CN115740876B - Standard knot welding equipment and using method thereof - Google Patents
Standard knot welding equipment and using method thereof Download PDFInfo
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- CN115740876B CN115740876B CN202211607036.7A CN202211607036A CN115740876B CN 115740876 B CN115740876 B CN 115740876B CN 202211607036 A CN202211607036 A CN 202211607036A CN 115740876 B CN115740876 B CN 115740876B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses a standard knot welding device, which comprises: the rotating mechanism is provided with a front-back through avoidance hole; a linear driving mechanism arranged on the rotating mechanism; the tool sets are connected to the linear driving mechanisms in a one-to-one correspondence manner, and each four tools which are vertical in sequence form a tool set, and the number of the tool sets is at least two; a feeding mechanism; the first welding robot stretches into the space between the plurality of tools from the front end of the avoidance hole; and the second welding robot is arranged outside the rotating mechanism, and the first welding robot and the second welding robot weld the four single-sided structures into a standard joint which is taken out from the rear end of the avoidance hole. The standard joint welding equipment greatly reduces the waiting time of the first welding robot and the second welding robot when clamping workpieces, is beneficial to improving the production efficiency, covers all welding positions of the standard joint, does not need manual repair welding, and improves the production efficiency. The invention can be applied to the field of fixed 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 joint for the construction elevator is a rectangular frame structure formed by welding a plurality of rod pieces. At present, the existing standard knot welding equipment is used for installing a clamping tool on a rotary table, clamping four main chords into the clamping tool, clamping a plurality of web members between every two main chords, driving the clamping tool to rotate through the rotary table, and sequentially welding the plurality of web members and the main chords by a welding robot to form a standard knot.
However, after the main chord member and the web member are clamped by the standard knot welding equipment, the welding robot needs to wait after the welding is completed, and the welding robot needs to wait in the clamping process, so that the waiting time of the standard knot welding equipment is longer, and the production efficiency of the standard knot welding equipment is lower.
When the welding robot stretches into the space between the four main chords from the outside to weld, the space between the main chords and the plurality of rod pieces is narrow, the action of the welding robot is limited, and the standard knot is provided with a position which can not be welded by the welding robot, so that the welding process must repair-weld the position which can not be welded by the welding robot manually, and the production efficiency is also influenced.
Disclosure of Invention
The present invention is directed to a standard knot welding apparatus and method of use thereof that solves one or more of the problems of the prior art, providing at least one of a beneficial choice or creation.
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 avoidance hole;
the linear driving mechanisms are arranged on the rotating mechanism, a plurality of linear driving mechanisms are arranged, and the plurality of linear driving mechanisms are circumferentially distributed on the periphery of the avoidance hole;
the tool is provided with a plurality of tools, the tools are correspondingly connected with the linear driving mechanisms one by one, the linear driving mechanisms drive the tools to be close to or far away from the rotation axis of the rotating mechanism, every four tools which are vertical in sequence form a tool group, and the number of the tool groups is at least two;
the inside of the rotating mechanism is provided with a feeding station, and the feeding station 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 space between the plurality of tools from the front end of the avoidance hole;
the second welding robot is arranged outside the rotating mechanism, the first welding robot and the second welding robot weld a plurality of workpieces of the tool into a single-sided structure, the first welding robot and the second welding robot weld four single-sided structures of any one tool assembly clamp into a standard section, and the standard section is taken out from the rear end of the avoidance hole.
The beneficial effects of the invention are as follows: the feeding mechanism conveys a plurality of workpieces to a tool positioned at the feeding station, the rotating mechanism rotates the tool which clamps the 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 workpieces into a single-sided structure, meanwhile, the feeding mechanism conveys the workpieces to another tool positioned at the feeding station, after the first welding robot and the second welding robot weld the single-sided structure, the rotating mechanism drives the tool to rotate, so that the tool which is clamped in place newly rotates to a position between the first welding robot and the second welding robot, the workpiece of the other tool is fed in a 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 set are clamped with the welded single-sided structure, the four linear driving mechanisms of the same tool set drive the corresponding tools to fold towards the rotating axes of the rotating mechanisms, so that every two adjacent single-sided structures are propped against each other, the first welding robot and the second welding robot weld the four single-sided structures into standard sections, and finally the welded standard sections are taken out from the rear ends of the avoidance holes; and moreover, the first welding robot and the second welding robot weld a plurality of workpieces and a single-sided structure of the standard joint from the inner side and the outer side of the standard joint, so that the workpieces of the standard joint are prevented from obstructing the welding actions of the first welding robot and the second welding robot, all welding positions of the standard joint are covered, manual repair welding is not needed, and the production efficiency is improved.
As a further improvement of the technical scheme, the rotating mechanism is provided with a welding station, the welding station is positioned on the motion track of any one tool, when the tool with a plurality of workpieces clamped thereon moves to the welding station, the first welding robot and the second welding robot weld the workpieces into the single-sided structure, and the first welding robot and the second welding robot weld the four single-sided structures of any one tool group into the standard section.
The welding station is separated from the feeding station, the feeding mechanism conveys a plurality of workpieces to the tool, the tool clamped with the workpieces moves to the welding station to be welded, the feeding action of the feeding mechanism is prevented from interfering the actions of the first welding robot and the second welding robot, after four tool clamps of the same tool group are provided with single-sided structures after welding is completed, the linear driving mechanism drives the tool to fold towards the axis of the rotating mechanism, the four single-sided structures are enclosed into a rectangle, and finally the first welding robot and the second welding robot weld the four single-sided structures together to form a standard joint.
As a further improvement of the technical scheme, at least one tool moves to the feeding station, at least one tool 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 performed.
One tool moves to the feeding station, the other tool moves to the welding station, and then conveying action of the feeding mechanism and welding action of the first welding robot and the second welding robot are synchronously performed, so that waiting time of the first welding robot and the second welding robot is saved.
As a further improvement of the technical scheme, each tool is provided with a main chord rod groove and a plurality of web rod grooves towards the side wall of the first welding robot, the main chord rod grooves are communicated with each other in a front-back mode, the web rod grooves are communicated with each other in a left-right mode, the rotating mechanism is provided with a plurality of feed holes communicated with each other in a front-back mode, the feeding mechanism is provided with a first conveying channel and a plurality of second conveying channels, the first conveying channels are conveyed in the front-back direction, the second conveying channels are conveyed in the left-right direction, and when the tools are located at the feeding stations, the first conveying channels are opposite to the feed holes and the main chord rod grooves, the second conveying channels are in one-to-one correspondence with the web rod grooves, and the first conveying channels and the second conveying channels are respectively conveyed to the main chord rod grooves and the web rod grooves.
When the tool moves to the feeding station, the first conveying channel of the feeding mechanism conveys the main chord member to the main chord member groove 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 technical scheme, the second conveying channel is obliquely arranged, the top end of the second conveying channel faces away from the feeding station, when the tool is positioned at the feeding station, the tool is oblique relative to the 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, so that the web members in the second conveying channel slide towards the tooling at the feeding station due to the action of gravity, and the tooling inclines relative to the horizontal plane, and the web members in the second conveying channel can slide into web member grooves of the tooling, so that the conveying of the web members is more convenient.
As a further improvement of the above technical solution, the first conveying channel is firstly conveyed, the second conveying channel is secondly conveyed, and the main chord member groove is located at the bottom end of the web member groove.
After the first conveying channel conveys the main chord member to the main chord member groove of the tool, the second conveying channel conveys the web member to the web member groove of the tool, and the web member slides towards the main chord member due to the action of gravity, so that the web member is abutted to the main chord member, and the main chord member and the web member are rapidly positioned.
As a further improvement of the technical scheme, the standard knot welding equipment further comprises a plurality of rotating mechanisms, wherein 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.
Be equipped with a rotary mechanism between sharp actuating mechanism and the frock, because every frock group comprises four frock, exists assembly error between four frock, causes the single face structure on every two adjacent frock to appear the angle difference easily, makes appear great clearance between two adjacent single face structures, rotates the frock through rotary mechanism, and rotary mechanism makes the single face structure on the frock rotate around the front and back axis for two adjacent single face structures close the laminating more together.
As a further improvement of the technical scheme, the standard knot welding equipment further comprises a material taking mechanism, wherein the material taking mechanism is arranged at the rear of the rotating mechanism and moves back and forth, a material taking clamp is arranged at 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 avoidance hole, the material taking clamp clamps any standard knot welded by the tool group, and the material taking mechanism takes out the standard knot from the rear end of the avoidance hole.
The standard section that the welding was accomplished is pressed from both sides from the rear end in clearance hole to extracting machine tool of extracting mechanism, and extracting mechanism removes the standard section from the rear direction back of slewing mechanism for the extracting of standard section is more convenient.
As a further improvement of the above technical solution, the first welding robot and the second welding robot each move in the front-rear direction.
The first welding robot and the second welding robot adjust positions along the front-back direction so that the first welding robot and the second welding robot adjust angles according to the welding spot positions of the standard joints.
A method of using a standard knot welding apparatus comprising a standard knot welding apparatus as described above, the method of using further comprising the steps of:
s1, sequentially conveying a plurality of workpieces to four tools of a first tool group by the feeding mechanism, and sequentially welding the workpieces of the four tools into a single-sided structure by the first welding robot and the second welding robot;
s2, four linear driving mechanisms of a first tool set drive four tools to fold towards the rotation axis of the rotating mechanism, four single-sided structures enclose a rectangle, the feeding mechanism sequentially conveys a plurality of workpieces to four tools of a second tool set, and a first welding robot and a second welding robot weld every two adjacent single-sided structures to enable the four single-sided structures to form the standard section;
S3, taking out the standard section welded by the first tool group from the avoidance hole;
s4, sequentially welding a plurality of workpieces of the four tools of the second tool set into the single-sided structure by the first welding robot and the second welding robot;
s5, driving four tools to fold towards the rotating axis of the rotating mechanism by four linear driving mechanisms of the second tool set, enclosing a rectangle by four single-sided structures, sequentially conveying a plurality of workpieces to the four tools of the first tool set by the feeding mechanism, and welding every two adjacent single-sided structures by the first welding robot and the second welding robot to form the standard section by the four single-sided structures;
s6, taking out the standard section welded by the second tool set from the avoidance 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;
s8, repeating the steps S2 to S7 until the machine is stopped.
The feeding mechanism sequentially conveys a plurality of workpieces to the first tool set and the second tool set, the first welding robot and the second welding robot sequentially weld the workpieces of the first tool set and the second tool set, and the feeding action and the welding action are synchronously performed, so that the waiting time of the first welding robot and the second welding robot is reduced.
Drawings
The invention is further described below with reference to the drawings and examples;
FIG. 1 is a schematic illustration of a standard knot welding apparatus according to one embodiment of the present invention in a shutdown state;
FIG. 2 is a schematic view of a standard knot welding apparatus according to the present invention, in which one embodiment is in a shutdown state and at another angle;
FIG. 3 is a schematic view of the working state of an embodiment of the standard knot welding device provided by the invention;
FIG. 4 is a schematic view of a standard joint welding apparatus according to another embodiment of the present invention, illustrating an operating state of the standard joint welding apparatus according to another embodiment of the present invention;
FIG. 5 is a schematic cross-sectional view of a standard joint welding apparatus according to an embodiment of the present invention;
FIG. 6 is a schematic view of a standard knot welding apparatus according to an embodiment of the present invention, wherein the standard knot is clamped by the material taking device;
FIG. 7 is a schematic view of a standard knot welding apparatus according to an embodiment of the present invention, wherein the standard knot is removed by a material taking device;
FIG. 8 is a schematic view of a construction of a tool in one embodiment of a standard knot welding apparatus provided by the present invention;
FIG. 9 is a schematic diagram of a standard knot welding apparatus according to an embodiment of the present invention, wherein one tooling set is folded;
Fig. 10 is a schematic diagram of a standard knot welding apparatus according to an embodiment of the present invention, wherein a tooling set is separated.
10. Standard section, 30, tooling group, 100, rotating mechanism, 101, feeding station, 102, welding station, 110, clearance hole, 120, feed hole, 200, linear driving mechanism, 300, tooling, 310, main chord rod groove, 320, web rod groove, 400, feeding mechanism, 410, first conveying channel, 420, second conveying channel, 500, first welding robot, 600, second welding robot, 700, material taking mechanism, 710 and material taking clamp.
Detailed Description
Reference will now be made in detail to the present embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the accompanying drawings are used to supplement the description of the written description so that one can intuitively and intuitively understand each technical feature and overall technical scheme of the present invention, but not to limit the scope of the present invention.
In the description of the present invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, if there is a word description such as "a plurality" or the like, the meaning of a plurality is one or more, and the meaning of a plurality is two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
Referring to fig. 1 to 10, the standard knot welding apparatus 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 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 driving base is provided with a mounting hole which is communicated in the front-back direction, the driving rotary table is rotationally arranged in the mounting hole, a plurality of bearings are arranged on the inner side wall of the mounting hole, the plurality of bearings are distributed at intervals along the circumference of the mounting hole, and the outer side wall of the driving rotary table abuts against the plurality of bearings.
The driving base is provided with a limiting ring respectively on the front side and the rear side of the mounting hole, the limiting ring is connected to the driving base through bolts, a plurality of concave cavities are formed in the side wall of the limiting ring facing the mounting hole, each concave cavity is provided with a ball and an end cover, the ball is limited in the concave cavity by the aid of the end cover, the end cover is provided with a through hole, the outer side wall of the ball penetrates through the through hole and extends out of the concave cavity, and the outer side wall of the ball abuts against the end face of the driving rotary table.
The front limiting ring and the rear limiting ring limit the freedom degree of the active rotary table moving along the front-back direction, the mounting hole limits the freedom degree of the active rotary table moving along the up-down left-right direction, and then the active rotary table rotates around the front-back 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 the driven gear is connected on the rear end face of the initiative revolving platform, and the axis of the driven gear coincides with the rotation axis of the initiative revolving platform, and the initiative gear meshes with the driven gear, and then driving motor drive initiative revolving platform rotates around the front and back axis.
The structure of the driven turntable is similar to that of the driving turntable, the driven turntable comprises a driven base and a driven rotary table, the matching mode of the driven base and the driven rotary table is the same as that of the driving base and the driving rotary table, the driven rotary table rotates around a front axis and a rear axis, and the rotation axis of the driven rotary table is coincident with that of the driving rotary table.
The rotation 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 arranged on the rear side wall of the driving rotary table, are uniformly distributed at intervals around the periphery of the avoidance hole 110, 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 correspond to the eight front sliding grooves one by one.
The linear driving mechanisms 200 are hydraulic push rods, eight linear driving mechanisms 200 are arranged in eight front sliding grooves in a one-to-one correspondence mode, and the driving direction of each linear driving mechanism 200 is the same as the extending direction of each front sliding groove.
Eight frock 300 set up between initiative revolving stage and driven revolving stage, and eight frock 300 one-to-one is connected to 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 active turntable, and then the tool 300 moves to be close to the rotation axis of the rotation mechanism 100 or to be far away from the rotation axis of the rotation mechanism 100, and the linear driving mechanism 300 drives the tool 300 to move into the avoidance hole 110 or to be far away from the avoidance hole 110.
The driving turntable is driven by the driving motor to rotate, so that the tool 300 and the driven turntable are driven to rotate.
The eight tools 300 form a rotationally symmetrical structure with the rotation axis of the rotation mechanism 100 as the center, the eight tools 300 are arranged around the periphery of the avoidance hole 110, and the eight tools 300 enclose a regular octagon. The side wall of each tool 300 facing the rotation axis of the rotation mechanism 100 is used as a working side wall, an included angle between the working side walls of every two adjacent tools 300 is 135 degrees, the working side walls of four tools 300 spaced from each other are sequentially vertical to form a square, each four tools 300 sequentially vertical to form one tool group 30, and eight tools 300 form two tool groups 30.
A space is reserved between every two adjacent tools 300, and as the tools 300 move towards the avoidance holes 110 in a folding mode when moving towards the avoidance holes 110, interference exists between every two adjacent tools 300. For this reason, each two adjacent tools 300 can only selectively move toward the avoidance hole 110, so that the two tool sets 30 are alternately folded toward the avoidance hole 110 in sequence.
A rotating mechanism is arranged between each tool 300 and the linear driving mechanism 200, the rotating mechanism drives the tools 300 to rotate around the front axis and the rear axis, 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 towards the rotating axis of the rotating mechanism 100 so as to enable the shape enclosed by the four tools 300 of the same tool group 30 to be properly adjusted.
The side wall of the tool 300, which faces the rotation axis of the rotation mechanism 100, is provided with a main chord member groove 310 and four web member grooves 320, the main chord member groove 310 penetrates through the tool 300 in the front-back direction, the web member grooves 320 penetrate through the tool 300 in the left-right direction, the three web member grooves 320 are perpendicular to the main chord member groove 310 and are respectively communicated with the front end, the middle and the rear end of the main chord member groove 310, and the two web member grooves 320 are arranged at an angle with the main chord member groove 310 and are communicated with the front end and the rear end of the main chord member groove 310. And the main chord member groove 310 is provided with a clamp, each web member groove 320 is provided with a clamp, the clamp is driven by a cylinder, and the clamp is used for clamping workpieces arranged on the main chord member groove 310 and the web member grooves 320.
Moreover, the tooling 300 is provided with a notch at the communication position of the web member groove 320 and the main chord member groove 310, wherein the notch is the welding position of the main chord member and the web member, so that the welding of the main chord member and the web member is conveniently performed at two sides.
The rotating mechanism 100 is internally provided with a feeding station 101, and the feeding station 101 is positioned on 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 avoidance hole 110, and then the rotating mechanism 100 drives the tool 300 to rotate to the feeding station 101, and at this time, the tool 300 gradually inclines downwards from right to left towards the side wall of the rotating axis of the rotating mechanism 100.
Eight feeding holes 120 penetrating in the front-rear direction are formed in the driven rotary table of the rotating mechanism 100, the eight feeding holes 120 are uniformly distributed at intervals around the rotating axis of the rotating mechanism 100, one feeding hole 120 is formed in the track of each tool 300 moving along the radial direction of the rotating mechanism 100, and the feeding holes 120 are located on 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 opposite to the feeding hole 120.
With the tooling 300 positioned at the loading station 101, the main chord groove 310 is positioned at the left side of the tooling 300, the web member groove 320 is positioned at the right side of the tooling 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 disposed at the periphery of the rotating mechanism 100, the feeding mechanism 400 includes a first conveying channel 410 and a plurality of second conveying channels 420, the first conveying channel 410 is disposed at the rear side of the rotating mechanism 100, the first conveying channel 410 conveys the main chord member from back to front, five second conveying channels 420 are disposed, two second conveying channels 420 are opposite to the inclined web grooves 320 of the tooling 300 located at the feeding station 101, and the other three second conveying channels 420 are opposite to the vertical web grooves 320 of the tooling 300 of the feeding station 101, so that the five second conveying channels 420 convey web members to the five web grooves 320.
In this embodiment, three second conveying channels 420 are parallel to each other and mounted on a moving vehicle moving left and right, two other second conveying channels 420 are disposed above the three second conveying channels 420, and axes of the five second conveying channels 420 are parallel to the tooling 300 located in the feeding station 101, and when the moving vehicle moves forward and backward to adjust the position, the two second conveying channels 420 are opposite to the inclined web grooves 320 or the three second conveying channels 420 are opposite to the vertical web grooves 320.
To ensure that the ends of the web members extend outside of the tooling 300, the width of the tooling 300 in the left-right direction is less than the length of the web members in the left-right direction.
The first welding robot 500 is disposed in front of the rotating mechanism 100, a moving mechanism moving back and forth is disposed at the bottom of the first welding robot 500, the first welding robot 500 moves back and forth, and extends into between eight tools 300 from the front end of the avoidance hole 110, the first welding robot 500 is an industrial six-axis welding robot, and the first welding robot 500 can move in the space between eight tools 300. After the four tools 300 of the same tool set 30 are folded, the shape of the first welding robot 500 is smaller than the holes surrounded by the four tools 300, and the first welding robot 500 can move in the space between the four tools 300.
The second welding robot 600 is provided at the left side of the rotating mechanism 100, the second welding robot 600 moves in the left-right direction, and the second welding robot 600 can move in the front-rear direction, and the second welding robot 600 is an industrial six-axis welding robot.
The rotating mechanism 100 is internally provided with a welding station 102, the welding station 102 is positioned at the left side of the rotating mechanism 100, the welding station 102 is the right side position of the second welding robot 600, and when the tool 300 is driven to the right side of the second welding robot 600 by the rotating mechanism 100, the position where the second welding robot 600 can be welded is taken as the welding station 102.
The second welding robot 600 is located outside the tool 300 with the position of the first welding robot 500 relative to the tool 300 being the opposite inner side.
In the process of driving the tool 300 to rotate by the rotating mechanism 100, the second conveying channel 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 conveying belts, conveying roller tables and the like to convey 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 away from the tool 300, the push rod reciprocates along the conveying channel, a conveying track is disposed at the outer side of each conveying channel, an opening is disposed on the side wall of the conveying track corresponding to the conveying channel, the conveying track conveys the rod along the radial direction of the rod to the opening, the rod is conveyed into the conveying channel from the opening, and then the rod is pushed by the push rod along the axial direction of the rod, so that the rod is inserted into the main chord groove 310 or the web groove 320, and the conveying direction of the conveying track is perpendicular to the conveying direction of the conveying channel, so that the rod is sequentially conveyed into the conveying channel one by one from the conveying track.
Further, since the end of the partial member, for example, the inclined surface is cut so that the end of the inclined web abuts against the outer wall of the straight web or the outer wall of the main chord, the inclined web is required to be fed into the web groove 320 of the tool 300 at a specific angle. For this reason, set up the terminal wedge that matches with the inclined web member terminal with the end of push rod, form the terminal shape of inclined web member between wedge and the inner wall of inclined web member passageway, open logical groove at the lateral wall of inclined web member passageway, set up motor driven running roller at the outer wall of inclined web member passageway, the running roller stretches into in the inclined web member passageway from logical groove, the lateral wall of running roller is equipped with the rubber slipmat, drive the inclined web member in the inclined web member passageway through the running roller and rotate, and the wedge of push rod promotes the end of inclined web member, make the end of inclined web member laminate with the wedge of push rod along with the inclined web member rotates around self axis, make the inclined web member terminal be limited in between push rod and the inclined web member passageway, prevent the inclined web member to continue rotating and make the angle of inclined web member fixed, finally the inclined web member of fixed angle is sent into in the web member groove 320 to the push rod promotion.
The material taking mechanism 700 is arranged at the rear of the rotating mechanism 100, a moving vehicle moving along the front-rear direction is arranged at the bottom of the material taking mechanism 700, the material taking mechanism 700 moves along the front-rear direction, a cylindrical protruding block protruding 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 avoidance hole 110, and when the material taking mechanism 700 moves forwards, the cylindrical protruding block is inserted forwards into the rear end of the avoidance hole 110. The front end of the cylindrical lug is provided with a material taking clamp 710, the material taking clamp 710 comprises four connecting columns extending forwards and a cylinder clamping block arranged on the periphery of the connecting columns, and the four connecting columns enclose a square. The diameter of the connecting column is smaller than that of 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 by using the cylinder clamping block.
In this embodiment, after the four tools 300 of the same tool set 30 are closed, the main chord grooves 310 of the tools 300 are opposite to the avoidance holes 110, so that the four connection posts 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 rightwards, the second welding robot 600 moves leftwards, and the material taking mechanism 700 moves backwards, so that interference between the second conveying channel 420 and the material taking mechanism 700 of the second welding robot is avoided. After the rotating mechanism 100 drives the eight tools 300 to rotate in place, the second conveying channel 420 moves leftwards and the second welding robot 600 moves rightwards, the second conveying channel 420 conveys the tools 300 of the feeding station 101 to a plurality of workpieces, and the second welding robot 600 welds the workpieces of the tools 300 of the welding station.
The method for using the standard knot welding equipment of the invention comprises the following steps:
the using method further comprises the following steps:
s1, eight linear driving mechanisms 200 drive eight tools 300 away from the rotation axis of the rotating mechanism 100 one by one, one tool 300 moves to the outermost end of the stroke, the rest 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 conveying passage 410 conveys the main chord member to the main chord member groove 310 of the tool 300, the plurality of second conveying passages 420 sequentially conveys the web member to the web member groove 320 of the tool 300 after the main chord member is clamped, the web member slides along the web member groove 320 due to gravity and abuts against the main chord member, and the clamp clamps the web member.
Finally, the second conveying channel 420 is far away from the rotating mechanism 100, and the linear driving mechanism 200 drives the tool 300 clamping the main chord member and the web members to move to the middle of the stroke.
With the above process being a cycle, the feeding mechanism 400 sequentially conveys a plurality of workpieces to the four tools 300 of the first tool set 30.
And, after the feeding mechanism 400 delivers a plurality of workpieces to one tool 300, the tool 300 clamped with the main chord member and the plurality of web members rotates to the welding station 102 along with the rotating mechanism 100, and another tool 300 positioned in the same tool group 30 is positioned at the feeding station 101, and the second welding robot 600 moves rightward and is close to the rotating mechanism 100.
The first welding robot 500 and the second welding robot 600 weld the main chord member and the plurality of web members on the tool 300 positioned at the welding station 102, so that the main chord member and the plurality of web members are connected to form a single-sided structure, and after welding is completed, the second welding robot 600 is far away from the rotating mechanism 100, so that the rotating mechanism 100 is prevented from being blocked to drive the tool 300 to rotate.
With the above process as one cycle, the first welding robot 500 and the second welding robot 600 sequentially weld the plurality of workpieces of the four tools 300 of the first tool set 30 into a single-sided structure.
S2, after the workpieces on the four tools 300 of the first tool set 30 are welded into single-sided structures respectively, the four linear driving mechanisms 200 of the first tool set 30 drive the four tools 300 to fold towards the rotation axis of the rotation mechanism 100, so that the tools 300 move to the innermost end of the stroke, and the four single-sided structures are enclosed into square by the rectangular surrounding areas of the four tools 300 and are sequentially abutted.
And, the rotating mechanism 100 rotates the first tooling set 30 to make two of the tooling sets 300 parallel to the ground, and then the abutting 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 abutting parts located at the welding station 102, so that two connected single-sided structures are welded together.
And one of the tools 300 of the second tool set 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 feeding is completed, and the second welding robot 600 is far away from the rotating mechanism 100 after welding is completed.
With the above process as a cycle, the rotating mechanism 100 rotates the first tooling set 30, so that the other abutting part of the first tooling set 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 set 30 are welded into the standard joint 10, and the second welding robot 600 is far away from the rotating mechanism 100 after the welding is completed.
The other tooling 300 of the second tooling set 30 moves to the feeding station 101, the feeding mechanism 400 conveys the main chord members and the plurality of web members to the tooling 300, the feeding mechanism 400 sequentially conveys the workpieces to the four tooling 300 of the second tooling set 300, and the feeding mechanism 400 is far away from the rotating mechanism 100 after the feeding is completed.
S3, the first tooling set 30 clamps the welded standard knot 10, the four tooling 300 of the second tooling set 30 clamps the main chords and the web members respectively, then the material taking mechanism 700 moves forwards, the four connecting posts of the material taking clamp 710 are inserted into the four main chords of the standard knot 10 from the rear end of the avoidance 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 tooling 300 of the first tooling set 30 are loosened, the tooling 300 is separated from the standard knot 10, the four linear driving mechanisms 200 drive the four tooling 300 to move away from the rotating axis of the rotating mechanism 100, the standard knot 10 is separated from the four tooling 300, the front and back movement of the tooling 300 is avoided, and finally the material taking mechanism 700 moves backwards to take out the standard knot 10.
S4, the second welding robot 600 moves rightwards and is close to the rotating mechanism 100, the first welding robot 500 and the second welding robot 600 weld the main chord members and the plurality of web members on the tool 300 positioned at the welding station 102, the main chord members are connected with the plurality of web members to form a single-sided structure, and after welding is finished, the second welding robot 600 is far away from the rotating mechanism 100, so that the rotating mechanism 100 is prevented from being hindered from driving the tool 300 to rotate.
With the above process as one cycle, the first welding robot 500 and the second welding robot 600 sequentially weld the plurality of workpieces of the four tools 300 of the second tool set 30 into a single-sided structure.
S5, after the workpieces on the four tools 300 of the second tool set 30 are welded into single-sided structures respectively, the four linear driving mechanisms 200 of the second tool set 30 drive the four tools 300 to fold towards the rotation axis of the rotation mechanism 100, so that the tools 300 move to the innermost end of the stroke, and the four single-sided structures are enclosed into square by the rectangular surrounding areas of the four tools 300 and are sequentially abutted.
And, the rotating mechanism 100 rotates the second tooling set 30 to make two of the tooling sets 300 parallel to the ground, and then the abutting 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 abutting parts located at the welding station 102, so that two connected single-sided structures are welded together.
And one of the tools 300 of the first tool set 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 feeding is completed, and the second welding robot 600 is far away from the rotating mechanism 100 after welding is completed.
With the above process as a cycle, the rotating mechanism 100 rotates the second tooling set 30, so that the other abutting part of the second tooling set 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 set 30 are welded into the standard joint 10, and the second welding robot 600 is far away from the rotating mechanism 100 after the welding is completed.
The other tooling 300 of the first tooling set 30 moves to the feeding station 101, the feeding mechanism 400 conveys the main chord members and the web members to the tooling 300, the feeding mechanism 400 sequentially conveys the workpieces to the four tooling 300 of the first tooling set 300, and the feeding mechanism 400 is far away from the rotating mechanism 100 after the feeding is completed.
S6, the second tooling set 30 clamps the welded standard knot 10, the four tooling 300 of the first tooling set 30 clamps the main chords and the plurality of web members respectively, then the material taking mechanism 700 moves forwards, the four connecting posts of the material taking clamp 710 are inserted into the four main chords of the standard knot 10 from the rear end of the avoidance 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 tooling 300 of the second tooling set 30 are loosened, the tooling 300 is separated from the standard knot 10, the four linear driving mechanisms 200 drive the four tooling 300 to move away from the rotating axis of the rotating mechanism 100, the standard knot 10 is separated from the four tooling 300, the front and back movement of the tooling 300 is avoided, and finally the material taking mechanism 700 moves backwards to take out the standard knot 10.
S7, the tooling 300 with the main chord members and the plurality of web members clamped 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, and the first welding robot 500 and the second welding robot 600 weld the main chord members and the plurality of web members on the tooling 300 positioned at the welding station 102, so that the main chord members and the plurality of web members are connected to form a single-sided structure.
After the welding is completed, the second welding robot 600 is far away from the rotating mechanism 100, so as to avoid blocking the rotating mechanism 100 to drive the tool 300 to rotate.
With the above process as one cycle, the first welding robot 500 and the second welding robot 600 sequentially weld the plurality of workpieces of the four tools 300 of the first tool set 30 into a single-sided structure.
S8, repeating the steps S2 to S7 until the machine is stopped.
While the preferred embodiment of the present application has been described in detail, the application is not limited to the embodiments, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the application, and these modifications and substitutions are intended to be included in the scope of the present application as defined in the appended claims.
Claims (10)
1. A standard knot welding device, characterized in that: comprising the following steps:
The rotating mechanism rotates around a front axis and a rear axis, and is provided with a front-rear through avoidance hole;
the linear driving mechanisms are arranged on the rotating mechanism, a plurality of linear driving mechanisms are arranged, and the plurality of linear driving mechanisms are circumferentially distributed on the periphery of the avoidance hole;
the tool is provided with a plurality of tools, the tools are correspondingly connected with the linear driving mechanisms one by one, the linear driving mechanisms drive the tools to be close to or far away from the rotation axis of the rotating mechanism, every four tools which are vertical in sequence form a tool group, and the number of the tool groups is at least two;
the inside of the rotating mechanism is provided with a feeding station, and the feeding station 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 space between the plurality of tools from the front end of the avoidance hole;
the second welding robot is arranged outside the rotating mechanism, the first welding robot and the second welding robot weld a plurality of workpieces of the tool into a single-sided structure, the first welding robot and the second welding robot weld four single-sided structures of any one tool assembly clamp into a standard section, and the standard section is taken out from the rear end of the avoidance hole;
After four tools of the same tool set are folded, the appearance of the first welding robot is smaller than a hole formed by surrounding the four tools, and the first welding robot moves in the space between the four tools.
2. The standard knot welding apparatus of claim 1, wherein: the rotating mechanism is provided with a welding station, the welding station is positioned on the motion track of any one tool, when the tool with a plurality of workpieces clamped thereon moves to the welding station, the first welding robot and the second welding robot weld a plurality of workpieces into a single-sided structure, and the first welding robot and the second welding robot weld any one of the four single-sided structures of the tool group into a standard section.
3. The standard knot welding apparatus of claim 2, wherein: at least one tool moves to the feeding station, at least one tool moves to the welding station, and conveying action of the feeding mechanism, welding action of the first welding robot and welding action of the second welding robot are synchronously performed.
4. The standard knot welding apparatus of claim 1, wherein: every frock orientation first welding robot's lateral wall is equipped with main chord member groove and a plurality of web groove, link up around the main chord member groove, link up around the web groove, slewing mechanism is equipped with a plurality of feed inlets that link up around, feed mechanism is equipped with first conveying channel and a plurality of second conveying channel, first conveying channel carries along the fore-and-aft direction, the second conveying channel carries along left and right directions, works as the frock is located the material loading station, first conveying channel just to the feed inlet with main chord member groove, a plurality of second conveying channel and a plurality of web groove one-to-one, first conveying channel with second conveying channel respectively to main chord member groove with web groove carries 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, when the tool is located at the feeding station, the tool 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 web member first, the second conveying channel conveys the web member second, and the main chord member groove is positioned at the bottom end of the web member groove.
7. The standard knot welding apparatus of claim 1, wherein: 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.
8. The standard knot welding apparatus of claim 1, wherein: the standard section welding equipment further comprises a material taking mechanism, the material taking mechanism is arranged at the rear of the rotating mechanism and moves back and forth, a material taking clamp is arranged at the front side of the material taking mechanism and drives the material taking clamp to extend into a plurality of tools from the rear end of the position avoiding hole, the material taking clamp clamps any standard section welded by the tool group, and the material taking mechanism takes out the standard section from the rear end of the position avoiding hole.
9. The standard knot welding apparatus of claim 1, wherein: the first welding robot and the second welding robot both move along the front-back direction.
10. The application method of the standard knot welding equipment is characterized by comprising the following steps of: comprising a standard knot welding apparatus as claimed in any of the claims 1 to 9, the method of use further comprising the steps of:
s1, sequentially conveying a plurality of workpieces to four tools of a first tool group by the feeding mechanism, and sequentially welding the workpieces of the four tools into a single-sided structure by the first welding robot and the second welding robot;
s2, four linear driving mechanisms of a first tool set drive four tools to fold towards the rotation axis of the rotating mechanism, four single-sided structures enclose a rectangle, the feeding mechanism sequentially conveys a plurality of workpieces to four tools of a second tool set, and a first welding robot and a second welding robot weld every two adjacent single-sided structures to enable the four single-sided structures to form the standard section;
s3, taking out the standard section welded by the first tool group from the avoidance hole;
s4, sequentially welding a plurality of workpieces of the four tools of the second tool set into the single-sided structure by the first welding robot and the second welding robot;
S5, driving four tools to fold towards the rotating axis of the rotating mechanism by four linear driving mechanisms of the second tool set, enclosing a rectangle by four single-sided structures, sequentially conveying a plurality of workpieces to the four tools of the first tool set by the feeding mechanism, and welding every two adjacent single-sided structures by the first welding robot and the second welding robot to form the standard section by the four single-sided structures;
s6, taking out the standard section welded by the second tool set from the avoidance 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;
s8, repeating the steps S2 to S7 until the machine is stopped.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 true 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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