side walls of the balls penetrate through the through holes to stretch out of the cavities, and the outer side walls of the balls are abutted to the end faces of the driving rotary table.
The front limiting ring and the rear limiting ring limit the degree of freedom of the driving rotary table in moving along the front-rear direction, the mounting holes limit the degree of freedom of the driving rotary table in moving along the up-down left-right direction, and then the driving rotary table rotates around the front-rear axis.
The driving motor is arranged on the driving base, the driving gear is connected to the driving motor, and the driving motor drives the driving gear to rotate. The driven gear is annular and is connected to the rear end face of the driving rotary table, the axis of the driven gear is overlapped with the rotation axis of the driving rotary table, the driving gear is meshed with the driven gear, and then the driving motor drives the driving rotary table to rotate around the front axis and the rear axis.
The structure of driven turntable is similar with the structure of initiative carousel, and driven turntable includes driven base and driven revolving platform, and the cooperation mode of driven base and driven revolving platform is the same with the cooperation mode of initiative base and initiative revolving platform, makes driven revolving platform rotate around the front and back axis, and the axis of rotation of driven revolving platform and the axis of rotation coincidence of initiative revolving platform.
The rotating mechanism 100 is provided with a clearance hole 110 penetrating in the front-rear direction, and the clearance hole 110 penetrates the driving turntable and the driven turntable in the front-rear direction.
Eight front sliding grooves are formed in the rear side wall of the driving rotary table, are uniformly distributed around the periphery of the avoiding hole 110 at intervals, and extend along the radial direction of the driving rotary table. Eight rear sliding grooves are formed in the front side wall of the driven rotary table, and the eight rear sliding grooves correspond to the eight front sliding grooves in position one to one.
The linear driving mechanisms 200 are hydraulic push rods, eight linear driving mechanisms 200 are provided, the eight linear driving mechanisms 200 are correspondingly arranged in the eight front sliding chutes one by one, and the driving direction of the linear driving mechanisms 200 is the same as the extending direction of the front sliding chutes.
Eight frock 300 set up between initiative revolving platform and driven revolving platform, and eight frock 300 one-to-one are connected in eight linear drive mechanism 200, and the front end of frock 300 is connected in linear drive mechanism 200, and the rear end of frock 300 passes through the slider and slides and set up in the back spout.
The tool 300 is driven by the linear driving mechanism 200 to move along the radial direction of the driving turntable, so that the tool 300 is close to the rotation axis of the rotating mechanism 100 or far away from the rotation axis of the rotating mechanism 100 after moving, and the linear driving mechanism 300 drives the tool 300 to move into the clearance hole 110 or far away from the clearance hole 110.
The driving turntable is driven by the driving motor to rotate, and then drives the tool 300 and the driven turntable to rotate.
The eight tools 300 form a rotational symmetric structure with the rotation axis of the rotating mechanism 100 as the center, the eight tools 300 are arranged around the periphery of the clearance hole 110, and the eight tools 300 form a regular octagon. The side wall of the tooling 300 facing the rotation axis of the rotating mechanism 100 is used as a working side wall, the included angle between the working side walls of every two adjacent tooling 300 is 135 degrees, the working side walls of the four tooling 300 which are mutually spaced are sequentially vertical to form a square, each four tooling 300 which are sequentially vertical form one tooling group 30, and eight tooling 300 form two tooling groups 30.
A space is left between every two adjacent tools 300, and since the plurality of tools 300 move toward the avoiding hole 110 in a closed manner when the tools 300 move toward the avoiding hole 110, interference exists between every two adjacent tools 300. Therefore, each two adjacent tools 300 can only move towards the avoiding hole 110 alternatively, so that the two tool groups 30 are sequentially and alternately folded towards the avoiding hole 110.
A rotating mechanism is arranged between each tool 300 and the linear driving mechanism 200, the rotating mechanism drives the tool 300 to rotate around the front and rear axes, the rotating mechanism is an electric turntable, and the rotating mechanism is used for adjusting the angle of the side wall of the tool 300 facing the rotating axis of the rotating mechanism 100, so that the shape enclosed by the four tools 300 of the same tool group 30 after being folded can be properly adjusted.
The side wall of the tooling 300 facing the rotation axis of the rotating mechanism 100 is provided with a main chord groove 310 and four web grooves 320, the main chord groove 310 penetrates through the tooling 300 along the front-back direction, the web grooves 320 penetrate through the tooling 300 along the left-right direction, three web grooves 320 are perpendicular to the main chord groove 310 and are respectively communicated with the front end, the middle end and the rear end of the main chord groove 310, and the two web grooves 320 and the main chord groove 310 are arranged at an angle and are communicated with the front end and the rear end of the main chord groove 310. And the main chord grooves 310 are provided with clamps, each web groove 320 is provided with a clamp, the clamps are driven by cylinders, and the clamps are used for clamping workpieces arranged on the main chord grooves 310 and the web grooves 320.
In addition, the tooling 300 is provided with a notch at the communication position between the web groove 320 and the main chord groove 310, and the notch is exposed at the welding position of the main chord and the web, so that the main chord and the web can be welded at two sides.
The rotating mechanism 100 has a loading station 101 inside, and the loading station 101 is located at the right side of the rotating mechanism 100.
The tool 300 is pushed outwards by the linear driving mechanism 200 and is far away from the avoiding hole 110, then the rotating mechanism 100 drives the tool 300 to rotate to the feeding station 101, and at the moment, the tool 300 is gradually inclined downwards towards the side wall of the rotating axis of the rotating mechanism 100 from right to left.
Eight feeding holes 120 which are communicated in the front-back direction are formed in a driven rotary table of the rotating mechanism 100, the eight feeding holes 120 are evenly distributed at intervals around the rotating axis of the rotating mechanism 100, one feeding hole 120 is formed in a track of each tool 300 which moves along the radial direction of the rotating mechanism 100, and the feeding holes 120 are located in the moving track of the main chord groove 310. When the tooling 300 is located at the loading station 101, the main chord groove 310 is aligned with the feed hole 120.
In the example of the tool 300 located at the loading station 101, the main chord groove 310 is located on the left side of the tool 300, the web member groove 320 is located on the right side of the tool 300, the right end of the web member groove 320 is communicated with the outside, and the front end and the rear end of the main chord groove 310 are communicated with the outside.
The feeding mechanism 400 is arranged on the periphery of the rotating mechanism 100, the feeding mechanism 400 comprises a first conveying channel 410 and a plurality of second conveying channels 420, the first conveying channel 410 is arranged on the rear side of the rotating mechanism 100, the first conveying channel 410 conveys the main chord members backwards and forwards, the number of the second conveying channels 420 is five, two of the second conveying channels 420 are opposite to the inclined web member grooves 320 of the tool 300 located at the feeding station 101, the other three second conveying channels 420 are opposite to the vertical web member grooves 320 of the tool 300 located at the feeding station 101, and then the five second conveying channels 420 convey the web members to the five web member grooves 320.
In this embodiment, three second conveying channels 420 are parallel to each other and are installed on the moving vehicle moving left and right, the other two second conveying channels 420 are disposed above the three second conveying channels 420, and the axes of the five second conveying channels 420 are all parallel to the tool 300 located in the loading station 101, and after the moving vehicle moves back and forth to adjust the position, the two second conveying channels 420 are made to face the inclined web rod groove 320 or the three second conveying channels 420 are made to face the vertical web rod groove 320.
In order to ensure that the end of the web member extends outside the tool 300, the width of the tool 300 in the left-right direction is smaller than the length of the web member in the left-right direction.
The second welding robot 600 is disposed at the left of the rotating mechanism 100, the second welding robot 600 moves in the left-right direction, and the second welding robot 600 can move the position in the front-rear direction, the second welding robot 600 being an industrial six-axis welding robot.
The inside of slewing mechanism 100 has welding station 102, and welding station 102 is located slewing mechanism 100's left side, and welding station 102 is the right side position of second welding robot 600, and when frock 300 was driven by slewing mechanism 100 to the right-hand time of second welding robot 600, regard as welding station 102 with the position that second welding robot 600 can weld.
When the position of the first welding robot 500 is located inside the tool 300, the second welding robot 600 is located outside the tool 300.
During the process of rotating the tool 300 by the rotating mechanism 100, the second conveying path 420 and the second welding robot 600 need to move away from the rotating mechanism 100 to avoid interference.
The first conveying channel 410 and the second conveying channel 420 can adopt mechanisms such as a conveying belt and a conveying roller way to convey the rods. In this embodiment, a push rod is disposed in each conveying channel, the push rod is disposed at one end of the conveying channel far from the tool 300, the push rod reciprocates along the conveying channel, a conveying rail is disposed at the outer side of each conveying channel, an opening is disposed on the conveying rail corresponding to the side wall of the conveying channel, the conveying rail conveys the rod to the opening along the radial direction of the rod, the rod is sent into the conveying channel from the opening, the rod is pushed by the push rod along the axial direction of the rod, the rod is inserted into the main chord groove 310 or the web bar groove 320, and the conveying direction of the conveying rail is perpendicular to the conveying direction of the conveying channel, so that the rod is sent into the conveying channel one by one from the conveying rail sequentially.
Further, since the tip of the partial rod member, for example, the diagonal web member, is cut to have an inclined surface so that the tip of the inclined diagonal web member abuts against the outer wall of the straight web member or the outer wall of the main chord member, the diagonal web member is required to be fed into the web member groove 320 of the tool 300 at a specific angle. Therefore, the tail end of the push rod is set to be a wedge block matched with the tail end of the diagonal web member, the shape of the tail end of the diagonal web member is formed between the wedge block and the inner wall of the diagonal web member channel, a through groove is formed in the side wall of the diagonal web member channel, a roller driven by a motor is arranged on the outer wall of the diagonal web member channel, the roller extends into the diagonal web member channel from the through groove, a rubber anti-slip pad is arranged on the outer side wall of the roller, the diagonal web member in the diagonal web member channel is driven to rotate by the roller, the tail end of the diagonal web member is pushed by the wedge block of the push rod, the tail end of the diagonal web member is attached to the wedge block of the push rod along with the rotation of the diagonal web member around the axis of the diagonal web member, the tail end of the diagonal web member is limited between the push rod and the diagonal web member channel, the diagonal web member is prevented from continuously rotating, the angle of the diagonal web member is fixed, and finally the diagonal web member pushed by the push rod is sent into the web member groove 320 with a fixed angle.
The material taking mechanism 700 is arranged behind the rotating mechanism 100, a moving vehicle which moves in the front-back direction is arranged at the bottom of the material taking mechanism 700, the material taking mechanism 700 moves in the front-back direction, a cylindrical protruding block which protrudes forwards is arranged at the front end of the material taking mechanism 700, the diameter of the cylindrical protruding block is smaller than that of the position avoiding hole 110, and after the material taking mechanism 700 moves forwards, the cylindrical protruding block is inserted forwards into the rear end of the position avoiding hole 110. The front end of the cylindrical bump is provided with a material taking clamp 710, the material taking clamp 710 comprises four connecting columns extending forwards and cylinder clamping blocks arranged on the periphery of the connecting columns, and the four connecting columns are surrounded into a square. The diameter of the connecting column is smaller than the inner hole of the main chord member, the connecting column can be inserted into the inner hole of the main chord member, and then the outer wall of the main chord member is clamped tightly by the air cylinder clamping block.
In this embodiment, when four tools 300 of the same tool group 30 are closed, the main chord grooves 310 of the tools 300 are opposite to the avoiding holes 110, so that the four connecting columns of the material taking clamp 710 can be opposite to the four main chord grooves 310.
Before the rotating mechanism 100 drives the eight tools 300 to rotate, the second conveying channel 420 moves to the right, the second welding robot 600 moves to the left, and the material taking mechanism 700 moves to the back, so that the interference of the second conveying channel 420 and the second welding robot material taking mechanism 700 is avoided. After the rotating mechanism 100 drives the eight tools 300 to rotate in place, the second conveying channel 420 moves leftwards, the second welding robot 600 moves rightwards, the second conveying channel 420 conveys a plurality of workpieces to the tools 300 of the feeding station 101, and the second welding robot 600 welds the workpieces of the tools 300 of the welding station.
The use method of the standard knot welding equipment of the invention comprises the following steps:
the using method also comprises the following steps:
s1, the eight linear driving mechanisms 200 drive the eight tools 300 to be away from the rotating axis of the rotating mechanism 100 one by one, one tool 300 moves to the outermost end of the stroke, the other seven tools 300 move to the middle of the stroke, so that one tool 300 protrudes out of the seven tools 300, the rotating mechanism 100 rotates the tool 300 to the feeding station 101, and the feeding mechanism 400 conveys a plurality of workpieces to the tool 300.
The first transfer path 410 transfers the main chord to the main chord groove 310 of the tooling 300, and after the main chord is clamped, the plurality of second transfer paths 420 sequentially transfer the web members to the web member groove 320 of the tooling 300, and the web members slide along the web member groove 320 due to gravity and abut against the main chord, so that the web members are clamped by the jig.
Finally, the second conveying channel 420 is far away from the rotating mechanism 100, and the linear driving mechanism 200 drives the tool 300 for clamping the main chord member and the web members to move to the middle of the stroke.
Taking the above-described process as a cycle, the feeding mechanism 400 sequentially conveys a plurality of workpieces to the four tools 300 of the first tool group 30.
After the feeding mechanism 400 conveys a plurality of workpieces to one tool 300, the tool 300 with the main chord member and the web members clamped thereon rotates to the welding station 102 along with the rotating mechanism 100, while another tool 300 in the same tool group 30 is located at the feeding station 101, and the second welding robot 600 moves to the right and approaches the rotating mechanism 100.
Taking the above process as a cycle, the first welding robot 500 and the second welding robot 600 sequentially weld a plurality of workpieces of the four tools 300 of the first tool group 30 into a single-sided structure.
S2, after the workpieces on the four tools 300 of the first tool group 30 are respectively welded into a single-sided structure, the four linear driving mechanisms 200 of the first tool group 30 drive the four tools 300 to be folded towards the rotating axis of the rotating mechanism 100, so that the tools 300 move to the innermost end of the stroke, and the four single-sided structures are surrounded into a square shape and are sequentially abutted by the four tools 300 in a surrounding rectangle.
And, the rotating mechanism 100 rotates the first tooling group 30 to make two of the tooling 300 parallel to the ground, then the butt joint parts of two adjacent single-sided structures are located at the welding station 102, and the first welding robot 500 and the second welding robot 600 weld the butt joint parts located at the welding station 102, so that the two connected single-sided structures are welded together.
And one of the tools 300 of the second tool group 30 moves to the feeding station 101, the feeding mechanism 400 conveys the main chord member and the web members to the tool 300, the feeding mechanism 400 is far away from the rotating mechanism 100 after the feeding is completed, and the second welding robot 600 is far away from the rotating mechanism 100 after the welding is completed.
Taking the above process as a cycle, the rotating mechanism 100 rotates the first tooling group 30, so that the other abutting part of the first tooling group 30 moves to the welding station 102, and the abutting part is welded according to the above process, so that the four single-sided structures of the first tooling group 30 are welded into the standard knot 10, and the second welding robot 600 is away from the rotating mechanism 100 after the welding is completed.
Another tooling 300 of the second tooling set 30 moves to the feeding station 101, the feeding mechanism 400 conveys the main chord member and the web members to the tooling 300, the feeding mechanism 400 conveys the workpieces to the four tooling 300 of the second tooling set 300 in sequence, and the feeding mechanism 400 is far away from the rotating mechanism 100 after the feeding is completed.
S3, the first tooling group 30 clamps the welded standard knot 10, the four tools 300 of the second tooling group 30 respectively clamp the main chords and the web members, then the material taking mechanism 700 moves forwards, the four connecting columns of the material taking clamp 710 are inserted into the four main chords of the standard knot 10 from the rear end of the position avoiding hole 110, then the air cylinder clamping blocks clamp the outer walls of the four main chords, the material taking clamp 710 clamps the standard knot 10, then the clamps on the four tools 300 of the first tooling group 30 are loosened, the tools 300 are separated from the standard knot 10, the four linear driving mechanisms 200 drive the four tools 300 to move towards the rotating axis far away from the rotating mechanism 100, the standard knot 10 is separated from the four tools 300, the tool 300 is prevented from blocking the front and back movement of the standard knot 10, and finally the material taking mechanism 700 moves backwards to take out the standard knot 10.
S4, second welding robot 600 moves right and closes close to slewing mechanism 100, and first welding robot 500 welds main chord member and a plurality of web members on being located welding station 102' S frock 300 with second welding robot 600, makes main chord member and a plurality of web members be connected and forms single face structure, and the welding is accomplished the back, and slewing mechanism 100 is kept away from to second welding robot 600 to avoid hindering slewing mechanism 100 and drive frock 300 and rotate.
Taking the above process as a cycle, the first welding robot 500 and the second welding robot 600 sequentially weld a plurality of workpieces of the four tools 300 of the second tool group 30 into a single-sided structure.
And S5, after the workpieces on the four tools 300 of the second tool group 30 are respectively welded into a single-sided structure, driving the four tools 300 to be folded towards the rotation axis of the rotation mechanism 100 by the four linear driving mechanisms 200 of the second tool group 30, enabling the tools 300 to move to the innermost end of the stroke, and enabling the four single-sided structures to be surrounded into a square shape and to be sequentially abutted by the four tools 300 in a surrounding rectangular shape.
And, the rotating mechanism 100 rotates the second tooling group 30 to make two of the tooling 300 parallel to the ground, then the butt joint parts of two adjacent single-sided structures are located at the welding station 102, and the first welding robot 500 and the second welding robot 600 weld the butt joint parts located at the welding station 102, so that the two connected single-sided structures are welded together.
And one of the tools 300 of the first tool group 30 moves to the feeding station 101, the feeding mechanism 400 conveys the main chord member and the web members to the tool 300, the feeding mechanism 400 is far away from the rotating mechanism 100 after the feeding is completed, and the second welding robot 600 is far away from the rotating mechanism 100 after the welding is completed.
Taking the above process as a cycle, the rotating mechanism 100 rotates the second tooling group 30, so that the other abutting part of the second tooling group 30 moves to the welding station 102, and the abutting part is welded according to the above process, so that the four single-sided structures of the second tooling group 30 are welded into the standard knot 10, and the second welding robot 600 is away from the rotating mechanism 100 after the welding is completed.
Another tool 300 of the first tool group 30 moves to the feeding station 101, the feeding mechanism 400 conveys the main chords and the web members to the tools 300, the feeding mechanism 400 conveys the workpieces to the four tools 300 of the first tool group 300 in sequence, and the feeding mechanism 400 is far away from the rotating mechanism 100 after the feeding is completed.
S6, the welded standard knot 10 is clamped by the second tooling group 30, the four tools 300 of the first tooling group 30 respectively clamp the main chords and the web members, then the material taking mechanism 700 moves forwards, the four connecting columns of the material taking clamp 710 are inserted into the four main chords of the standard knot 10 from the rear end of the position avoiding hole 110, then the air cylinder clamping blocks clamp the outer walls of the four main chords, the material taking clamp 710 clamps the standard knot 10, then the clamps on the four tools 300 of the second tooling group 30 are loosened, the tools 300 are separated from the standard knot 10, the four linear driving mechanisms 200 drive the four tools 300 to move towards the rotating axis far away from the rotating mechanism 100, the standard knot 10 is separated from the four tools 300, the tool 300 is prevented from blocking the front and back movement of the standard knot 10, and finally the material taking mechanism 700 moves backwards to take out the standard knot 10.
S7, the tool 300 clamping the main chord members and the multiple web members rotates to the welding station 102 along with the rotating mechanism 100, the second welding robot 600 moves rightwards and is close to the rotating mechanism 100, the main chord members on the tool 300 positioned at the welding station 102 are welded with the multiple web members by the first welding robot 500 and the second welding robot 600, and the main chord members are connected with the multiple web members to form a single-sided structure.
After the welding is completed, the second welding robot 600 is far away from the rotating mechanism 100 to avoid obstructing the rotating mechanism 100 from driving the tool 300 to rotate.
With the above process as a cycle, the first welding robot 500 and the second welding robot 600 sequentially weld a plurality of workpieces of the four tools 300 of the first tool group 30 into a single-sided structure.
And S8, repeating the steps S2 to S7 until the machine is stopped.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that the present invention is not limited to the details of the embodiments shown and described, but is capable of numerous equivalents and substitutions without departing from the spirit of the invention as set forth in the claims appended hereto.
Claims (10)
1. The utility model provides a standard festival welding equipment which characterized in that: the method comprises the following steps:
the rotating mechanism rotates around a front axis and a rear axis and is provided with a front-rear through avoiding hole;
the linear driving mechanisms are arranged on the rotating mechanism, and the plurality of linear driving mechanisms are distributed around the periphery of the avoidance hole;
the plurality of tools are connected to the plurality of linear driving mechanisms in a one-to-one correspondence mode, the linear driving mechanisms drive the tools to be close to or far away from the rotating axis of the rotating mechanism, every four tools which are sequentially vertical form a tool group, and at least two tool groups are provided;
a feeding station is arranged in the rotating mechanism and is positioned on the motion track of any one tool;
the feeding mechanism is arranged outside the rotating mechanism, and when the tool moves to the feeding station, the feeding mechanism conveys a plurality of workpieces to the tool;
the first welding robot is arranged in front of the rotating mechanism and extends into the plurality of tools from the front end of the avoiding hole;
the second welding robot, it is located slewing mechanism's outside, first welding robot with the second welding robot will a plurality of the frock work piece welds into the simplex structure, first welding robot with the second welding robot will arbitrary one four of frock assembly clamp the simplex structure welds into the standard festival, the standard festival is followed the rear end in a hole is kept away takes out.
2. The standard knot welding apparatus of claim 1, wherein: slewing mechanism has the welding station, the welding station is located arbitrary one on the movement track of frock, has a plurality ofly when the clamping the work piece the frock moves to the welding station, first welding robot with second welding robot will be a plurality of the work piece welds into the single face structure, first welding robot with second welding robot will arbitrary one four of frock group the single face structure welds into the standard festival.
3. The standard knot welding apparatus of claim 2, wherein: at least one of the tools moves to the feeding station, at least one of the tools moves to the welding station, and the conveying action of the feeding mechanism, the welding action of the first welding robot and the welding action of the second welding robot are synchronously carried out.
4. The standard knot welding apparatus of claim 1, wherein: every the frock orientation the lateral wall of first welding robot is equipped with main chord groove and a plurality of web member groove, link up around the main chord groove, link up about the web member groove, slewing mechanism is equipped with the feed port that link up around a plurality of, feed mechanism is equipped with first transfer passage and a plurality of second transfer passage, first transfer passage carries along the fore-and-aft direction, second transfer passage carries along the left and right sides direction, works as the frock is located the material loading station, first transfer passage is just right the feed port with main chord groove, a plurality of second transfer passage and a plurality of web member groove one-to-one, first transfer passage with second transfer passage respectively to main chord groove with the web member groove is carried the work piece.
5. The standard knot welding apparatus of claim 4, wherein: the second conveying channel is obliquely arranged, the top end of the second conveying channel faces away from the feeding station, the tool is located at the feeding station and is inclined relative to the horizontal plane, and the bottom end of the second conveying channel is opposite to the web member groove.
6. The standard knot welding apparatus of claim 5, wherein: the first conveying channel conveys the first material, the second conveying channel conveys the second material, and the main chord groove is located at the bottom end of the web rod groove.
7. The standard knot welding apparatus of claim 1, wherein: the standard knot welding equipment further comprises a plurality of rotating mechanisms, each group of the rotating mechanisms is arranged between the linear driving mechanisms and the tool, and the rotating mechanisms drive the tool to rotate around the front axis and the rear axis.
8. The standard knot welding apparatus of claim 1, wherein: the standard knot welding equipment further comprises a material taking mechanism, the material taking mechanism is arranged behind the rotating mechanism and moves back and forth, a material taking clamp is arranged on the front side of the material taking mechanism, the material taking mechanism drives the material taking clamp to extend into a plurality of tools from the rear end of the avoiding hole, the material taking clamp clamps any one standard knot welded by the tool set, and the material taking mechanism takes out the standard knot from the rear end of the avoiding hole.
9. The standard knot welding apparatus of claim 1, wherein: the first welding robot and the second welding robot move along the front-back direction.
10. A use method of standard knot welding equipment is characterized by comprising the following steps: the standard knot welding apparatus comprising any one of claims 1 to 9, the method of use further comprising the steps of:
s1, the feeding mechanism sequentially conveys a plurality of workpieces to four tools of a first tool group, and the first welding robot and the second welding robot sequentially weld the workpieces of the four tools into a single-sided structure;
s2, driving four tools to fold towards a rotating axis of the rotating mechanism by four linear driving mechanisms of a first tool group, enabling four single-sided structures to form a rectangle, sequentially conveying a plurality of workpieces to four tools of a second tool group by the feeding mechanism, and welding every two adjacent single-sided structures by the first welding robot and the second welding robot to enable the four single-sided structures to form the standard knot;
s3, taking out the standard knot welded by the first tool set from the position avoiding hole;
s4, sequentially welding a plurality of workpieces of the four tools of the second tool group into the single-sided structure by the first welding robot and the second welding robot;
s5, driving four tools to fold towards a rotating axis of the rotating mechanism by four linear driving mechanisms of a second tool group, enabling the four single-sided structures to form a rectangle, sequentially conveying a plurality of workpieces to the four tools of a first tool group by the feeding mechanism, and welding every two adjacent single-sided structures by the first welding robot and the second welding robot to enable the four single-sided structures to form the standard knot;
s6, taking out the standard knot welded by the second tool set from the avoiding hole;
s7, sequentially welding a plurality of workpieces of the four tools of the first tool group into the single-sided structure by the first welding robot and the second welding robot;
and S8, repeating the steps S2 to S7 until the machine is stopped.
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| CN202211607036.7A CN115740876B (en) | 2022-12-14 | 2022-12-14 | Standard knot welding equipment and using method thereof |
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| CN202211607036.7A CN115740876B (en) | 2022-12-14 | 2022-12-14 | Standard knot welding equipment and using method thereof |
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| CN115740876B CN115740876B (en) | 2023-09-01 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111112895A (en) * | 2020-01-09 | 2020-05-08 | 福建鑫成裕机器人科技有限公司 | Full-automatic standard joint robot welding production line and welding method thereof |
| CN215509694U (en) * | 2021-05-17 | 2022-01-14 | 安徽奥维斯智能设备科技有限公司 | Welding equipment for capital construction standard knot |
| CN215967133U (en) * | 2021-09-10 | 2022-03-08 | 福建鑫成裕机器人科技有限公司 | Welding production line of piece type standard knot robot |
| CN114589329A (en) * | 2022-03-14 | 2022-06-07 | 长沙市速工科技有限责任公司 | Tower crane standard festival machining center |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111112895A (en) * | 2020-01-09 | 2020-05-08 | 福建鑫成裕机器人科技有限公司 | Full-automatic standard joint robot welding production line and welding method thereof |
| CN215509694U (en) * | 2021-05-17 | 2022-01-14 | 安徽奥维斯智能设备科技有限公司 | Welding equipment for capital construction standard knot |
| CN215967133U (en) * | 2021-09-10 | 2022-03-08 | 福建鑫成裕机器人科技有限公司 | Welding production line of piece type standard knot robot |
| CN114589329A (en) * | 2022-03-14 | 2022-06-07 | 长沙市速工科技有限责任公司 | Tower crane standard festival machining center |
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