CN110480217B - Sealing plate or conical head supply unit of grid connecting rod automatic welding production system - Google Patents

Sealing plate or conical head supply unit of grid connecting rod automatic welding production system Download PDF

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Publication number
CN110480217B
CN110480217B CN201910701735.XA CN201910701735A CN110480217B CN 110480217 B CN110480217 B CN 110480217B CN 201910701735 A CN201910701735 A CN 201910701735A CN 110480217 B CN110480217 B CN 110480217B
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Prior art keywords
conical head
sealing plate
workpiece
stacking
grabbing
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CN110480217A (en
Inventor
郝新浦
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Haode Heavy Industry Technology Jiangsu Co ltd
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Haode Heavy Industry Technology Jiangsu Co ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00Energy generation of nuclear origin
    • Y02E30/30Nuclear fission reactors

Abstract

The invention discloses a sealing plate or conical head supply unit of an automatic welding production system for a grid connecting rod, which comprises a sealing plate or conical head supply bracket, a sealing plate or conical head workpiece grabbing and stacking mechanical arm and a sealing plate or conical head supply electric control device. The sealing plate or the conical head supply controller of the sealing plate or the conical head supply unit can calculate the offset according to the feedback of the pattern recognition sensor, and then the sealing plate or the conical head supply controller adjusts the position of the sealing plate or the conical head workpiece grabbing and stacking manipulator according to the calculated offset, so that the accurate coordinate grabbing and coordinate positioning handover of the sealing plate or the conical head workpiece can be realized through the sealing plate or the conical head workpiece grabbing and stacking manipulator, the follow-up welding work is convenient, the degree of automation is high, the defect of manual operation can be avoided, and the automatic welding production system is particularly suitable for a grid frame connecting rod automatic welding production system.

Description

Sealing plate or conical head supply unit of grid connecting rod automatic welding production system
Technical Field
The invention relates to a material supply unit of an automatic welding production system, in particular to a sealing plate or conical head supply unit of a production system suitable for automatically welding net rack connecting rod workpieces, and belongs to the technical field of net rack connecting rod manufacturing.
Background
The grid structure is a large-span covered space structure formed by connecting a plurality of grid connecting rods through nodes according to a certain grid form, has the advantages of good integrity, large space rigidity and stable structure, is light in weight, small in site construction workload and high in construction speed, and is small in height and capable of effectively utilizing space, so that the grid structure is widely applied to the building industry.
The grid structure node made of steel mainly comprises three forms of cross plate nodes, welded hollow ball nodes and bolt ball nodes. The grid structure formed by the bolt ball joints and the grid connecting rods has the advantages of strong adaptability, no additional joint eccentricity, capability of avoiding a large amount of field welding workload, convenience in transportation and installation and the like, and is widely applied to various space bar system structures.
The grid connecting rod for the bolt ball joint generally comprises a steel pipe body, sealing plates (the diameter of the steel pipe body is less than 76 mm) or conical heads (the diameter of the steel pipe body is more than or equal to 76 mm) symmetrically welded at two ends of the steel pipe body, and bolts which are arranged inside the steel pipe body. The center position of the sealing plate or the conical head is provided with through holes which can allow the thread sections of the bolts to extend out, when the sealing plate or the conical head is connected and installed with the bolt ball joint, the thread sections of the bolts extending out of the sealing plate or the conical head are sleeved with long hexagonal sleeves (or called long hexagonal non-threaded nuts), the bolts and the long hexagonal sleeves are connected together through pins or fastening screws, the long hexagonal sleeves are directly screwed, the bolts are driven to rotate through the pins or the fastening screws, and the bolts are screwed into the spheres until the bolt heads of the bolts are tightly attached to the inner side surfaces of the sealing plate or the conical head, and then the installation is completed. The existing welding procedure of the steel pipe body and the sealing plate or the conical head is usually performed by adopting a manual welding mode, namely, the sealing plate or the conical head is pre-welded on the steel pipe body, and then the circular welding seam is welded. This traditional manual welding approach suffers from the following drawbacks:
1. Although the pre-spot welding can be performed in a tool positioning mode, spot welding deviation still exists in a manual operation mode, the coaxiality of a sealing plate or a through hole of a conical head and a steel pipe body cannot be accurately ensured, the product quality is further affected, and subsequent installation problems such as eccentric installation, unbalanced load stress of a net rack connecting rod and the like are easily caused;
2. although the welding is performed on the basis of the pre-spot welding, even if a tool auxiliary rotation welding mode is adopted for welding, the uniformity of the welding is difficult to ensure by manual welding, and further the welding deformation cannot be effectively controlled;
3. the manual operation mode has higher requirements on the skills and proficiency of personnel, welding interruption can not be avoided in the welding process of the annular welding seam, the welding deformation degree is increased, and the welding quality is also influenced by artificial factors such as emotion of operators.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a sealing plate or conical head supply unit of an automatic welding production system for a net rack connecting rod, which has higher automation degree, can avoid the defect of manual operation, can automatically grasp a sealing plate or conical head workpiece and position the coordinates of the sealing plate or conical head workpiece on the end surface of a steel pipe workpiece so as to facilitate the subsequent welding of the sealing plate or conical head workpiece and the steel pipe workpiece, and is particularly suitable for the automatic welding production system for the net rack connecting rod.
In order to achieve the above purpose, a sealing plate or conical head supply unit of the grid connecting rod automatic welding production system is arranged at a set position within the peripheral range of the automatic welding unit, and comprises a sealing plate or conical head supply bracket, a sealing plate or conical head workpiece grabbing and stacking mechanical arm and a sealing plate or conical head supply electric control device;
the sealing plate or the conical head feeding bracket is arranged in a set sealing plate or conical head on-line working area in the working range of the sealing plate or the conical head workpiece grabbing and stacking mechanical arm, a multi-layer structure is arranged in the sealing plate or the conical head feeding bracket, and a plurality of sealing plates or conical head workpiece stacking stations are uniformly distributed in each layer of plane;
the end section of the sealing plate or conical head workpiece grabbing and stacking mechanical arm is provided with a sealing plate or conical head workpiece grabbing and stacking mechanical arm, and the sealing plate or conical head workpiece grabbing and stacking mechanical arm at least comprises an X coordinate driving assembly capable of controlling the sealing plate or conical head workpiece grabbing and stacking mechanical arm to move along the left-right direction coordinates, a Y coordinate driving assembly capable of controlling the sealing plate or conical head workpiece grabbing and stacking mechanical arm to move along the front-back direction coordinates and a Z coordinate driving assembly capable of controlling the sealing plate or conical head workpiece grabbing and stacking mechanical arm to move along the vertical direction up-down coordinates; the two ends of the sealing plate or the conical head workpiece grabbing and stacking manipulator corresponding to the steel pipe workpieces are provided with two sets, the sealing plate or the conical head workpiece grabbing and stacking mechanism is arranged on the sealing plate or the conical head workpiece grabbing and stacking manipulator through an A coordinate rotating assembly capable of rotating along an X coordinate axis or a B coordinate rotating assembly capable of rotating along a Y coordinate axis, and a distance sensor and a pattern recognition sensor are further arranged on the sealing plate or the conical head workpiece grabbing and stacking manipulator;
The sealing plate or the conical head supply electric control device comprises a sealing plate or a conical head supply controller and a sealing plate or a conical head grabbing and stacking loop, wherein the sealing plate or the conical head supply controller is respectively electrically connected with a coordinate driving assembly of a sealing plate or a conical head workpiece grabbing and stacking mechanical arm, a sealing plate or a conical head workpiece grabbing and stacking mechanism of a sealing plate or conical head workpiece grabbing and stacking mechanical arm, a distance sensor and a pattern recognition sensor, and the sealing plate or the conical head supply controller is electrically connected with a central controller of a central electric control unit of the grid connecting rod automatic welding production system.
As one implementation mode of the invention, the sealing plate or the conical workpiece grabbing and stacking mechanism is a sucker structure for absorbing and grabbing the inner surface or the outer surface of the sealing plate or the conical workpiece at negative pressure, the sealing plate or the conical workpiece grabbing and stacking mechanism comprises an absorption disc surface matched with the plane or the conical surface of the sealing plate or the conical workpiece, a negative pressure channel connected with a negative pressure source through a pipeline is arranged in the absorption disc surface, and a plurality of negative pressure absorption holes communicated and connected with the negative pressure channel are uniformly distributed on the absorption disc surface.
As another embodiment of the invention, the sealing plate or the conical workpiece grabbing and stacking mechanism is a clamping and grabbing manipulator structure for clamping and grabbing the periphery of the sealing plate or the conical workpiece, and the sealing plate or the conical workpiece grabbing and stacking mechanism comprises at least 3 clamping mechanical fingers uniformly distributed along the circumferential direction and a clamping mechanical finger opening and closing control mechanism arranged in the sealing plate or the conical workpiece grabbing and stacking manipulator.
As a further development of the invention, the closing plate or the conical head supply bracket comprises an auxiliary transfer bracket and a drawer-type workpiece containing bracket; the drawer type workpiece containing frame is provided with a plurality of translation guide mechanisms II which are uniformly distributed at intervals and horizontally arranged along the front-back or left-right direction from bottom to top, a plurality of workpiece stacking trays which are matched with the translation guide mechanisms II in number are arranged on the translation guide mechanisms in a matched manner to form a drawer type structure through rollers, the front end of the translation guide mechanism II is provided with a fixed limit structure capable of limiting the workpiece stacking tray to slide out, the rear end of the translation guide mechanism II is provided with a movable limit structure capable of limiting the workpiece stacking tray to slide out, and the workpiece stacking tray is also provided with a lap joint connecting part; the auxiliary rotating carrier is fixedly arranged at a set position in a closing plate or cone head on-line working area, a translation guide mechanism I which can be horizontally abutted to the translation guide mechanism II is arranged at a position corresponding to the translation guide mechanism II on the auxiliary rotating carrier, the structure and the size of the translation guide mechanism I and the structure and the size of the translation guide mechanism II are the same, a workpiece stacking tray translation control mechanism which is horizontally arranged in a front-back or left-right telescopic mode is further arranged at the position corresponding to each layer of the translation guide mechanism I on the auxiliary rotating carrier, the workpiece stacking tray translation control mechanism comprises a translation driving part and a lap joint buckle part matched with the lap joint connecting part, and the translation driving part is electrically connected with a closing plate or cone head supply controller of the closing plate or cone head supply electric control device.
As a preferable scheme of the invention, the translation guide mechanisms are symmetrically arranged on the inner wall of the vertical face of the drawer type workpiece containing frame along the left-right direction, and the workpiece stacking tray translation control mechanisms are symmetrically arranged on the translation guide mechanisms I along the left-right direction.
As a preferable scheme of the invention, the translation driving part of the workpiece stacking tray translation control mechanism is of a chain transmission structure, the translation driving part comprises a transmission chain wheel and a transmission chain, the lap joint connecting part is of a lap joint column structure fixedly arranged on the workpiece stacking tray, and the lap joint buckling part is of a bidirectional claw structure arranged on the transmission chain.
As a preferable scheme of the invention, the sealing plate or the conical workpiece grabbing and stacking mechanical arm is of a portal mechanical arm structure. .
As a further improvement scheme of the invention, two sets of sealing plates or conical workpiece grabbing and stacking manipulators share the same sealing plate or conical workpiece grabbing and stacking manipulator.
Compared with the prior art, the sealing plate or conical head supply unit of the grid connecting rod automatic welding production system adopts a microcomputer control unit, so that the full-automatic operation can be realized; because the sealing plate or the conical head workpiece grabbing and stacking manipulator is further provided with the distance sensor and the mode identification sensor, the sealing plate or the conical head feeding controller can calculate the offset according to the feedback of the mode identification sensor, and then the sealing plate or the conical head feeding controller adjusts the position of the sealing plate or the conical head workpiece grabbing and stacking manipulator according to the calculated offset, so that the accurate coordinate grabbing and coordinate positioning handover of the sealing plate or the conical head workpiece can be realized through the sealing plate or the conical head workpiece grabbing and stacking manipulator, the follow-up welding work is convenient, the automation degree is high, the defects of manual operation can be avoided, and the automatic welding production system is particularly suitable for a grid connecting rod automatic welding production system.
Drawings
FIG. 1 is a schematic view of a three-dimensional structure of an automatic welding production system for rack connecting rods;
FIG. 2 is a top layout view of a rack connecting rod automatic welding production system;
fig. 3 is a schematic structural diagram of a steel pipe up-and-down line grabbing and stacking manipulator of the grid connecting rod automatic welding production system;
FIG. 4 is a schematic view of a three-dimensional structure of an automatic welding unit of the net rack connecting rod automatic welding production system;
FIG. 5 is a schematic structural view of a radial steel pipe clamping and positioning device of an automatic welding production system for net rack connecting rods;
FIG. 6 is a schematic structural view of a steel pipe rotation driving device of the automatic welding production system of the net rack connecting rod;
FIG. 7 is a schematic view of the structure of the seal plate or cone feed carrier of the present invention;
FIG. 8 is a schematic view of a partially enlarged structure of a workpiece stacking tray translation control mechanism of the present invention when a drawer-type workpiece stacking rack is docked with an auxiliary transfer rack to push and pull the workpiece stacking tray;
FIG. 9 is a schematic diagram of a structure of a manipulator for gripping and stacking a sealing plate or a conical workpiece by adopting a negative pressure adsorption structure;
FIG. 10 is a schematic view of a three-dimensional structure of an automatic bolt placement unit of a net rack connecting rod automatic welding production system;
FIG. 11 is a schematic diagram of a bolt grabbing and stacking manipulator of the grid connecting rod automatic welding production system with a B coordinate rotating assembly added;
FIG. 12 is a schematic view of the structure of a grid connecting rod automatic welding production system in which each welding gun device adopts one welding gun;
fig. 13 is a schematic view of the structure of the grid connecting rod automatic welding production system when each set of welding gun device adopts two opposite welding guns.
In the figure: 1. a steel pipe up-down line unit, 11, a steel pipe workpiece bracket, 12, a steel pipe up-down line grabbing and stacking mechanical arm, 13, a steel pipe up-down line grabbing and stacking mechanical arm, 131, a supporting mechanical finger, 132, a supporting mechanical finger control mechanism, 2, an automatic welding unit, 21, a welding working platform, 22, a steel pipe radial clamping and positioning device, 221, a supporting base, 222, a radial clamping and positioning mechanism, 2221, a radial clamping and positioning component, 2222, a radial clamping and telescoping control component, 2223, a clamping roller, 23, a steel pipe rotary driving device, 231, a telescoping sliding driving component I, 232, a steel pipe rotary driving motor, 24, a sealing plate or a conical head pushing device, 241, a telescoping sliding driving component II, 242, a pushing mechanism, 243, a pushing component, 25 and a welding gun device, 251, welding gun, 26, steel pipe workpiece support carrier, 3, closing plate or conical head supply unit, 31, closing plate or conical head supply bracket, 311, auxiliary rotating carrier, 3111, translation guide mechanism I, 3112, workpiece stacking tray translation control mechanism, 3113, overlap buckle part, 312, drawer type workpiece holding carrier, 3121, translation guide mechanism II, 3122, workpiece stacking tray, 3123, overlap connecting part, 32, closing plate or conical head workpiece grabbing stacking mechanical arm, 33, closing plate or conical head workpiece grabbing stacking mechanical arm, 4, bolt automatic placement unit, 41, bolt supply bracket, 42, bolt grabbing stacking mechanical arm, 43, bolt grabbing stacking mechanical arm, 5, automatic laser stacking unit, 6, steel pipe workpiece, 7, closing plate or conical head workpiece.
Detailed Description
The automatic welding production system for the net rack connecting rod is a digital control system, and can realize centralized digital management by being in seamless connection with a digital bus of a digital factory. The present invention will be further described with reference to the drawings (hereinafter, the description will be made with respect to the longitudinal direction of the steel pipe work 6 as the left-right direction).
As shown in fig. 1 and 2, the automatic welding production system for the net rack connecting rod comprises a steel pipe upper and lower line unit 1, an automatic welding unit 2, a sealing plate or conical head supply unit 3, an automatic bolt placing unit 4 and a centralized electric control unit.
The steel pipe upper and lower line unit 1 is arranged at a set position within the peripheral range of the automatic welding unit 2, as shown in fig. 2, the steel pipe upper and lower line unit 1 is arranged right behind the automatic welding unit 2, and the steel pipe upper and lower line unit 1 comprises a steel pipe workpiece bracket 11, a steel pipe upper and lower line grabbing and stacking mechanical arm 12 and a steel pipe upper and lower line electric control device;
the steel pipe workpiece brackets 11 are used for containing semi-finished products of the steel pipe workpieces 6 of the unwelded sealing plates or the conical head workpieces 7 or finished products of the steel pipe workpieces 6 of the welded sealing plates or the conical head workpieces 7, and the number of the steel pipe workpiece brackets 11 which are at least two is respectively arranged in a set steel pipe upper line working area and a set steel pipe lower line working area in the working range of the steel pipe upper line and lower line grabbing and stacking mechanical arm 12;
The steel pipe up and down line grabbing and stacking mechanical arm 12 is arranged on the tail section of the steel pipe up and down line grabbing and stacking mechanical arm 12, the steel pipe up and down line grabbing and stacking mechanical arm 12 at least comprises an X coordinate driving assembly capable of controlling the steel pipe up and down line grabbing and stacking mechanical arm 13 to move along the left and right direction coordinates, a Y coordinate driving assembly capable of controlling the steel pipe up and down line grabbing and stacking mechanical arm 13 to move along the front and back direction coordinates and a Z coordinate driving assembly capable of controlling the steel pipe up and down line grabbing and stacking mechanical arm 13 to move along the vertical direction coordinates, as shown in fig. 3, a supporting mechanical finger 131 and a supporting mechanical finger control mechanism 132 capable of penetrating into the end part of the steel pipe workpiece 6 are arranged at the bottom of the steel pipe up and down line grabbing and stacking mechanical arm 13, a positioning clamping surface is further arranged on the supporting mechanical finger 131, the supporting mechanical finger 131 can adopt a straight pin structure capable of penetrating into the end part of the steel pipe workpiece 6 as shown in fig. 3, the supporting mechanical finger control mechanism 132 can also adopt a straight pin telescopic control structure, or a hook-shaped structure capable of swinging and penetrating into the end part of the steel pipe workpiece 6 can also adopt a swinging mechanical arm control mechanism 132 capable of being matched with a swinging mechanical arm control device; the steel pipe upper and lower line grabbing and stacking mechanical arm 12 can adopt a multi-joint mechanical arm structure, or a portal mechanical arm structure, or other mechanical arms such as a Delta mechanical arm structure, because the control of the multi-joint mechanical arm and the Delta mechanical arm is centralized control, the precise coordinate control is more complex, a large amount of calculation is needed by an industrial control computer, a software control program is complex, the manufacturing cost is high, the computer control burden is heavy, faults are easy to occur, meanwhile, only one mechanical arm is usually loaded on the mechanical arm, the portal mechanical arm structure adopts split control, namely, a plurality of coordinate systems are respectively controlled, the control is relatively simple and direct, the faults are difficult to occur, and the steel pipe upper and lower line grabbing and stacking mechanical arm 13 aiming at the two ends of the steel pipe workpiece 6 can be realized by sharing the same mechanical arm, so that the mechanism setting is simplified, namely the control complexity is improved, and the portal mechanical arm structure is preferably adopted for the steel pipe upper and lower line grabbing and stacking mechanical arm 12;
The steel pipe on-off line electric control device comprises a steel pipe on-off line controller which is respectively and electrically connected with a coordinate driving assembly of the steel pipe on-off line grabbing and stacking mechanical arm 12, a distance sensor of the steel pipe on-off line grabbing and stacking mechanical arm 13 and a supporting mechanical finger control mechanism 132.
As shown in fig. 4, the automatic welding unit 2 comprises a welding working platform 21, a steel pipe radial clamping and positioning device 22, a steel pipe rotary driving device 23, a sealing plate or conical head pushing device 24, a welding gun device 25 and an automatic welding electric control device;
the welding work platform 21 is a long platform structure with a length direction arranged along a left-right direction;
the steel pipe radial clamping and positioning device 22 is at least arranged in two sets in bilateral symmetry, as shown in fig. 5, the steel pipe radial clamping and positioning device 22 comprises a supporting base 221 installed on the welding working platform 21 and a radial clamping and positioning mechanism 222 installed on the supporting base 221, the radial clamping and positioning mechanism 222 comprises a radial clamping and positioning component 2221 and a radial clamping and telescoping control component 2222 which are oppositely arranged, the radial clamping and positioning component 2221 comprises a clamping surface, a plurality of clamping rollers 2223 which are arranged in a rolling way are uniformly distributed on the clamping surface, the rolling central axes of the clamping rollers 2223 are arranged in the bilateral direction, and the radial clamping and positioning component 2221 can be combined in a clamping state and clamps a cylindrical surface structure through the clamping rollers 2223 on the clamping surface; the oppositely arranged radial clamping and positioning members 2221 can adopt a bidirectional control synchronous clamping mode, namely, the oppositely arranged radial clamping and positioning members 2221 synchronously move to clamp, and also can adopt a unidirectional control clamping mode, namely, one movable radial clamping and positioning member 2221 moves to the other radial clamping and positioning member 2221 which is positioned and mounted to clamp; the clamping surface can adopt an arc surface structure matched with the outer diameter of the steel pipe workpiece 6 or a V-shaped surface structure, and the clamping surface of the V-shaped surface structure can clamp the steel pipe workpieces 6 with different outer diameter sizes, so that the clamping surface preferably adopts the V-shaped surface structure; in order to facilitate the placement of the steel pipe workpiece 6, the radial clamping and positioning component may adopt a horizontal clamping mode along the front-back direction or a vertical clamping mode along the up-down direction, that is, as shown in fig. 5 when adopting the horizontal clamping mode, the clamping faces are oppositely arranged in front-back direction, the radial clamping and positioning component 2221 is slidably mounted on the supporting base 221 along the front-back direction, when adopting the vertical clamping mode, the clamping faces are oppositely arranged up-down, and the radial clamping and positioning component 2221 is slidably mounted on the supporting upright post on the supporting base 221 along the up-down direction, in view of the fact that the steel pipe workpiece 6 to be placed is to be placed in a yielding way when adopting the up-down direction of the horizontal clamping mode, the running track design of the steel pipe up-down line grabbing and stacking mechanical arm 12 is simpler and the mechanism design is more reasonable when adopting the up-down direction of the horizontal clamping mode to place the steel pipe workpiece 6, therefore the radial clamping and positioning component preferably adopts the horizontal clamping mode along the front-back direction; the radial clamping telescopic control component 2222 can adopt a telescopic structure of an air cylinder or a hydraulic cylinder, can also adopt other telescopic control structures such as a telescopic structure of an electric screw rod, and the like, the telescopic end of the radial clamping telescopic control component 2222 is connected with the radial clamping positioning component 2221 in a mounting way, and the machine body end is connected with the supporting base 221 in a mounting way;
The whole steel pipe rotation driving device 23 is installed on the welding working platform 21 in a sliding fit manner through a telescopic sliding driving component I231, and the steel pipe rotation driving device 23 comprises a steel pipe locking mechanism for locking a steel pipe workpiece 6 and a steel pipe rotation driving motor 232 for controlling the rotation of the steel pipe locking mechanism; the telescopic sliding driving component I231 can adopt a telescopic structure of a hydraulic cylinder, a telescopic structure of an electric screw rod and other telescopic control structures; the steel pipe locking mechanism can adopt an opening and closing clamping locking structure which is like the radial clamping positioning mechanism 222 and is provided with the clamping roller 2223, at the moment, the telescopic sliding driving component I231 can adopt a telescopic sliding mode along the front and back direction, and the steel pipe rotating driving motor 232 can be directly connected with the clamping roller 2223 through a transmission structure, so that the rotation of the clamping roller 2223 can be controlled to drive the rotation of the steel pipe workpiece 6; the steel pipe locking mechanism can also adopt a numerical control chuck structure which is coaxially arranged with the steel pipe workpiece 6 and provided with a claw, at the moment, as shown in fig. 6, a telescopic sliding driving component I231 adopts a manner of telescopic sliding along the left-right direction, a steel pipe rotary driving motor 232 can directly adopt a hollow motor, the numerical control chuck is coaxially and fixedly arranged in a hollow rotor sleeve of the hollow motor, the numerical control chuck can take electricity in a slip ring manner or in a built-in battery manner, and after the claw of the numerical control chuck is controlled to clamp the steel pipe workpiece 6, the rotation of the steel pipe workpiece 6 can be driven by controlling the rotation of the hollow motor;
The two sets of sealing plates or conical head pushing devices 24 are oppositely arranged left and right, the two sets of sealing plates or conical head pushing devices 24 are arranged on the welding working platform 21, in order to be suitable for steel pipe workpieces 6 with different length sizes, at least one set of sealing plates or conical head pushing devices 24 are arranged on the welding working platform 21 in a sliding fit mode along the left and right direction through a telescopic sliding driving part II 241, the sealing plates or conical head pushing devices 24 comprise pushing mechanisms 242 which are arranged in a telescopic mode in a coordinate control mode along the left and right direction and pushing parts 243 which are coaxially arranged at the telescopic end portions of the pushing mechanisms 242, the pushing mechanisms 242 are arranged on a machine body of the sealing plates or conical head pushing devices 24 in a rolling fit mode, and the geometric center shafts of the pushing parts 243 are coaxially arranged with the clamping geometric center shafts of the radial clamping and positioning parts 2221; the pushing component 243 can be matched with the sealing plate or the conical workpiece grabbing and stacking manipulator 33 to adopt a clamping and grabbing manipulator structure for clamping and grabbing the sealing plate or the conical workpiece 7, or can be matched with the sealing plate or the conical workpiece grabbing and stacking manipulator 33 to adopt a conical tip structure for concentric positioning and propping, and the pushing mechanism 242 and the telescopic sliding driving component II 241 can adopt a telescopic structure of a hydraulic cylinder, or can also adopt other telescopic control structures such as a telescopic structure of an electric screw rod;
The welding gun device 25 is arranged in two sets in a left-right opposite way, the welding gun device 25 comprises a welding gun supporting frame, a welding gun 251 and a coordinate control telescopic arrangement welding gun telescopic control mechanism, the welding gun 251 is arranged on the welding gun supporting frame through the welding gun telescopic control mechanism, and welding wires penetrate into the welding gun 251 through a welding wire feeding mechanism; the welding gun device 25 can be independently arranged and installed on the ground, namely, the welding gun support frame is of a floor type structure, and the welding gun device 25 can also be directly installed on the machine body of the sealing plate or the conical head pushing device 24, namely, the welding gun support frame is fixedly installed on the machine body of the sealing plate or the conical head pushing device 24; the welding gun expansion control mechanism can adopt an electric screw rod expansion control structure, can also adopt other expansion control structures such as an expansion control structure of a gear rack structure and the like, and can realize accurate coordinate positioning welding of the welding gun 251 by controlling the action of the welding gun expansion control mechanism through coordinates; the number of welding guns 251 of each welding gun device 25 can be one, namely, as shown in fig. 12, one welding gun 251 is matched with the steel pipe rotary driving device 23 to control the steel pipe workpiece 6 to circumferentially rotate for one circle so as to realize one-time welding forming of a complete circular weld; in order to further reduce the welding deformation, welding guns 251 may be disposed oppositely, that is, each set of welding gun device 25 may also be disposed oppositely in two along the radial direction of the steel pipe workpiece 6, that is, as shown in fig. 13, two welding guns 251 cooperate with the steel pipe rotation driving device 23 to control the circumferential rotation half of the steel pipe workpiece 6 to realize one-time welding forming of the complete annular welding seam;
The automatic welding electric control device comprises an automatic welding controller, a steel pipe radial clamping and positioning control loop, a steel pipe rotary driving control loop, a sealing plate or conical head pushing control loop and a welding control loop, wherein the automatic welding controller is respectively and electrically connected with a radial clamping telescopic control part 2222, a telescopic sliding driving part I231, a steel pipe locking mechanism, a steel pipe rotary driving motor 232, a telescopic sliding driving part II 241, a welding gun telescopic control mechanism and a welding gun 251.
The sealing plate or conical head feeding unit 3 is arranged at a set position within the peripheral range of the automatic welding unit 2, as shown in fig. 2, the sealing plate or conical head feeding unit 3 is arranged in front of the automatic welding unit 2, and the sealing plate or conical head feeding unit 3 comprises a sealing plate or conical head feeding bracket 31, a sealing plate or conical head workpiece grabbing and stacking mechanical arm 32, a sealing plate or conical head workpiece grabbing and stacking mechanical arm 33 and a sealing plate or conical head feeding electric control device;
the sealing plate or conical head feeding bracket 31 is arranged in a set sealing plate or conical head on-line working area in the working range of the sealing plate or conical head workpiece grabbing and stacking mechanical arm 32, the inside of the sealing plate or conical head feeding bracket 31 is of a multi-layer structure, a plurality of sealing plates or conical head workpiece stacking stations are uniformly distributed in each layer of plane, and the sealing plates or conical head workpieces 7 are orderly positioned and stacked on the sealing plates or conical head workpiece stacking stations;
A seal plate or conical workpiece grabbing and stacking manipulator 33 is arranged on the end section of the seal plate or conical workpiece grabbing and stacking manipulator 32, and the seal plate or conical workpiece grabbing and stacking manipulator 32 at least comprises an X coordinate driving assembly capable of controlling the seal plate or conical workpiece grabbing and stacking manipulator 33 to move along the left-right direction coordinates, a Y coordinate driving assembly capable of controlling the seal plate or conical workpiece grabbing and stacking manipulator 33 to move along the front-back direction coordinates and a Z coordinate driving assembly capable of controlling the seal plate or conical workpiece grabbing and stacking manipulator 33 to move along the vertical direction up-down coordinates; as shown in fig. 9, in order to facilitate gripping of the sealing plate or the conical workpiece 7, the sealing plate or the conical workpiece gripping and stacking manipulator 33 includes an a-coordinate rotating assembly capable of rotating along the X-coordinate axis or a B-coordinate rotating assembly capable of rotating along the Y-coordinate axis, and for the working condition that only the sealing plate or the conical workpiece 7 is abutted against the standard length of the steel pipe workpiece 6 by the sealing plate or the conical pushing device 24, the sealing plate or the conical workpiece gripping and stacking manipulator 33 may adopt a gripping and gripping manipulator structure for gripping and gripping the periphery of the sealing plate or the conical workpiece 7, that is, the sealing plate or the conical workpiece gripping and stacking manipulator 33 includes at least 3 gripping mechanical fingers uniformly distributed along the circumferential direction and a gripping mechanical finger opening and closing control mechanism disposed inside the sealing plate or the conical workpiece gripping and stacking manipulator 33, the gripping mechanical finger opening and closing control mechanism may be connected with the gripping mechanical fingers through a conical surface control structure disposed along the left-right direction, that is controlled by the matched conical surface moving, that is, and the gripping mechanical fingers may also be controlled to open and close through a connecting rod disposed along the left-right direction control mechanism; aiming at the working condition that the sealing plate or the conical head pushing device 24 is required to grasp the sealing plate or the conical head workpiece 7 so as to control the welding gap between the sealing plate or the conical head workpiece 7 and the end face of the steel pipe workpiece 6, the sealing plate or the conical head workpiece grasping and stacking manipulator 33 can adopt a sucker structure for negative pressure suction grasping the inner surface or the outer surface of the sealing plate or the conical head workpiece 7, namely the sealing plate or the conical head workpiece grasping and stacking manipulator 33 comprises an adsorption disc surface matched with the plane or the conical surface of the sealing plate or the conical head workpiece 7, a negative pressure channel connected with a negative pressure source through a pipeline is arranged in the adsorption disc surface, and a plurality of negative pressure adsorption holes communicated and connected with the negative pressure channel are uniformly distributed on the adsorption disc surface; as mentioned above, the sealing plate or the conical workpiece grabbing and stacking mechanical arm 32 also preferably adopts a gantry mechanical arm structure, so that the sealing plate or the conical workpiece grabbing and stacking mechanical arm 33 for the two ends of the steel pipe workpiece 6 can share the same gantry mechanical arm; a distance sensor and a pattern recognition sensor are also arranged on the sealing plate or the conical workpiece grabbing and stacking manipulator (33);
The sealing plate or the conical head supply electric control device comprises a sealing plate or a conical head supply controller and a sealing plate or a conical head grabbing and stacking loop, and the sealing plate or the conical head supply controller is respectively electrically connected with a sealing plate or a conical head workpiece grabbing and stacking mechanical arm 32 and a sealing plate or a conical head workpiece grabbing and stacking mechanical arm 33.
The automatic bolt placing unit 4 is arranged at the left end and/or the right end of the welding working platform 21 at a position corresponding to the sealing plate or the conical head pushing device 24, as shown in fig. 10, the automatic bolt placing unit 4 comprises a bolt feeding bracket 41, a bolt grabbing and stacking mechanical arm 42, a bolt grabbing and stacking mechanical arm 43 and an automatic bolt placing electric control device;
the bolt supply bracket 41 is arranged in a set bolt grabbing working area within the working range of the bolt grabbing and stacking mechanical arm 42, a plurality of bolt stacking stations are uniformly distributed on the bolt supply bracket 41, and bolts are orderly positioned and stacked on the bolt stacking stations;
the end section of the bolt grabbing and stacking mechanical arm 42 is provided with a bolt grabbing and stacking mechanical arm 43, and the bolt grabbing and stacking mechanical arm 42 at least comprises an X coordinate driving assembly capable of controlling the bolt grabbing and stacking mechanical arm 43 to move along the left-right direction coordinates, a Y coordinate driving assembly capable of controlling the bolt grabbing and stacking mechanical arm 43 to move along the front-back direction coordinates and a Z coordinate driving assembly capable of controlling the bolt grabbing and stacking mechanical arm 43 to move along the vertical direction up-down coordinates; the bolt grabbing and stacking manipulator 43 can adopt a sucker structure for absorbing and grabbing the bolt under negative pressure, and can also adopt a clamping and grabbing manipulator structure for clamping and grabbing the bolt, so that the bolt can be conveniently placed into the steel pipe workpiece 6, the situation that the bolt cannot be placed due to the fact that the size of the bolt grabbing and stacking manipulator 43 is large is prevented, a material guide groove plate is arranged at the end part, corresponding to the steel pipe workpiece 6, of the bolt grabbing and stacking manipulator 43, the material guide groove plate can be directly and obliquely arranged and installed on the bolt grabbing and stacking manipulator 43, and when the material guide groove plate penetrates into the steel pipe workpiece 6, the bolt is loosened by the bolt grabbing and stacking manipulator 43, namely the bolt can automatically slide into the steel pipe workpiece 6 through self gravity; since two bolts are required to be placed into the steel pipe workpiece 6, and since the length of the bolts is generally longer than the inner diameter of the steel pipe workpiece 6, the bolts cannot be turned around in the steel pipe workpiece 6, so that when the two bolts are placed into the steel pipe workpiece 6, it is required to ensure that the threaded ends of the two bolts face the left and right ends of the steel pipe workpiece 6 respectively, that is, the bolt heads of the two bolts are placed in a back-to-back paired manner or in opposite directions in a side-by-side paired manner, so that in the case that the bolts in the bolt supply bracket 41 are placed in order in the two manners, the bolt grabbing and stacking manipulator 43 can be adopted to grab a pair of bolts at a time and place the bolts into the steel pipe workpiece 6 directly through the guide chute plate, but on one hand, there is a high requirement on the positioning and placing of the bolts in the bolt supply bracket 41, if the bolt feeding bracket 41 adopts a multi-layer structure, the large size is set because the bolt grabbing and stacking mechanical arm 42 needs to have enough stroke size, and the grabbing and stacking efficiency is gradually lower, so that a manner of connecting and placing two mechanical arms as shown in fig. 10 can be adopted, namely, one mechanical arm is responsible for grabbing the bolt and placing the bolt on the guide groove plate, the other mechanical arm is responsible for grabbing the guide groove plate and placing the bolt on the guide groove plate into the steel pipe workpiece 6, as shown in fig. 11, a B coordinate rotating assembly capable of rotating along a Y coordinate axis can be added to a mechanical arm responsible for placing the mechanical arm, namely, the mechanical arm controls the B coordinate rotating assembly to enable the guide groove plate to incline by a set angle after penetrating the guide groove plate into the steel pipe workpiece 6, and the bolt can automatically slide into the steel pipe workpiece 6 through self gravity; as before, the bolt grabbing and stacking mechanical arm 42 also preferably adopts a gantry mechanical arm structure;
The automatic bolt placing and electric control device comprises an automatic bolt placing controller and a bolt grabbing and stacking loop, and the automatic bolt placing controller is respectively electrically connected with the bolt grabbing and stacking mechanical arm 42 and the bolt grabbing and stacking mechanical arm 43.
The centralized electric control unit comprises a central controller, a counting loop, a workpiece on-line and off-line control loop and an automatic welding control loop, wherein the central controller is respectively and electrically connected with the steel pipe on-line and off-line controller of the steel pipe on-line and off-line unit 1, the automatic welding controller of the automatic welding unit 2, the sealing plate or the conical head supply controller of the conical head supply unit 3 and the automatic bolt placement controller of the automatic bolt placement unit 4.
The working process of the net rack connecting rod automatic welding production system is as follows:
a) And (3) steel pipe winding: the steel pipe workpiece bracket 11 which is orderly stacked with the standard length steel pipe workpiece 6 cut off by the upper fixed length cutting procedure is transported to the set coordinate position in the steel pipe upper line working area by a forklift or an AGV carrying and transporting vehicle and positioned, the empty steel pipe workpiece bracket 11 is transported to the set coordinate position in the steel pipe lower line working area by the forklift or the AGV carrying and transporting vehicle and positioned, the sealing plate or the conical head feeding bracket 31 which is orderly stacked with the sealing plate or the conical head workpiece 7 is transported to the set coordinate position in the sealing plate or the conical head upper line working area by the forklift or the AGV carrying and transporting vehicle and positioned, the bolt feeding bracket 41 which is orderly stacked with the bolt is transported to the set coordinate position in the bolt grabbing working area by the forklift or the AGV carrying and transporting vehicle and positioned, then the central controller sends out an instruction to start a counting loop and a workpiece up-down line control loop, the steel pipe up-down line unit 1 starts to work, the steel pipe up-down line controller sends out an instruction to control the steel pipe up-down line grabbing and stacking mechanical arm 12 to act, the coordinates of the steel pipe up-down line grabbing and stacking mechanical arm 13 are enabled to move to a set coordinate position right above the first steel pipe workpiece 6 according to the feedback of a distance sensor of the steel pipe up-down line grabbing and stacking mechanical arm 13, then the steel pipe up-down line controller controls the supporting mechanical finger control mechanism 132 to act to enable the supporting mechanical finger 131 to penetrate into a central hole of the end part of the first steel pipe workpiece 6, and clamping operation is carried out on two end faces of the first steel pipe workpiece 6 through positioning and clamping, so that grabbing of the first steel pipe workpiece 6 is completed; then the steel pipe up-down line controller controls the steel pipe up-down line grabbing and stacking mechanical arm 12 to act, and enables the steel pipe up-down line grabbing and stacking mechanical arm 13 grabbing the first steel pipe workpiece 6 to move to a set coordinate position corresponding to the clamping geometric center shaft of the radial clamping and positioning component 2221 right above the welding working platform 21 according to feedback of a distance sensor of the steel pipe up-down line grabbing and stacking mechanical arm 13, then the central controller sends out an instruction to enable the automatic welding controller of the automatic welding unit 2 to control the telescopic sliding driving component I231 to act to conduct clamping and positioning actions of the radial clamping and positioning component 2221, and after the first steel pipe workpiece 6 is firmly clamped and positioned, the central controller sends out an instruction to enable the steel pipe up-down line controller to control the supporting mechanical finger control mechanism 132 to conduct resetting actions to complete stacking of the first steel pipe workpiece 6, and after the steel pipe up-down line grabbing and stacking mechanical arm 12 is reset to an initial position, the up-line work of the first steel pipe workpiece 6 is completed;
b) Automatic welding: the central controller sends out an instruction to start an automatic welding control loop, as shown in fig. 6, the automatic welding controller firstly controls the telescopic sliding driving component I231 to act so that the steel pipe locking mechanism is sleeved on the first steel pipe workpiece 6, then controls the steel pipe locking mechanism to act so as to lock the first steel pipe workpiece 6, and when the steel pipe rotary driving motor 232 adopts a hollow motor mode, the telescopic sliding driving component I231 acts so that the steel pipe locking mechanism is sleeved on the first steel pipe workpiece 6 from the end part of the first steel pipe workpiece 6; when the automatic welding controller controls the telescopic sliding driving component I231 to act, the central controller sends an instruction to control the automatic placement controller of the bolts, so that the bolt grabbing and stacking mechanical arm 42 drives the coordinates of the bolt grabbing and stacking mechanical arm 43 to move to grab the bolts in the bolt feeding bracket 41 in sequence, after two bolts which are oppositely arranged in pairs side by side are grabbed by the bolt grabbing and stacking mechanical arm 43, the automatic placement controller of the bolts controls the bolt grabbing and stacking mechanical arm 42 to drive the coordinates of the bolt grabbing and stacking mechanical arm 43 to move, the guide chute plate penetrates into the set coordinates in the end part of the steel pipe workpiece 6, the bolt grabbing and stacking mechanical arm 43 loosens the bolts, and the bolts slide into the steel pipe workpiece 6 through self gravity; after the automatic bolt placing controller controls the bolt grabbing and stacking mechanical arm 42 to reset, the central controller sends out instructions to control the sealing plate or the conical head feeding controller to enable the sealing plate or the conical head workpiece grabbing and stacking mechanical arm 32 to drive the sealing plate or the conical head workpiece grabbing and stacking mechanical arm 33 to move in coordinates to grab the sealing plates or the conical head workpieces 7 positioned in the sealing plate or the conical head feeding bracket 31 in sequence, and after the two sealing plates or the conical head workpieces 7 are respectively grabbed by the two sealing plates or the conical head workpiece grabbing and stacking mechanical arms 33, the sealing plate or the conical head feeding controller controls the sealing plate or the conical head workpiece grabbing and stacking mechanical arm 32 to drive the sealing plate or the conical head workpiece grabbing and stacking mechanical arm 33 to move in coordinates to enable the two sealing plates or the conical head workpieces 7 to be respectively positioned and abutted against the set coordinate positions of the two end faces of the first steel pipe workpiece 6; after the automatic welding controller controls the telescopic sliding driving part II 241 to act so that the sealing plate or conical head pushing device 24 is adjusted to a set interval according to the standard length of the steel pipe workpiece 6, the automatic welding controller controls the two pushing mechanisms 242 to act synchronously so that the two pushing parts 243 respectively position and receive the sealing plate or conical head workpiece 7 which is grabbed by the sealing plate or conical head workpiece grabbing and stacking manipulator 33, and after the sealing plate or conical head workpiece 7 is firmly positioned and abutted against the end part of the first steel pipe workpiece 6, the sealing plate or conical head workpiece grabbing and stacking manipulator 33 and the sealing plate or conical head workpiece grabbing and stacking manipulator 32 sequentially perform reset actions to finish the supply of the first set of sealing plates or conical head workpieces 7; the automatic welding controller synchronously controls the welding gun expansion control mechanisms of the two sets of welding gun devices 25 to act so that the welding guns 251 respectively move to the set welding coordinate positions, then synchronously controls the welding guns 251 of the two sets of welding gun devices 25 to carry out wire feeding and arc striking actions, meanwhile, the automatic welding controller controls the steel pipe rotation driving motor 232 to start and drives the first steel pipe workpiece 6 to rotate according to the set rotating speed through the steel pipe locking mechanism, the pushing mechanism 242 is driven to rotate along with the rotation in the rotating process of the first steel pipe workpiece 6, the clamping roller 2223 is driven to rotate, after the first steel pipe workpiece 6 rotates to the set angle, the welding of the sealing plate or the conical head workpiece 7 and the steel pipe workpiece 6 is completed, and after the automatic welding controller turns off the steel pipe rotation driving motor 232, the welding gun expansion control mechanism, the pushing mechanism 242, the steel pipe locking mechanism and the expansion sliding driving component I231 are sequentially controlled to carry out resetting actions, and the automatic welding of the first steel pipe workpiece 6 is completed;
c) And (3) finished product offline: the central controller sends out an instruction to control the steel pipe up-down line unit 1 to start working again, the steel pipe up-down line controller controls the steel pipe up-down line grabbing and stacking mechanical arm 12 to act, coordinates of the steel pipe up-down line grabbing and stacking mechanical arm 13 are moved to a set coordinate position right above the first welded steel pipe workpiece 6 according to feedback of a distance sensor of the steel pipe up-down line grabbing and stacking mechanical arm 13, then the steel pipe up-down line controller controls the supporting mechanical finger control mechanism 132 to act, the supporting mechanical finger 131 penetrates into a sealing plate at the end part of the first welded steel pipe workpiece 6 or a central hole of the conical head workpiece 7, and clamping operation is carried out on the sealing plate of the first welded steel pipe workpiece 6 or the end face of the conical head workpiece 7 through positioning and clamping, so that grabbing of the first welded steel pipe workpiece 6 is completed; after the central controller sends out an instruction to enable the automatic welding controller of the automatic welding unit 2 to control the telescopic sliding driving component I231 to reset, the steel pipe up-down line controller controls the steel pipe up-down line grabbing and stacking mechanical arm 12 to act, and coordinates of the steel pipe up-down line grabbing and stacking mechanical arm 13 grabbing the first welded steel pipe workpiece 6 are enabled to move to a set coordinate position in the empty steel pipe workpiece bracket 11 according to feedback of a distance sensor of the steel pipe up-down line grabbing and stacking mechanical arm 13, and the supporting mechanical finger control mechanism 132 resets to finish stacking of the first welded steel pipe workpiece 6.
Similarly, the steel pipe workpieces 6 are grabbed one by one to be on line for automatic welding, and the welded steel pipe workpieces 6 are grabbed one by one to be off line for stacking, so that automatic production is realized.
In order to further improve efficiency and reasonably utilize the waiting welding time of the steel pipe upper and lower line grabbing and stacking mechanical arm 12 and the steel pipe upper and lower line grabbing and stacking mechanical arm 13, the automatic welding unit 2 is set into a plurality of sets in the working range of the steel pipe upper and lower line grabbing and stacking mechanical arm 12, the welding work platform 21 of each set of automatic welding unit 2 is further provided with a steel pipe workpiece supporting carrier 26, the steel pipe workpiece supporting carrier 26 comprises a supporting surface, and the height dimension of the supporting geometric center of the supporting surface is smaller than the height dimension of the clamping geometric center of the radial clamping and positioning component 2221. The steel pipe upper and lower line grabbing and stacking manipulator 13 can stack the steel pipe workpieces 6 on the steel pipe workpiece supporting frame 26 of one automatic welding unit 2, and can continuously grab the steel pipe workpieces 6 and stack the steel pipe workpieces on the steel pipe workpiece supporting frames 26 of other automatic welding units 2, so that the utilization of empty waiting time and the improvement of efficiency are realized; since the height dimension of the carrying geometric center of the carrying surface of the steel pipe workpiece carrying frame 26 is smaller than the height dimension of the clamping geometric center of the radial clamping and positioning member 2221, the clamping and positioning action of the radial clamping and positioning member 2221 on the steel pipe workpiece 6 is not affected.
In order to realize product tracing and code printing on welded steel pipe workpieces 6, the automatic welding production system of the net rack connecting rod further comprises an automatic laser code printing unit 5, as shown in fig. 2, the position of the automatic laser code printing unit 5 corresponding to a sealing plate or a conical head pushing device 24 is arranged at the left side and/or the right side of a welding working platform 21, and the automatic laser code printing unit 5 comprises a laser code printing head support frame, a laser code printing head telescopic control mechanism and a laser code printing electric control device, wherein the laser code printing head telescopic control mechanism is arranged in a coordinate control telescopic manner; the laser wharf is arranged on the laser wharf support frame through a laser wharf telescopic control mechanism; the laser coding electric control device comprises a laser coding controller and a laser coding control loop, wherein the laser coding controller is respectively electrically connected with the laser coding head and the telescopic control mechanism of the laser coding head, and the laser coding controller is electrically connected with the central controller of the centralized electric control unit. The automatic laser coding unit 5 can be independently arranged and installed on the ground, namely, the laser coding head support frame is of a floor type structure, and the automatic laser coding unit 5 can also be directly installed on the machine body of the sealing plate or the conical head pushing device 24, namely, the laser coding head support frame is fixedly installed on the machine body of the sealing plate or the conical head pushing device 24; the accurate coordinate positioning coding of the laser wharf can be realized by controlling the action of the telescopic control mechanism of the laser wharf through coordinates. After the automatic welding of the steel pipe workpiece 6 is completed, the central controller can send out an instruction to control the laser coding controller to enable the laser coding head coordinate to move to the end face position of the sealing plate or the conical head workpiece 7 on the steel pipe workpiece 6 for coding. Aiming at longer coding numbers, the steel pipe workpiece 6 can be controlled to rotate by a set angle step by step after one number is coded in the coding process, and coding of the next number is carried out.
In order to avoid the interference of the movement of the sealing plate or the conical head workpiece grabbing and stacking manipulator 33 when the sealing plate or the conical head workpiece grabbing and stacking manipulator 33 grabs the sealing plate or the conical head workpiece 7 positioned in the sealing plate or the conical head feeding bracket 31, as a further improvement scheme of the invention, as shown in fig. 7, the sealing plate or the conical head feeding bracket 31 comprises an auxiliary rotating carrier 311 and a drawer type workpiece containing carrier 312; the drawer type workpiece containing frame 312 is provided with a plurality of translation guide mechanisms II 3121 which are uniformly distributed at intervals and horizontally arranged along the front-back or left-right direction from bottom to top, the translation guide mechanisms II 3121 can adopt a guide groove structure, can also adopt other guide structures such as a guide rail structure and the like, a plurality of workpiece stacking trays 3122 which are arranged in number matching with the translation guide mechanisms II 3121 are arranged on the translation guide mechanisms in a matching way through rollers to form a drawer type structure, the front end of the translation guide mechanisms II 3121 is provided with a fixed limit structure which can limit the sliding-out of the workpiece stacking trays 3122, the fixed limit structure can adopt a structure such as a fixed limit structure, a limit plate structure and the like, the rear end of the translation guide mechanisms II 3121 is provided with a movable limit structure which can limit the sliding-out of the workpiece stacking trays 3122, in order to realize that the drawer type workpiece containing frame 312 is not provided with a driving power device so as to avoid the driving power device from being damaged by high temperature in the drying process, the movable limit structure which can adopt a movable limit structure which can eject a limit wedge through a spring, can also adopt a movable limit structure which can realize the lifting of a movable limit plate through a push rod and the control swing, and the like, and the movable limit structure which can realize the lifting of the movable limit structure of the swing rod is also can be provided with a lap joint part 3; the auxiliary rotating carrier 311 is fixedly arranged at a set position in a closing plate or cone head on-line working area, a position corresponding to the translation guide mechanism II 3121 on the auxiliary rotating carrier 311 is provided with a translation guide mechanism I3111 which can be horizontally abutted to the translation guide mechanism II 3121, the structure and the size of the translation guide mechanism I3111 are the same, the position corresponding to each layer of translation guide mechanism I3111 on the auxiliary rotating carrier 311 is also provided with a workpiece stacking tray translation control mechanism 3112 which is horizontally arranged in a back-and-forth or left-and-right telescopic manner, as shown in fig. 8, the workpiece stacking tray translation control mechanism 3112 comprises a translation driving part and a lap joint buckle part 3113 matched with the lap joint connecting part 3123, the translation driving part can adopt a hydraulic telescopic control structure comprising a hydraulic cylinder, can also adopt other transmission structures comprising a chain transmission structure or an electric screw rod structure and the like, and the translation driving part is electrically connected with a closing plate or a cone head supply controller of the closing plate or cone head supply electric control device. After the drawer-type workpiece containing frame 312 with the sealing plates or the conical workpieces 7 orderly stacked is transported to a set coordinate position in a sealing plate or a conical head on-line working area by a forklift or an AGV carrying and transporting vehicle and the translational guide mechanism II 3121 is in front-back butt joint with the translational guide mechanism I3111, the sealing plate or the conical head feeding controller controls the workpiece stacking tray translational control mechanism 3112 positioned at the first layer to act so that the translational driving part drives the overlap joint buckle part 3113 to extend forwards to a set distance, after the overlap joint buckle part 3113 is connected with the overlap joint connecting part 3123, the sealing plate or the conical head feeding controller controls the workpiece stacking tray translational control mechanism 3112 positioned at the first layer to reset, namely the workpiece stacking tray 3122 positioned at the first layer passes through a movable limiting structure of the translational guide mechanism II 3121 and moves onto the auxiliary transfer frame 311 to be pulled out along with the overlap joint buckle part 3113, and the sealing plate or the conical head workpiece stacking manipulator 33 can sequentially grip the sealing plates or the conical head workpieces 7 positioned on the workpiece stacking tray 3122 at the first layer; after the closing plate or the conical head workpiece 7 on the first-layer workpiece stacking tray 3122 is completely grabbed, the closing plate or the conical head feeding controller controls the workpiece stacking tray translation control mechanism 3112 on the first layer to act so as to push the workpiece stacking tray 3122 on the first layer into the drawer type workpiece stacking rack 312, and after the lap joint buckle part 3113 of the workpiece stacking tray translation control mechanism 3112 on the first layer is separated from the lap joint connection part 3123 of the workpiece stacking tray 3122 on the first layer and reset, the closing plate or the conical head feeding controller controls the workpiece stacking tray translation control mechanism 3112 on the second layer to act so as to pull the workpiece stacking tray 3122 on the second layer into the auxiliary rotating rack 311 for continuous grabbing; and so on until each layer of workpiece stacking trays 3122 of the drawer type workpiece holding rack 312 is gripped.
In order to avoid the movement interference caused by the workpiece stacking tray translation control mechanism 3112 in the process of grabbing the sealing plate or the conical workpiece 7 by the sealing plate or the conical workpiece grabbing and stacking manipulator 33, as a further improvement of the invention, the translation guide mechanism 3121 is symmetrically arranged on the inner wall of the vertical surface of the drawer type workpiece holding frame 312 along the left-right direction, and the workpiece stacking tray translation control mechanism 3112 is symmetrically arranged on the translation guide mechanism I3111 along the left-right direction.
The translational driving member of the workpiece stacking tray translational control mechanism 3112 may be a hydraulic telescopic control structure including a hydraulic cylinder, or may be a chain transmission structure including a transmission chain, since the former requires additional consideration of the stroke problem of the hydraulic cylinder, that is, the telescopic stroke space of the hydraulic cylinder needs to be additionally provided in the front-rear or left-right direction by the auxiliary rotating carrier 311, whereas the latter may avoid this, so that the latter is preferable, that is, as a preferable embodiment of the present invention, the translational driving member of the workpiece stacking tray translational control mechanism 3112 is a chain transmission structure, as shown in fig. 8, the translational driving member includes a transmission sprocket and a transmission chain, the lap joint connecting member 3123 is a lap joint column structure fixedly provided on the workpiece stacking tray 3122, and the lap joint buckle member 3113 is a bidirectional claw structure provided on the transmission chain. The bidirectional claw structure can be clamped on the lap joint column structure to realize pulling of the workpiece stacking tray 3122 when the bidirectional claw structure moves backward along with the upper layer transmission chain, and can realize pushing of the workpiece stacking tray 3122 when the bidirectional claw structure moves forward along with the upper layer transmission chain, and after the workpiece stacking tray 3122 is pushed onto the drawer type workpiece holding frame 312, the bidirectional claw structure can be overturned to be separated from the lap joint column structure along with the continuous forward movement of the upper layer transmission chain, so that the workpiece stacking tray translational control mechanism 3112 and the workpiece stacking tray 3122 are separated.
In order to further increase the accuracy of the positioning and grabbing or stacking of the sealing plate or the conical workpiece 7 by the sealing plate or the conical workpiece grabbing and stacking manipulator 33, as a further improvement scheme of the invention, a mode identification sensor is further arranged on the sealing plate or the conical workpiece grabbing and stacking manipulator 33, and the mode identification sensor is electrically connected with a sealing plate or a conical feeding controller. When the closing plate or the conical head workpiece 7 is subjected to grabbing operation, when the closing plate or the conical head supply controller sends an instruction to control the closing plate or the conical head workpiece grabbing and stacking mechanical arm 32 to act, and after the coordinates of the closing plate or the conical head workpiece grabbing and stacking mechanical arm 33 are moved to a set coordinate position right above the closing plate or the conical head workpiece 7 according to the feedback of the distance sensor of the closing plate or the conical head workpiece grabbing and stacking mechanical arm 33, the closing plate or the conical head supply controller compares the end face position information of the closing plate or the conical head workpiece 7 fed back by the pattern recognition sensor with the end face position information of the built-in standard closing plate or the conical head workpiece 7 and calculates an offset, and then the closing plate or the conical head supply controller adjusts the position of the closing plate or the conical head workpiece grabbing and stacking mechanical arm 33 according to the calculated offset, so that the closing plate or the conical head workpiece 7 can be accurately positioned and grabbed; when the sealing plate or the conical head workpiece 7 is attached to the end part of the steel pipe workpiece 6, the sealing plate or the conical head feeding controller compares the position information of the end part of the steel pipe workpiece 6 fed back by the pattern recognition sensor with the position information of the built-in standard steel pipe workpiece 6 and calculates the offset, and then the sealing plate or the conical head feeding controller adjusts the position of the sealing plate or the conical head workpiece grabbing and stacking manipulator 33 according to the calculated offset, so that the sealing plate or the conical head workpiece 7 is accurately positioned and placed.

Claims (5)

1. The automatic welding production system for the grid connecting rods is characterized in that the sealing plate or the conical head feeding unit (3) is arranged at a set position in the peripheral range of the automatic welding unit (2), and the sealing plate or the conical head feeding unit (3) comprises a sealing plate or a conical head feeding bracket (31), a sealing plate or a conical head workpiece grabbing and stacking mechanical arm (32), a sealing plate or a conical head workpiece grabbing and stacking mechanical arm (33) and a sealing plate or a conical head feeding electric control device;
the sealing plate or conical head feeding bracket (31) is arranged in a set sealing plate or conical head on-line working area in the working range of the sealing plate or conical head workpiece grabbing and stacking mechanical arm (32), the inside of the sealing plate or conical head feeding bracket (31) is of a multi-layer structure, and a plurality of sealing plates or conical head workpiece stacking stations are uniformly distributed in each layer of plane; the closing plate or cone head supply bracket (31) comprises an auxiliary rotating carrier (311) and a drawer type workpiece containing frame (312); the drawer type workpiece containing frame (312) is provided with a plurality of translation guide mechanisms II (3121) which are uniformly distributed at intervals and horizontally arranged along the front-back or left-right direction from bottom to top, the translation guide mechanisms II (3121) are symmetrically arranged on the inner wall of the vertical face of the drawer type workpiece containing frame (312) along the left-right direction, a plurality of workpiece stacking trays (3122) which are arranged in number matching with the translation guide mechanisms II (3121) are arranged on the translation guide mechanisms in a matching manner through rollers to form a drawer type structure, the front end of the translation guide mechanism II (3121) is provided with a fixed limit structure which can limit the workpiece stacking trays (3122) to slide out, the rear end of the translation guide mechanism II (3121) is provided with a movable limit structure which can limit the workpiece stacking trays (3122) to slide out, the workpiece stacking trays (3122) are also provided with lap joint parts (3123), and the lap joint parts (3123) are lap joint column structures which are fixedly arranged on the workpiece stacking trays (3122); the auxiliary rotating carrier (311) is fixedly arranged at a set position in a sealing plate or a conical head on-line working area, a position, corresponding to a translation guide mechanism II (3121), of the auxiliary rotating carrier (311) is provided with a translation guide mechanism I (3111) which can be horizontally abutted to the translation guide mechanism II (3121), the structure and the size of the translation guide mechanism I (3111) are the same, the position, corresponding to each layer of translation guide mechanism I (3111), of the auxiliary rotating carrier (311) is also provided with a workpiece stacking tray translation control mechanism (3112) which is horizontally arranged in a front-back or left-right telescopic manner, the workpiece stacking tray translation control mechanism (3112) is symmetrically arranged on the translation guide mechanism I (3111) along the left-right direction, the workpiece stacking tray translation control mechanism (3112) comprises a translation driving part and a lap joint part (3113) matched with the lap joint part (3123), the translation driving part of the workpiece stacking tray translation control mechanism (3112) is a chain transmission structure, the translation driving part comprises a transmission chain wheel and a transmission chain, and the transmission chain (3113) is a bidirectional structure arranged on the transmission chain;
A seal plate or a conical workpiece grabbing and stacking manipulator (33) is arranged on the end section of the seal plate or conical workpiece grabbing and stacking manipulator (32), and the seal plate or conical workpiece grabbing and stacking manipulator (32) at least comprises an X-coordinate driving assembly capable of controlling the seal plate or conical workpiece grabbing and stacking manipulator (33) to move along a left-right direction coordinate, a Y-coordinate driving assembly capable of controlling the seal plate or conical workpiece grabbing and stacking manipulator (33) to move along a front-back direction coordinate and a Z-coordinate driving assembly capable of controlling the seal plate or conical workpiece grabbing and stacking manipulator (33) to move along a vertical up-down coordinate; the two sets of the left and right ends of the sealing plate or the conical head workpiece grabbing and stacking manipulator (33) corresponding to the steel pipe workpieces (6) are provided with a sealing plate or a conical head workpiece grabbing and stacking mechanism, the sealing plate or the conical head workpiece grabbing and stacking mechanism is arranged on the sealing plate or the conical head workpiece grabbing and stacking manipulator (33) through an A coordinate rotating assembly capable of rotating along an X coordinate axis or a B coordinate rotating assembly capable of rotating along a Y coordinate axis, and a distance sensor and a mode identification sensor are further arranged on the sealing plate or the conical head workpiece grabbing and stacking manipulator (33);
The sealing plate or the conical head supply electric control device comprises a sealing plate or a conical head supply controller and a sealing plate or a conical head grabbing and stacking loop, wherein the sealing plate or the conical head supply controller is respectively electrically connected with a coordinate driving assembly of a sealing plate or a conical head workpiece grabbing and stacking mechanical arm (32), a sealing plate or a conical head workpiece grabbing and stacking mechanism of a sealing plate or conical head workpiece grabbing and stacking mechanical arm (33), a translation driving part, a distance sensor and a pattern recognition sensor, and the sealing plate or the conical head supply controller is electrically connected with a central controller of a central electric control unit of the grid connecting rod automatic welding production system.
2. The automatic welding production system for the net rack connecting rods, which is characterized in that the sealing plate or the conical head workpiece grabbing and stacking mechanism is of a sucker structure for absorbing and grabbing the inner surface or the outer surface of the sealing plate or the conical head workpiece (7) under negative pressure, the sealing plate or the conical head workpiece grabbing and stacking mechanism comprises an absorption disc surface matched with the plane or the conical surface of the sealing plate or the conical head workpiece (7), a negative pressure channel connected with a negative pressure source through a pipeline is arranged in the absorption disc surface, and a plurality of negative pressure absorption holes communicated and connected with the negative pressure channel are uniformly distributed on the absorption disc surface.
3. The automatic welding production system for net rack connecting rods, as set forth in claim 1, wherein the closing plate or the conical head workpiece grabbing and stacking mechanism is a clamping and grabbing manipulator structure for clamping and grabbing the periphery of the closing plate or the conical head workpiece (7), and the closing plate or the conical head workpiece grabbing and stacking mechanism comprises at least 3 clamping mechanical fingers uniformly distributed along the circumferential direction and a clamping mechanical finger opening and closing control mechanism arranged inside the closing plate or the conical head workpiece grabbing and stacking manipulator (33).
4. A closing plate or cone head supply unit of an automatic welding production system for net rack connecting rods according to claim 1, 2 or 3, wherein the closing plate or cone head workpiece grabbing and stacking mechanical arm (32) is a portal mechanical arm structure.
5. The automatic welding production system for net rack connecting rods, as set forth in claim 4, wherein the two sets of closing plates or conical head workpiece grabbing and stacking manipulators (33) share the same closing plate or conical head workpiece grabbing and stacking manipulator (32).
CN201910701735.XA 2019-07-31 2019-07-31 Sealing plate or conical head supply unit of grid connecting rod automatic welding production system Active CN110480217B (en)

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CN116329863B (en) * 2023-04-12 2024-01-23 中建安装集团有限公司 Welding device for lower chord ball joint of grid structure
CN116900730B (en) * 2023-09-13 2023-11-24 江苏恒久钢构股份有限公司 Self-adaptive boring spot welding device

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