CN110480217A

CN110480217A - A kind of sealing plate or conehead feed unit of rack connecting rod automatic welding production system

Info

Publication number: CN110480217A
Application number: CN201910701735.XA
Authority: CN
Inventors: 郝新浦
Original assignee: Xuzhou DKEC Electrical Technology Co Ltd
Current assignee: Haode Heavy Industry Technology Jiangsu Co ltd
Priority date: 2019-07-31
Filing date: 2019-07-31
Publication date: 2019-11-22
Anticipated expiration: 2039-07-31
Also published as: CN110480217B

Abstract

The invention discloses the sealing plates or conehead feed unit of a kind of rack connecting rod automatic welding production system, including sealing plate or conehead supply bracket, sealing plate or conehead workpiece grabbing to pile up mechanical arm, sealing plate or conehead workpiece grabbing and pile up manipulator and sealing plate or conehead supply electric control gear.The sealing plate or conehead supply controller of this sealing plate or conehead feed unit can calculate offset according to pattern-recognition sensor feedback, then sealing plate or conehead supply controller are adjusted according to the position that the offset of calculating piles up manipulator to sealing plate or conehead workpiece grabbing, it can realize and the accurate coordinate crawl of sealing plate or conehead workpiece is joined with coordinate setting so as to pile up mechanical arm and sealing plate or conehead workpiece grabbing stacking manipulator by sealing plate or conehead workpiece grabbing, convenient for subsequent welding, the degree of automation is higher, the drawbacks of can avoid manual operation, especially suitable for rack connecting rod automatic welding production system.

Description

A kind of sealing plate or conehead feed unit of rack connecting rod automatic welding production system

Technical field

It is specifically a kind of to be suitable for connecting rack the present invention relates to a kind of material feed unit of automatic welding production system Bar workpiece carries out the sealing plate or conehead feed unit of the production system of automatic welding, belongs to rack connecting rod manufacturing technology field.

Background technique

Grid structure is to constitute large span covering by node connection by certain grid configuration by more rack connecting rods Space structure, grid structure has the advantages that good integrity, space stiffness be big, stable structure, and not only own wt is light, scene Construction workload is small, construction speed is fast, and grid structure height is small, can efficiently use space, therefore is widely used in building Industry.

Mainly there are cross plate node, welded hollow spherical joints and bolted spherical node three with the grid structure node that steel make Kind form.The grid structure being made up of bolted spherical node and rack connecting rod is adaptable by force, it is inclined not generate additional node The heart, the advantages that can avoid a large amount of site welding workload, is easy to transportation and installation, therefore it is widely used in all kinds of space bar knots Structure.

The sealing plate for generally including steel pipe tube body for the rack connecting rod of bolted spherical node, being symmetrically welded at steel pipe tube body both ends (steel pipe pipe diameter < 76mm) or conehead (steel pipe pipe diameter >=76mm) and the bolt for being built in steel pipe tubular body. The center of sealing plate or conehead, which is equipped with, can permit the through-hole that the thread segment of bolt stretches out, and be attached with bolted spherical node When installation, upper elongated Hexagonal jacket (or elongated hexagonal is without line nut) is covered in the bolt thread section for stretching out sealing plate or conehead, And bolt and elongated Hexagonal jacket are connected together with pin or fastening screw, elongated Hexagonal jacket is directly turned, pin is passed through Or fastening screw drives bolt rotation, to make bolt screw in sphere, until the bolt head and sealing plate of bolt or the inside of conehead Face paste tightly completes installation.The welding sequence of existing steel pipe tube body and sealing plate or conehead is usually the side for using human weld Formula, that is, sealing plate or conehead are first put to the welding for being welded on steel pipe body and then carrying out again circular weld in advance.This traditional people The mode of work welding has the following deficiencies:

1. although manually-operated mode can still have spot welding pre- spot welding can be carried out by the way of tool locating Deviation can not accurately guarantee the coaxial of the through-hole of sealing plate or conehead and steel pipe tube body, and then will affect product quality, easily cause peace Dress is eccentric, there are the subsequent installation questions such as deflection load-bearing stress for rack connecting rod；

2. although welded again on the basis of pre- spot welding, the welding of circular weld, even if assisting revolving using tooling The mode of row welding is rotated into, human weld is also generally difficult to guarantee the uniformity of weld seam, and then can not have to welding deformation Effect control；

3. manually-operated mode is more demanding to the technical ability and qualification of personnel, in circular weld welding process inevitably Welding interruption can occur, more exacerbate the degree that welding deformation occurs, and the human factors such as mood of operator are to welding matter There is also influences for amount.

Summary of the invention

In view of the above existing problems in the prior art, the present invention provides a kind of envelopes of rack connecting rod automatic welding production system The drawbacks of plate or conehead feed unit, the degree of automation is higher, can avoid manual operation, can automatically grab sealing plate or conehead work Part and by its coordinate setting on the end face of steel pipe workpieces, in order to the weldering of subsequent sealing plate or conehead workpiece and steel pipe workpieces It connects, especially suitable for rack connecting rod automatic welding production system.

To achieve the goals above, sealing plate or conehead the feed unit setting of this rack connecting rod automatic welding production system exist Setting position within the scope of automatic welding unit surrounding, sealing plate or conehead feed unit include sealing plate or conehead supply bracket, envelope Plate or conehead workpiece grabbing pile up mechanical arm, sealing plate or conehead workpiece grabbing and pile up manipulator and sealing plate or the automatically controlled dress of conehead supply It sets；

The setting in sealing plate or conehead workpiece grabbing stacking mechanical arm working range is arranged in sealing plate or conehead supply bracket In sealing plate or the online working region of conehead, it is multilayered structure inside sealing plate or conehead supply bracket, is laid in every layer plane Multiple sealing plates or conehead workpiece pile up station；

Sealing plate is installed in the minor details of sealing plate or conehead workpiece grabbing stacking mechanical arm or conehead workpiece grabbing piles up machinery Hand, sealing plate or conehead workpiece grabbing pile up mechanical arm and include at least controllable sealing plate or conehead workpiece grabbing stacking manipulator along left The mobile X-coordinate drive assembly of right direction coordinate, controllable sealing plate or conehead workpiece grabbing are piled up manipulator and are sat along the longitudinal direction It marks mobile Y-coordinate drive assembly and controllable sealing plate or conehead workpiece grabbing piles up manipulator coordinate shifting up and down along the vertical direction Dynamic Z coordinate drive assembly；The left and right ends that sealing plate or conehead workpiece grabbing stacking manipulator correspond to steel pipe workpieces are set as two Set, sealing plate or conehead workpiece grabbing are piled up mechanical on hand equipped with sealing plate or conehead workpiece grabbing stacking mechanism, sealing plate or conehead work Part crawl pile up mechanism by can along X-coordinate axle rotate A coordinate rotation assembly or can along Y-coordinate axle rotate B coordinate rotation Assembly is mounted on sealing plate or conehead workpiece grabbing piles up machinery on hand, and sealing plate or conehead workpiece grabbing are piled up machinery and be additionally provided on hand Range sensor and pattern-recognition sensor；

Sealing plate or conehead supply electric control gear include that sealing plate or conehead supply controller, sealing plate or conehead crawl are piled up back Road, sealing plate or conehead supply controller pile up the coordinate drive assembly of mechanical arm, sealing plate with sealing plate or conehead workpiece grabbing respectively Or conehead workpiece grabbing piles up the sealing plate of manipulator or conehead workpiece grabbing piles up mechanism, range sensor and pattern-recognition sensing Device electrical connection, sealing plate or conehead supply controller and rack connecting rod automatic welding production system concentrate the center of electronic control unit to control Device electrical connection.

As one embodiment of the present invention, sealing plate or conehead workpiece grabbing stacking mechanism are grabbed for negative-pressure adsorption Sealing plate or conehead work piece inner surface or the sucker structure of outer surface, sealing plate or conehead workpiece grabbing pile up mechanism include with sealing plate or The plane of conehead workpiece or the absorption disk of cone match, absorption disk inside are equipped with the negative pressure connecting by pipeline with negative pressure source Channel is adsorbed and is laid with multiple negative-pressure adsorption holes for being connected to connection with negative pressure channel in disk.

As another embodiment of the invention, sealing plate or conehead workpiece grabbing stacking mechanism are for clamping crawl envelope It includes being evenly distributed that the clamping catching robot structure of plate or conehead Workpiece periphery, sealing plate or conehead workpiece grabbing, which pile up mechanism, The clamping machine that at least three clamping machine of setting refers to and be arranged in inside sealing plate or conehead workpiece grabbing stacking manipulator, which refers to, opens Close control mechanism.

As a further improvement of the present invention, sealing plate or conehead supply bracket include that auxiliary reprints frame and drawer type work Part laying rack；Drawer type workpiece laying rack is equipped with multiple uniformly distributed intervals from bottom to top and is horizontally disposed with along back and forth or left and right direction Guided in translation mechanism II, pile up pallet with multiple workpiece that guided in translation mechanism II quantity is equipped with and pass through idler wheel cooperation peace Drawer-type structure is formed in guided in translation mechanism, the front end of guided in translation mechanism II is sliding equipped with that can limit workpiece stacking pallet Fixing and limiting structure out, the rear end of guided in translation mechanism II, which is equipped with, can limit the activity limit knot that workpiece stacking pallet skids off Structure, workpiece are piled up and are additionally provided with overlap joint connecting component on pallet；Auxiliary reprints frame and is fixed at sealing plate or the online workspace of conehead Setting position in domain, assisting the position for corresponding to guided in translation mechanism II on reprinting frame to be equipped with can be horizontal with guided in translation mechanism II The guided in translation mechanism I of setting is docked, the setting identical as size of the structure of guided in translation mechanism I and guided in translation mechanism II is auxiliary It helps and reprints the workpiece stacking support that the position for corresponding to every layer of guided in translation mechanism I on frame is additionally provided with the flexible setting in horizontal back and forth or left and right Disk translates control mechanism, and workpiece piles up pallet translational control mechanism and includes driven in translation component and cooperate with overlap joint connecting component Snap part is overlapped, driven in translation component and the sealing plate or conehead supply controller of sealing plate or conehead supply electric control gear are electrically connected It connects.

As a preferred solution of the present invention, guided in translation mechanism is symmetricly set on drawer type workpiece laying rack in left-right direction Facade inner wall on, workpiece pile up pallet translational control mechanism be symmetricly set in guided in translation mechanism I in left-right direction.

As a preferred solution of the present invention, the driven in translation component that workpiece piles up pallet translational control mechanism is chain conveyer knot Structure, driven in translation component include drive sprocket and transmission chain, and overlap joint connecting component is fixedly disposed at workpiece and piles up on pallet Rod structure is overlapped, overlap joint snap part is the two-way claw structure being arranged on transmission chain.

As a preferred solution of the present invention, it is door frame machinery arm configuration that sealing plate or conehead workpiece grabbing, which pile up mechanical arm,.

As a further improvement of the present invention, two sets of sealing plates or conehead workpiece grabbing stacking manipulator share same Sealing plate or conehead workpiece grabbing pile up mechanical arm.

Compared with prior art, the sealing plate or conehead feed unit of this rack connecting rod automatic welding production system are using micro- Computer control unit is, it can be achieved that be fully automated operation；Due to sealing plate or conehead workpiece grabbing pile up machinery be additionally provided on hand away from From sensor and pattern-recognition sensor, therefore sealing plate or conehead supply controller can be calculated according to pattern-recognition sensor feedback Offset, then sealing plate or conehead supply controller pile up manipulator to sealing plate or conehead workpiece grabbing according to the offset of calculating Position be adjusted, so as to pile up mechanical arm and sealing plate or conehead workpiece grabbing code by sealing plate or conehead workpiece grabbing It puts manipulator and can realize and the accurate coordinate crawl of sealing plate or conehead workpiece is joined with coordinate setting, be convenient for subsequent Welder The drawbacks of work, the degree of automation is higher, can avoid manual operation, especially suitable for rack connecting rod automatic welding production system.

Detailed description of the invention

Fig. 1 is the three dimensional structure diagram of rack connecting rod automatic welding production system；

Fig. 2 is the top down layout view of rack connecting rod automatic welding production system；

Fig. 3 is the structural schematic diagram that manipulator is piled up in offline crawl on rack connecting rod automatic welding production system steel pipe；

Fig. 4 is the three dimensional structure diagram of rack connecting rod automatic welding production system automatic welding unit；

Fig. 5 is the structural schematic diagram of rack connecting rod automatic welding production system steel pipe radial direction clamping and positioning device；

Fig. 6 is the structural schematic diagram of rack connecting rod automatic welding production system steel pipe rotary driving device；

Fig. 7 is the structural schematic diagram of sealing plate or conehead supply bracket of the present invention；

Fig. 8 is that workpiece piles up pallet translational control mechanism after drawer type workpiece laying rack of the present invention is docked with auxiliary reprinting frame Push and pull partial enlargement structural representation when workpiece piles up pallet；

Fig. 9 is the structural representation that the present invention piles up manipulator using the sealing plate or conehead workpiece grabbing of negative-pressure adsorption structure Figure；

Figure 10 is the three dimensional structure diagram that rack connecting rod automatic welding production system bolt is placed in unit automatically；

Figure 11 is the bolt crawl stacking manipulator that rack connecting rod automatic welding production system increases B coordinate rotation assembly Structural schematic diagram；

Figure 12 is structural schematic diagram when the every set weldering device of rack connecting rod automatic welding production system uses a welding gun；

Figure 13 is that the every set weldering device of rack connecting rod automatic welding production system uses structure when two opposed welding guns to show It is intended to.

In figure: 1, steel pipe on offline unit, 11, steel pipe workpieces bracket, 12, mechanical arm is piled up in offline crawl on steel pipe, 13, Manipulator is piled up in offline crawl on steel pipe, 131, support carry mechanical finger, 132, support carrier aircraft tool refer to control mechanism, 2, automatic welding order Member, 21, welding platform, 22, steel pipe radial direction clamping and positioning device, 221, support base, 222, radial clamping positioning mechainsm, 2221, radial clamping position component, 2222, radial clamping extension and contraction control component, 2223, niproll, 23, steel pipe rotary driving dress It sets, 231, flexible sliding driving part I, 232, steel pipe rotary driving motor, 24, sealing plate or conehead driving means, 241, flexible Slide driving part II, 242, delivery device, 243, push component, 25, weldering device, 251, welding gun, 26, steel pipe workpieces support load Frame, 3, sealing plate or conehead feed unit, 31, sealing plate or conehead supply bracket, 311, auxiliary reprinting frame, 3111, guided in translation machine Structure I, 3112, workpiece stacking pallet translational control mechanism, 3113, overlap joint snap part, 312, drawer type workpiece laying rack, 3121, guided in translation mechanism II, 3122, workpiece stacking pallet, 3123, overlap joint connecting component, 32, sealing plate or conehead workpiece grabbing Pile up mechanical arm, 33, sealing plate or conehead workpiece grabbing pile up manipulator, 4, bolt be placed in unit, 41, bolt supplying support automatically Frame, 42, bolt crawl stacking mechanical arm, 43, bolt crawl stacking manipulator, 5, automatic laser stamp unit, 6, steel pipe workpieces, 7, sealing plate or conehead workpiece.

Specific embodiment

This rack connecting rod automatic welding production system is Digitizing And Control Unit, can with the number bus of digital plant without Seam connection, which is realized, concentrates digital management.The present invention will be further described with reference to the accompanying drawing (below with the length of steel pipe workpieces 6 Degree direction is described for left and right directions).

As shown in Figure 1 and Figure 2, this rack connecting rod automatic welding production system includes offline unit 1, automatic welding on steel pipe Unit 2, sealing plate or conehead feed unit 3, bolt are placed in unit 4 automatically and concentrate electronic control unit.

The setting position within the scope of 2 surrounding of automatic welding unit is arranged in offline unit 1 on the steel pipe, such as Fig. 2 institute Show, the dead astern of automatic welding unit 2 is arranged in offline unit 1 on steel pipe, and offline unit 1 includes steel pipe workpieces bracket on steel pipe 11, offline electric control gear on mechanical arm 12 and steel pipe is piled up in offline crawl on steel pipe；

Steel pipe workpieces bracket 11 is used to hold 6 semi-finished product of steel pipe workpieces of unwelded sealing plate or conehead workpiece 7 or has welded 6 finished product of steel pipe workpieces of sealing plate or conehead workpiece 7, the steel pipe workpieces bracket 11 that quantity is set as at least two pieces are separately positioned on steel Offline crawl is piled up in the online working region of setting steel pipe and the offline working region of steel pipe in 12 working range of mechanical arm on pipe；

Offline crawl on steel pipe is installed in the minor details of offline crawl stacking mechanical arm 12 on steel pipe and piles up manipulator 13, steel Offline crawl is piled up mechanical arm 12 and is sat in left-right direction including at least crawl stacking manipulator 13 offline on controllable steel pipe on pipe It marks the X-coordinate drive assembly of movement, offline crawl on steel pipe can control to pile up the mobile Y seat of coordinate along the longitudinal direction of manipulator 13 It marks offline crawl on drive assembly and controllable steel pipe and piles up the mobile Z coordinate driving of coordinate up and down along the vertical direction of manipulator 13 Assembly, as shown in figure 3, offline crawl piles up 13 bottom of manipulator equipped with the support load that can be penetrated in 6 end of steel pipe workpieces on steel pipe Mechanical finger 131 and support carrier aircraft tool refer to control mechanism 132, and support carries and is additionally provided with positioning clamping face on mechanical finger 131, and support carries mechanical finger 131 can refer to that control mechanism 132 can using the direct selling structure penetrated in 6 end of steel pipe workpieces as shown in Figure 3, support carrier aircraft tool It carries mechanical finger 131 using direct selling controlling structure for telescopic handle, or support to cooperate and can also use swingable and penetrate 6 end of steel pipe workpieces Hook-shaped swing arm structure in portion, support carrier aircraft tool refers to that control mechanism 132 can also cooperate using swing arm swinging control structure, on steel pipe Offline crawl piles up and is additionally provided with range sensor on manipulator 13；Offline crawl is piled up mechanical arm 12 and can be closed using more on steel pipe Save mechanical arm configuration or using door frame machinery arm configuration or using the machinery of the other forms such as Delta machinery arm configuration Arm, since the control of multi-joint mechanical arm and Delta mechanical arm is centralized control, accurately coordinate control is more complex, need through Cross industrial control computer largely calculate, software control procedure it is complicated, and manufacturing cost is higher, computer control burden weight, easily It breaks down, while being typically only capable to a mechanical arm and loading a manipulator, and door frame machinery arm configuration is controlled using seperated, i.e., Several coordinate systems control respectively, and control is relatively easy, direct, are less prone to failure, and are easier to realize for 6 liang of steel pipe workpieces Offline crawl piles up manipulator 13 and shares the same mechanical arm on the steel pipe of end position, and then simplifies the internal structure of an organization and answering for i.e. control is arranged Miscellaneous degree, therefore offline crawl piles up mechanical arm 12 preferably using door frame machinery arm configuration on steel pipe；

Offline electric control gear includes steel pipe lane controller up and down on steel pipe, and lane controller is respectively and above and below steel pipe above and below steel pipe The coordinate drive assembly of mechanical arm 12 is piled up in line crawl, the range sensor of manipulator 13 is piled up in offline crawl, support carries on steel pipe Mechanical finger control mechanism 132 is electrically connected.

As shown in figure 4, the automatic welding unit 2 includes welding platform 21, steel pipe radial direction clamping and positioning device 22, steel pipe rotary driving device 23, sealing plate or conehead driving means 24, weldering device 25 and automatic welding electric control gear；

Welding platform 21 is the long platform structure that length direction is arranged in left-right direction；

It is two sets that steel pipe radial direction clamping and positioning device 22, which is at least symmetrical set, as shown in figure 5, radially clamping is fixed for steel pipe Position device 22 includes the support base 221 being mounted on welding platform 21 and the radial direction folder being mounted in support base 221 Positioning mechanism 222 is held, radial clamping positioning mechainsm 222 includes opposite disposed radial clamping position component 2221 and radial clamping Extension and contraction control component 2222, radial clamping position component 2221 include clamping face, and multiple rolling settings are laid on clamping face Niproll 2223 and the rolling central axes of niproll 2223 be arranged in left-right direction, radial clamping position component 2221 is pressing from both sides It can be closed when holding state and finish and cylindrical structure is clamped by the niproll 2223 on clamping face；Opposite disposed radial clamping position Component 2221 can be by the way of the synchronous clamping of double-direction control, the synchronous shifting of i.e. opposite disposed radial clamping position component 2221 It is dynamic to be clamped, can also using unidirectionally controlled clamping by the way of, i.e. one movably radial direction clamping position component 2221 to Radial clamping position component 2221 movement of another location and installation is clamped；Clamping face can using with outside steel pipe workpieces 6 The globoidal structure of diameter dimensional fits can also use V-arrangement face structure, since the clamping face of V-arrangement face structure can clamp outside difference The steel pipe workpieces 6 of diameter size, therefore clamping face preferably uses V-arrangement face structure；It is radial to press from both sides for the ease of the merging of steel pipe workpieces 6 Hold positioning element can using horizontal method of clamping along the longitudinal direction or using vertical method of clamping along the vertical direction, That is, using as shown in 5 figures, opposite disposed and radial clamping position component 2221 is along preceding before and after clamping face when horizontal method of clamping Rear direction sliding is fitted in support base 221, when using vertical method of clamping, opposite disposed above and below clamping face and diameter It slides and is fitted on the support post in support base 221 along the vertical direction to clamping position component 2221, in view of It need to step down the steel pipe workpieces 6 of merging in order to be placed in non-clamping state, and the horizontal method of clamping of use is upper and lower The running track that mechanical arm 12 is piled up in offline crawl on steel pipe when direction is placed in steel pipe workpieces 6 designs simpler, mechanism design more Rationally, therefore radial clamping position component preferably uses horizontal method of clamping along the longitudinal direction；Radial clamping extension and contraction control portion Part 2222 other can also be stretched using cylinder or the stretching structure of hydraulic cylinder using stretching structure of electric screw bar etc. Control structure, the radial telescopic end for clamping extension and contraction control component 2222 and radial clamping position component 2221 install connection, body End is connected with the installation of support base 221；

Steel pipe rotary driving device 23 is fitted to welding entirely through the sliding of flexible sliding driving part I 231 On platform 21, steel pipe rotary driving device 23 includes the steel pipe retaining mechanism and control steel for being locked to steel pipe workpieces 6 The steel pipe rotary driving motor 232 of pipe retaining mechanism rotation；Flexible sliding driving part I 231 can be using the flexible of hydraulic cylinder Structure can also use other controlling structure for telescopic handle such as the stretching structure of electric screw bar；Steel pipe retaining mechanism can be using such as With radial direction clamping positioning mechainsm 222, folding with niproll 2223 clamp locking mechanism, stretch sliding driving part at this time I 231 can be by the way of sliding of stretching along the longitudinal direction, and steel pipe rotary driving motor 232 can directly and niproll 2223 the rotation that steel pipe workpieces 6 are driven by the rotation of control niproll 2223 can be realized by drive mechanism connection；Steel pipe Retaining mechanism can also using be coaxially disposed with steel pipe workpieces 6, numerical control chuck structure with claw, at this time as shown in fig. 6, For flexible sliding driving part I 231 by the way of sliding of stretching in left-right direction, steel pipe rotary driving motor 232 can be direct Using hollow motor, numerical control chuck is coaxially fixedly mounted in the hollow rotor set of hollow motor, and numerical control chuck can be using cunning The mode of ring is taken electricity, can also be taken electricity by the way of internal battery, is after controlling the claw clamping steel pipe workpieces 6 of numerical control chuck The rotation of steel pipe workpieces 6 can be driven by the rotation of control hollow motor；

Sealing plate or conehead driving means 24 or so it is opposite disposed be two sets, two sets of sealing plates or conehead driving means 24 are mounted on On welding platform 21, in order to be suitable for the steel pipe workpieces 6 of different length size, at least a set of sealing plate or conehead driving means 24 are slid in left-right direction by flexible sliding driving part II 241 and are fitted on welding platform 21, sealing plate or cone Head driving means 24 is including the flexible delivery device 242 being arranged of coordinate control in left-right direction and is coaxially mounted to delivery device The push component 243 of 242 telescopic end ends, delivery device 242 roll the machine for being fitted to sealing plate or conehead driving means 24 On body and push the geometrical central axis of component 243 and the clamping geometrical central axis coaxial arrangement of radial clamping position component 2221； Push component 243 can cooperate sealing plate or conehead workpiece grabbing stacking manipulator 33 to take for clamping crawl sealing plate or conehead work The clamping catching robot structure of part 7 can also cooperate sealing plate or conehead workpiece grabbing stacking manipulator 33 to take for concentric The cone centre structure abutted against is positioned, delivery device 242 and flexible sliding driving part II 241 can be using the flexible of hydraulic cylinder Structure can also use other controlling structure for telescopic handle such as the stretching structure of electric screw bar；

Opposite disposed weldering device 25 or so is two sets, and weldering device 25 includes welding gun support frame, welding gun 251 and coordinate control The welding gun pushing handle telescopic control mechanism of the flexible setting of system, welding gun 251 are mounted on welding gun support frame by welding gun pushing handle telescopic control mechanism, are welded Silk is penetrated in welding gun 251 by welding wire feeding mechanism；Weldering device 25 can be independently arranged installation, and on the ground, i.e. welding gun supports Frame is console mode structure, and weldering device 25 can also be directly installed on the body of sealing plate or conehead driving means 24, i.e. welding gun Support frame is fixedly mounted on the body of sealing plate or conehead driving means 24；Welding gun pushing handle telescopic control mechanism can use electric screw Bar controlling structure for telescopic handle can also pass through seat using other controlling structure for telescopic handle such as the controlling structure for telescopic handle of gear & rack structure The accurate coordinate positioning welding of welding gun 251 may be implemented in the movement of mark control welding gun pushing handle telescopic control mechanism；Every set weldering device 25 Welding gun 251 can be set to one, i.e., as shown in figure 12, welding gun 251 cooperates steel pipe rotary driving device 23 to control steel Tube workpiece 6 rotate in a circumferential direction one week realize complete annular weld seam a welding fabrication；It, can in order to further decrease welding deformation amount With opposite disposed welding gun 251, i.e., the welding gun 251 of every set weldering device 25 can also along steel pipe workpieces 6 radial direction to installing Two are set to, i.e., as shown in figure 13, two welding guns 251 cooperate the control steel pipe workpieces 6 of steel pipe rotary driving device 23 to rotate in a circumferential direction Welding fabrication of half cycle realization complete annular weld seam；

Automatic welding electric control gear includes automation welding control system device, steel pipe radial direction clamping position control loop, steel pipe rotary Drive control circuit, sealing plate or conehead push control loop and welding control loop, automation welding control system device respectively with radial folder It holds extension and contraction control component 2222, flexible sliding driving part I 231, steel pipe retaining mechanism, steel pipe rotary driving motor 232, stretch Driving part II 241, welding gun pushing handle telescopic control mechanism, welding gun 251 is slid to be electrically connected.

The setting position within the scope of 2 surrounding of automatic welding unit is arranged in the sealing plate or conehead feed unit 3, such as schemes Shown in 2, the front of automatic welding unit 2 is arranged in sealing plate or conehead feed unit 3, and sealing plate or conehead feed unit 3 include envelope Plate or conehead supply bracket 31, sealing plate or conehead workpiece grabbing pile up mechanical arm 32, sealing plate or conehead workpiece grabbing and pile up machinery Hand 33 and sealing plate or conehead supply electric control gear；

Sealing plate or conehead supply bracket 31 are arranged in sealing plate or conehead workpiece grabbing stacking 32 working range of mechanical arm It sets in sealing plate or the online working region of conehead, is multilayered structure inside sealing plate or conehead supply bracket 31, in every layer plane It is laid with multiple sealing plates or conehead workpiece piles up station, sealing plate or the neat alignment code of conehead workpiece 7 are placed on sealing plate or conehead workpiece It piles up on station；

Sealing plate or conehead workpiece grabbing arranging machine are installed in the minor details of sealing plate or conehead workpiece grabbing stacking mechanical arm 32 Tool hand 33, sealing plate or conehead workpiece grabbing pile up mechanical arm 32 and include at least controllable sealing plate or conehead workpiece grabbing stacking machinery The mobile X-coordinate drive assembly of coordinate, controllable sealing plate or conehead workpiece grabbing pile up 33 edge of manipulator to hand 33 in left-right direction The mobile Y-coordinate drive assembly of front-rear direction coordinate and controllable sealing plate or conehead workpiece grabbing pile up manipulator 33 along vertical side The Z coordinate drive assembly mobile to upper and lower coordinate；As shown in figure 9, for the ease of crawl sealing plate or conehead workpiece 7, sealing plate or cone Head workpiece grabbing stacking manipulator 33 includes can be along the A coordinate rotation assembly that X-coordinate axle rotates or the B that can be rotated along Y-coordinate axle Coordinate rotation assembly, for the steel for only needing sealing plate or conehead driving means 24 that sealing plate or conehead workpiece 7 are acted against to full-length Operating condition on tube workpiece 6, sealing plate or conehead workpiece grabbing are piled up manipulator 33 and can be taken for clamping crawl sealing plate or conehead It includes being evenly distributed that the clamping catching robot structure of 7 periphery of workpiece, i.e. sealing plate or conehead workpiece grabbing, which pile up manipulator 33, At least three clamping machine of setting refers to and is arranged in the clamping machine that sealing plate or conehead workpiece grabbing are piled up inside manipulator 33 and refers to Opening and closing control mechanism, clamping machine refer to that opening and closing control mechanism can be by the conical surface control structure that is arranged in left-right direction and clamping Mechanical finger is cooperatively connected, controls the opening and closing that clamping machine refers in such a way that the conical surface of cooperation is mobile, and clamping machine refers to opening and closing Control mechanism can also refer to mating connection by the connecting rod control structure and clamping machine being arranged in left-right direction, pass through connecting rod The mode of drawing controls the opening and closing that clamping machine refers to；For needing sealing plate or conehead driving means 24 to grab sealing plate or conehead workpiece 7 In order to control the operating condition of the welded gaps between sealing plate or conehead workpiece 7 and 6 end face of steel pipe workpieces, sealing plate or conehead workpiece are grabbed Code fetch is put manipulator 33 and can be taken for negative-pressure adsorption crawl sealing plate or 7 inner surface of conehead workpiece or the sucker knot of outer surface It includes the suction with the plane or cone match of sealing plate or conehead workpiece 7 that structure, i.e. sealing plate or conehead workpiece grabbing, which pile up manipulator 33, Attached disk, absorption disk inside are equipped with the negative pressure channel connecting by pipeline with negative pressure source, are laid in absorption disk multiple The negative-pressure adsorption hole of connection is connected to negative pressure channel；As described above, sealing plate or conehead workpiece grabbing pile up mechanical arm 32 it is also preferred that Using door frame machinery arm configuration, the sealing plate or conehead workpiece grabbing that may be implemented for 6 end positions of steel pipe workpieces is arranged such It piles up manipulator 33 and shares the same door frame mechanical arm；Sealing plate or conehead workpiece grabbing are piled up and are additionally provided with distance on manipulator (33) Sensor and pattern-recognition sensor；

Sealing plate or conehead supply electric control gear include that sealing plate or conehead supply controller, sealing plate or conehead crawl are piled up back Road, sealing plate or conehead supply controller are piled up mechanical arm 32, sealing plate or conehead workpiece with sealing plate or conehead workpiece grabbing respectively and are grabbed Code fetch puts the electrical connection of manipulator 33.

The bolt is placed in the corresponding sealing plate of unit 4 automatically or the position setting of conehead driving means 24 is flat in welding The left end of platform 21 and/or right end position, as shown in Figure 10, bolt are placed in unit 4 automatically and grab including bolt supplying bracket 41, bolt Code fetch puts mechanical arm 42, bolt crawl stacking manipulator 43 and bolt and is placed in electric control gear automatically；

Bolt supplying bracket 41 is arranged in the setting bolt that bolt crawl is piled up in 42 working range of mechanical arm and grabs work In region, it is laid with multiple bolts on bolt supplying bracket 41 and piles up station, the neat alignment code of bolt is placed on bolt and piles up work On position；

Bolt crawl is installed in the minor details of bolt crawl stacking mechanical arm 42 and piles up manipulator 43, bolt grabs arranging machine Tool arm 42 include at least controllable bolt crawl pile up manipulator 43 in left-right direction the mobile X-coordinate drive assembly of coordinate, can Controlling bolt crawl stacking manipulator 43, the mobile Y-coordinate drive assembly of coordinate and the crawl of controllable bolt are piled up along the longitudinal direction The Z coordinate drive assembly that upper and lower coordinate moves along the vertical direction of manipulator 43；Manipulator 43 is piled up in bolt crawl can take use The sucker structure of bolt is grabbed in negative-pressure adsorption, can also take the clamping catching robot structure for clamping crawl bolt, For convenient for bolt be placed in steel pipe workpieces 6 inside, prevent because bolt grab pile up 43 size of manipulator it is larger caused by can not be placed in, spiral shell Bolt crawl piles up the end that steel pipe workpieces 6 are corresponded on manipulator 43 equipped with material-guiding groove plate, and material-guiding groove plate can be directly obliquely installed It is mounted on bolt crawl to pile up on manipulator 43, when material-guiding groove plate penetrates 6 inside of steel pipe workpieces, manipulator is piled up in bolt crawl 43 unclamp bolt, i.e. bolt can voluntarily be slid into steel pipe workpieces 6 by self gravity；Due to need to be to setting inside steel pipe workpieces 6 Enter two bolts, and since the length of usual bolt is greater than the internal diameter of steel pipe workpieces 6, bolt is usually in steel pipe workpieces It can not be reversed end for end inside 6, therefore need to guarantee that the end of thread of two bolts distinguishes face when two bolts are placed in 6 inside of steel pipe workpieces To the left and right ends of steel pipe workpieces 6, it can mode that the bolt head of two bolts is arranged in pairs back-to-back or it is contrary simultaneously It arranges the mode being arranged in pairs to be placed in, therefore the bolt in bolt supplying bracket 41 is neatly put with above-mentioned two ways In the case of, manipulator 43 can be piled up using bolt crawl once to be grabbed a pair of bolts and steel pipe is directly placed in by material-guiding groove plate Mode in workpiece 6, but on the one hand will cause to put the bolt positioning in bolt supplying bracket 41 in this way and have higher requirements, separately On the one hand, if bolt supplying bracket 41 uses multilayered structure, it will cause pile up the needs of mechanical arm 42 with foot because bolt grabs Enough stroke dimension and biggish size is set and crawl pile up efficiency can be gradually lower, therefore can be using as shown in Figure 10 The handover merging of two mechanical arms mode, i.e. a mechanical arm is responsible for grabbing bolt and places it on material-guiding groove plate, is another One mechanical arm is responsible for grabbing material-guiding groove plate and the bolt on material-guiding groove plate is placed in steel pipe workpieces 6, as shown in figure 11, is responsible for Manipulator on the mechanical arm of merging can increase the B coordinate rotation assembly that can be rotated along Y-coordinate axle, i.e. manipulator is by deflector chute Control B coordinate rotation assembly makes material-guiding groove plate tilt set angle after plate penetrates in steel pipe workpieces 6, and bolt can pass through itself Gravity voluntarily slides into steel pipe workpieces 6；As described above, bolt crawl piles up mechanical arm 42 it is also preferred that using door frame mechanical arm knot Structure；

It includes that bolt is placed in controller automatically, circuit is piled up in bolt crawl that bolt is placed in electric control gear automatically, and bolt is automatic Merging controller grabs with bolt pile up mechanical arm 42 respectively, bolt crawl is piled up manipulator 43 and is electrically connected.

The concentration electronic control unit includes central controller, counting circuit, workpiece line traffic control circuit, automatic welding up and down Control loop, central controller respectively with lane controller above and below the steel pipe of unit 1 offline on steel pipe, automatic welding unit 2 from Dynamic welding controller, the sealing plate of sealing plate or conehead feed unit 3 or conehead supply controller, bolt are placed in the spiral shell of unit 4 automatically Bolt is placed in controller electrical connection automatically.

The course of work of this rack connecting rod automatic welding production system is as follows:

A) steel pipe is online: block pattern row pattern has the full-length steel pipe workpieces 6 through the truncation process truncation of upper track scale Steel pipe workpieces bracket 11 by fork truck or AGV support carry transport vehicle transport to the setting coordinate position in the online working region of steel pipe simultaneously Positioning, unloaded steel pipe workpieces bracket 11 carry transport vehicle by fork truck or AGV support and transport to the setting in the offline working region of steel pipe Coordinate position and position, block pattern row pattern has sealing plate or the sealing plate of conehead workpiece 7 or conehead supply bracket 31 by fork truck or AGV support carry Transport vehicle transport to the setting coordinate position in sealing plate or the online working region of conehead and position, block pattern row pattern has the bolt of bolt Supply bracket 41 is transported to the setting coordinate position in bolt crawl working region and is positioned by fork truck or AGV support load transport vehicle, Then central controller issues instruction starting counting circuit and workpiece line traffic control circuit up and down, and offline unit 1 starts work on steel pipe Make, steel pipe up and down lane controller issue offline crawl on instruction control steel pipe pile up mechanical arm 12 act and according to steel pipe above and below The range sensor feedback that manipulator 13 is piled up in line crawl makes offline crawl stacking 13 coordinate of manipulator on steel pipe be moved to first Setting coordinate position right above part steel pipe workpieces 6, then lane controller control support carrier aircraft tool refers to control mechanism 132 to steel pipe up and down Movement penetrates support load mechanical finger 131 in first steel pipe workpieces, 6 end center hole and by positioning clamping in face of first steel Two end faces of tube workpiece 6 carry out clipping operation, complete the crawl of first steel pipe workpieces 6；Then lane controller above and below steel pipe Control the Distance-sensing that offline crawl on steel pipe piles up the movement of mechanical arm 12 and piles up manipulator 13 according to crawl offline on steel pipe Device feedback makes on the steel pipe for grabbing first steel pipe workpieces 6 offline crawl pile up 13 coordinate of manipulator and be moved to welding to put down The setting coordinate position of the clamping geometrical central axis of corresponding radial direction clamping position component 2221, then center control right above platform 21 Device, which issues instruction, makes flexible sliding driving part I 231 movement of the automation welding control system device control of automatic welding unit 2 carry out radial direction The clamping position of clamping position component 2221 acts, after first steel pipe workpieces 6 is by firm clamping position, central controller hair Instruction makes steel pipe or more lane controller control support carrier aircraft tool refer to that control mechanism 132 carries out homing action and completes first steel pipe work out The stacking of part 6, on steel pipe offline crawl pile up mechanical arm 12 be reset to initial position after, complete the upper of first steel pipe workpieces 6 Line work；

B) automatic welding: central controller issues instruction starting automation welding control system circuit, as shown in fig. 6, automatic welding Controller controls flexible sliding driving part I 231 movement first is socketed in steel pipe retaining mechanism on first steel pipe workpieces 6, Then control steel pipe locking mechanism action locks first steel pipe workpieces 6, and steel pipe rotary driving motor 232 is using hollow When motor mode, flexible sliding driving part I 231, which acts, is socketed steel pipe retaining mechanism from the end of first steel pipe workpieces 6 On first steel pipe workpieces 6；While the flexible sliding driving part I 231 of automation welding control system device control acts, center control Device sending instruction control bolt is placed in controller automatically makes the bolt crawl stacking drive bolt crawl of mechanical arm 42 pile up manipulator 43 coordinates are mobile successively to grab the bolt being located in bolt supplying bracket 41, the contrary two pieces being arranged in pairs side by side After bolt grabs the stacking crawl of manipulator 43 by bolt, bolt is placed in controller control bolt crawl automatically and piles up 42 band of mechanical arm The setting coordinate position that 43 coordinate of manipulator is mobile, penetrates material-guiding groove plate in the end of steel pipe workpieces 6 is piled up in dynamic bolt crawl, Bolt crawl piles up manipulator 43 and unclamps bolt, and bolt is slid into steel pipe workpieces 6 by self gravity；Bolt is placed in control automatically After the reset of mechanical arm 42 is piled up in device control bolt crawl processed, central controller issues instruction control sealing plate or conehead supply controller So that sealing plate or conehead workpiece grabbing is piled up mechanical arm 32 drives sealing plate or conehead workpiece grabbing to pile up mobile pair of 33 coordinate of manipulator Sealing plate or conehead workpiece 7 in sealing plate or conehead supply bracket 31 are successively grabbed, and two pieces sealing plate or conehead workpiece 7 divide After not piling up the crawl of manipulator 33 by two sealing plates or conehead workpiece grabbing, sealing plate or conehead supply controller control sealing plate or cone Head workpiece grabbing pile up mechanical arm 32 drive sealing plate or conehead workpiece grabbing pile up 33 coordinate of manipulator is mobile, make two pieces sealing plate or Conehead workpiece 7 positions the setting coordinate position for sticking on first 6 both ends of the surface of steel pipe workpieces respectively；The control of automation welding control system device Flexible sliding driving part II 241 movement make sealing plate or conehead driving means 24 according to the full-length of steel pipe workpieces 6 adjust to After setting spacing, automation welding control system device control 242 synchronization action of two pieces delivery device positions two pieces push component 243 respectively It accepts and the sealing plate or conehead workpiece 7 that manipulator 33 grabs is piled up by sealing plate or conehead workpiece grabbing, sealing plate or conehead workpiece 7 are steady After fixed bit acts against the end of first steel pipe workpieces 6, sealing plate or conehead workpiece grabbing pile up manipulator 33 and sealing plate or cone Head workpiece grabbing piles up mechanical arm 32 and successively carries out homing action, completes the supply of first set sealing plate or conehead workpiece 7；Automatic welding The welding gun pushing handle telescopic control mechanism movement for connecing two sets of weldering devices 25 of controller synchronously control makes welding gun 251 coordinate is moved to and sets respectively After fixed welding coordinate position, the welding gun 251 of automation welding control system device two sets of weldering devices 25 of synchronously control carries out wire feed, striking Movement, meanwhile, automation welding control system device controls steel pipe rotary driving motor 232 and starts and drive first by steel pipe retaining mechanism Part steel pipe workpieces 6 are rotated according to setting speed, in first 6 rotary course of steel pipe workpieces delivery device 242 be driven with It is driven rotation with rotation, niproll 2223, completes sealing plate or conehead after first rotation to set angle of steel pipe workpieces 6 The welding of workpiece 7 and steel pipe workpieces 6, automation welding control system device successively control welding gun and stretch after closing steel pipe rotary driving motor 232 Contracting control mechanism, delivery device 242, steel pipe retaining mechanism, flexible sliding driving part I 231 carry out homing action, complete first The automatic welding of part steel pipe workpieces 6；

C) finished product is offline: central controller issues offline unit 1 on instruction control steel pipe and starts again at work, above and below steel pipe Lane controller controls offline crawl on steel pipe and piles up the movement of mechanical arm 12 and pile up manipulator 13 according to crawl offline on steel pipe Range sensor feedback makes offline crawl stacking 13 coordinate of manipulator on steel pipe be moved to first steel pipe work that welding is completed The surface of part 6 sets coordinate position, and then lane controller control support carrier aircraft tool refers to that the movement of control mechanism 132 makes to hold in the palm to steel pipe up and down Mechanical finger 131 is carried to penetrate in the sealing plate for 6 end of steel pipe workpieces that first is completed welding or the centre bore of conehead workpiece 7, simultaneously Clamping behaviour is carried out in face of first sealing plate of steel pipe workpieces 6 that welding is completed or the end face of conehead workpiece 7 by positioning clamping Make, completes first crawl that the steel pipe workpieces 6 of welding are completed；Central controller, which issues instruction, makes automatic welding unit 2 After the flexible sliding driving part I 231 of automation welding control system device control carries out homing action, lane controller controls steel pipe to steel pipe up and down Upper offline crawl is piled up the movement of mechanical arm 12 and is made according to the range sensor feedback that manipulator 13 is piled up in crawl offline on steel pipe It grabs offline crawl stacking 13 coordinate of manipulator on the steel pipe for the steel pipe workpieces 6 that first is completed welding and is moved to zero load Setting coordinate position in steel pipe workpieces bracket 11, support carrier aircraft tool refer to that control mechanism 132 carries out homing action and completes first The stacking of the steel pipe workpieces 6 of welding is completed.

And so on, steel pipe workpieces 6 are grabbed online carry out automatic welding one by one, complete welding steel pipe workpieces 6 by by A crawl is offline to be piled up, and realizes automated production.

In order to further increase efficiency, rationally utilize offline crawl on crawl stacking mechanical arm 12 offline on steel pipe and steel pipe It piles up the waiting weld interval of manipulator 13, the work model of mechanical arm 12 is piled up in the offline crawl on steel pipe of automatic welding unit 2 It is set as in enclosing to cover more, is additionally provided with steel pipe workpieces support carrier 26, steel pipe on the welding platform 21 of every set automatic welding unit 2 Workpiece support carrier 26 includes support section and the height dimension of the support load geometric center of section is ask to be less than radial clamping position component The height dimension of 2221 clamping geometric center.Offline crawl is piled up manipulator 13 and can be piled up steel pipe workpieces 6 on steel pipe On the steel pipe workpieces support carrier 26 of a certain automatic welding unit 2, it can continue to grab steel pipe workpieces 6 and be piled up at other oneself On the steel pipe workpieces support carrier 26 of dynamic welding unit 2, to realize using times such as skies, improve efficiency；Due to steel pipe workpieces support The height dimension that the support of the support section of carrier 26 carries geometric center is less than the clamping geometric center of radial clamping position component 2221 Height dimension, therefore do not influence radial clamping position component 2221 and the clamping positions of steel pipe workpieces 6 acted.

Stamp, the production of rack connecting rod automatic welding are carried out in order to realize product back-tracing, to the steel pipe workpieces 6 that welding is completed System further includes automatic laser stamp unit 5, as shown in Fig. 2, the corresponding sealing plate of automatic laser stamp unit 5 or conehead driving means Left side and/or the right positions of welding platform 21 are arranged in 24 position, and automatic laser stamp unit 5 includes Laser Jet The Laser Jet head pushing handle telescopic control mechanism and the automatically controlled dress of Laser Jet of the flexible setting of head support, Laser Jet head, coordinate control It sets；Laser Jet head is mounted on Laser Jet head support by Laser Jet head pushing handle telescopic control mechanism；Laser Jet is automatically controlled Device includes Laser Jet controller, Laser Jet control loop, and Laser Jet controller is beaten with Laser Jet head, laser respectively The electrical connection of harbour pushing handle telescopic control mechanism, Laser Jet controller are electrically connected with the central controller of electronic control unit is concentrated.It is automatic to swash Light stamp unit 5 can be independently arranged installation, and on the ground, i.e. Laser Jet head support is console mode structure, and automatic laser is beaten Code unit 5, which can also be directly installed on the body of sealing plate or conehead driving means 24, i.e. Laser Jet head support is fixed pacifies On the body of sealing plate or conehead driving means 24；It can be with by the movement of coordinate control Laser Jet head pushing handle telescopic control mechanism Realize that the accurate coordinate of Laser Jet head positions stamp.After the automatic welding for completing steel pipe workpieces 6, central controller is capable of emitting Instruction controls the end that Laser Jet controller makes Laser Jet head coordinate be moved to the sealing plate on steel pipe workpieces 6 or conehead workpiece 7 Face position carries out stamp.For longer stamp number, steel pipe workpieces 6 can be controlled after having beaten a number during stamp Stepping rotation set angle, the stamp for carrying out next number again.

Sealing plate or conehead workpiece grabbing pile up manipulator 33 to the sealing plate being located in sealing plate or conehead supply bracket 31 or When conehead workpiece 7 is grabbed, in order to avoid sealing plate or the movement interference of conehead workpiece grabbing stacking manipulator 33, as this hair Bright further improvement scheme, as shown in fig. 7, sealing plate or conehead supply bracket 31 include that auxiliary reprints frame 311 and drawer type work Part laying rack 312；Drawer type workpiece laying rack 312 is equipped with multiple uniformly distributed intervals and from bottom to top along back and forth or left and right direction water The guided in translation mechanism II 3121 of flat setting, guided in translation mechanism II 3121 can use guide groove structure or use and lead It is logical to pile up pallet 3122 with multiple workpiece that guided in translation mechanism II 3121 quantity is equipped with for other guide frames such as rail structure It crosses idler wheel and is fitted in guided in translation mechanism and form drawer-type structure, the front end of guided in translation mechanism II 3121 is equipped with and can limit Workpiece processed piles up the fixing and limiting structure that pallet 3122 skids off, and fixing and limiting structure can be using the limit agllutination of fixed setting The structures such as structure, limit plate structure, the rear end of guided in translation mechanism II 3121, which is equipped with, can limit what workpiece stacking pallet 3122 skidded off Movable position limiting structure is not provided with driving power device, in order to realize to avoid driving power dress on drawer type workpiece laying rack 312 It sets during the drying process by high-temperature damage, movable position limiting structure can be using the activity limit knot for limiting wedge by spring ejection Structure can also realize other mechanical structures such as the movable position limiting structure for limiting wedge lifting using swinging by mandril control swing rod Movable position limiting structure, workpiece pile up pallet 3122 on is additionally provided with overlap joint connecting component 3123；Auxiliary is reprinted frame 311 and is fixedly installed Setting position in sealing plate or the online working region of conehead, auxiliary reprint and correspond to guided in translation mechanism II 3121 on frame 311 Position is equipped with can be with the horizontal guided in translation mechanism I 3111 for docking setting, guided in translation mechanism II 3121, guided in translation mechanism I 3111 and guided in translation mechanism II 3121 structure setting identical as size, auxiliary reprint frame 311 on correspond to every layer of guided in translation The workpiece that the position of mechanism I 3111 is additionally provided with the flexible setting in horizontal back and forth or left and right piles up pallet translational control mechanism 3112, such as Shown in Fig. 8, workpiece piles up pallet translational control mechanism 3112 and includes driven in translation component and cooperate with overlap joint connecting component 3123 Overlap joint snap part 3113, driven in translation component can using including hydraulic cylinder hydraulically extensible control structure and also adopt With other drive mechanisms, driven in translation component and sealing plate or cones such as the chain drive structures or electric screw rod structure for including transmission chain The sealing plate of head supply electric control gear or the electrical connection of conehead supply controller.Block pattern row pattern has the drawer type of sealing plate or conehead workpiece 7 Workpiece laying rack 312 carries transport vehicle by fork truck or AGV support and transports to the setting coordinate bit in sealing plate or the online working region of conehead After setting and making guided in translation mechanism II 3121 and I 3111 tandem docking of guided in translation mechanism, sealing plate or conehead supply controller control The workpiece that system is located at first layer, which piles up the movement of pallet translational control mechanism 3112, makes driven in translation component drive overlap joint snap part 3113 forward extend out to set distance, and after overlap joint snap part 3113 is connect with overlap joint connecting component 3123, sealing plate or conehead are supplied Pallet translational control mechanism 3112 is piled up to the workpiece that controller control is located at first layer and carries out homing action, positioned at first layer It is to cross the movable position limiting structure of guided in translation mechanism II 3121 and follow overlap joint snap part 3113 that workpiece, which piles up pallet 3122, It moves back to assisting reprinting realization extraction on frame 311, sealing plate or conehead workpiece grabbing pile up manipulator 33 can be to positioned at first layer Workpiece pile up pallet 3122 on sealing plate or conehead workpiece 7 successively grabbed；Workpiece to first layer piles up pallet 3122 On sealing plate or conehead workpiece 7 be crawled after, sealing plate or conehead supply controller control be located at first layer workpiece pile up The workpiece for being located at first layer is piled up pallet 3122 and is pushed into drawer type workpiece laying rack by the movement of pallet translational control mechanism 3112 312, the overlap joint snap part 3113 for piling up pallet translational control mechanism 3112 positioned at the workpiece of first layer, which is detached from, is located at first layer Workpiece pile up pallet 3122 overlap joint connecting component 3123 and reset after, sealing plate or conehead supply controller control be located at second The workpiece that workpiece stacking pallet translational control mechanism 3112 movement of layer will be located at the second layer piles up pallet 3122 and pull in auxiliary turn Carrier 311 carries out continuing to grab；And so on, until each layer workpiece of drawer type workpiece laying rack 312 piles up pallet 3122 It is crawled and finishes.

For avoid workpiece from piling up pallet translational control mechanism 3112 piling up manipulator 33 in sealing plate or conehead workpiece grabbing Movement interference is caused during being grabbed to sealing plate or conehead workpiece 7, as a further improvement of the present invention, translation is led It is symmetricly set in left-right direction to mechanism 3121 on the facade inner wall of drawer type workpiece laying rack 312, it is flat that workpiece piles up pallet Control mechanism 3112 is moved to be symmetricly set in left-right direction in guided in translation mechanism I 3111.

The driven in translation component that workpiece piles up pallet translational control mechanism 3112 can be stretched using including the hydraulic of hydraulic cylinder Contracting control structure can also use the chain drive structure including transmission chain, since the former need to additionally consider that the stroke of hydraulic cylinder is asked Topic, i.e., auxiliary reprints frame 311 needs the flexible stroke space for additionally reserving hydraulic cylinder on the direction of back and forth or left and right, virtually increases Auxiliary reprints size of the frame 311 on the direction of back and forth or left and right, and the latter can avoid such case, therefore preferred the latter, That is, as a preferred solution of the present invention, the driven in translation component that workpiece piles up pallet translational control mechanism 3112 is chain conveyer knot Structure, as shown in figure 8, driven in translation component includes drive sprocket and transmission chain, overlap joint connecting component 3123 is fixedly disposed at work Part piles up the overlap joint rod structure on pallet 3122, and overlap joint snap part 3113 is the two-way claw structure being arranged on transmission chain. Two-way claw structure, which can be connected on overlap joint rod structure when upper layer transmission chain being followed rearward to move, realizes that pulling workpiece to pile up holds in the palm Disk 3122 can be realized when two-way claw structure follows upper layer transmission chain to move forwards and workpiece is pushed to pile up pallet 3122, by work After part stacking pallet 3122 is pushed on drawer type workpiece laying rack 312, with continuing to move along for upper layer transmission chain, two-way card Pawl structure may be reversed and be detached from overlap joint rod structure, realizes that workpiece piles up pallet translational control mechanism 3112 and workpiece piles up pallet 3122 Separation.

Sealing plate or conehead workpiece grabbing pile up the positioning of manipulator 33 crawl or pile up sealing plate or conehead in order to further increase The accuracy of workpiece 7, as a further improvement of the present invention, sealing plate or conehead workpiece grabbing are piled up and are also set on manipulator 33 There is pattern-recognition sensor, pattern-recognition sensor is electrically connected with sealing plate or conehead supply controller.To sealing plate or conehead workpiece 7 When carrying out crawl operation, when sealing plate or conehead supply controller issues instruction control sealing plate or conehead workpiece grabbing piles up mechanical arm 32 movements simultaneously grab sealing plate or conehead workpiece according to the range sensor feedback that sealing plate or conehead workpiece grabbing pile up manipulator 33 Code fetch puts sealing plate or conehead supply after 33 coordinate of manipulator is moved to the setting coordinate position right above sealing plate or conehead workpiece 7 Controller according to the endface position information and built-in standard sealing plate of the sealing plate of pattern-recognition sensor feedback or conehead workpiece 7 or The endface position information of conehead workpiece 7 compares and calculates offset, and then sealing plate or conehead supply controller are according to calculating Offset manipulator 33 is piled up to sealing plate or conehead workpiece grabbing position be adjusted, realize sealing plate or conehead workpiece 7 Crawl is accurately positioned；When sealing plate or conehead workpiece 7 are sticked on 6 end of steel pipe workpieces, sealing plate or conehead supply controller according to The location information of the location information of 6 end of steel pipe workpieces of pattern-recognition sensor feedback and built-in standard steel pipe workpieces 6 into Row, which compares, simultaneously calculates offset, and then sealing plate or conehead supply controller are according to the offset of calculating to sealing plate or conehead workpiece The position that manipulator 33 is piled up in crawl is adjusted, and realizes that the accurate positionin of sealing plate or conehead workpiece 7 is placed.

Claims

1. a kind of sealing plate or conehead feed unit of rack connecting rod automatic welding production system, which is characterized in that sealing plate or conehead The setting position that feed unit (3) is arranged within the scope of automatic welding unit (2) surrounding, sealing plate or conehead feed unit (3) packet It includes sealing plate or mechanical arm (32), sealing plate or conehead workpiece grabbing is piled up in conehead supply bracket (31), sealing plate or conehead workpiece grabbing It piles up manipulator (33) and sealing plate or conehead supplies electric control gear；

Sealing plate or conehead supply bracket (31) setting are piled up in mechanical arm (32) working range in sealing plate or conehead workpiece grabbing It sets in sealing plate or the online working region of conehead, sealing plate or conehead supply bracket (31) inside are multilayered structures, in every layer plane It is laid with multiple sealing plates or conehead workpiece piles up station；

Sealing plate is installed on sealing plate or the minor details of conehead workpiece grabbing stacking mechanical arm (32) or conehead workpiece grabbing piles up machinery Hand (33), sealing plate or conehead workpiece grabbing pile up mechanical arm (32) and include at least controllable sealing plate or conehead workpiece grabbing arranging machine The mobile X-coordinate drive assembly of coordinate, controllable sealing plate or conehead workpiece grabbing pile up manipulator to tool hand (33) in left-right direction (33) the mobile Y-coordinate drive assembly of coordinate and controllable sealing plate or conehead workpiece grabbing pile up manipulator (33) along the longitudinal direction The mobile Z coordinate drive assembly of coordinate above and below along the vertical direction；Sealing plate or conehead workpiece grabbing pile up manipulator (33) corresponding steel The left and right ends of tube workpiece (6) are set as two sets, and sealing plate or conehead workpiece grabbing pile up manipulator (33) and be equipped with sealing plate or cone Head workpiece grabbing piles up mechanism, and sealing plate or conehead workpiece grabbing stacking mechanism pass through can be total along the A coordinate rotation that X-coordinate axle rotates At or sealing plate or conehead workpiece grabbing can be mounted on along the B coordinate rotation assembly that Y-coordinate axle rotates and pile up on manipulator (33), envelope Plate or conehead workpiece grabbing are piled up and are additionally provided with range sensor and pattern-recognition sensor on manipulator (33)；

Sealing plate or conehead supply electric control gear include that sealing plate or conehead supply controller, sealing plate or conehead crawl pile up circuit, envelope Plate or conehead supply controller piled up respectively with sealing plate or conehead workpiece grabbing the coordinate drive assembly of mechanical arm (32), sealing plate or Conehead workpiece grabbing piles up the sealing plate of manipulator (33) or conehead workpiece grabbing is piled up mechanism, range sensor and pattern-recognition and passed Sensor electrical connection, sealing plate or conehead supply controller and rack connecting rod automatic welding production system concentrate the center of electronic control unit to control Device electrical connection processed.

2. the sealing plate or conehead feed unit of rack connecting rod automatic welding production system according to claim 1, feature It is, sealing plate or conehead workpiece grabbing stacking mechanism are that sealing plate or conehead workpiece (7) inner surface or outer are grabbed for negative-pressure adsorption It includes the plane or the conical surface with sealing plate or conehead workpiece (7) that the sucker structure on surface, sealing plate or conehead workpiece grabbing, which pile up mechanism, The absorption disk of cooperation, absorption disk inside are equipped with the negative pressure channel connecting by pipeline with negative pressure source, adsorb uniformly distributed in disk Equipped with multiple negative-pressure adsorption holes for being connected to connection with negative pressure channel.

3. the sealing plate or conehead feed unit of rack connecting rod automatic welding production system according to claim 1, feature It is, sealing plate or conehead workpiece grabbing stacking mechanism are grabbed for clamping the clamping of crawl sealing plate or conehead workpiece (7) periphery Robot manipulator structure, sealing plate or conehead workpiece grabbing pile up mechanism include be evenly distributed setting at least three clamping machine refer to and It is arranged and refers to opening and closing control mechanism in clamping machine that sealing plate or conehead workpiece grabbing pile up manipulator (33) inside.

4. the sealing plate or conehead feed unit of rack connecting rod automatic welding production system according to claim 1 or 2 or 3, It is characterized in that, sealing plate or conehead supply bracket (31) include that auxiliary reprints frame (311) and drawer type workpiece laying rack (312)； Drawer type workpiece laying rack (312) is from bottom to top equipped with multiple uniformly distributed intervals and horizontally disposed flat along back and forth or left and right direction It moves guiding mechanism II (3121), piles up pallet (3122) with multiple workpiece that guided in translation mechanism II (3121) quantity is equipped with It is fitted in guided in translation mechanism by idler wheel and forms drawer-type structure, the front end of guided in translation mechanism II (3121) is equipped with Workpiece can be limited and pile up the fixing and limiting structure that pallet (3122) skid off, the rear end of guided in translation mechanism II (3121) is equipped with and can limit Workpiece processed piles up the movable position limiting structure that pallet (3122) skid off, and workpiece is piled up and is additionally provided with overlap joint connecting component on pallet (3122) (3123)；Auxiliary reprints frame (311) and is fixed at the setting position in sealing plate or the online working region of conehead, and auxiliary reprints frame (311) position that guided in translation mechanism II (3121) is corresponded on is equipped with and can dock setting with guided in translation mechanism II (3121) level Guided in translation mechanism I (3111), the structure and size phase of guided in translation mechanism I (3111) and guided in translation mechanism II (3121) With setting, the position that every layer of guided in translation mechanism I (3111) is corresponded in auxiliary reprinting frame (311) is additionally provided with horizontal back and forth or left and right The workpiece of flexible setting piles up pallet translational control mechanism (3112), and it includes flat that workpiece, which piles up pallet translational control mechanism (3112), Move driving part and the overlap joint snap part (3113) with overlap joint connecting component (3123) cooperation, driven in translation component and sealing plate or Conehead supplies sealing plate or the electrical connection of conehead supply controller of electric control gear.

5. the sealing plate or conehead feed unit of rack connecting rod automatic welding production system according to claim 4, feature It is, guided in translation mechanism (3121) is symmetricly set in left-right direction on the facade inner wall of drawer type workpiece laying rack (312), Workpiece is piled up pallet translational control mechanism (3112) and is symmetricly set in guided in translation mechanism I (3111) in left-right direction.

6. the sealing plate or conehead feed unit of rack connecting rod automatic welding production system according to claim 5, feature It is, the driven in translation component that workpiece piles up pallet translational control mechanism (3112) is chain drive structure, driven in translation component packet Drive sprocket and transmission chain are included, overlap joint connecting component (3123) is fixedly disposed at the overlap joint column in workpiece stacking pallet (3122) Structure, overlap joint snap part (3113) is the two-way claw structure being arranged on transmission chain.

7. the sealing plate or conehead feed unit of rack connecting rod automatic welding production system according to claim 1 or 2 or 3, It is characterized in that, it is door frame machinery arm configuration that sealing plate or conehead workpiece grabbing, which pile up mechanical arm (32),.

8. the sealing plate or conehead feed unit of rack connecting rod automatic welding production system according to claim 7, feature It is, two sets of sealing plates or conehead workpiece grabbing pile up manipulator (33) and share the same sealing plate or conehead workpiece grabbing stacking machinery Arm (32).