CN110614450A - Cutting of building steel construction robot, transport, welding integration workstation - Google Patents
Cutting of building steel construction robot, transport, welding integration workstation Download PDFInfo
- Publication number
- CN110614450A CN110614450A CN201910822648.XA CN201910822648A CN110614450A CN 110614450 A CN110614450 A CN 110614450A CN 201910822648 A CN201910822648 A CN 201910822648A CN 110614450 A CN110614450 A CN 110614450A
- Authority
- CN
- China
- Prior art keywords
- robot
- welding
- base
- cutting
- positioner
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K28/00—Welding or cutting not covered by any of the preceding groups, e.g. electrolytic welding
- B23K28/02—Combined welding or cutting procedures or apparatus
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention relates to a building steel structure robot cutting, carrying and welding integrated workstation, which comprises: the system comprises a positioner, a carrying robot, a cutting robot, a welding robot, a storage table and an intelligent control system. The intelligent control system stores processing technological parameters and issues processing instructions, and plans the motion path of the cutting, transporting and welding robot; the cutting robot cuts the female part, accomplishes the work of opening the fore shaft, cutting the round hole, grooving, and the handling robot is responsible for the stiffening plate material loading, and the welding robot is responsible for the stiffening plate welding, and three robots of machine of shifting cooperation work in coordination. Compared with the prior art, the workstation improves the production efficiency of steel structure workpieces, has the advantages of automation of equipment, process digitization, production flexibility, process visualization and information integration, reduces the labor cost, further reduces the comprehensive cost, and is an effective means for transformation and upgrading of steel structure manufacturing enterprises, realization of automation and intelligent manufacturing and improvement of market competitiveness.
Description
Technical Field
The invention belongs to the technical field of steel structure workpiece production, and particularly relates to a cutting, carrying and welding integrated workstation of a building steel structure robot.
Background
In recent years, the steel structure industry in China is rapidly developed, and from the yield value of the steel structure, the total yield value of the steel structure industry in China keeps the overall growth trend till now in 2009, but the speed increase is reduced to some extent. In 2017, the total yield of the steel structure industry is 5100 hundred million yuan, which is increased by 2.9% on a par with the same ratio; from the yield of the steel structure in China, the yield of the steel structure in China is continuously increased in 2010 to the present, the annual acceleration rate is kept above 10%, and the steel structure still keeps rapidly increasing.
The construction steel structure has the following problems: firstly, the shortage of welders meeting the skill requirements is met, and the labor cost is high; secondly, the high-strength structural steel and the large-thickness steel are widely used, the requirement on a cutting and welding process is higher and higher, and the quality consistency of manual welding or semi-automatic welding is difficult to ensure; thirdly, wave crests and wave troughs exist in the manufacturing of the steel structure, and the requirement on the delivery date of the project is difficult to guarantee; fourthly, welding quality and efficiency are difficult to ensure, and material waste is large; fifthly, the automation degree of the steel structure manufacturing is low. The construction steel structure manufacturing and welding workload is large, but the robot welding is difficult to realize due to the fact that most of the domestic construction steel structures are nonstandard designs, the variety of components is large, single-piece small-batch production is achieved, the process is complex, and due to the fact that blanking in the previous process is achieved, the assembly accuracy is low and the like.
The secondary processing of welding H-shaped steel in a steel structure workpiece, such as cutting and welding processes, mainly depends on manual work to cut, assemble and weld the workpiece. In the cutting link of the workpiece, the machining mode is mainly adopted, namely crane hoisting is utilized, manual marking is carried out, and finally, the cutting and hole rotating equipment is adopted to complete the operations of opening a locking notch, cutting a round hole, opening a groove and the like, so that the defects of difficulty in controlling complex cutting, low machining efficiency and high labor cost exist. In the workpiece welding link, the machining mode mainly adopted is crane hoisting, manual upper plate spot welding or auxiliary support fixing, and finally manual welding. However, because the steel structure workpiece is usually large, the weldment is difficult to carry, the placing position is difficult to accurately control, more welding seam positions which are difficult to weld exist, the workpiece position needs to be turned over and adjusted by a travelling crane for multiple times in the welding process, the potential safety hazard is high, and danger and inconvenience are brought to an operator. Meanwhile, the welding process is carried out independently by welding workers, the experience dependence degree on the workers is large, and the welding quality and the welding efficiency cannot be guaranteed. Therefore, the processes of cutting, transporting and welding the steel structure workpiece are carried out manually, and the processing mode of adjusting the position of the workpiece by turning over with the aid of a travelling crane has the defects of insecurity, low automation degree, low processing efficiency, low precision, difficulty in quality control and the like, and the processing cost is high.
In view of the above technical problems, improvements are needed.
Disclosure of Invention
In order to overcome the technical problem of production of the existing steel structure workpieces, the invention provides a building steel structure robot cutting, carrying and welding integrated workstation, which aims to solve the problems of low automation degree, low processing efficiency, low precision and high labor cost in the existing steel structure workpiece cutting, carrying and welding process.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
cutting of building steel construction robot, transport, welding integration workstation includes: the device comprises a positioner, a carrying robot, a cutting robot, a welding robot, a storage table and an intelligent control system; wherein: the conveying robot is fixed on a conveying robot base, the material storage table is fixed on a material storage table base, the cutting robot is fixed on a cutting robot base, and the welding robot is fixed on a welding robot base; the intelligent control system stores processing technological parameters and sends processing instructions to the positioner, the carrying robot, the cutting robot and the welding robot, and plans the motion paths of the cutting robot, the carrying robot and the welding robot to realize intelligent control; the positioner fixes the master part and realizes the turnover within the range of 360 degrees; cutting robot cuts female member, accomplishes the work of opening the fore shaft, cutting round hole, beveling, and the handling robot is responsible for the stiffening plate material loading, and the welding robot is responsible for the stiffening plate welding, and three robots of machine of shifting cooperation work in coordination accomplish cutting, transport, the welding process of steel construction work piece.
Compared with the prior art, the invention has the following beneficial effects: the integrated work station for cutting, carrying and welding the building steel structure by the robot utilizes an intelligent control system to comprehensively arrange all equipment in the work station, so that the production efficiency of steel structure workpieces is improved; the fixed mother spare of application machine of shifting realizes shifting in 360 scopes, and the machine of shifting is mutually supported with cutting, transport, welding robot, has improved the security in the cutting process, has improved the efficiency nature of transport and dress welding process. The positioning detection system and the hand-eye system are used for realizing the accurate positioning and the accurate welding of the stiffening plate and ensuring the accuracy and the stability of the welding; the cutting, carrying and welding processes of the whole steel structure workpiece have the advantages of automation of equipment, process digitization, production flexibility, process visualization and information integration, the labor cost is reduced, the comprehensive cost is further reduced, and the method is an effective means for transformation upgrading, realization of automation and intelligent manufacturing and improvement of market competitiveness of steel structure manufacturing enterprises.
Drawings
FIG. 1 is a schematic structural view of a cutting, carrying and welding integrated workstation of a building steel structure robot;
FIG. 2 is a top view of a cutting, carrying and welding integrated workstation of a building steel structure robot;
FIG. 3 is a schematic structural diagram of a positioner;
FIG. 4 is a schematic structural view of a left column assembly;
FIG. 5 is a schematic view of a base of the material storage table;
FIG. 6 is a schematic view of a material storage table;
FIG. 7 is a schematic view of a base structure of the cutting robot;
FIG. 8 is a schematic view of a welding robot base structure;
in the figure: 1. the positioner, 2, a carrying robot base, 3, a storage platform base, 4, a cutting robot base, 5, a welding robot base, 6, a carrying robot, 7, a cutting robot, 8, a welding robot, 9, a storage platform, 10, supporting legs, 11, a positioning piece, 12, a female part, 13, a positioner base, 14, a backing plate, 15, a left stand column assembly, 16, a right stand column assembly, 17, a left clamping platform, 18, a right clamping platform, 19, a left backing block, 20, a right backing block, 31, a base platform, 32, a base L connecting piece, 33, a base rectangular connecting piece, 34, a base lower backing plate, 35, a base upper backing plate, 91, a left material plate limiting block, 92, a right material plate limiting block, 93, a stiffening plate, 151, a servo motor, 152, a left material plate limiting block, 153, a support, 154, a rotary disc, 155, a cover plate, a speed reducer, 156, and a left stand column bottom plate.
Detailed Description
The following describes embodiments of the present invention in detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, the integrated workstation for cutting, carrying and welding of the building steel structure robot comprises: the automatic welding machine comprises a positioner 1, a carrying robot 6, a cutting robot 7, a welding robot 8, a storage table 9 and an intelligent control system (not shown in the figure); the conveying robot 6 is fixed on the conveying robot base 2, the material storage table 9 is fixed on the material storage table base 3, the cutting robot 7 is fixed on the cutting robot base 4, and the welding robot 8 is fixed on the welding robot base 5; the intelligent control system stores processing technological parameters and sends processing instructions to the positioner 1, the carrying robot 6, the cutting robot 7 and the welding robot 8, and plans the motion paths of the cutting, carrying and welding robots to realize intelligent control; the positioner 1 fixes the master part 12 and realizes overturning within a range of 360 degrees; cutting robot 7 cuts female 12, accomplishes the work of lockstitch, cutting round hole, beveling, and transfer robot 6 is responsible for the stiffening plate material loading, and welding robot 8 is responsible for the stiffening plate welding, and positioner 1 cooperates three robots collaborative work, accomplishes cutting, transport, the welding process of steel construction work piece.
As shown in fig. 1, a transfer robot base 2, a material stock table base 3, a transfer robot 6, and a material stock table 9 are arranged on one side of the positioner 1, and a cutting robot base 4, a welding robot base 5, a cutting robot 7, and a welding robot 8 are arranged on the other side of the positioner 1.
As shown in fig. 3, the positioner 1 includes: the device comprises a positioner base 13, a base plate 14, a left upright assembly 15, a right upright assembly 16, a left clamping table 17, a right clamping table 18, a left cushion block 19 and a right cushion block 20; the positioner base 13 is T-shaped and is formed by welding square steel pipes into two rectangular frames, welding the two rectangular frames into a T shape and paving iron sheets on the surface; the outside of the bottom of the positioner base 13 is fixedly provided with a plurality of positioning pieces 11 for positioning the positioner base 13, the positioning pieces 11 are L-shaped, and the positioning pieces 11 are connected with the ground through bolts to ensure the use safety and stability of the positioner 1. The bottom of positioner base 13 is equipped with a plurality of supporting legss 10, plays the supporting role, thereby the adjustable height of each supporting legss 10 guarantees positioner base 13 level simultaneously. The T-shaped vertical tail end of the positioner base 13 is provided with a cushion block 14, the cushion block 14 is fixed on the positioner base 13 through bolts, and the cushion block 14 is used for being connected with the transfer robot base 2. A left upright post assembly 15 is fixed at the tail end of the T-shaped transverse left side of the positioner base 13, and a right upright post assembly 16 is fixed at the tail end of the T-shaped transverse right side of the positioner base 13.
Fig. 4 shows the left column assembly 15 after opening the left and upper cover plates 155, and the left column base plate 156 is bolted to the left lateral end of the T-shape of the positioner base 13. Left stand assembly 15 is main tilting mechanism, includes: a servo motor 151, a speed reducer 152, a bracket 153 and a rotary disk 154; the bracket 153 is a rectangular steel bracket with an arc-shaped upper end, and the bracket 153 is fixed on the left upright column bottom plate 156 by welding; the reduction gear 152 is mounted on the bracket 153, the servo motor 151 is connected to the outside of the reduction gear 152, and the rotary disk 154 is mounted inside the reduction gear 152. The servo motor 151 is a power device, and the speed reducer 152 adjusts the power output by the servo motor 151 to a required speed range to drive the rotary disk 154 to turn. The bottom of the rotary disk 154 is provided with a plurality of hole sites for connecting the left clamping table 17. The right upright post assembly 16 is a symmetrical device of the left upright post assembly 15, is short of a servo motor 151 compared with the left upright post assembly 15, comprises a speed reducer, a support and a rotary disc in the right upright post assembly 16, and is driven by a main overturning mechanism as the right upright post assembly 16 is an auxiliary overturning mechanism.
As shown in fig. 3, the left clamping table 17 is L-shaped and is fixed on the rotary disk of the left column assembly 15 by bolts, the right clamping table 18 is L-shaped and is fixed on the rotary disk of the right column assembly 16 by bolts, and the left clamping table 17 and the right clamping table 18 are kept at the same height and can be turned synchronously along with the main turning mechanism. The left cushion block 19 is fixed on the left clamping table 17 through bolts, and the right cushion block 20 is fixed on the right clamping table 18 through bolts, so that the female part 12 is fixed and positioned, and meanwhile, the female part 12 is convenient to cut and weld. The female member 12 is fixed on the left and right spacers 19 and 20 by bolts, and the positioning of the female member 12 is realized by the left and right spacers 19 and 20.
The transfer robot base 2 is connected with a cushion block 14 on the T-shaped vertical tail end of the positioner base 13 through bolts, and the transfer robot 6 is connected to the transfer robot base 2 through bolts. And a mechanical flashlight permanent magnet sucker is arranged at the tail end of the transfer robot 6. The transfer robot 6 can receive the instruction of the intelligent control system to realize the motion and transfer functions of the robot; meanwhile, the transfer robot 6 is provided with a positioning detection system, and can be positioned by the positioning detection system.
As shown in fig. 5, the base platform 31 of the material storage table base 3 is rectangular, and a plurality of supporting legs 10 are disposed below the base platform 31. The outer side of the bottom of the base platform 31 is fixedly provided with a plurality of positioning pieces 11 for positioning the base platform 31, and is also provided with a base L connecting piece 32 and a base rectangular connecting piece 33 which are connected with the positioner 1 through bolts. The base lower pad 34 is attached to the surface of the base platform 31 by welding.
As shown in fig. 6, the storage platform 9 is located on the upper surface of the storage platform base 3, and includes a left material plate stopper 91, a right material plate stopper 92 and a plurality of stiffening plates 93; the left material plate limiting block 91 comprises a rectangular bottom plate and a C-shaped groove plate, wherein the C-shaped groove is formed by welding three rectangular vertical plates to form a C shape. The rectangular bottom plate is fixed on the upper surface of the storage platform base 3 through bolts, and the C-shaped groove plate is fixed on the rectangular bottom plate through welding and used for limiting the stiffening plate 93. The right flitch stopper 92 is a mirror image structure of the left flitch stopper 91. The storage limiting device formed by the left material plate limiting block 91 and the right material plate limiting block 92 is used for storing the stiffening plate 93 and limiting the stiffening plate 93. For the convenience of welding, the stiffening plate 93 is a rectangular plate with two chamfers on the left and right.
As shown in fig. 7 and 8, the cutting robot base 4, the welding robot base 5, the cutting robot 7, and the welding robot 8 are arranged on the other side of the positioner 1. The structural functions of the cutting robot base 4 and the welding robot base 5 are consistent with those of the material storage table base 3.
The plasma cutting device is installed at the tail end of the cutting robot 7, the cutting robot 7 can receive instructions of the intelligent control system, and the robot motion and cutting functions are achieved. The welding gun is arranged at the tail end of the welding robot 8, and the welding robot 8 can receive an instruction of the intelligent control system to realize the motion and welding functions of the robot; a hand-eye system is configured on the welding robot 8, and the hand-eye system can automatically find the position of a welding seam and perform online visual positioning.
The processing process of the integrated workstation is as follows:
the female part 12 is hoisted to the positioner 1 through hoisting equipment, fixed on the left cushion block 19 and the right cushion block 20 through bolts, and the female part 12 is positioned through the left cushion block 19 and the right cushion block 20.
The intelligent control system (not shown in the figure) stores processing technological parameters, issues processing instructions to the positioner 1, the carrying robot 6, the cutting robot 7 and the welding robot 8 in the integrated workstation, plans the motion path of the cutting, carrying and welding robots through a robot off-line programming program, and realizes intelligent control.
The cutting robot 7 processes the female part 12 according to the processing instruction, and performs the operations of opening a lock opening, cutting a round hole, opening a groove and the like, so that the robot intelligent cutting is realized.
And a positioning detection system is configured on the transfer robot 6, the positioning detection system confirms the placing position and the mother piece size of the mother piece 12 again, compares the placing position and the size information with the model drawing, corrects the deviation, accurately positions the mother piece, and judges whether the mother piece size (the position of the stiffening plate to be placed) meets the carrying requirement of the subsequent stiffening plate. After the position of the female part 12 is accurately positioned, the carrying robot 6 absorbs the stiffening plates placed on the material storage table 9, carries the stiffening plates to the designated position on the female part 12, positions the stiffening plates through the positioning detection system, and achieves intelligent robot positioning and carrying.
Dispose the hand eye system on the welding robot 8, the automatic welding seam position of looking for of hand eye system, online visual positioning, after confirming stiffening plate material object size parameter, the welding robot automatically transfers the welding process parameter in the intelligent control system database, and carry out online correction and compensation to the welding position through the hand eye system, automatic adjustment welder position and welding parameter, guarantee welded accurate and stable, then weld stiffening plate on female 12, realize robot intelligent welding, effectively improve welding efficiency and welding quality. After the stiffening plate on one side is welded, the positioner 1 automatically overturns the female part 12 according to the overturning signal of the intelligent control system, and adjusts the female part to the next processing position, so that the female part 12 can realize overturning and deflection within the range of 360 degrees.
After the female member 12 is adjusted in position through the positioner 1, the positioning detection system is used for detecting and positioning the placing position and the size of the female member 12, comparing the placing position and the size information with a model drawing, correcting the deviation, accurately positioning the female member 12, and judging whether the size (the position of a stiffening plate to be placed) of the female member meets the carrying requirement of a subsequent stiffening plate. After the positioning is completed, the carrying robot 6 carries the next stiffening plate to the female part, the welding robot 8 carries out welding of the stiffening plate on the other side, after all the stiffening plates are welded, the positioner 1 acquires a signal to open the workpiece, so far, the cutting, carrying and welding processing procedures of the female part 12 are completed, a steel structure workpiece is formed, and the steel structure workpiece is conveyed to the next procedure.
Claims (10)
1. The utility model provides a building steel construction robot cutting, transport, welding integration workstation, includes: the device comprises a positioner, a carrying robot, a cutting robot, a welding robot, a storage table and an intelligent control system; wherein: the conveying robot is fixed on a conveying robot base, the material storage table is fixed on a material storage table base, the cutting robot is fixed on a cutting robot base, and the welding robot is fixed on a welding robot base; the intelligent control system stores processing technological parameters and sends processing instructions to the positioner, the carrying robot, the cutting robot and the welding robot, and plans the motion paths of the cutting robot, the carrying robot and the welding robot to realize intelligent control; the positioner fixes the master part and realizes the turnover within the range of 360 degrees; cutting robot cuts female member, accomplishes the work of opening the fore shaft, cutting round hole, beveling, and the handling robot is responsible for the stiffening plate material loading, and the welding robot is responsible for the stiffening plate welding, and three robots of machine of shifting cooperation work in coordination accomplish cutting, transport, the welding process of steel construction work piece.
2. The integrated workstation of cutting, carrying and welding of building steel structure robot of claim 1, characterized in that: the carrying robot base, the storage platform base, the carrying robot and the storage platform are arranged on one side of the positioner, and the cutting robot base, the welding robot base, the cutting robot and the welding robot are arranged on the other side of the positioner.
3. The integrated cutting, carrying and welding workstation for the building steel structure robot as claimed in claims 1-2, wherein: the machine of shifting includes: the positioner comprises a positioner base, a base plate, a left upright assembly, a right upright assembly, a left clamping table, a right clamping table, a left cushion block and a right cushion block; the positioner base is in a T shape and is formed by welding square steel pipes into two rectangular frames, welding the two rectangular frames into a T shape and paving an iron sheet on the surface; the outer side of the bottom of the positioner base is fixedly provided with a plurality of positioning pieces for positioning the positioner base, the positioning pieces are L-shaped, and the positioning pieces are connected with the ground through bolts, so that the use safety and stability of the positioner are ensured; the bottom of the positioner base is provided with a plurality of supporting legs which play a supporting role, and the height of each supporting leg can be adjusted so as to ensure the level of the positioner base; the T-shaped vertical tail end of the positioner base is provided with a cushion block, the cushion block is fixed on the positioner base through bolts, and the cushion block is used for connecting the base of the transfer robot; a left upright post assembly is fixed at the tail end of the transverse left side of the T shape of the positioner base, and a right upright post assembly is fixed at the tail end of the transverse right side of the T shape of the positioner base.
4. The integrated cutting, carrying and welding workstation for the building steel structure robot as claimed in claims 1-3, wherein: the left upright post bottom plate is fixed at the T-shaped transverse left end of the positioner base through a bolt; left stand assembly is main tilting mechanism includes: the device comprises a servo motor, a speed reducer, a bracket and a rotary disk; the bracket is a rectangular steel bracket with the upper end in an arc shape and is fixed on the left upright post bottom plate by welding; the speed reducer is arranged on the support, the servo motor is connected to the outer side of the speed reducer, and the rotary disc is arranged on the inner side of the speed reducer; the servo motor is a power device, and the speed reducer adjusts the power output by the servo motor to a required speed range to drive the rotary disc to turn over; the bottom of the rotary disk is provided with a plurality of hole sites for connecting the left clamping table; the symmetrical device of right stand assembly left stand assembly compares with left stand assembly and lacks servo motor, includes speed reducer, support and gyration dish in the right stand assembly, and right stand assembly is vice tilting mechanism, follows from main tilting mechanism.
5. The integrated cutting, carrying and welding workstation for the building steel structure robot as claimed in claims 1-4, wherein: the left clamping table is L-shaped and is fixed on a rotary disc of the left upright post assembly through a bolt, the right clamping table is L-shaped and is fixed on the rotary disc of the right upright post assembly through a bolt, and the left clamping table and the right clamping table are kept at the same height and can synchronously turn over along with the main turning mechanism; the left cushion block is fixed on the left clamping table through a bolt, and the right cushion block is fixed on the right clamping table through a bolt, so that the left cushion block is used for fixing and positioning the female part and is convenient for cutting and welding the female part; the female member is fixed on the left cushion block and the right cushion block through bolts, and the female member is positioned through the left cushion block and the right cushion block.
6. The integrated cutting, carrying and welding workstation for the building steel structure robot as claimed in claims 1-5, wherein: the conveying robot base is connected with a cushion block on the T-shaped vertical tail end of the positioner base through a bolt, and the conveying robot is connected to the conveying robot base through a bolt; the tail end of the transfer robot is provided with a mechanical flashlight permanent magnet sucker; the transfer robot can receive the instruction of the intelligent control system to realize the motion and transfer functions of the robot; meanwhile, the carrying robot is provided with a positioning detection system, and can be positioned through the positioning detection system.
7. The integrated cutting, carrying and welding workstation for the building steel structure robot as claimed in claims 1-6, wherein: a base platform in the storage platform base is rectangular, and a plurality of supporting legs are arranged below the base platform; the outer side of the bottom of the base platform is fixedly provided with a plurality of positioning pieces for positioning the base platform, and is also provided with a base L connecting piece, and a base rectangular connecting piece is connected with the positioner through bolts; the base lower backing plate is connected to the surface of the base platform through welding.
8. The integrated cutting, carrying and welding workstation for the building steel structure robot as claimed in claims 1-7, wherein: the storage platform is positioned on the upper surface of the storage platform base and comprises a left material plate limiting block, a right material plate limiting block and a plurality of stiffening plates; the left material plate limiting block 91 comprises a rectangular bottom plate and a C-shaped groove plate, wherein the C-shaped groove is formed by welding three rectangular vertical plates to form a C shape; the rectangular bottom plate is fixed on the upper surface of the storage platform base through bolts, and the C-shaped groove plate is fixed on the rectangular bottom plate through welding and used for limiting the stiffening plate; the right flitch limiting block is a mirror image structure of the left flitch limiting block; the storage limiting device formed by the left material plate limiting block and the right material plate limiting block is used for storing the stiffening plate and limiting the stiffening plate, and the stiffening plate is a rectangular plate with left and right chamfers cut off.
9. The integrated cutting, carrying and welding workstation for building steel structure robots as claimed in claims 1-8, wherein: the cutting robot base, the welding robot base, the cutting robot and the welding robot are arranged on the other side of the positioner; the structural functions of the cutting robot base and the welding robot base are consistent with those of the storage platform base.
10. The integrated cutting, carrying and welding workstation for building steel structure robots as claimed in claims 1-9, wherein: the plasma cutting device is arranged at the tail end of the cutting robot, and the cutting robot can receive the instruction of the intelligent control system to realize the motion and cutting functions of the robot; the welding robot can receive the instruction of the intelligent control system to realize the motion and welding functions of the robot; a hand-eye system is configured on the welding robot, and the hand-eye system can automatically find the position of a welding seam and perform online visual positioning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910822648.XA CN110614450A (en) | 2019-09-02 | 2019-09-02 | Cutting of building steel construction robot, transport, welding integration workstation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910822648.XA CN110614450A (en) | 2019-09-02 | 2019-09-02 | Cutting of building steel construction robot, transport, welding integration workstation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110614450A true CN110614450A (en) | 2019-12-27 |
Family
ID=68922937
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910822648.XA Pending CN110614450A (en) | 2019-09-02 | 2019-09-02 | Cutting of building steel construction robot, transport, welding integration workstation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110614450A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111002397A (en) * | 2019-12-31 | 2020-04-14 | 河池学院 | Plate cutting system and control method thereof |
| CN112879305A (en) * | 2021-01-12 | 2021-06-01 | 邹文懿 | Energy-saving water pump with axial magnetic suspension rotor characteristics |
| CN113245680A (en) * | 2021-06-25 | 2021-08-13 | 许昌中科恒达高新技术研究院有限公司 | Automatic welding production line for steel stand columns |
| CN113510411A (en) * | 2020-04-09 | 2021-10-19 | 上海发那科机器人有限公司 | Pipeline robot welding system and method |
| CN114571116A (en) * | 2022-03-10 | 2022-06-03 | 浙江省建工集团有限责任公司 | Intelligent machining device for steel member |
| CN114603232A (en) * | 2022-03-07 | 2022-06-10 | 天津新松机器人自动化有限公司 | Intelligent robot for stacking, carrying and cutting grooves of flat plates |
| KR20220088583A (en) * | 2020-12-18 | 2022-06-28 | 서진산업 주식회사 | Welding robot jig capable of rotating with multiaxis |
| CN114799883A (en) * | 2022-05-31 | 2022-07-29 | 杭州固建机器人科技有限公司 | Steel structure secondary machining system and method |
| CN114850783A (en) * | 2022-03-10 | 2022-08-05 | 浙江省建工集团有限责任公司 | Intelligent assembling, processing and producing process for H-shaped steel |
| CN114918578A (en) * | 2022-04-20 | 2022-08-19 | 天津新松机器人自动化有限公司 | Intelligent robot welding workstation and pipeline welding method |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS55125918A (en) * | 1979-03-15 | 1980-09-29 | Ishikawajima Harima Heavy Ind Co Ltd | Cutting apparatus |
| CN203092046U (en) * | 2012-12-27 | 2013-07-31 | 天津烁宝焊研科技有限公司 | Weld position changing device |
| CN103567677A (en) * | 2013-10-24 | 2014-02-12 | 南京熊猫电子股份有限公司 | Integrated workstation based on robot cutting, welding and carrying in pipe processing |
| CN204308433U (en) * | 2014-11-14 | 2015-05-06 | 南京熊猫电子股份有限公司 | Heavy duty transfer robot and welding robot combine comprehensive automatically welding workstation |
| CN105269325A (en) * | 2015-11-18 | 2016-01-27 | 长沙长泰机器人有限公司 | Robot work station for automatic machining of aluminum alloy door frame and machining method |
| CN204997292U (en) * | 2015-08-31 | 2016-01-27 | 上海创志实业有限公司 | Novel diaxon of structure revolving stage that shifts |
| CN107199411A (en) * | 2016-12-30 | 2017-09-26 | 永康市杰地希机器人科技有限公司 | The automatic processing apparatus and its control system of a kind of door frame |
| CN108296660A (en) * | 2018-03-29 | 2018-07-20 | 江苏新时代造船有限公司 | The long inclined ladder product line device of robotic cutting-weldedization |
| CN207824309U (en) * | 2017-12-13 | 2018-09-07 | 黄明辉 | A kind of automatic welding positioner |
| CN208713256U (en) * | 2018-07-31 | 2019-04-09 | 江苏国友汽车装备有限公司 | A kind of positioner seat mechanism |
-
2019
- 2019-09-02 CN CN201910822648.XA patent/CN110614450A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS55125918A (en) * | 1979-03-15 | 1980-09-29 | Ishikawajima Harima Heavy Ind Co Ltd | Cutting apparatus |
| CN203092046U (en) * | 2012-12-27 | 2013-07-31 | 天津烁宝焊研科技有限公司 | Weld position changing device |
| CN103567677A (en) * | 2013-10-24 | 2014-02-12 | 南京熊猫电子股份有限公司 | Integrated workstation based on robot cutting, welding and carrying in pipe processing |
| CN204308433U (en) * | 2014-11-14 | 2015-05-06 | 南京熊猫电子股份有限公司 | Heavy duty transfer robot and welding robot combine comprehensive automatically welding workstation |
| CN204997292U (en) * | 2015-08-31 | 2016-01-27 | 上海创志实业有限公司 | Novel diaxon of structure revolving stage that shifts |
| CN105269325A (en) * | 2015-11-18 | 2016-01-27 | 长沙长泰机器人有限公司 | Robot work station for automatic machining of aluminum alloy door frame and machining method |
| CN107199411A (en) * | 2016-12-30 | 2017-09-26 | 永康市杰地希机器人科技有限公司 | The automatic processing apparatus and its control system of a kind of door frame |
| CN207824309U (en) * | 2017-12-13 | 2018-09-07 | 黄明辉 | A kind of automatic welding positioner |
| CN108296660A (en) * | 2018-03-29 | 2018-07-20 | 江苏新时代造船有限公司 | The long inclined ladder product line device of robotic cutting-weldedization |
| CN208713256U (en) * | 2018-07-31 | 2019-04-09 | 江苏国友汽车装备有限公司 | A kind of positioner seat mechanism |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111002397A (en) * | 2019-12-31 | 2020-04-14 | 河池学院 | Plate cutting system and control method thereof |
| CN113510411A (en) * | 2020-04-09 | 2021-10-19 | 上海发那科机器人有限公司 | Pipeline robot welding system and method |
| CN113510411B (en) * | 2020-04-09 | 2022-07-01 | 上海发那科机器人有限公司 | Pipeline robot welding system and method |
| KR20220088583A (en) * | 2020-12-18 | 2022-06-28 | 서진산업 주식회사 | Welding robot jig capable of rotating with multiaxis |
| KR102421995B1 (en) | 2020-12-18 | 2022-07-20 | 서진산업 주식회사 | Welding robot jig capable of rotating with multiaxis |
| CN112879305A (en) * | 2021-01-12 | 2021-06-01 | 邹文懿 | Energy-saving water pump with axial magnetic suspension rotor characteristics |
| CN113245680A (en) * | 2021-06-25 | 2021-08-13 | 许昌中科恒达高新技术研究院有限公司 | Automatic welding production line for steel stand columns |
| CN113245680B (en) * | 2021-06-25 | 2023-05-30 | 许昌中科恒达高新技术研究院有限公司 | Automatic welding production line for steel upright posts |
| CN114603232A (en) * | 2022-03-07 | 2022-06-10 | 天津新松机器人自动化有限公司 | Intelligent robot for stacking, carrying and cutting grooves of flat plates |
| CN114571116A (en) * | 2022-03-10 | 2022-06-03 | 浙江省建工集团有限责任公司 | Intelligent machining device for steel member |
| CN114850783A (en) * | 2022-03-10 | 2022-08-05 | 浙江省建工集团有限责任公司 | Intelligent assembling, processing and producing process for H-shaped steel |
| CN114571116B (en) * | 2022-03-10 | 2024-03-12 | 浙江省建工集团有限责任公司 | Intelligent processing device for steel member |
| CN114918578A (en) * | 2022-04-20 | 2022-08-19 | 天津新松机器人自动化有限公司 | Intelligent robot welding workstation and pipeline welding method |
| CN114918578B (en) * | 2022-04-20 | 2023-12-15 | 天津新松机器人自动化有限公司 | Intelligent robot welding workstation and pipeline welding method |
| CN114799883A (en) * | 2022-05-31 | 2022-07-29 | 杭州固建机器人科技有限公司 | Steel structure secondary machining system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110614450A (en) | Cutting of building steel construction robot, transport, welding integration workstation | |
| CN110560942A (en) | Automatic welding system for tower tube of steel tube tower and control method of automatic welding system | |
| CN203956365U (en) | Oil platform leg welding equipment | |
| CN102009275B (en) | Automatic welding system for rack and base of marine diesel engine | |
| CN103212769B (en) | For the welder of the vertical circumferential weld of welding pressure container | |
| CN106041379B (en) | A kind of phase passes through the surface trimming welder of part | |
| KR101218790B1 (en) | a manipulator of auto welding in pipe | |
| CN212444121U (en) | Tenon type standard knot main chord member production line | |
| CN208335594U (en) | Robot arc-welding teaching station | |
| CN202667957U (en) | Pallet fork automatic welding working platform | |
| CN111673236A (en) | Cylinder type outer circular seam welding production line | |
| CN207668804U (en) | A kind of annular operating guide rail of bonding machine | |
| CN105382393A (en) | Single-face double-point welding process for automobile | |
| CN208117056U (en) | NC heavy H profile steel automated exchanged cutter welding production line | |
| CN204711384U (en) | For the four-head gantry welder of single-beam of driving a vehicle | |
| CN104588835A (en) | Automatically welding machining system of pipe fitting of small diameter | |
| CN104084705B (en) | Gas filling bottle welding swing span and method of work thereof | |
| CN206335315U (en) | A kind of automatic welding positioner | |
| CN112059549A (en) | Intelligent production process of H-shaped steel | |
| CN212443668U (en) | Cylinder type outer circular seam welding production line | |
| CN203045168U (en) | Lean production line for welding movable support leg | |
| CN209867720U (en) | Pipeline semi-automatic welding device | |
| CN214291695U (en) | Liftable formula biax C type machine of shifting | |
| CN209736867U (en) | fork truck portal welding positioner based on streamlined production | |
| CN204053477U (en) | Large-scale steel structure robot automatic charging welding grinding and polishing detection system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191227 |
|
| RJ01 | Rejection of invention patent application after publication |