CN108247247B - Automatic welding device and automatic welding method for horizontal supporting leg of engineering mechanical equipment - Google Patents
Automatic welding device and automatic welding method for horizontal supporting leg of engineering mechanical equipment Download PDFInfo
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- CN108247247B CN108247247B CN201711316590.9A CN201711316590A CN108247247B CN 108247247 B CN108247247 B CN 108247247B CN 201711316590 A CN201711316590 A CN 201711316590A CN 108247247 B CN108247247 B CN 108247247B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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Abstract
The invention relates to an automatic welding device and an automatic welding method for a horizontal supporting leg of engineering mechanical equipment, which comprise an active positioner, the automatic welding machine comprises a driven positioner and a welding robot arranged between the driving positioner and the driven positioner, wherein a rotatable driving clamping hand is arranged on the driving positioner, a first pressing assembly used for pressing the upper surface of a horizontal leg to be welded is arranged on the driving clamping hand, a rotatable driven clamping hand is arranged on the driven positioner, a second pressing assembly used for pressing the side surface of the horizontal leg to be welded is arranged on the driven clamping hand, a rotary locking assembly used for locking or unlocking the driven clamping hand is further arranged on the driven positioner, a supporting assembly used for supporting the bottom surface of the horizontal leg to be welded is further arranged between the driving positioner and the driven positioner, and a pushing assembly used for pushing the horizontal leg to be welded into the driving clamping hand and the driven clamping hand is further arranged on the same side of the driving positioner and the driven positioner. Guarantee the welding precision and realize welding different positions.
Description
Technical Field
The invention belongs to engineering machinery manufacturing equipment, and particularly relates to an automatic welding device and an automatic welding method for a horizontal supporting leg of a crane.
Background
At present, horizontal landing leg structure spare of medium and small-size hoist manufacturing enterprise all adopts manual welding production, or has the welding mode of simple and easy automatic dolly, and it is high to personnel's requirement, and quality control is unstable, and the production environment is abominable painstakingly, and welding process is unstable, can't guarantee the welding precision of horizontal landing leg, can't satisfy the welding forming of the horizontal landing leg that does not use the specification model.
Disclosure of Invention
The technical problem to be solved by the invention is to provide the automatic welding device for the horizontal support leg of the engineering machinery equipment, which has the advantages of high working efficiency, low labor intensity and high product quality, and can avoid potential safety hazards caused by the debugging of the whole vehicle in the later period.
The invention comprises an active positioner, a driven positioner and a welding robot arranged between the active positioner and the driven positioner, a rotatable active clamping hand is arranged on the active positioner, a first pressing component used for pressing the upper surface of the horizontal supporting leg to be welded is arranged on the active clamping hand, a rotatable driven clamping hand is arranged on the driven positioner, a second pressing component used for pressing the side surface of the horizontal supporting leg to be welded is arranged on the driven clamping hand, the driven positioner is also provided with a rotary locking assembly for locking or unlocking the driven clamping hand, a supporting component used for supporting the bottom surface of the horizontal supporting leg to be welded is also arranged between the driving positioner and the driven positioner, the same side of the driving positioner and the driven positioner is also provided with a pushing assembly for pushing the horizontal support legs to be welded into the driving clamping hand and the driven clamping hand;
preferably, the driving positioner is connected with the driven positioner through a positioner cross beam, a driving positioner support frame for mounting the driving positioner and a driven positioner frame for mounting the driven positioner are arranged on the positioner cross beam, the driven positioner frame is provided with the rotary locking assembly, the driven positioner is also provided with a driven gripper support mounted on the driven positioner frame and a turntable rotatably connected with the driven gripper support, and the turntable is connected with the driven gripper;
preferably, the rotary locking assembly comprises a rotary locking cylinder arranged on the driven positioner frame and a locking pin arranged at the driving end of the rotary locking cylinder, and the rotary disc is provided with a pin hole which is inserted and extended by matching with the locking pin;
preferably, the second pressing assembly comprises a second pressing cylinder arranged on the driven tong and a cylinder pressure head arranged at the telescopic end of the second pressing cylinder, and the driven tong is provided with a second position sensor for detecting the in-place position of the horizontal supporting leg to be welded;
preferably, the first pressing assembly comprises a first pressing cylinder arranged on the active gripper and a pressing block arranged at the driving end of the first pressing cylinder, the active gripper is connected with the driving end of the active positioner through a rotating shaft, the active gripper is further provided with a first position sensor used for detecting that a horizontal supporting leg to be welded is in place, and a third position sensor used for detecting that the active gripper is in a first welding position, a fourth position sensor in a second welding process and a fifth sensor in an initial position are respectively arranged in the circumferential direction of the rotating shaft;
preferably, the supporting assembly comprises a supporting cylinder seat arranged on the cross beam of the positioner, a supporting cylinder arranged on the supporting cylinder seat and a supporting frame arranged at the telescopic end of the supporting cylinder;
preferably, the pushing assembly comprises a fixedly arranged oil cylinder base, a pushing oil cylinder arranged on the oil cylinder base and a pushing plate arranged at the telescopic end of the pushing oil cylinder;
the invention also comprises an automatic welding method for the horizontal supporting leg of the engineering mechanical equipment, which is applied to an automatic welding device for the horizontal supporting leg of the engineering mechanical equipment and comprises the following steps,
s1: hoisting a horizontal supporting leg on a supporting frame, driving a push plate to push the horizontal supporting leg into a driving clamping hand and a driven clamping hand by a push oil cylinder, driving a compression block to compress the upper surface of the horizontal supporting leg by a first compression air cylinder after a first position sensor and a second position sensor respectively detect that the horizontal supporting leg is in place, driving a compression head of an air cylinder by a second compression air cylinder to compress the side surface of the horizontal supporting leg, and completing locking and positioning of the horizontal supporting leg;
s2: after the first pressing cylinder and the second pressing cylinder extend in place, the supporting cylinder retracts and drives the supporting frame to be away from the horizontal supporting leg, the locking cylinder is rotated to retract and drive the locking pin to be away from the turntable, and therefore the horizontal supporting leg is unlocked in a rotating mode;
s3: the driving end of the active positioner drives the rotating shaft to drive the active clamp to rotate to a first welding position, the third position sensor detects in place, the active clamp stops rotating and drives the welding robot to complete first welding operation on the horizontal support leg at the first welding position, after the first welding operation is finished, the driving end of the active positioner drives the rotating shaft to drive the active clamp to rotate to a second welding position, the fourth position sensor detects in place, the active clamp stops rotating and drives the welding robot to complete second welding operation on the horizontal support leg at the second welding position;
s4: after the second welding operation is finished, a driving end of the active positioner drives a rotating shaft to drive an active clamping hand to rotate to an initial position, a fifth position sensor detects the position in place, the active clamping hand stops rotating, a supporting cylinder extends out of a driving supporting frame to support a horizontal supporting leg, a rotary locking cylinder extends out of the rotary locking cylinder and drives a locking pin to lock a turntable, a first pressing cylinder retracts and drives a pressing block to be away from the upper surface of the horizontal supporting leg, a second pressing cylinder retracts and drives a cylinder pressing head to be away from the side surface of the horizontal supporting leg, unlocking of the horizontal supporting leg is achieved, and an operator hoists the welded horizontal supporting leg to a supporting leg finished product area;
preferably, before S1, a step is further included,
s11: switching on a power supply, starting a three-color warning lamp of the machine tool to send out an audible and visual alarm for starting operation, reminding an operator that the welding device is in a starting state, stopping the three-color warning lamp of the machine tool after Ts, enabling the welding device to enter a state to be operated, pressing a starting switch on a PLC panel or a starting switch on a remote controller, automatically detecting whether various sensors and output information are normal or not, and placing each operating cylinder or oil cylinder at an initial position;
preferably, the step S11, the step S of placing each working cylinder or oil cylinder in the initial position includes that the supporting cylinder extends to a position for supporting the horizontal supporting leg, the first pressing cylinder retracts to a position with a minimum stroke, the second pressing cylinder retracts to a position with a minimum stroke, the swing locking cylinder extends to drive the locking pin to lock the turntable, and the pushing cylinder retracts to a position with a minimum stroke.
The automatic welding device for the horizontal supporting leg of the engineering mechanical equipment has the advantages that the automatic welding device for the horizontal supporting leg of the engineering mechanical equipment comprises a driving positioner, a driven positioner and a welding robot arranged between the driving positioner and the driven positioner, a rotatable driving clamping hand is arranged on the driving positioner, a first pressing assembly used for pressing the upper surface of the horizontal supporting leg to be welded is arranged on the driving clamping hand, a rotatable driven clamping hand is arranged on the driven positioner, a second pressing assembly used for pressing the side face of the horizontal supporting leg to be welded is arranged on the driven clamping hand, a rotary locking assembly used for locking or unlocking the driven clamping hand is further arranged on the driven positioner, and a supporting assembly used for supporting the bottom face of the horizontal supporting leg to be welded is further arranged between the driving positioner and the driven positioner. Vertical and horizontal locking through first compress tightly subassembly and second compress tightly the subassembly and realize treating welding horizontal leg guarantee that welding process in horizontal leg does not take place the skew, guarantee welding precision, the rotation that utilizes initiative tong and driven tong can realize carrying out the welding of different positions to horizontal leg, guarantee welding overall quality, the first robot automatic weld who compresses tightly the position applicable in various horizontal legs of hoist that compresses tightly of subassembly and second of adjustment.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Figure 2 is a top view of the robot of figure 1, with the robot removed.
In the figure, 1, a driven positioner, 2, a rotary table, 3, a driven clamping hand, 4, a supporting cylinder seat, 5, a welding robot, 6, a pressing block, 7, a first pressing cylinder, 8, a driving clamping hand, 9, a driving positioner, 11, a driven positioner frame 11, 12, a driven clamping hand support, 13, a driving positioner frame, 14, a positioner cross beam, 15, a support frame, 16, a supporting cylinder, 17, a locking pin, 18, a rotary locking cylinder, 20, a second pressing cylinder, 22, a cylinder pressure head, 25, a second position sensor, 26, a pushing plate, 27, a cylinder base, 28, a pushing cylinder, 29, a first position sensor, 30, a third position sensor, 33, a fourth position sensor, 35, a fifth position sensor, 100 and a horizontal supporting leg.
Detailed Description
As shown in the attached figure 1, the automatic welding device comprises an automatic welding device for a horizontal supporting leg of engineering mechanical equipment, and is characterized by comprising a driving positioner 9, a driven positioner 1 and a welding robot 5 arranged between the driving positioner 9 and the driven positioner 1, wherein a rotatable driving clamping hand 8 is arranged on the driving positioner 9, a first pressing component used for pressing the upper surface of the horizontal supporting leg 100 to be welded is arranged on the driving clamping hand 8, a rotatable driven clamping hand 3 is arranged on the driven positioner 1, a second pressing component used for pressing the side surface of the horizontal supporting leg 100 to be welded is arranged on the driven clamping hand 3, a rotary locking component used for locking or unlocking the driven clamping hand 3 is further arranged on the driven positioner 1, a supporting component used for supporting the bottom surface of the horizontal supporting leg 100 to be welded is further arranged between the driving positioner 9 and the driven positioner 1, and a supporting component used for pushing the horizontal supporting leg 100 to be welded to enter the driving clamping hand 8 and a driven clamping hand 8 is further arranged on the same side of A pushing component in the manual clamping hand 3. Vertical and horizontal locking through first compress tightly subassembly and second compress tightly the subassembly and realize treating welding horizontal leg guarantee that welding process in horizontal leg does not take place the skew, guarantee welding precision, the rotation that utilizes initiative tong and driven tong can realize carrying out the welding of different positions to horizontal leg, guarantee welding overall quality, the first robot automatic weld who compresses tightly the position applicable in various horizontal legs of hoist that compresses tightly of subassembly and second of adjustment. Here, as shown in fig. 1, the longitudinal direction indicates the extending and contracting direction of the first pressing cylinder, i.e., the arrow m direction, and as shown in fig. 2, the lateral direction indicates the extending and contracting direction of the pushing cylinder, i.e., the arrow n direction.
As shown in the attached drawing 1, the active positioner 9 is connected with the driven positioner 1 through a positioner cross beam 14, an active positioner support frame 13 for installing the active positioner 9 and a driven positioner frame 11 for installing the driven positioner 1 are arranged on the positioner cross beam 14, a rotary locking assembly is arranged on the driven positioner frame 11, a driven gripper support 12 arranged on the driven positioner frame 11 and a rotary table 2 rotatably connected with the driven gripper support 12 are further arranged on the driven positioner 1, and the rotary table 2 is connected with the driven gripper 3.
As shown in fig. 1, the rotation locking assembly includes a rotation locking cylinder 18 disposed on the frame 11 of the driven positioner and a locking pin 17 disposed at the driving end of the rotation locking cylinder 18, and the turntable 2 is provided with a pin hole (not shown) for inserting and extending the locking pin 17.
As shown in fig. 2, the second pressing assembly includes a second pressing cylinder 20 disposed on the driven tong 3 and a cylinder head 22 disposed at a telescopic end of the second pressing cylinder 20, and the driven tong 3 is provided with a second position sensor 25 for detecting a position of the horizontal leg 100 to be welded. The first pressing assembly comprises a first pressing cylinder 7 arranged on the active clamping hand 8 and a pressing block 6 arranged at the driving end of the first pressing cylinder 7, the active clamping hand 8 is connected with the driving end 92 of the active positioner 9 through a rotating shaft 91, the active clamping hand 8 is further provided with a first position sensor 29 for detecting the position of a horizontal supporting leg 100 to be welded, and the rotating shaft 91 is circumferentially provided with a third position sensor 30 for detecting that the active clamping hand 8 is located at the first welding position, a fourth position sensor 33 for detecting that the active clamping hand 8 is located at the second welding position and a fifth sensor (not shown in the figure) located at the initial position.
The supporting assembly comprises a supporting cylinder seat 4 arranged on a cross beam 14 of the positioner, a supporting cylinder 16 arranged on the supporting cylinder seat 4 and a supporting frame 15 arranged at the telescopic end of the supporting cylinder 16, and the pushing assembly comprises a fixedly arranged cylinder base 27, a pushing cylinder 28 arranged on the cylinder base 27 and a pushing plate 26 arranged at the telescopic end of the pushing cylinder 28.
The invention also comprises an automatic welding method for the horizontal supporting leg of the engineering mechanical equipment, which is applied to an automatic welding device for the horizontal supporting leg of the engineering mechanical equipment and comprises the following steps,
s1: hoisting the horizontal support leg 100 on the support frame 15, driving the push plate 26 to push the horizontal support leg 100 into the driving tong 8 and the driven tong 3 by the push oil cylinder 28, respectively detecting the arrival positions of the horizontal support leg 100 by the first position sensor 29 and the second position sensor 25, driving the pressing block 6 to press the upper surface of the horizontal support leg by the first pressing air cylinder 7, driving the air cylinder pressure head 22 to press the side surface of the horizontal support leg by the second pressing air cylinder 20, and completing the locking and positioning of the horizontal support leg;
s2: after the first pressing cylinder 7 and the second pressing cylinder 22 extend to the right position, the supporting cylinder 16 retracts and drives the supporting frame 15 to be far away from the horizontal supporting leg 100, the rotary locking cylinder 18 retracts and drives the locking pin 17 to be far away from the turntable 2, and unlocking of the horizontal supporting leg 100 is completed;
s3: the driving end 92 of the active positioner 9 drives the rotating shaft 91 to drive the active clamp 4 to rotate to a first welding position, the third position sensor 30 detects in place, the active clamp 8 stops rotating and drives the welding robot 5 to complete a first welding operation on the horizontal support leg 100 at the first welding position, after the first welding operation is finished, the driving end 92 of the active positioner 9 drives the rotating shaft 91 to drive the active clamp 8 to rotate to a second welding position, the fourth position sensor 33 detects in place, the active clamp 8 stops rotating and drives the welding robot 5 to complete a second welding operation on the horizontal support leg 100 at the second welding position;
s4: after the welding operation of the second time, the drive end 92 of the initiative machine 9 of shifting drives the rotation axis 91 and drives the initiative tong 8 rotatory to initial position, fifth position sensor 35 detects and targets in place, it is rotatory and support cylinder 16 and stretch out drive support frame 15 and support horizontal leg 100 to stop the initiative tong 8, gyration locking cylinder 18 stretches out and drives locking pin 17 locking carousel 2, first compressing cylinder 7 withdrawal and drive compressing block 6 keep away from the upper surface of horizontal leg 100, the second compresses tightly the side that horizontal leg 100 was kept away from to cylinder pressure head 22 that the cylinder 20 withdrawal is pressed to the second, the realization is to horizontal leg 100's unblock, operating personnel hoists the horizontal leg after the welding to the landing leg finished product district.
Before S1, the method further includes step S11: the method comprises the following steps of switching on a power supply, starting a three-color warning lamp (not shown in the figure) of the machine tool to send out an audible and visual alarm for starting operation, reminding an operator that the welding device is in a starting state, stopping the three-color warning lamp of the machine tool after Ts, enabling the welding device to enter a standby operation state, pressing a starting switch, automatically detecting whether various sensors and output information are normal or not, and arranging each operation cylinder or oil cylinder at an initial position, wherein the initial position comprises a position where a supporting cylinder 16 extends out to be used for supporting a horizontal supporting leg 100, a first pressing cylinder 7 retracts to a position with a minimum stroke, a second pressing cylinder 20 retracts to a position with a minimum stroke, and a rotary locking cylinder 18 extends out to drive a locking pin 17 to lock a turntable 2 and a pushing cylinder 28 retracts to a.
For further understanding of the beneficial effects of the present invention, the description is made in conjunction with the working principle of the present invention,
as shown in the attached fig. 1 and fig. 2, the power is turned on, the three-color warning lamp of the machine tool is started to send out an audible and visual alarm for starting the operation, the operator is reminded that the welding device is in the starting state, after Ts, the three-color warning lamp of the machine tool is stopped, the welding device enters the standby state, the starting switch is pressed, whether various sensors and output warning information are normal or not is automatically detected, each operation cylinder or oil cylinder is placed at the initial position, namely, the position of the support cylinder 16 extending to the position for supporting the horizontal supporting leg 100 is included, the first pressing cylinder 7 retracts to the position with the minimum stroke, the second pressing cylinder 20 retracts to the position with the minimum stroke, the rotary locking cylinder 18 extends to drive the locking pin 17 to lock the turntable 2 and the pushing cylinder 28 retracts to the position with the minimum stroke, the operator hoists the horizontal supporting leg to the supporting frame 15 of, after an operator presses a clamping button on a control cabinet or a remote controller, a pushing oil cylinder 28 drives a pushing plate 26 to push a horizontal supporting leg into a driving clamping hand 8 and a driven clamping hand 3, a first position sensor 29 and a second position sensor 25 respectively detect that the horizontal supporting leg is in place, a first pressing air cylinder 7 drives a pressing block 6 to press the upper surface of the horizontal supporting leg to realize longitudinal pressing on the horizontal supporting leg, so that the horizontal supporting leg is prevented from deviating in the longitudinal direction, a second pressing air cylinder 20 drives an air cylinder pressing head 22 to press the side surface of the horizontal supporting leg to realize transverse pressing on the horizontal supporting leg, so that the horizontal supporting leg is prevented from deviating in the transverse direction, the horizontal supporting leg is locked in the driving clamping hand 8 and the driven clamping hand 3 through the matching action of the first pressing air cylinder 7 and the second pressing air cylinder 22, and the deviation is prevented from occurring when; after the first pressing cylinder 7 and the second pressing cylinder 20 extend to the right position, the supporting cylinder 16 retracts and drives the supporting frame 15 to be far away from the horizontal supporting leg, the rotary locking cylinder 18 retracts and drives the locking pin 17 to be far away from the turntable 2, and the turntable 2 is unlocked and can rotate around the driven tong support 11; the rotating shaft 91 of the active positioner 9 rotates by 90 degrees to drive the active clamping hand 8 to rotate by 90 degrees to a first welding position, and after the third position sensor 30 on the rotating shaft 91 detects that the rotating shaft 91 rotates to the position, the active clamping hand 8 stops rotating and drives the welding robot 5 to complete the first welding operation on the horizontal supporting leg at the first welding position; after the first welding operation is finished, the rotating shaft 91 of the active positioner 9 is driven to rotate 180 degrees to drive the active clamping hand 8 to rotate 180 degrees to a second welding position, and after the fourth position sensor 33 on the rotating shaft 91 detects that the rotating shaft 91 rotates to the position, the rotation of the active clamping hand 8 is stopped and the welding robot 5 is driven to complete the second welding operation on the horizontal supporting leg at the second welding position; after the welding operation of the second time, the rotation shaft 91 of the driving active positioner 9 rotates by 90 degrees to drive the driving clamping hand 8 to rotate by 90 degrees to an initial position (the initial position is the locking position of the horizontal supporting leg), the fifth position sensor 35 on the rotation shaft 91 detects that the rotation shaft is in place, the driving clamping hand 8 stops rotating, the supporting cylinder 16 extends out of the driving supporting frame 15 to support the horizontal supporting leg, the rotary locking cylinder 18 extends out and drives the locking pin 17 to lock the turntable 2 so as to prevent the turntable 2 from rotating and drive the horizontal supporting leg to deviate, the first pressing cylinder 7 retracts and drives the pressing block 6 to keep away from the upper surface of the horizontal supporting leg, the second pressing cylinder 20 retracts and drives the cylinder pressing head 22 to keep away from the side surface of the horizontal supporting leg, unlocking of the horizontal supporting leg is realized, and an operator hoists the welded horizontal supporting leg.
Claims (9)
1. The automatic welding method for the horizontal supporting leg of the engineering mechanical equipment is characterized by being applied to an automatic welding device for the horizontal supporting leg of the engineering mechanical equipment, the automatic welding device for the horizontal supporting leg of the engineering mechanical equipment comprises a driving positioner, a driven positioner and a welding robot arranged between the driving positioner and the driven positioner, a rotatable driving clamping hand is arranged on the driving positioner and connected with the driving end of the driving positioner through a rotating shaft, a first pressing component used for pressing the upper surface of the horizontal supporting leg to be welded and a first position sensor used for detecting the horizontal supporting leg to be welded in place are arranged on the driving clamping hand, a third position sensor used for detecting that the driving clamping hand is located at a first welding position, a second position sensor used for detecting that the driving clamping hand is located at a second welding position are arranged in the circumferential direction of the rotating shaft respectively, A fourth position sensor in a second welding process and a fifth position sensor in an initial position, wherein a rotatable driven clamping hand is arranged on the driven positioner, the driven clamping hand is connected with a rotatable turntable arranged on the driven positioner, a second pressing component for pressing the side surface of the horizontal leg to be welded and a second position sensor for detecting the in-place position of the horizontal leg to be welded are arranged on the driven clamping hand, a rotary locking component for locking or unlocking the driven clamping hand is further arranged on the driven positioner, a supporting component for supporting the bottom surface of the horizontal leg to be welded is further arranged between the driving positioner and the driven positioner, a pushing component for pushing the horizontal leg to be welded into the driving clamping hand and the driven clamping hand is further arranged on the same side of the driving positioner and the driven positioner, and the steps of the method comprise,
s1: hoisting a horizontal supporting leg on a supporting frame, driving a push plate to push the horizontal supporting leg into a driving clamping hand and a driven clamping hand by a push oil cylinder, driving a compression block to compress the upper surface of the horizontal supporting leg by a first compression air cylinder after a first position sensor and a second position sensor respectively detect that the horizontal supporting leg is in place, driving a compression head of an air cylinder by a second compression air cylinder to compress the side surface of the horizontal supporting leg, and completing locking and positioning of the horizontal supporting leg;
s2: after the first pressing cylinder and the second pressing cylinder extend in place, the supporting cylinder retracts and drives the supporting frame to be away from the horizontal supporting leg, the locking cylinder is rotated to retract and drive the locking pin to be away from the turntable, and therefore the horizontal supporting leg is unlocked in a rotating mode;
s3: the driving end of the active positioner drives the rotating shaft to drive the active clamp to rotate to a first welding position, the third position sensor detects in place, the active clamp stops rotating and drives the welding robot to complete first welding operation on the horizontal support leg at the first welding position, after the first welding operation is finished, the driving end of the active positioner drives the rotating shaft to drive the active clamp to rotate to a second welding position, the fourth position sensor detects in place, the active clamp stops rotating and drives the welding robot to complete second welding operation on the horizontal support leg at the second welding position;
s4: after welding operation for the second time, the drive end drive rotation axis of initiative machine of shifting drives the initiative tong rotatory to initial position, fifth position sensor detects and targets in place, it is rotatory and support the cylinder and stretch out the drive support frame and support horizontal landing leg to stop the initiative tong, gyration locking cylinder stretches out and drives locking pin locking carousel, the upper surface that horizontal landing leg was kept away from to first compress tightly the cylinder withdrawal and drive the compact heap, the second compresses tightly the cylinder withdrawal and drives the side that horizontal landing leg was kept away from to the cylinder pressure head, the realization is to the unblock of horizontal landing leg, horizontal landing leg hoist after operating personnel will weld is to landing leg finished product district.
2. The automatic welding method for a horizontal leg of a construction machine as claimed in claim 1, wherein before S1, further comprising the step of,
s11: the welding device is switched on, the machine tool three-color warning lamp is started to send out an audible and visual alarm for starting operation, an operator is reminded that the welding device is in a starting state, after Ts, the machine tool three-color warning lamp is stopped, the welding device enters a standby operation state, the starting switch is pressed, whether various sensors and various output information are normal or not is automatically detected, and each operation cylinder or oil cylinder is arranged at an initial position.
3. The automatic welding method for a horizontal leg of a construction machine according to claim 2, wherein the operation cylinders or the cylinders are placed at the initial position in S11 including the support cylinder being extended to a position for supporting the horizontal leg, the first pressing cylinder being retracted to a position of minimum stroke, the second pressing cylinder being retracted to a position of minimum stroke, the swing lock cylinder being extended to bring the locking pin to a position for locking the turn table and the push cylinder being retracted to a position of minimum stroke.
4. The automatic welding method for the horizontal support leg of the engineering mechanical equipment as claimed in claim 1, wherein the active positioner is connected with the driven positioner through a positioner cross beam, the positioner cross beam is provided with an active positioner support frame for installing the active positioner and a driven positioner frame for installing the driven positioner, the driven positioner frame is provided with the rotary locking assembly, the driven positioner is further provided with a driven gripper support installed on the driven positioner frame and a rotary table rotatably connected with the driven gripper support, and the rotary table is connected with the driven gripper.
5. The automatic welding method for the horizontal supporting leg of the engineering mechanical equipment as claimed in claim 4, wherein the rotation locking assembly comprises a rotation locking cylinder arranged on the frame of the driven positioner and a locking pin arranged at the driving end of the rotation locking cylinder, and the rotating disc is provided with a pin hole which is matched with the locking pin to be inserted and extended.
6. The automatic welding method for the horizontal supporting leg of the engineering mechanical equipment as claimed in claim 1 or 4, wherein the second pressing assembly comprises a second pressing cylinder arranged on the driven clamping hand and a cylinder pressure head arranged at the telescopic end of the second pressing cylinder.
7. The automatic welding method for the horizontal supporting leg of the engineering mechanical equipment as claimed in claim 1 or 4, wherein the first pressing assembly comprises a first pressing cylinder arranged on the active clamp and a pressing block arranged at the driving end of the first pressing cylinder.
8. The automatic welding method for the horizontal supporting leg of the engineering mechanical equipment as claimed in claim 4, wherein the supporting assembly comprises a supporting cylinder seat arranged on a cross beam of the positioner, a supporting cylinder arranged on the supporting cylinder seat and a supporting frame arranged at a telescopic end of the supporting cylinder.
9. The automatic welding method for the horizontal supporting leg of the engineering mechanical equipment as claimed in claim 1, wherein the pushing assembly comprises a fixedly arranged oil cylinder base, a pushing oil cylinder arranged on the oil cylinder base and a pushing plate arranged at the telescopic end of the pushing oil cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711316590.9A CN108247247B (en) | 2017-12-12 | 2017-12-12 | Automatic welding device and automatic welding method for horizontal supporting leg of engineering mechanical equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711316590.9A CN108247247B (en) | 2017-12-12 | 2017-12-12 | Automatic welding device and automatic welding method for horizontal supporting leg of engineering mechanical equipment |
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| CN108247247A CN108247247A (en) | 2018-07-06 |
| CN108247247B true CN108247247B (en) | 2020-03-27 |
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| CN110052758A (en) * | 2018-08-06 | 2019-07-26 | 襄阳东昇机械有限公司 | Robot welding fixture positioning mechanism |
| CN110842458A (en) * | 2018-08-21 | 2020-02-28 | 苏州睿牛机器人技术有限公司 | Sheet metal component welding roll-over table |
| CN109396690A (en) * | 2018-10-23 | 2019-03-01 | 郑华 | A kind of crane lateral support robot automatic welding system |
| CN110640375B (en) * | 2019-09-28 | 2021-05-11 | 浙江三门信特运输有限公司 | Trailer hook welding machine |
| CN112453814A (en) * | 2020-12-07 | 2021-03-09 | 库卡工业自动化(昆山)有限公司 | Rotary driving mechanism |
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| CN108247247A (en) | 2018-07-06 |
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Effective date of registration: 20230329 Address after: 415106 Group 4, Dagou Village, Guanxi Town, Dingcheng District, Changde City, Hunan Province Patentee after: Hunan Mingshi Machinery Co.,Ltd. Address before: No.106, Changde high tech Industrial Park, Changde Town, Hunan Province Patentee before: HUNAN BAITE TRUCK CRANE CO.,LTD. |