CN110842330B - Automatic welding machine for door strip of lower side door of open wagon and welding process of automatic welding machine - Google Patents
Automatic welding machine for door strip of lower side door of open wagon and welding process of automatic welding machine Download PDFInfo
- Publication number
- CN110842330B CN110842330B CN201911294070.1A CN201911294070A CN110842330B CN 110842330 B CN110842330 B CN 110842330B CN 201911294070 A CN201911294070 A CN 201911294070A CN 110842330 B CN110842330 B CN 110842330B
- Authority
- CN
- China
- Prior art keywords
- door
- welding
- door plate
- post
- feeding
- 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.)
- Active
Links
- 238000003466 welding Methods 0.000 title claims abstract description 410
- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000008569 process Effects 0.000 title claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 201
- 239000000463 material Substances 0.000 claims abstract description 108
- 238000001514 detection method Methods 0.000 claims description 25
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 claims description 8
- 229910002092 carbon dioxide Inorganic materials 0.000 claims description 4
- 239000001569 carbon dioxide Substances 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000001179 sorption measurement Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000012840 feeding operation Methods 0.000 description 1
- 231100000206 health hazard Toxicity 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 230000036651 mood Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
Abstract
The utility model provides an open wagon downside door area automatic weld machine includes fuselage frame (1 a), door area feed mechanism (1 b), door plant feeding mechanism (1 c), door plant feed mechanism (1 d), removal welding mechanism (1 e) and postweld feeding mechanism (1 f), and its concrete welding process includes: the door plate feeding mechanism (1 c) moves the lower side door to be welded to a feeding position, the door plate feeding mechanism (1 d) moves the lower side door to be welded to a welding station, a door belt is manually placed on the door belt feeding mechanism (1 b), the door belt is moved to the welding station by the moving welding mechanism (1 e), then a welding gun descends to the position for welding, after the welding is finished, the door plate feeding mechanism (1 d) returns to the feeding position, the welded lower side plate is brought back to the feeding position, and the welded lower side plate is grabbed and conveyed into the welded workpiece collecting device by the post-welding material taking mechanism (1 f). The automatic welding machine and the welding process thereof can greatly improve the welding efficiency, reduce the working strength and improve the working environment, and have certain popularization prospect.
Description
Technical Field
The invention relates to the technical field of welding of door belts of lower side doors of railway freight cars, in particular to an automatic welding machine and a welding process of the door belts of the lower side doors of the railway freight cars.
Background
The door plate corrosion exceeding limit interception is required to be replaced when the area is more than 35% of the total area in the 'railway wagon shop repair procedure' issued by the China railway head office. When the door plate is broken, the door plate is replaced or changed, and when the lower side door or the door belt (hinge) is replaced, the two sides and the upper end and the lower end of the joint of the door plate and the door belt (hinge) are fully welded; when the joint between the upper and lower edges of the original door plate and the door belt (hinge) is not welded, the upper and lower edges of the original door plate are required to be sealed and welded.
At present, in periodic overhaul of the railway wagon in China, the welding of the door belt of the lower side door of the open wagon is basically carried out in a manual mode, and the welding quality depends on the quality, responsibility and mood of operators; the traditional manual welding operation mode has the following defects:
1) The welding quality consistency of the door strip of the lower side door is poor, and the welding quality is unstable and the randomness is poor;
2) Poor working environment, serious indoor electric welding smoke pollution and great occupational health hazard;
3) The labor intensity of workers is high and the working efficiency is low.
4) The door belt welding device provides matched work for door belt welding, and lifting, moving and falling of the side door are completed by manpower completely, so that labor intensity is high.
In order to change the lagging production current situation, it is necessary to develop an automatic welding machine for the lower side door belt of the open wagon and a welding process thereof, wherein the welding quality of the lower side door belt can be effectively improved, the working environment is improved, and the physical and mental health of workers is protected.
Disclosure of Invention
In order to solve the problems, the invention provides an automatic welding machine for the door belt of the lower side door of the open wagon and a welding process thereof, and the automatic welding machine has the advantages of greatly improving the welding efficiency, reducing the working strength and improving the working environment, and has a certain popularization prospect in the open wagon overhaul field.
The aim of the invention is achieved by the following technical scheme.
The automatic welding machine for the door strip of the lower side door of the open wagon comprises a main machine, a control system and a power source, wherein the main machine comprises a machine body frame, a door strip feeding mechanism, a door plate feeding mechanism, a movable welding mechanism and a post-welding material taking mechanism; the door strip feeding mechanism is located on a moving route of the movable welding mechanism, and the moving route of the door plate feeding mechanism and the moving route of the post-welding material taking mechanism are intersected with the moving route of the door plate feeding mechanism. The machine body frame provides fixed support for the door belt feeding mechanism, the door plate feeding mechanism, the movable welding mechanism and the post-welding material taking mechanism, the control system is connected with the door belt feeding mechanism, the door plate feeding mechanism, the movable welding mechanism and the post-welding material taking mechanism, and the power source provides power for the door belt feeding mechanism, the door plate feeding mechanism, the movable welding mechanism and the post-welding material taking mechanism.
As mentioned above, the automatic welding machine for the door strip of the lower side door of the open wagon is characterized in that the frame of the body is a welding structural member, the frame of the body adopts thick-wall rectangular steel pipes, and all parts of the frame of the body are connected by high-strength bolts and fixed with the ground through a baseboard.
The door belt feeding mechanism comprises a door belt feeding supporting plate, a door belt feeding cylinder and a door belt feeding base; the door belt feeding supporting plate is connected with the door belt feeding base through a door belt feeding cylinder, the body of the door belt feeding cylinder is fixed on the door belt feeding base, a piston rod of the door belt feeding cylinder is fixedly connected with the door belt feeding supporting plate, the door belt feeding supporting plate can move up and down in a straight line under the driving of the door belt feeding cylinder, the door belt feeding base is a welding structure fixedly connected with the ground through a baseboard, and a door belt positioning bracket is fixedly installed on the door belt feeding supporting plate; the door belt feeding mechanism further comprises a door belt feeding mechanism position detection switch for detecting a feeding supporting plate;
The door plate feeding mechanism comprises a door plate feeding base, a door plate feeding sliding block, a door plate feeding guide rail, a door plate feeding gear, a door plate feeding rack and a door plate feeding servo motor; the door plate feeding base is slidably connected with the machine body frame, the door plate feeding guide rail is fixedly arranged on the machine body frame, and the door plate feeding sliding block matched with the door plate feeding guide rail is fixedly arranged on the door plate feeding base; the machine body frame is fixedly provided with the door plate feeding rack, the door plate feeding base is fixedly provided with the door plate feeding servo motor, an output shaft of the door plate feeding servo motor is fixedly connected with the door plate feeding gear, and the door plate feeding gear is connected with the door plate feeding rack; a door plate feeding vacuum chuck is fixedly connected below the door plate feeding base, the door plate feeding vacuum chuck is connected with the door plate feeding base through a door plate feeding cylinder, and a piston rod of the door plate feeding cylinder drives the door plate feeding vacuum chuck to move up and down; the door plate feeding mechanism further comprises a door plate feeding mechanism position detection switch for detecting the position of the door plate feeding base;
The door plate feeding mechanism comprises a door plate feeding base, a door plate feeding servo motor, a door plate feeding gear, a door plate feeding rack and a screw lifter; the door plate feeding base drives a door plate feeding gear to linearly move along a door plate feeding guide rail fixedly arranged on the machine body frame in a matched manner through a door plate feeding servo motor fixedly arranged on the door plate feeding base, and a door plate feeding sliding block matched with the door plate feeding guide rail is fixedly arranged on the door plate feeding base; the screw rod lifter is arranged on the door plate feeding base and is used for lifting the door plate to a welding position; the door plate feeding mechanism further comprises a door plate feeding position detection switch which is used for detecting the positions of the door plate feeding base and the door plate thereon;
The movable welding mechanism comprises a door belt grabbing and positioning device, a door plate welding device and a movable welding mechanism position detection switch;
The post-welding material taking mechanism comprises a post-welding material taking base, a post-welding material taking cylinder, a post-welding material taking vacuum chuck, a post-welding material taking sliding block, a post-welding material taking guide rail, a post-welding material taking servo motor, a post-welding material taking rack and a post-welding material taking gear; the piston rod of the post-welding material taking cylinder drives the post-welding material taking vacuum chuck to move downwards to grab the post-welding door plate, the cylinder body of the post-welding material taking cylinder is fixedly arranged on the post-welding material taking base, the post-welding material taking base is matched with the post-welding material taking guide rail fixed on the machine body frame through the post-welding material taking slide block fixed on the post-welding material taking base to slide along the post-welding material taking guide rail on the machine body frame, the output shaft of the post-welding material taking servo motor is connected with the post-welding material taking gear, the post-welding material taking gear is matched with the post-welding material taking rack, and the post-welding material taking rack is fixedly arranged on the machine body frame; the post-welding material taking mechanism further comprises a post-welding material taking position detection switch used for detecting the position of the post-welding door plate.
The automatic welding machine for the door belt of the lower side door of the open wagon is characterized in that the door belt feeding cylinder adopts a stroke-adjustable cylinder.
The automatic welding machine for the door strip of the lower side door of the open wagon comprises a movable welding support, a door strip grabbing guide rail, a door strip grabbing servo motor, a door strip grabbing gear, a door strip grabbing rack and a door strip clamping mechanism; the movable welding support is arranged on the frame of the machine body along the door belt grabbing guide rail fixedly arranged on the frame of the machine body, the door belt grabbing gear is driven by the door belt grabbing servo motor to move to the position above the door belt in a matched mode with the door belt grabbing rack on the frame of the machine body, and a door belt clamping mechanism is arranged at the lower part of the movable welding support; the movable welding mechanism position detection switch is used for detecting the position of the movable welding support;
The automatic welding machine for the door strip of the lower side door of the open wagon comprises a welding machine, a welding machine base, a door welding slide block, a door welding guide rail, a door welding servo motor, a door welding gear, a door welding rack and a door welding cylinder; the welding machine is fixed on a welding machine base, the welding machine base is slidably connected with the machine body frame, a door plate welding sliding block is fixedly installed on the welding machine base, a door plate welding guide rail matched with the door plate welding sliding block is fixedly installed on the machine body frame, a door plate welding servo motor is fixedly installed on the welding machine base, and a door plate welding gear is driven by the door plate welding servo motor to be matched with a door plate welding rack on the machine body frame; the welding gun of the welding machine vertically moves by a door plate welding cylinder, the body of the door plate welding cylinder is fixedly connected with a welding machine base, the welding machine is fixedly connected with a piston rod of the door plate welding cylinder, and the position detection switch of the movable welding mechanism is used for detecting the upper position and the lower position of the welding machine; the door plate welding device further comprises a displacement sensor for monitoring the position of a welding gun of the welding machine in real time; the door plate welding device comprises four welding machines, and the positions of the four welding machines correspond to four welding seams of the door belt and the lower side door.
The automatic welding machine for the door belt of the lower side door of the open wagon comprises a power source, a compressed air source and a negative pressure source, wherein the power source provides power for a host machine and a control system, the compressed air source provides compressed air for all pneumatic execution elements in the host machine, and the negative pressure source provides negative pressure for all vacuum chucks in the host machine.
A welding process of an automatic welding machine for a door belt of a lower side door of an open wagon, comprising the following steps:
step one: checking whether the equipment is abnormal or not, whether a power source is normally available or not, and then starting a control system;
Step two: the door plate feeding mechanism moves the lower side door to be welded to a feeding position and then resets;
step three: placing a door belt to be welded on a door belt feeding mechanism;
step four: the movable welding mechanism moves to a door belt feeding station;
Step five: the door strip feeding mechanism lifts the door strip, and the door plate feeding mechanism moves the lower side door to be welded to the welding station;
Step six: the movable welding mechanism grabs the door belt, and the door belt feeding mechanism resets;
step seven: the movable welding mechanism moves to a welding station, the door plate feeding mechanism lifts the workpiece to a welding position, the movable welding mechanism compresses the fixed door belt, the welding gun descends to a proper position and moves along the welding position, and welding is completed;
step eight: the welding gun is lifted and reset, the door belt is pressed, fixed and loosened, and the door plate feeding mechanism returns to finish welding of a lower side door;
step nine: the post-welding material taking mechanism descends to grab the welded lower side door and conveys the welded lower side door into a post-welding workpiece collecting device, and then ascends and resets.
Furthermore, the welding process is a process for welding a lower side door strap, and the third and subsequent steps are repeated when another lower side door strap is welded later.
Preferably, in the second step, a group of lower side doors to be welded are placed at the feeding station manually by using a forklift, and the number of the group of lower side doors to be welded can be 10-30.
According to the welding process of the automatic welding machine for the door strip of the lower side door of the open wagon, a positioning mode that the theoretical center line of the door strip is overlapped with the design center line of the door strip at the position of the lower side door is adopted in the seventh step.
The welding process of the automatic welding machine for the door belts of the lower side door of the open wagon adopts four carbon dioxide protection welding machines to weld two door belts simultaneously.
The invention has the beneficial effects that:
1. The automatic welding machine for the door strip of the lower side door of the open wagon and the welding process thereof greatly improve the welding efficiency, reduce the working strength and improve the working environment.
2. According to the automatic welding machine for the door strip of the lower side door of the open wagon and the welding process thereof, the lifting and separating of the welded lower side door are completed by adopting the vacuum chuck, so that the suction force when the surface flatness of the qualified old lower side door is in a limit value is ensured.
3. The automatic welding machine for the door belt of the lower side door of the open wagon and the welding process thereof adopt a positioning mode that the theoretical center line of the door belt is overlapped with the designed center line of the door belt at the position of the lower side door, thereby solving the current situations that the widths of the new door belt and the old door belt are inconsistent and the welding gaps are unequal.
4. According to the automatic welding machine for the door belts of the lower side door of the open wagon and the welding process thereof, two door belts are welded simultaneously by adopting four carbon dioxide shielded welding machines, so that the welding efficiency is greatly improved.
Drawings
The aspects and advantages of the present application will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. In the drawings:
FIG. 1 is a schematic diagram of an automatic welding machine for door belts of bottom side doors of an open wagon according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a door strap feeding mechanism;
FIG. 3 is a schematic structural view of a door strap feeding mechanism;
FIG. 4 is a schematic structural view of a door panel feeding mechanism and a post-weld take-off mechanism;
FIG. 5 is a schematic diagram of a mobile welding mechanism;
the components represented by the reference numerals in the figures are:
Host computer 1, fuselage frame 1a, door zone feed mechanism 1b, door plant feeding mechanism 1c, door plant feed mechanism 1d, remove welding mechanism 1e, material taking mechanism 1f after welding, control system 2.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Referring to fig. 1, fig. 1 is a schematic diagram of an automatic welding machine for a door strip of a lower side door of an open wagon according to an embodiment of the present invention. The automatic welding machine for the door strip of the lower side door of the open wagon comprises a main machine 1, a control system 2, a pressure air source, a negative pressure source and a power supply, wherein the pressure air source, the negative pressure source and the power supply are used for realizing functions of the main machine.
The main machine 1 consists of a machine body frame 1a, a door belt feeding mechanism 1b, a door plate feeding mechanism 1c, a door plate feeding mechanism 1d, a movable welding mechanism 1e and a post-welding material taking mechanism 1 f.
Wherein: the frame 1a of the machine body is a welding structural member, a main body material is a thick-wall rectangular steel pipe, all parts are connected by high-strength bolts and fixed with the ground through a baseboard, so that the equipment is convenient to adjust and maintain; the fuselage frame 1a provides a fixed support for other mechanisms of the host 1.
The door belt feeding mechanism 1b comprises a door belt feeding support plate, a door belt feeding cylinder and a door belt feeding base, wherein the door belt feeding cylinder adopts a stroke-adjustable cylinder, the door belt feeding support plate is connected with the door belt feeding base through the cylinder, a body of the cylinder is fixed on the door belt feeding base, a piston rod of the cylinder is fixedly connected with the door belt feeding support plate, the door belt feeding support plate can move up and down in a straight line under the driving of the cylinder, the door belt feeding base is a welding structure fixedly connected with the ground through a baseboard, a door belt positioning support is fixedly arranged on the door belt feeding support plate, and concretely, the door belt positioning support is a door belt side positioning support for positioning the long side of a door belt and a door belt front end positioning support for positioning the front end of the door belt, and two door belts are fixedly arranged on the door belt feeding support plate, so four door belt side positioning supports and two door belt front end positioning supports are fixedly arranged on the support plate through bolts; when the door belt feeding operation is carried out, firstly, the door belt is manually put on a door belt feeding supporting plate, the lateral sides of the door belt are propped against the planes of the two door belt lateral side positioning brackets to realize the transverse positioning of the door belt, and then the front end of the door belt is propped against the door belt front end positioning brackets to realize the longitudinal positioning of the door belt; after the door belt is positioned on the door belt feeding supporting plate, the door belt feeding supporting plate is driven to rise to a door belt feeding station through the air cylinder; the door belt feeding mechanism is also provided with a position detection switch for detecting whether the feeding supporting plate is lifted in place or lowered in place.
The following is an example of a position detection switch of a door belt feeding mechanism: the door belt feeding base is fixedly provided with two proximity switches, a block which can be detected by the proximity switches is fixed on a piston rod of a feeding supporting plate or a cylinder, the block is detected by the two proximity switches when the feeding supporting plate rises in place or falls in place, and a detection signal of the proximity switches is transmitted to the control system 2; the principle of position detection in other mechanisms in this patent is the same as the principle herein, and the position detection structure will not be described in detail.
Referring to fig. 3, the door feeding mechanism 1c includes a door feeding base, a door feeding slider, a door feeding guide rail, a door feeding gear, a door feeding rack, and a door feeding servo motor. The door plate feeding base is slidably connected with the door plate feeding frame, specifically, a guide rail is arranged on the door plate feeding frame, and a sliding block is arranged on the door plate feeding base to be matched with the guide rail; a rack is fixedly arranged on a door plate feeding frame, a servo motor is fixedly arranged on a door plate feeding base, an output shaft of the servo motor is connected with a gear, the gear and the rack are matched with each other to drive the door plate feeding base to do linear motion on the door plate feeding frame along a guide rail under the driving of the servo motor, and the door plate feeding frame shares a large welding structural member with the door plate feeding mechanism 1d and the frame of the post-welding material taking mechanism 1 f; a vacuum chuck is connected below the door plate feeding base, the vacuum chuck is connected with the door plate feeding base through an air cylinder, and a piston rod of the air cylinder drives the vacuum chuck to move up and down.
Further, the lower side door to be welded is uniformly placed on the door plate feeding supporting plate below the door plate feeding mechanism 1c, and preferably, the center of the lower side door is opposite to the vacuum chuck. The lower side door is placed on the door plate feeding supporting plate through a forklift, a group of door plates are not more than 20, the group of door plates are placed in a special frame, limiting pieces are arranged around the frame, so that the positions of the group of door plates on the door plate feeding supporting plate are unified, and the positions of the group of door plates can be accurately determined through pin positioning of the frame and the door plate feeding supporting plate. The vacuum chuck descends under the action of the air cylinder until the vacuum chuck contacts with the door plate and sucks up the door plate, the door plate feeding base is driven by the door plate feeding servo motor to do linear motion along the guide rail on the door plate feeding frame, the door plate is conveyed to the feeding station from the feeding station, the vacuum chuck descends and loosens the door plate, and the door plate falls on the base of the door plate feeding mechanism 1 d.
Furthermore, the door plate feeding mechanism 1c is also provided with a position detection switch, so that the position of the door plate feeding base can be detected, closed-loop control is formed by the door plate feeding base and a servo motor, and the accurate and safe positioning is ensured.
In this embodiment, the vacuum chuck, also known as a vacuum spreader, is one of the vacuum equipment actuators. Generally, gripping an article with a vacuum chuck is the cheapest method. The working principle of the vacuum chuck is as follows: firstly, the vacuum sucker is communicated with vacuum equipment such as a vacuum generator through a connecting pipe, then is contacted with an object to be lifted, and the vacuum equipment is started to suck, so that negative air pressure is generated in the sucker, the object to be lifted is firmly sucked, and the object to be lifted can be conveyed. When the object to be lifted is conveyed to the destination, the object to be lifted is stably inflated into the vacuum chuck, so that the negative air pressure in the vacuum chuck is changed into zero air pressure or slightly positive air pressure, and the vacuum chuck is separated from the object to be lifted, thereby completing the task of lifting and conveying the object.
Referring to fig. 4, the door plate feeding mechanism 1d includes a door plate feeding base, a door plate feeding servo motor, a door plate feeding gear, a door plate feeding rack and a screw lifter. And the door plate conveying mechanism is used for conveying the door plate sent by the door plate feeding mechanism 1c to a welding station and lifting the door plate to a welding position to finish the combined welding of the door plate and the door belt. The door plate feeding base is matched with a door plate feeding rack fixedly arranged on the machine body frame (1 a) through a door plate feeding servo motor driving door plate feeding gear fixedly arranged on the door plate feeding base, and moves linearly along a door plate feeding guide rail fixedly arranged on the machine body frame (1 a), and a door plate feeding slide block matched with the door plate feeding guide rail is fixedly arranged on the door plate feeding base; the screw rod lifter is arranged on the door plate feeding base, and when the door plate feeding base slides to a welding station, the door plate is lifted to the welding position by driving the screw rod lifter through a servo motor fixed on the door plate feeding base. The position of the door plate feeding mechanism 1d is also provided with a detection switch, so that the position of the door plate feeding base and the position of the door plate on the door plate feeding base can be detected, closed-loop control is formed by the door plate feeding base and the door plate and a servo motor, and the accurate and safe positioning is ensured.
Further, the screw lifter consists of parts such as worm gears, a box body, bearings, screw rods and the like. The working principle is as follows: the motor or the manual driving worm rotates, the worm drives the worm wheel to rotate in a decelerating way, the worm wheel cavity is processed into an internal thread, the internal thread is matched with the screw rod, the screw rod prevents the screw rod from rotating through a rotation stopping mechanism (such as a long rotation stopping groove is formed in the screw rod and is connected with other fixing parts through a key), and at the moment, the worm wheel can only drive the screw rod to move up and down in a rotating way.
Next, referring to fig. 5, the mobile welding mechanism 1e is a core part of an automatic welding machine, and includes a door strap grabbing and positioning device, a door plate welding device, and a mobile welding mechanism position detecting switch. The movable welding mechanism 1e moves along a linear guide rail mounted on a frame of the movable welding mechanism 1e, and performs the following operations: the door belt grabbing and positioning and the door plate welding are realized by driving the precise gear rack to move by a servo motor in a linear movement manner on the frame. The movable welding mechanism 1e is provided with a welding gun, the linear movement of the welding gun along a welding line is realized by adopting a servo motor to be matched with a linear movement module, and the lifting of the welding gun is completed by an air cylinder. Preferably, the welding gun is controlled by a cylinder with adjustable stroke so as to realize the vertical movement of the welding gun
Further, the door belt grabbing positioning device comprises a movable welding support, a door belt grabbing guide rail, a door belt grabbing servo motor, a door belt grabbing gear, a door belt grabbing rack and a door belt clamping mechanism. After the door belt is lifted to the door belt feeding station by the door belt feeding mechanism 1b, the movable welding mechanism 1e is matched with a rack on a frame of the welding mechanism along a guide rail on a large frame where the movable welding mechanism 1e is positioned to move to the upper part of the door belt by a servo motor driving gear, the lower part of the movable welding mechanism 1e is provided with a door belt clamping mechanism, the door belt clamping mechanism is pushed to enter a head hole of the door belt by a centering cylinder and is pressed to a fixed surface by a centering rod, the door belt clamping mechanism is pressed against the tail part of the door belt to a fixed surface by a locking cylinder so as to lock the tail part of the door belt, the door belt clamping mechanism is contacted with the lower part of the door belt below the door belt by a supporting plane when the head part and the tail part of the door belt are positioned, the door belt clamping mechanism is pressed to flatten the upper plane of the door belt by two pressing cylinders, then the servo motor is driven to move the movable welding mechanism 1e to the upper part of the door plate, and the position of the door belt clamping mechanism 1e is provided with a detection switch, so that the position of the door belt clamping mechanism 1e can be positioned to form closed loop control with the servo motor, and the positioning is ensured to be accurate.
Door plate welding working principle: after the movable welding mechanism 1e moves to a welding station, the door plate feeding mechanism 1d lifts the workpiece to a welding position, the movable welding mechanism 1e presses the fixed door belt, the welding gun descends to a proper position, and the welding gun moves along the welding position to finish welding.
Further, the door plate welding device comprises a welding machine, displacement of the welding machine in the welding line direction is driven by a servo linear unit, the welding machine is fixed on a welding machine base, the welding machine base is slidably connected with a frame of the movable welding mechanism 1e, namely, a sliding block is fixedly arranged on the welding machine base, the frame of the movable welding mechanism 1e is provided with a guide rail matched with the sliding block, a servo motor is fixedly arranged on the welding machine base, and a servo motor driving gear is matched with a rack on the frame of the movable welding mechanism 1 e; the vertical movement of the welding gun is realized by an air cylinder, the stroke is adjustable, namely the welding gun is connected with a piston rod of the air cylinder with the adjustable stroke, the body of the air cylinder is fixedly connected with a base of the welding machine, and welding wires of the welding gun are provided by a wire feeder fixedly arranged on a frame of the movable welding mechanism 1 e; monitoring the position of a welding gun of the welding machine in real time by using a displacement sensor; preferably, the door plate welding device comprises four welding machines, and the positions of the four welding machines correspond to four welding seams of the door belt and the lower side door.
In this embodiment, the post-welding material taking mechanism 1f includes a post-welding material taking base, a post-welding material taking cylinder, a post-welding material taking suction cup, a post-welding material taking slider, a post-welding material taking guide rail, a post-welding material taking servo motor, a post-welding material taking rack, and a post-welding material taking gear, see fig. 4. The cylinder body of the post-welding material taking cylinder is fixedly arranged on a post-welding material taking base, the post-welding material taking base is matched with a post-welding material taking guide rail fixed on the machine body frame 1a through a post-welding material taking slide block fixed on the post-welding material taking base to slide along the post-welding material taking guide rail on the machine body frame 1a, an output shaft of the post-welding material taking servo motor is connected with a post-welding material taking gear, the post-welding material taking gear is matched with the post-welding material taking rack, and the post-welding material taking rack is fixedly arranged on the machine body frame 1 a; the post-welding material taking mechanism 1f further comprises a post-welding material taking position detection switch for detecting the position of the post-welding door plate.
Further, the post-welding material taking sucker of the post-welding material taking mechanism 1f adopts a vacuum sucker. After the welding task is finished, the door plate feeding mechanism 1d conveys the workpiece back to the feeding station, a piston rod of the post-welding material taking cylinder drives the post-welding material taking sucker to move downwards to grab the post-welding door plate, the post-welding material taking mechanism 1f moves to a post-welding material discharging position, and the working principle of the post-welding material taking mechanism 1f sliding linearly along the frame of the post-welding material taking mechanism is the same as the working principle of the slide block guide rails of the other mechanisms and the servo motor driving gear rack, and the repeated description is omitted; after the post-welding material taking mechanism 1f moves to the post-welding material discharging position, a travel switch sends a signal, the post-welding material taking mechanism 1f stops sliding, a material taking cylinder moves downwards, a post-welding door plate is placed on a movable trolley or a material pallet, and after a certain number of post-welding door plates (20 pieces are designed to be one batch) are accumulated, the post-welding door plate is transported and removed by a forklift.
Of course, the adsorption mode of the welded lower side door can also be adsorbed by adopting an electromagnet with large magnetic force, but in practice, the adsorption mode of the electromagnet is greatly influenced by temperature and operation time, the situation that the welded lower side door is not firmly adsorbed and falls off frequently occurs in use is found, the size of the electromagnetic chuck is increased for a plurality of times to increase the adsorption magnetic force, and the adsorption effect is still not obvious. In order to thoroughly eliminate hidden danger, the post-welding material taking sucker is preferably a vacuum sucker so as to thoroughly eliminate the influence of temperature on the adsorption force.
In this embodiment, the control system 2 includes a PLC, a touch screen, a servo motor driver, a power supply, a relay, a contactor, a push button switch, and a control cabinet. A touch screen + button mode of operation is employed. The main power supply 3-phase 4-wire AC 380V, control voltage DC 24V. The PLC adopts Mitsubishi products, the servo motor is a table product, and the position detection switch is an ohm dragon product. The servo motor and the position detection switch are connected with the control system.
The cylinder used in the main unit 1 is driven by compressed air, and the air compressor unit is generally used in the existing factories to intensively supply the compressed air to the whole factories, wherein the maximum air pressure of the air source of the equipment is 0.7MPa, and the air pressure is 0.55MPa. In order to ensure the cleanness and energy saving of the compressed air, the pneumatic system adopts two-stage filtration to ensure a clean air source. The air source processing and controlling system includes pressure air filtering and regulating element, pipeline, accessory, reversing valve, speed regulating element, solenoid valve, etc.
The negative pressure required for the vacuum chuck is generated by a vacuum generator.
The vacuum generator is a novel, efficient, clean, economical and small-sized vacuum component for generating negative pressure by utilizing a positive pressure air source, so that the negative pressure can be obtained easily and conveniently at a place where compressed air exists or a place where positive and negative pressures are simultaneously needed in a pneumatic system. Vacuum generators are widely used in industrial automation in the fields of machinery, electronics, packaging, printing, plastics, robots, etc. The vacuum generator is conventionally used for sucking discs for sucking and transporting various materials, and is particularly suitable for sucking fragile, soft and thin nonferrous, nonmetallic materials or spherical objects. In such applications, a common feature is that the required extraction is small, the vacuum requirement is low and intermittent operation is achieved.
The technical process when the automatic welding machine for the door strip of the lower side door of the open wagon welds the lower side door is as follows:
1. firstly, checking whether the equipment is abnormal or not, whether a power source is normally available or not, and then starting the system.
2. The lower door group (20 fans/batch in general) is manually placed on the feeding supporting plate, and the door plate feeding mechanism 1c automatically moves the lower door to be welded to the feeding position and then resets.
3. The door belt is manually placed on the positioning plate of the door belt feeding mechanism 1 b.
4. And starting the system program to run.
The following automatically performs actions for the device:
5. the movable welding mechanism 1e moves to the door strap feeding station.
6. The door belt lifts, and simultaneously the door plate feeding mechanism 1d moves the lower side door to be welded to the welding station.
7. The movable welding mechanism 1e grabs the door strap, and the door strap feeding mechanism 1b is reset.
8. The movable welding mechanism 1e moves to a welding station, the door plate feeding mechanism 1d lifts a workpiece to a welding position, the movable welding mechanism 1e presses a fixed door belt, a welding gun descends to a proper position, and the welding gun moves along the welding position to finish welding.
9. And the welding gun is lifted and reset, the door belt is pressed, fixed and loosened, and the door plate feeding mechanism 1d returns to finish welding of a lower side door.
10. The post-welding material taking mechanism descends to grab the welded lower side door, conveys the welded lower side door into a post-welding workpiece collecting device, and then ascends and resets.
Furthermore, the welding process is a process for welding a lower side door strap, and the third and subsequent steps are repeated when another lower side door strap is welded later.
Steps 7-9 are the core part of the welding process of the present patent: the door belt grabbing and positioning and door plate welding work is automatically completed, two door belts are welded simultaneously by adopting four carbon dioxide protection welding machines, and the welding efficiency is greatly improved.
Preferably, as the width of the new door belt is inconsistent with the width of the old door belt when the lower side door is maintained, the welding process adopts a positioning mode that the theoretical center line of the door belt is overlapped with the designed center line of the door belt at the position of the lower side door, thereby solving the current situations that the widths of the new door belt and the old door belt are inconsistent and welding gaps are unequal; the specific positioning mode needs to set position detection switches of all functional mechanisms of the host according to actual conditions when equipment is debugged so that the theoretical center line of the door belt coincides with the design center line of the door belt at the lower side door.
Preferably, the welding gun in the step 8 is controlled by a cylinder with adjustable stroke so as to realize vertical movement of the welding gun, and the position of a door ring can be avoided in the welding process.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. The welding process of the door belt of the lower side door of the open wagon is characterized in that an automatic welding machine of the door belt of the lower side door of the open wagon is adopted for welding;
The automatic welding machine for the door strip of the lower side door of the open wagon comprises a machine body frame (1 a), a door strip feeding mechanism (1 b), a door strip feeding mechanism (1 c), a door strip feeding mechanism (1 d), a movable welding mechanism (1 e) and a post-welding material taking mechanism (1 f), wherein the door strip feeding mechanism (1 b) is positioned on a moving route of the movable welding mechanism (1 e), and moving routes of the door strip feeding mechanism (1 c) and the post-welding material taking mechanism (1 f) are crossed with the moving route of the door strip feeding mechanism (1 d);
the welding process comprises the following steps:
step one: checking whether the equipment is abnormal or not, whether a power source is normally available or not, and then starting a control system (2);
Step two: the door plate feeding mechanism (1 c) moves a lower side door to be welded of a feeding station to a feeding position, and then the door plate feeding mechanism (1 c) resets;
Step three: placing a door belt to be welded on a door belt feeding mechanism (1 b);
step four: the movable welding mechanism (1 e) moves to a door belt feeding station;
step five: the door strip feeding mechanism (1 b) lifts the door strip, and the door plate feeding mechanism (1 d) moves the lower side door to be welded to the welding station;
step six: the movable welding mechanism (1 e) grabs the door belt, and then the door belt feeding mechanism (1 b) resets;
Step seven: the movable welding mechanism (1 e) moves to a welding station, the door plate feeding mechanism (1 d) lifts a workpiece to a welding position, the movable welding mechanism (1 e) compresses a fixed door belt, a welding gun of the movable welding mechanism (1 e) descends to a proper position and moves along the welding position, and welding is completed;
Step eight: the welding gun of the movable welding mechanism (1 e) is lifted and reset, the door belt is pressed, fixed and loosened, and the door plate feeding mechanism (1 d) is reset to finish welding of a lower side door;
step nine: the post-welding material taking mechanism (1 f) descends to grab the welded lower side door and conveys the welded lower side door into a post-welding workpiece collecting device, and then ascends and resets.
2. The welding process of the door belt of the lower side door of the open wagon according to claim 1, wherein in the seventh step, a positioning mode that a theoretical center line of the door belt coincides with a design center line of the door belt at the lower side door is adopted.
3. The welding process of the door strip of the lower side door of the open wagon according to claim 1, wherein the movable welding mechanism (1 e) comprises four carbon dioxide shielded welding machines, and two door strips can be welded simultaneously.
4. The automatic welding machine for the door strip of the lower side door of the open wagon is characterized by comprising a main machine (1), a control system (2) and a power source, wherein the main machine (1) comprises a machine body frame (1 a), a door strip feeding mechanism (1 b), a door plate feeding mechanism (1 c), a door plate feeding mechanism (1 d), a movable welding mechanism (1 e) and a post-welding material taking mechanism (1 f); the machine body frame (1 a) provides fixed support for a door belt feeding mechanism (1 b), a door plate feeding mechanism (1 c), a door plate feeding mechanism (1 d), a movable welding mechanism (1 e) and a post-welding material taking mechanism (1 f), the control system (2) is connected with the door belt feeding mechanism (1 b), the door plate feeding mechanism (1 c), the door plate feeding mechanism (1 d), the movable welding mechanism (1 e) and the post-welding material taking mechanism (1 f), and the power source provides power for the door belt feeding mechanism (1 b), the door plate feeding mechanism (1 c), the door plate feeding mechanism (1 d), the movable welding mechanism (1 e) and the post-welding material taking mechanism (1 f);
The machine body frame (1 a) is a welding structural member, the machine body frame (1 a) adopts thick-wall rectangular steel pipes, and all parts of the machine body frame (1 a) are connected by high-strength bolts and fixed with the ground through a baseboard;
The door belt feeding mechanism (1 b) comprises a door belt feeding supporting plate, a door belt feeding cylinder and a door belt feeding base; the door belt feeding supporting plate is connected with the door belt feeding base through a door belt feeding cylinder, and a door belt positioning bracket is arranged on the door belt feeding supporting plate;
the door plate feeding mechanism (1 c) comprises a door plate feeding base, a door plate feeding sliding block, a door plate feeding guide rail, a door plate feeding gear, a door plate feeding rack and a door plate feeding servo motor; the door plate feeding base is slidably connected with the machine body frame (1 a), the door plate feeding guide rail is fixedly arranged on the machine body frame (1 a), and the door plate feeding sliding block matched with the door plate feeding guide rail is fixedly arranged on the door plate feeding base; the machine body frame (1 a) is fixedly provided with the door plate feeding rack, the door plate feeding base is fixedly provided with the door plate feeding servo motor, an output shaft of the door plate feeding servo motor is fixedly connected with the door plate feeding gear, and the door plate feeding gear is connected with the door plate feeding rack; a door plate feeding sucker is fixedly connected below the door plate feeding base, and is connected with the door plate feeding base through a door plate feeding cylinder;
The door plate feeding mechanism (1 d) comprises a door plate feeding base, a door plate feeding servo motor, a door plate feeding gear, a door plate feeding rack and a screw lifter; the door plate feeding base is matched with a door plate feeding rack fixedly arranged on the machine body frame (1 a) through a door plate feeding servo motor driving door plate feeding gear fixedly arranged on the door plate feeding base to linearly move along a door plate feeding guide rail fixedly arranged on the machine body frame (1 a), and a door plate feeding sliding block matched with the door plate feeding guide rail is fixedly arranged on the door plate feeding base; the screw rod lifter is arranged on the door plate feeding base and is used for lifting the door plate to a welding position;
the movable welding mechanism (1 e) comprises a door belt grabbing and positioning device, a door plate welding device and a movable welding mechanism position detection switch;
The post-welding material taking mechanism (1 f) comprises a post-welding material taking base, a post-welding material taking cylinder, a post-welding material taking sucker, a post-welding material taking sliding block, a post-welding material taking guide rail, a post-welding material taking servo motor, a post-welding material taking rack and a post-welding material taking gear; the piston rod of the post-welding material taking cylinder drives the post-welding material taking sucker to move downwards to grab the post-welding door plate, the cylinder body of the post-welding material taking cylinder is fixedly arranged on the post-welding material taking base, the post-welding material taking base is matched with the post-welding material taking guide rail fixed on the machine body frame (1 a) through the post-welding material taking slide block fixed on the post-welding material taking base, the machine body frame (1 a) slides along the post-welding material taking guide rail, the output shaft of the post-welding material taking servo motor is connected with the post-welding material taking gear, the post-welding material taking gear is matched with the post-welding material taking rack, and the post-welding material taking rack is fixedly arranged on the machine body frame (1 a).
5. The automatic welding machine for door strips of lower side doors of open wagon according to claim 4, wherein the door strip feeding mechanism (1 b) further comprises a door strip feeding mechanism position detection switch for detecting a feeding pallet; the door plate feeding mechanism (1 c) further comprises a door plate feeding mechanism position detection switch for detecting the position of the door plate feeding base; the door plate feeding mechanism (1 d) further comprises a door plate feeding position detection switch for detecting the positions of the door plate feeding base and the door plate thereon; the post-welding material taking mechanism (1 f) further comprises a post-welding material taking position detection switch for detecting the position of the post-welding door plate.
6. The automatic welding machine for door strips of lower side doors of open wagon according to claim 4, wherein the door strip grabbing positioning device of the mobile welding mechanism (1 e) comprises a mobile welding support, a door strip grabbing guide rail, a door strip grabbing servo motor, a door strip grabbing gear, a door strip grabbing rack and a door strip clamping mechanism; the movable welding support is arranged on the frame (1 a) along the door belt grabbing guide rail fixedly arranged on the frame (1 a), the door belt grabbing gear is driven by the door belt grabbing servo motor to move to the position above the door belt in a matched mode with the door belt grabbing rack on the frame (1 a), and a door belt clamping mechanism is arranged at the lower part of the movable welding support;
The door plate welding device comprises a welding machine, a welding machine base, a door plate welding sliding block, a door plate welding guide rail, a door plate welding servo motor, a door plate welding gear, a door plate welding rack and a door plate welding cylinder; the welding machine is fixed on a welding machine base, the welding machine base is slidably connected with the machine body frame (1 a), a door plate welding sliding block is fixedly installed on the welding machine base, a door plate welding guide rail matched with the door plate welding sliding block is fixedly installed on the machine body frame (1 a), a door plate welding servo motor is fixedly installed on the welding machine base, and a door plate welding gear is driven by the door plate welding servo motor to be matched with a door plate welding rack on the machine body frame (1 a); the welding gun of the welding machine vertically moves by a door plate welding cylinder, the body of the door plate welding cylinder is fixedly connected with a welding machine base, the welding machine is fixedly connected with a piston rod of the door plate welding cylinder, and the position detection switch of the movable welding mechanism is used for detecting the upper position and the lower position of the welding machine; the door plate welding device further comprises a displacement sensor for monitoring the position of a welding gun of the welding machine in real time.
7. The automated welding machine for door belts of bottom doors of open cars according to any of claims 4-6 wherein the door panel feed suction cup and/or post-weld take-out suction cup comprises a vacuum suction cup.
8. The automated welding machine for door belts of the lower side door of an open wagon according to claim 7, characterized in that the power source comprises a main power source, a compressed air source and a negative pressure source, the main power source provides power for the main machine (1) and the control system (2), the compressed air source provides compressed air for all pneumatic actuators in the main machine (1), and the negative pressure source provides negative pressure for all vacuum chucks in the main machine (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911294070.1A CN110842330B (en) | 2019-12-16 | 2019-12-16 | Automatic welding machine for door strip of lower side door of open wagon and welding process of automatic welding machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911294070.1A CN110842330B (en) | 2019-12-16 | 2019-12-16 | Automatic welding machine for door strip of lower side door of open wagon and welding process of automatic welding machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110842330A CN110842330A (en) | 2020-02-28 |
| CN110842330B true CN110842330B (en) | 2024-05-07 |
Family
ID=69609366
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911294070.1A Active CN110842330B (en) | 2019-12-16 | 2019-12-16 | Automatic welding machine for door strip of lower side door of open wagon and welding process of automatic welding machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110842330B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113102924B (en) * | 2021-04-21 | 2023-03-21 | 广州荣裕智能机械有限公司 | Welding machine for thermosensitive wires of thermometers |
| CN117245176A (en) * | 2023-09-25 | 2023-12-19 | 东风设备制造有限公司 | A multifunctional door repair welding system, method, equipment and storage medium |
| CN117961357B (en) * | 2024-03-30 | 2024-06-21 | 山东沃伦门窗有限公司 | Door and window welding machine |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2928357Y (en) * | 2006-07-28 | 2007-08-01 | 中国南车集团戚墅堰机车车辆厂 | Automatic welder for railway freight train open car bottom side door |
| CN102166681A (en) * | 2011-05-17 | 2011-08-31 | 西安轨道交通装备有限责任公司 | Automatic overhead welding system for external horizontal fillet welds between end wall and end beam of gondola car |
| CN202240082U (en) * | 2011-05-17 | 2012-05-30 | 西安轨道交通装备有限责任公司 | Automatic elevation angle welding system for the outer transverse weld seam of end wall and end beam of gondola car |
| CN205184119U (en) * | 2015-11-20 | 2016-04-27 | 南车长江车辆有限公司 | Side door assembly welding automatic positioning device that folds paper under open car |
| CN211192438U (en) * | 2019-12-16 | 2020-08-07 | 北京首铁中博机械设备有限公司 | Automatic welding machine for door belt of lower side door of open wagon |
-
2019
- 2019-12-16 CN CN201911294070.1A patent/CN110842330B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2928357Y (en) * | 2006-07-28 | 2007-08-01 | 中国南车集团戚墅堰机车车辆厂 | Automatic welder for railway freight train open car bottom side door |
| CN102166681A (en) * | 2011-05-17 | 2011-08-31 | 西安轨道交通装备有限责任公司 | Automatic overhead welding system for external horizontal fillet welds between end wall and end beam of gondola car |
| CN202240082U (en) * | 2011-05-17 | 2012-05-30 | 西安轨道交通装备有限责任公司 | Automatic elevation angle welding system for the outer transverse weld seam of end wall and end beam of gondola car |
| CN205184119U (en) * | 2015-11-20 | 2016-04-27 | 南车长江车辆有限公司 | Side door assembly welding automatic positioning device that folds paper under open car |
| CN211192438U (en) * | 2019-12-16 | 2020-08-07 | 北京首铁中博机械设备有限公司 | Automatic welding machine for door belt of lower side door of open wagon |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110842330A (en) | 2020-02-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110170752B (en) | Laser cutting equipment | |
| CN106334889B (en) | A kind of axle housing vertical masonry joint automatic welding production line and its control method | |
| CN103009173B (en) | Disk-like accessory five axle auto-duplex position charging and discharging mechanism | |
| CN210937684U (en) | Automatic go up unloading laser cutting equipment | |
| CN110842330B (en) | Automatic welding machine for door strip of lower side door of open wagon and welding process of automatic welding machine | |
| CN210334788U (en) | Laser cutting equipment | |
| CN110817403B (en) | An open-type press connection type automatic loading and unloading system and its application | |
| CN105436886A (en) | Automatic assembly line for water pump | |
| CN103350286B (en) | A kind of welding equipment of door of elevator wallboard reinforcement end socket and method | |
| CN106167120B (en) | A kind of full-automatic online Energy Label sticking machine | |
| CN117142150B (en) | Automatic pile up neatly system of cap cold-formed steel | |
| CN208020326U (en) | An automatic unloading machine and an automatic unloading system | |
| CN211192438U (en) | Automatic welding machine for door belt of lower side door of open wagon | |
| CN211248933U (en) | A steel structure automatic welding production line | |
| CN206288676U (en) | An ICT automatic feeding equipment | |
| CN113816091A (en) | Hanger for garment production line | |
| CN109940098A (en) | Riveting piece assembly detection device | |
| CN115383549A (en) | A glass chamfering device, glass products automatic fast chamfering machine | |
| CN222971645U (en) | Heavy-load roller flexible production equipment | |
| CN111922842B (en) | Polishing detection system and method for ceramic screw | |
| CN206544176U (en) | A kind of modular manipulator | |
| CN219187763U (en) | Detection device | |
| CN218926901U (en) | Automatic production line of automobile cam ring part machining robot | |
| CN111215912A (en) | Truss manipulator of processing machine tool | |
| CN114193209A (en) | Roller feeding and discharging machine |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |