CN111112893A

CN111112893A - Automatic welding equipment and welding method for construction elevator wall-attached frame

Info

Publication number: CN111112893A
Application number: CN202010012911.1A
Authority: CN
Inventors: 董斌; 蔡伟; 赖鼎盛
Original assignee: Fujian Xinchengyu Robot Technology Co Ltd
Current assignee: Fujian Xinchengyu Robot Technology Co Ltd
Priority date: 2020-01-07
Filing date: 2020-01-07
Publication date: 2020-05-08

Abstract

The invention discloses an automatic welding device and a welding method for a construction elevator wall-attached frame in the technical field of automatic welding of the wall-attached frame, which comprises a main body frame, the main body frame is of a cross beam type frame structure, a cross beam on the main body frame is a slide rail cross rod, a raw material rack is arranged on one side of the slide rail cross rod, a finished product rack is arranged on the other side of the slide rail cross rod, the main body rack is not arranged on a movable path between the raw material rack and the finished product rack, the welding robot can not be exhausted, the welding quality is more stable, the continuous production can be realized, the production efficiency is high, thus avoiding the difficult and heavy workload of manual on-site welding, only needing to be installed on site, and this device can be in certain size within range adjustment need the welded size of attaching the wall frame, is fit for attaching the high-efficient welding production in a large number of wall frames.

Description

Automatic welding equipment and welding method for construction elevator wall-attached frame

Technical Field

The invention relates to the technical field of automatic welding of wall-attached frames, in particular to automatic welding equipment and a welding method for a wall-attached frame of a construction elevator.

Background

Every section of height of the construction elevator is provided with the wall attaching frame to connect the construction elevator with the structure so as to ensure that the construction elevator is vertical and firm and prevent the elevator from shaking or collapsing due to too high force.

For elevator operation problems and safety and firmness, the stable locking of the vertical frame of elevator operation and the construction building by using the wall attaching frame is a necessary connection mode.

At present, the wall attaching frame is basically fixed parts and is welded on site or locked by bolts to achieve the purpose of stably supporting the vertical elevator, however, the wall attaching frame needs to be very firm to support the construction elevator, and the wall attaching frame needs to be additionally arranged at intervals to reinforce the vertical construction elevator or the elevator so as to avoid the construction elevator from shaking or collapsing.

Because the integral structure of the wall-attached frame is designed based on the starting point of convenient installation, firmness and stability, the basic structure is very similar, the existing manual operation and processing is low in efficiency, and the processing size and quality are unstable; especially when two different square steels are welded together, the two square steels need to be connected by more firm full welding, the full welding mode is prone to error in manual operation and causes instability and infirm, when one project is constructed, a plurality of construction elevators need to be assembled at the same time, the construction elevators need to be attached to wall frames, the workload of welding workers is large, the welding workers need to be welded in large quantity, the seamless full welding which needs to be operated carefully often causes fatigue of the welding workers, errors are prone to occurring, the structures of the wall frames used by the same project are consistent, and the wall frame production equipment which can be suitable for different sizes and can be welded automatically is needed to meet the welding production of the wall frames used by the project efficiently.

Based on the technical scheme, the invention designs automatic welding equipment and a welding method for a construction elevator wall-attached frame, and aims to solve the problems.

Disclosure of Invention

The invention aims to provide automatic welding equipment for a construction elevator wall-attached frame and a welding method thereof, which can weld the construction elevator wall-attached frame with higher efficiency and more stable quality than manual work, thus avoiding the difficulty and heavy workload of manual on-site welding, only needing to be installed on site, and being capable of adjusting the size of the wall-attached frame to be welded in a certain size range, thereby being suitable for large-scale efficient welding production of the wall-attached frame.

The invention is realized by the following steps: the automatic welding equipment for the construction elevator wall-attached frame comprises a main body frame, wherein the main body frame is of a cross beam type frame structure, a cross beam on the main body frame is a slide rail cross rod, one side of the slide rail cross rod is provided with a raw material frame, the other side of the slide rail cross rod is provided with a finished product frame, and the main body frame is not arranged on a movable path between the raw material frame and the finished product frame;

the raw material frame is also provided with a transfer clamping jaw;

the welding device comprises a large piece welding position and a small piece welding position, wherein the large piece welding position and the small piece welding position are arranged below a main body frame, base plates are arranged on the large piece welding position and the small piece welding position, a plurality of locking devices capable of clamping welding raw materials are arranged on the base plates, two ends of each base plate are respectively erected on a turnover motor and a bearing seat, the base plates are arranged on a station support in a turnover mode through the turnover motors, and the station support is fixedly arranged on the main body frame;

the welding robot is arranged on the movable hanging bracket and is arranged on the sliding rail cross rod in a sliding mode through the movable hanging bracket;

the conveying manipulator is also arranged on the main body frame, and a conveying clamping jaw is arranged at the tail end of the conveying manipulator;

the welding robot and the carrying manipulator both control the moving path through codes preset by the motion controller;

and the action controller, the carrying clamping jaw, the movable hanging bracket, the locking device, the transfer clamping jaw and the overturning motor are coordinately controlled by the master controller.

Further, the transport clamping jaw includes two fixed clamping bars, two activity buckles and a clamping jaw cylinder, every fixed clamping bar has set up the opening with one side, every all can the flexible activity buckle that has set up in the opening of fixed clamping bar, every fixed clamping bar all presss from both sides tightly each other that can loosen with a activity buckle, every two the flexible end at same clamping jaw cylinder is connected to the activity buckle, the clamping jaw cylinder passes through the master controller control.

Further, the raw material rack comprises a small raw material rack, a common raw material rack and a large raw material rack, a plurality of layers of support plates are obliquely arranged on the small raw material rack, a width limiting rod is arranged on each layer of support plate through a bolt, a plurality of station limiting rods are fixedly arranged at the lowest end of each support plate, the station limiting rod blocks the welding raw material on the gliding path of the supporting plate, the small raw material frame, the common raw material frame and the large raw material frame have the same structure, the shared raw material frame is also provided with a transfer clamping jaw, the structure of the transfer clamping jaw is the same as that of the carrying clamping jaw, and the transfer clamping jaw is controlled by a master controller, the large raw material rack is fixedly arranged on one side close to the large welding position, the small raw material rack is fixedly arranged on one side close to the large welding position, and the common raw material rack is fixedly arranged between the large raw material rack and the small raw material rack;

the movable hanger is provided with a movable motor, a gear is mounted at the output end of the movable motor, a toothed belt is arranged on the slide rail cross rod, the gear and the toothed belt are in meshed transmission, and the motor of the movable hanger is electrically connected with a master controller.

Furthermore, the locking device comprises a raw material locking cylinder, a movable locking clamp and a fixed locking clamp, the fixed locking clamp is fixedly locked on the base plate through a bolt, one end of the movable locking clamp is installed on the fixed locking clamp through a rotating shaft, the movable locking clamp is locked with the telescopic end of the raw material locking cylinder, two anti-slip blocks are arranged at the clamping positions of the movable locking clamp and the fixed locking clamp, and the shape formed by the anti-slip blocks of the movable locking clamp and the fixed locking clamp on the same plane is the same as the shape and size of the cross section of the welding raw material fixed at the corresponding position.

Further, the finished product frame includes smallclothes finished product frame and major possession finished product frame, smallclothes finished product frame and major possession finished product frame all are the dolly that has cantilever goods shelves, magnetic induction formula proximity switch has all been installed to cylinder on clamping jaw cylinder, raw materials locking cylinder and the transfer clamping jaw, every magnetic induction formula proximity switch all is connected with total controller electricity, has still installed audible-visual annunciator on the total controller, audible-visual annunciator is connected with total controller electricity, total controller is connected with external power supply electricity.

Furthermore, the device also comprises a positioning table, wherein four limiting guide plates are fixedly arranged on the positioning table, two limiting guide plates are respectively clamped on two sides of the small finished product rack and the large finished product rack, the clearance between the small finished product rack and the large finished product rack and the two limit guide plates on the two sides of each small finished product rack and the two limit guide plates on the two sides of each large finished product rack is less than one centimeter, the limiting guide plates are stainless steel plates with bent tail ends, the tail ends of the two limiting guide plates in the middle are bent inwards and close to each other, the tail ends of the two limiting guide plates at the outer sides are bent outwards, two trolley locking parts are also arranged on one side of the positioning table close to the finished product rack through a rotating motor, the locking finished product frame that the dolly retaining member can rotate the separation, the dolly retaining member can the pivoted install respectively in the outside and between two spacing deflectors in the middle, with the rotation motor and the total controller electricity of dolly retaining member installation are connected.

The storage method needs to provide automatic welding equipment for the construction elevator wall-attached frame, and the method comprises the following steps:

step 1, starting the master controller and the action controller, inquiring whether coordinates and actions need to be reset or not by the master controller, entering step 2 if necessary, entering step 4 if not necessary, and not performing step 2 and step 3 if the master controller is not restarted;

step 2, inputting accurate position coordinates of the main body frame, the large piece welding position, the small piece welding position, the raw material frame, the finished product frame and the positioning table production station into a master controller, and inputting initial positions and action states of the welding robot and the carrying manipulator into the master controller;

step 3, decomposing all the operation actions of the welding robot, the carrying mechanical arm, the carrying clamping jaw, the movable hanging bracket, the locking device, the transfer clamping jaw and the overturning motor into different actions, and correspondingly compiling the actions into action controllers according to different numbers; respectively combining the decomposed operation actions into continuous and non-interference operation steps of feeding, welding and blanking of large pieces and small pieces through the master controller;

step 4, manually placing the welding raw materials forming the whole small finished product and the large finished product into a raw material rack formed by a small raw material rack, a shared raw material rack and a large raw material rack in a one-to-one correspondence manner, so as to ensure that any welding raw material in the raw material rack cannot be lost;

step 5, the master controller controls the welding robot and the carrying manipulator to move to the initial positions of the pre-recorded action controllers, if the welding robot and the carrying manipulator enter the initial positions, the step 6 is carried out, and if the welding robot and the carrying manipulator cannot enter the initial positions, the step 11 is carried out;

step 6, the master controller monitors whether the small piece welding position and the large piece welding position are in a feeding completion state or not until the machine is shut down,

if the small piece welding position is in a feeding completion state and the large piece welding position is in a non-feeding state, entering step 10;

if the welding position of the small pieces is in the non-feeding state and the welding position of the large pieces is in the feeding completion state, the step 9 is entered,

if the small piece welding position and the large piece welding position are both in a feeding completion state, entering step 8;

if the small piece welding position and the large piece welding position are both in a non-feeding state, entering step 7;

if the operation is abnormal, entering step 11;

step 7, the master controller controls the movable hanging bracket and the welding robot to move to a preset initial position and an action state;

meanwhile, the main controller controls the carrying manipulator and a clamping jaw cylinder on the carrying clamping jaw to sequentially place all welding raw materials required by small finished products placed on the small raw material frame and the shared raw material frame into small welding positions according to the action set by the action controller, the main controller controls the locking device to lock all the placed welding raw materials, and the carrying manipulator drives the carrying clamping jaw to return to a preset initial position and an action state;

if the operation is abnormal, the step 11 is carried out, and if the operation is normal, the step 6 is carried out;

step 8, the master controller controls the conveying manipulator and the conveying clamping jaw to move to preset initial positions and action states;

meanwhile, the master controller starts a moving motor on a moving hanger, the moving hanger carries a welding robot to move right above a small piece welding position, the master controller controls the welding robot and a turnover motor to sequentially weld according to an action sequence preset on an action controller for welding small piece finished products, the welding robot welds welding raw materials clamped on the small piece welding position into an integral small piece finished product, and the master controller controls the moving hanger to carry the welding robot to move to a preset initial position and an action state;

then, the master controller controls the carrying manipulator and the carrying clamping jaw to carry the welded small finished products to the small finished product rack;

step 9, the master controller controls the carrying manipulator and a clamping jaw cylinder on the carrying clamping jaw to sequentially place all welding raw materials required by the small finished products placed on the small raw material frame and the shared raw material frame on the small welding positions according to the action set by the action controller, the master controller controls the locking device to completely lock the placed welding raw materials, and the carrying manipulator drives the carrying clamping jaw to return to a preset initial position and an action state;

meanwhile, the master controller starts a moving motor on a moving hanger, the moving hanger carries a welding robot to move to a position right above a large-piece welding position, the master controller controls the welding robot and a turnover motor to sequentially weld according to an action sequence preset for welding large-piece finished products on an action controller, the welding robot welds welding raw materials clamped on the large-piece welding position into an integral large-piece finished product, and the master controller controls the moving hanger to carry the welding robot to move to a preset initial position and an action state;

then, the master controller controls the carrying manipulator and the carrying clamping jaw in the initial position and action state to carry the welded large finished product to a large finished product rack;

the small piece welding position is in a feeding completion state, the large piece welding position is in a non-feeding state,

step 10, the master controller controls the carrying manipulator and a clamping jaw cylinder on the carrying clamping jaw to sequentially place all welding raw materials required by a large finished product placed on a large raw material frame and a shared raw material frame on a large welding position according to the action set by the action controller, the master controller controls a locking device to lock all the welding raw materials placed on the large welding position, and the carrying manipulator drives the carrying clamping jaw to return to a preset initial position and an action state;

and step 11, the master controller controls all the devices to stop, and simultaneously controls the audible and visual alarm to be electrified to send out an alarm.

Further, the operational exception comprises:

the conveying manipulator can not reach the designated position or finish the action, the movable hanger can not reach the designated position, or the welding robot can not reach the designated position or finish the action,

the stroke of the clamping jaw air cylinder or the air cylinder on the transfer clamping jaw or the raw material locking air cylinder does not conform to the normal distance of opening or clamping;

the large piece feeding completion state is as follows: all raw material locking cylinder strokes on the large part welding position are in the clamping distance;

the finished state of the small piece feeding is as follows: all raw material locking cylinder strokes on the small piece welding position are in the clamping distance;

the large part is not fed with the material state: all raw material locking cylinder strokes on the large part welding position are in the opening distance;

the small pieces are not fed in the state that: all raw material locking cylinder strokes on the small piece welding position are in the opening distance.

Furthermore, the master controller sequentially controls a plurality of raw material locking cylinders on the small piece welding position to extend, the movable locking clamp is pushed by the raw material locking cylinders, and the movable locking clamp and the fixed locking clamp lock the fed welding raw materials;

the carrying clamping jaw is controlled by the master controller to clamp or loosen, the carrying clamping jaw is loosened, the clamping jaw cylinder retracts, the movable clamp buckle retracts and is separated from the fixed clamping rod by a larger distance, and otherwise, the carrying clamping jaw is clamped.

Further, the master controller monitors the stroke states of all the raw material locking cylinders on the clamping jaw air cylinder, the air cylinder on the transfer clamping jaw, the large piece welding position and the small piece welding position in real time through the magnetic induction type proximity switch.

The invention has the beneficial effects that: the invention utilizes the carrying manipulator to accurately place the raw materials of the wall attaching frame on the large welding position and the small welding position by using higher automatic equipment, clamps all the welding raw materials of the wall attaching frame on the welding positions by the locking device, then locks the small finished products and the large finished products into a whole by turning the large welding position and the small welding position and matching the welding robot, and connects the small finished products and the large finished products with bolts to form stable support between the construction elevator and the wall to achieve the effect of stabilizing the construction elevator, the device has the structural advantages that the wall attaching frame is divided into different parts and then is assembled on site, so that a large amount of welding work is not needed on site, and the welding robot is not tired, welding quality is more stable, and can continuously produce, production efficiency is also high, and the benefit that divide into different parts is that welding robot and transport manipulator can simultaneous working, a station transport manipulator carries out the material loading, a station welding robot welds, the simultaneous working that can not influence each other, such work efficiency is higher, and because total quality has alleviateed, the structure becomes simple, the whole length of attaching the different angles that the wall frame stretches out is futilely, the transportation of split like this, it is more convenient than holistic to install and put, and need not the field weld.

Drawings

The invention will be further described with reference to the following examples with reference to the accompanying drawings.

FIG. 1 is a schematic front perspective view of the present invention;

FIG. 2 is a schematic perspective view of the back side of the present invention;

FIG. 3 is a top view of the overall structure of the present invention;

FIG. 4 is a schematic view of a welding position of a large part according to the present invention;

FIG. 5 is a schematic view of a welding position of the small part according to the present invention;

FIG. 6 is a schematic view of the structure of the product shelf of the present invention;

FIG. 7 is a schematic view of a handling robot according to the present invention;

FIG. 8 is a schematic view of the locking device of the present invention clamping the welding material;

FIG. 9 is a schematic view of a small piece material holder according to the present invention;

FIG. 10 is a schematic view of a carrying jaw configuration of the present invention;

FIG. 11 is a schematic view of the locking device of the present invention;

FIG. 12 is a rear view of the present invention;

FIG. 13 is a schematic view of a positioning table according to the present invention.

In the drawings, the components represented by the respective reference numerals are listed below:

1-main body frame, 11-slide rail cross bar, 2-large piece welding position, 21-small piece welding position, 211-bearing seat, 212-turnover motor, 22-locking device, 221-raw material locking cylinder, 222-movable locking clamp, 223-fixed locking clamp, 23-station support, 24-base plate, 3-raw material frame, 30-small piece raw material frame, 31-shared raw material frame, 32-large piece raw material frame, 33-welding raw material, 34-transfer clamping jaw, 35-width limiting rod, 36-station limiting rod, 37-supporting plate, 4-welding robot, 41-movable hanging frame, 5-finished product frame, 50-small piece finished product frame, 51-large piece finished product frame, 52-positioning table, 53-limiting guide plate, 54-a trolley locking piece, 6-a small finished product, 61-a large finished product, 7-a carrying manipulator, 71-an action controller, 72-a carrying clamping jaw, 721-a fixed clamping rod, 722-a movable clamping buckle, 73-a clamping jaw cylinder and 8-a main controller.

Detailed Description

Referring to fig. 1 to 13, the present invention provides a technical solution: an automatic welding device for a construction elevator wall-attached frame comprises a main body frame 1, wherein the main body frame 1 is of a cross beam type frame structure, a cross beam on the main body frame 1 is a slide rail cross rod 11, one side of the slide rail cross rod 11 is provided with a raw material frame 3, the other side of the slide rail cross rod 11 is provided with a finished product frame 5, and the main body frame 1 is not arranged on a movable path between the raw material frame 3 and the finished product frame 5;

the raw material frame 3 is also provided with a transfer clamping jaw 34;

the welding device comprises a large piece welding position 2 and a small piece welding position 21, wherein the large piece welding position 2 and the small piece welding position 21 are arranged below a main body frame 1, base plates 24 are arranged on the large piece welding position 2 and the small piece welding position 21, a plurality of locking devices 22 capable of clamping welding raw materials 33 are arranged on the base plates 24, two ends of each base plate 24 are erected on an overturning motor 212 and a bearing seat 211 respectively, the base plates 24 are installed on a station support 23 in an overturning manner through the overturning motors 212, and the station support 23 is fixedly arranged on the main body frame 1;

the welding robot 4 is installed on the movable hanging bracket 41, and the welding robot 4 is arranged on the sliding rail cross bar 11 in a sliding mode through the movable hanging bracket 41;

a carrying manipulator 7, wherein the carrying manipulator 7 is also arranged on the main body frame 1, and a carrying clamping jaw 72 is arranged at the tail end of the carrying manipulator 7;

a motion controller 71, wherein the welding robot 4 and the carrying manipulator 7 control the moving path through a code preset by the motion controller 71;

the master controller 8 coordinates and controls the action controller 71, the carrying clamping jaws 72, the moving hanger 41, the locking device 22, the transfer clamping jaws 34 and the overturning motor 212 by the master controller 8, so that the wall-attached frame can be quickly and stably welded, the wall-attached frame is divided into different parts to be welded, the divided parts are all in a frame structure on the same plane, the clamping and welding are convenient, the storage and the transportation are convenient, the welding speed is higher and safer than the field welding speed of the existing wall-attached frame, the welding is carried out through the welding robot 4, the quality is more stable, the efficiency is higher, one station of the welding robot 4 can be welded when the wall-attached frame is divided into two welding stations for processing, the other station is fed through the carrying manipulator 7, the welding is completed, the welding robot 4 goes to the station where the welding and the feeding are completed, the finished product clamp which is just welded is clamped and placed on the finished product frame 5 through the carrying manipulator 7, two stations operate simultaneously, and efficiency is higher to each other does not influence, only need like this the manual work to continue welding raw materials 33 according to the orderly input of corresponding position on raw materials frame 3 can.

The carrying clamping jaw 72 comprises two fixed clamping rods 721, two movable clamps 722 and a clamping jaw air cylinder 73, wherein an opening is formed in the same side of each fixed clamping rod 721, the movable clamp 722 is arranged in the opening of each fixed clamping rod 721 in a telescopic manner, each fixed clamping rod 721 and one movable clamp 722 can be clamped with each other in a releasable manner, each two movable clamps 722 are connected to the telescopic end of the same clamping jaw air cylinder 73, and the clamping jaw air cylinder 73 is controlled by a master controller 8, so that all welding raw materials 33 attached to the wall frame can be stably clamped;

the raw material frame 3 comprises a small raw material frame 30, a common raw material frame 31 and a large raw material frame 32, wherein a plurality of layers of supporting plates 37 are obliquely arranged on the small raw material frame 30, each layer of the supporting plates 37 is provided with a width limiting rod 35 through bolts, a plurality of station limiting rods 36 are fixedly arranged at the lowest end of each supporting plate 37, the station limiting rods 36 block the downward sliding path of welding raw materials 33 on the supporting plates 37, the small raw material frame 30, the common raw material frame 31 and the large raw material frame 32 have the same structure, a transfer clamping jaw 34 is further arranged on the common raw material frame 31, the transfer clamping jaw 34 and a carrying clamping jaw 72 have the same structure, the transfer clamping jaw 34 is controlled by a master controller 8, the large raw material frame 32 is fixedly arranged on the side close to the large welding position 2, the small raw material frame 30 is fixedly arranged on the side close to the large welding position 21, the common raw material rack 31 is fixedly arranged between the large raw material rack 32 and the small raw material rack 30;

the movable hanger 41 is provided with a movable motor, a gear is mounted at the output end of the movable motor, a toothed belt is arranged on the slide rail cross rod 11, the gear and the toothed belt are in meshed transmission, the motor of the movable hanger 41 is electrically connected with the master controller 8, manual feeding of welding raw materials 33 is facilitated, the welding raw materials 33 on the raw material rack 3 can automatically slide down and abut against the station limiting rod 36 under the action of gravity, an air cylinder can also be added on the raw material rack 3, and the welding raw materials 33 are continuously pushed onto the station limiting rod 36, so that the master controller 8 can accurately drive the position of the welding robot 4 through the movable hanger 41, and the welding operation coordinate can be appropriate;

the locking device 22 comprises a raw material locking cylinder 221, a movable locking clamp 222 and a fixed locking clamp 223, the fixed locking clamp 223 is fixedly locked on the base plate 24 through a bolt, one end of the movable locking clamp 222 is installed on the fixed locking clamp 223 through a rotating shaft, the movable locking clamp 222 is also locked with the telescopic end of the raw material locking cylinder 221, two anti-slip blocks are arranged at the clamping position of each movable locking clamp 222 and the fixed locking clamp 223, the shape formed by the anti-slip blocks of each movable locking clamp 222 and the fixed locking clamp 223 on the same plane is the same as the cross section shape and size of the welding raw material 33 fixed at the corresponding position, so that four surfaces of the welding raw material 33 can be stably clamped, stable welding is facilitated, the welding raw material 33 can be welded by the welding robot 4 with uniform stress on a station, welding deflection caused by uneven stress can be avoided, and the device can be turned over, therefore, the face-up welding is convenient, and the place which can not be welded can not be generated;

the finished product rack 5 comprises a small finished product rack 5 and a large finished product rack 51, the small finished product rack 5 and the large finished product rack 51 are trolleys with cantilever racks, the clamping jaw air cylinder 73, the raw material locking air cylinder 221 and the air cylinders on the turning clamping jaw 34 are all provided with magnetic induction type proximity switches, each magnetic induction type proximity switch is electrically connected with the master controller 8, the master controller 8 is also provided with an audible and visual alarm, the audible and visual alarm is electrically connected with the master controller 8, the master controller 8 is electrically connected with an external power supply, so that the finished product frame 5 of the device can be easily pushed to roll, the unloading is convenient, and the small finished product rack 5 and the large finished product rack 51 need at least two sets, so that when the finished product rack 5 is replaced, the position of the finished product rack 5 on the device cannot be vacated due to pushing away and storing the welded finished products, and the equipment can continuously run;

the device is characterized by further comprising a positioning table 52, wherein four limiting guide plates 53 are fixedly arranged on the positioning table 52, two limiting guide plates 53 are respectively clamped on two sides of the small finished product frame 5 and the large finished product frame 51, gaps between the small finished product frame 5 and the large finished product frame 51 and the two limiting guide plates 53 on two sides of the small finished product frame and the two limiting guide plates 53 are smaller than one centimeter, the limiting guide plates 53 are stainless steel plates with bent ends, the ends of the two limiting guide plates 53 in the middle are bent inwards, the ends of the two limiting guide plates 53 on the outer sides are bent outwards, two trolley locking members 54 are further arranged on one side, close to the finished product frame 5, of the positioning table 52 through a rotating motor, the trolley locking members 54 can rotatably lock the separated locked finished product frame 5, the trolley locking members 54 can be rotatably arranged between the two limiting guide plates 53 on the outer sides and the middle, and are electrically connected with the rotating motor arranged on the trolley locking members 54 and a, therefore, the device can be accurately and stably pushed into a preset position, the finished product frame 5 made of the trolley can not deviate from the position after each unloading, the trolley locking piece 54 can firmly lock the two finished product frames 5, the finished product frame 5 can not be forced to move even when the finished product after welding is placed into the finished product frame 5 by the carrying manipulator 7, and the finished product after welding can be accurately received.

step 1, starting the master controller 8 and the action controller 71, inquiring whether coordinates and actions need to be reset or not by the master controller 8, entering step 2 if necessary, entering step 4 if not necessary, and not performing step 2 and step 3 without restarting the master controller 8;

step 2, recording accurate position coordinates of the main body frame 1, the large piece welding position 2, the small piece welding position 2, the raw material frame 3, the finished product frame 5 and the production station of the positioning table 52 into a master controller 8, and recording initial positions and action states of the welding robot 4 and the carrying manipulator 7 into the master controller 8;

step 3, decomposing all the operation actions of the welding robot 4, the carrying manipulator 7, the carrying clamping jaw 72, the mobile hanger 41, the locking device 22, the transfer clamping jaw 34 and the overturning motor 212 into different actions, and correspondingly programming the actions into the action controller 71 according to different numbers; the master controller 8 is used for respectively combining the decomposed operation actions into continuous and non-interference operation steps of feeding, welding and blanking of large pieces and small pieces;

step 4, manually placing the welding raw materials 33 forming the whole small finished product 6 and the large finished product 61 into the raw material rack 3 formed by the small raw material rack 30, the common raw material rack 31 and the large raw material rack 32 in a one-to-one correspondence manner, so as to ensure that any welding raw material 33 in the raw material rack 3 cannot be lost;

step 5, the master controller 8 controls the welding robot 4 and the carrying manipulator 7 to move to the initial positions pre-recorded into the action controller 71, if the welding robot 4 and the carrying manipulator 7 enter the initial positions, the step 6 is carried out, and if the welding robot 4 and the carrying manipulator 7 cannot enter the initial positions, the step 11 is carried out;

step 6, the master controller 8 monitors whether the small piece welding position 21 and the large piece welding position 2 are in a feeding completion state or not until the machine is shut down,

if the small piece welding position 21 is in a feeding completed state and the large piece welding position 2 is in a non-feeding state, entering the step 10;

if the small piece welding position 21 is in the non-feeding state and the large piece welding position 2 is in the feeding completion state, the step 9 is entered,

if the small piece welding position 21 and the large piece welding position 2 are both in a feeding completion state, entering step 8;

if the small piece welding position 21 and the large piece welding position 2 are both in a non-feeding state, entering the step 7;

if the operation is abnormal, entering step 11;

step 7, the master controller 8 controls the movable hanger 41 and the welding robot 4 to move to the preset initial position and action state;

meanwhile, the master controller 8 controls the clamping jaw cylinders 73 on the carrying manipulator 7 and the carrying clamping jaws 72 to sequentially place all welding raw materials 33 required by the small finished products 6 placed on the small raw material rack 30 and the common raw material rack 31 on the small welding positions 21 according to the action set by the action controller 71, the master controller 8 controls the locking device 22 to lock all the placed welding raw materials 33, and the carrying manipulator 7 drives the carrying clamping jaws 72 to return to the preset initial position and action state;

step 8, the master controller 8 controls the carrying manipulator 7 and the carrying clamping jaw 72 to move to preset initial positions and action states;

meanwhile, the master controller 8 starts a moving motor on a moving hanger 41, the moving hanger 41 carries the welding robot 4 to move to a position right above the small piece welding position 21, the master controller 8 controls the welding robot 4 and the turnover motor 212 to sequentially weld according to the preset action sequence of welding the small piece finished products 6 on the action controller 71, the welding robot 4 welds the welding raw materials 33 clamped on the small piece welding position 21 into the integral small piece finished products 6, and the master controller 8 controls the moving hanger 41 to carry the welding robot 4 to move to a preset initial position and action state;

then, the master controller 8 controls the carrying manipulator 7 and the carrying clamping jaw 72 to carry the welded small finished products 6 to the small finished product rack 50;

step 9, the master controller 8 controls the clamping jaw cylinders 73 on the carrying manipulator 7 and the carrying clamping jaws 72 to sequentially place all welding raw materials 33 required by the small finished products 6 placed on the small raw material rack 30 and the common raw material rack 31 on the small welding positions 21 according to the action set by the action controller 71, the master controller 8 controls the locking device 22 to lock all the placed welding raw materials 33, and the carrying manipulator 7 drives the carrying clamping jaws 72 to return to the preset initial position and action state;

meanwhile, the master controller 8 starts a moving motor on a moving hanger 41, the moving hanger 41 carries the welding robot 4 to move to a position right above the large welding position 2, the master controller 8 controls the welding robot 4 and the turnover motor 212 to sequentially weld according to the preset action sequence of welding the large finished products 61 on the action controller 71, the welding robot 4 welds the welding raw materials 33 clamped on the large welding position 2 into the integral large finished products 61, and the master controller 8 controls the moving hanger 41 to carry the welding robot 4 to move to a preset initial position and action state;

then, the master controller 8 controls the carrying manipulator 7 and the carrying clamping jaw 72 in the initial position and the action state to carry the welded large finished product 61 to the large finished product rack 51;

the small piece welding position 21 is in a feeding completed state, the large piece welding position 2 is in a non-feeding state,

step 10, the master controller 8 controls the carrying manipulator 7 and the clamping jaw air cylinder 73 on the carrying clamping jaw 72 to sequentially place all welding raw materials 33 required by the large finished products 61 placed on the large raw material rack 32 and the common raw material rack 31 on the large welding position 2 according to the action set by the action controller 71, the master controller 8 controls the locking device 22 to lock all the welding raw materials 33 placed on the large welding position 2, and the carrying manipulator 7 drives the carrying clamping jaw 72 to return to the preset initial position and action state;

step 11, the master controller 8 controls all devices to stop, and simultaneously the master controller 8 controls the audible and visual alarm to be electrified to give an alarm, the welding method enables the device to continuously and stably run and carry out welding operation with high efficiency and high quality, and equipment can not weld out unqualified products due to unqualified programs, the device uses more strict abnormal condition treatment to ensure that the welding quality of each part attached to the wall frame is reliable, because if the welding quality is unstable and the construction elevator has the condition of not-enough installation size or not-enough installation strength, the operation method avoids the condition, the welding quality is more stable by using the welding robot 4, and the alarm is given immediately once the condition of not-enough cylinder stroke occurs, and the welding step is separated from the steps of loading and unloading, the operation does not influence each other separately, and when welding robot 4 was in welding station welding operation, transport manipulator 7 can carry out the material loading at another welding station or put the finished product unloading that the welding was accomplished on finished product frame 5, has further improved efficiency, will attach the wall frame whole and fall into different three little finished product parts moreover, like this when the flaw appears in a certain department, can choose to give up this little finished product part, need not abandon whole wall frame that attaches, reduces the production loss.

The operational exception includes:

the carrying robot 7 cannot reach the designated position or complete the operation or the moving hanger 41 cannot reach the designated position or the welding robot 4 cannot reach the designated position or complete the operation,

the stroke of the clamping jaw air cylinder 73 or the air cylinder on the transfer clamping jaw 34 or the raw material locking air cylinder 221 does not conform to the normal distance of opening or clamping;

the large piece feeding completion state is as follows: all raw material locking cylinders 221 on the large part welding position 2 are in a clamping distance in stroke;

the finished state of the small piece feeding is as follows: all raw material locking cylinders 221 on the small piece welding position 21 are in a clamping distance in stroke;

the large part is not fed with the material state: all raw material locking cylinders 221 on the large welding position 2 are in an opening distance in stroke;

the small pieces are not fed in the state that: all the strokes of the raw material locking cylinders 221 on the small piece welding positions 21 are in the opening distance, so that the master controller 8 can conveniently perform overall operation and send correct instructions, and no error steps and operation occur;

the master controller 8 sequentially controls the plurality of raw material locking cylinders 221 on the small welding position 21 to extend, the movable locking clamp 222 is pushed by the raw material locking cylinders 221, and the movable locking clamp 222 and the fixed locking clamp 223 lock the fed welding raw materials 33;

whether the carrying clamping jaw 72 is clamped or unclamped or not is controlled by the master controller 8, the carrying clamping jaw 72 is unclamped, the clamping jaw air cylinder 73 retracts, the movable clamp buckle 772 retracts and is separated from the fixed clamping rod 721 by a larger distance, and otherwise, the clamping action is realized, so that the welding robot 4 can stably perform welding operation, and the welding quality of the wall-attached frame is more stable;

the master controller 8 monitors the stroke states of all the raw material locking cylinders 221 on the clamping jaw cylinder 73, the cylinder on the transfer clamping jaw 34, the large welding position 2 and the small welding position 21 in real time through the magnetic induction type proximity switch, and the states of all the devices are detected more accurately.

In one embodiment of the invention:

the embodiment of the invention provides automatic welding equipment for a construction elevator wall-attached frame, and the technical problem solved by the invention is as follows: 1. the field welding operation is complicated, the workload is large, and the manual operation quality is unstable; 2. the wall-attached frame belongs to a non-standard part, is difficult to produce by using a die, only square steel is a standard part, and the welding efficiency is low by cutting and welding on site according to the use requirement of the elevator on a construction site;

realized welding through welding robot 4, welding quality is good, high speed, high efficiency, and the overall operation is low to the artifical demand, do not need the welder, only need write program and code in advance to accomplish, later stage only need artifical material loading, unloading and start, shut down can, the operation is very simple, it is low to artifical skill level requirement, high adaptability, and the dangerous operation of field weld has been removed from, on-the-spot, only need become 6 article and major possession finished product 61 other side with the little spare that the welding was accomplished at the job site, the installation can, neither need the cutting, also need not weld, a large amount of field work has been saved, simultaneously also saved a large amount of demands to the welding workman, and the more stable technological effect of quality.

In order to solve the above problems, the technical solution in the embodiments of the present invention has the following general idea: .

For better understanding of the above technical solutions, the following detailed descriptions will be provided in conjunction with the drawings and the detailed description of the embodiments.

When the invention is installed, a main body frame 1, a small piece raw material frame 30, a common raw material frame 31, a large piece raw material frame 32 and a positioning table 52 are stably fixed on an operation reference surface, then a welding robot 4 is installed below a moving hanger 41, the moving hanger 41 is hung on a sliding rail cross bar 11, a gear on the output end of a moving motor on the moving hanger 41 is meshed with a toothed belt on the sliding rail cross bar 11, then a carrying manipulator 7 is also installed on a supporting frame at the bottom of the main body frame 1, as shown in figure 1, and is divided into two small piece finished products 6 and a large piece finished product 61 according to the assembling relation and the volume of the wall-attached frame, as shown in figures 4 and 5, the two small piece finished products 6 are a small Chinese character ri-shaped flat frame structure and a square frame structure with oblique supports, and the large piece finished product 61 is a trapezoidal plane frame structure with reinforcing supports inside, then according to the sizes of the small welding raw materials 33 and the large welding raw materials 33, the width limiting rods 35 are locked and installed on the supporting plates 37 of all the raw material frames 3 through bolts, and ensures that the station defining bar 36 is at the lowermost end of the inclined pallet 37, as shown in fig. 9, the welding raw material 33 of the small raw material frame 30, the common raw material frame 31 and the large raw material frame 32 is prevented from falling, the supporting plate 37 capable of limiting the position is the same as the station limiting rod 36, but the installation width of the width limiting rod 35 on the supporting plate 37 is different according to the different sizes of the parts of the welding raw material 33, a transfer clamping jaw 34 is required to be installed on one side of the common raw material frame 31, the main controller 8 directly controls the transfer clamping jaws 34, when the parts need to be turned over or the clamping of the edge changing is carried out and placed in the welding position, the parts are transferred once, and then the carrying clamping jaws 72 are carried to change the direction for clamping;

then the finished product frame 5 is required to be processed according to the sizes of the small finished products 6 and the large finished products 61 which are required to be produced at present, the cantilever shelves on the small finished product frame 50 and the large finished product frame 51 are ensured to be respectively suitable for hanging the small finished products 6 and the large finished products 61 and can be hung stably, meanwhile, the carrying manipulator 7 and the carrying clamping jaws 72 can be conveniently placed in a blanking mode, the cantilever shelves of the finished product frame 5 are required to be lifted upwards, so that the finished product frame 5 can conveniently receive and store the small finished products 6 and the large finished products 61 attached to the wall frame, then the limiting guide plates 53 are fixedly arranged on the positioning table 52 according to the widths of the small finished product frame 50 and the large finished product frame 51, each two limiting guide plates 53 are ensured to clamp one small finished product frame 50 or large finished product frame 51, then the rotating motor connected through the trolley locking piece 54 rotates to lock the small finished product frame 50 and the large finished product frame 51 on the positioning table 52 through the trolley locking piece 54, as shown in fig. 13;

then, a plurality of fixed locking clamps 223 are correspondingly arranged on the base plate 24 according to the positions of the small finished products 6 and the large finished products 61, the base plates 24 of the large welding position 2 and the small welding position 21 are respectively arranged on the main body frame 1 through different station supports 23, and both ends of the base plate 24 of the large welding position 2 and the small welding position 21 are erected on the station supports 23 through the bearing seat 221 and the overturning motor 212, so that the base plate 24 can be turned over under the control of the overturning motor 212, then a raw material locking cylinder 221 and a movable locking clamp 222 are arranged on the fixed locking clamps 223 to form a complete locking device 22, the number of the locking devices 22 is determined according to the length of the welding raw material 33, generally, a smaller locking device 22 is used for locking, and the rod-shaped square steel welding raw material 33 is locked by two locking devices 22, the opening and closing mode of the locking device 22 of the device is rotation opening and rotation closing, as shown in fig. 11, the opening direction of the locking device 22 on the same large welding position 2 and small welding position 21 needs to be towards the same direction as much as possible, if the locking device is an inclined support rod, the locking device 22 is installed in the opening direction which does not block the large direction, but the locking device 22 can not be installed in the opposite direction, the welding raw material 33 can shrink in the welding process, the situation that the welding raw material is shrunk and clamped on the large welding position 2 or the small welding position 21 is avoided, and if all the locking devices 22 on the same welding position are opened from the same direction, the shrinkage is larger, and a finished product can be conveniently taken out from the welding position;

and then the accurate coordinate positions of all the devices are recorded into the master controller 8 and the action controller 71, and the running, stopping coordinates, action and rotation directions of the carrying manipulator 7, the welding robot 4 and the mobile hanger 41 are recorded into the action controller 71, and the actions are compiled into codes, so that the installation is completed, and when the size of the produced wall-attached frame needs to be simply adjusted, the wall-attached frames with different sizes can be produced only by slightly adjusting the position of the locking device 22 according to the production requirement, and it needs to be noted that once the position of the locking device 22 is adjusted, all the coding positions and coordinates need to be adjusted.

When the invention is used, the steps are as follows:

step 1, starting the master controller 8 and the action controller 71, inquiring whether coordinates and actions need to be reset or not by the master controller 8, entering step 2 if necessary, entering step 4 if not necessary, and not performing step 2 and step 3 without restarting the master controller (8);

step 2, inputting accurate position coordinates of production stations of the main body frame 1, the large piece welding position 2, the small piece welding position 2, the raw material frame 3, the finished product frame 5 and the positioning table 52 into a master controller 8, and inputting initial positions and action states of the welding robot 4 and the carrying manipulator 7 into the master controller 8, wherein the initial positions of the welding robot 4 and the carrying manipulator 7 are in the middle position of the main body frame 1, the action states are also in the middle, and the requirements are that the positions and actions of the welding robot 4 and the carrying manipulator 7 are not influenced by each other and not collided with each other during operation;

if the operation is abnormal, entering step 11;

step 9, the master controller 8 controls the clamping jaw cylinders 73 on the carrying manipulator 7 and the carrying clamping jaws 72 to sequentially place all the welding raw materials 33 required by the small finished products 6 placed on the small raw material rack 30 and the common raw material rack 31 on the small welding positions 21 according to the action set by the action controller 71, when one welding raw material 33 is placed, the locking device 22 can immediately lock the placed welding raw material 33, the master controller 8 controls the locking device 22 to lock all the placed welding raw materials 33, and the carrying manipulator 7 drives the carrying clamping jaws 72 to return to the preset initial position and action state;

and step 11, the master controller 8 controls all the devices to stop, and meanwhile, the master controller 8 controls the audible and visual alarm to be electrified to send out an alarm.

Wherein the operational anomaly comprises:

the small pieces are not fed in the state that: all material lock cylinders 221 strokes on the small piece weld site 21 are at the open distance.

The control devices of the transfer robot 7 and the welding robot 4 are self-contained and are integrally installed in the motion controller 71.

The model of the master controller 8 is PLC FX2N-80MR-001, the model of the carrying manipulator 7 is Anchuan GP1800, the control device for controlling the carrying manipulator 7 is DX20, the welding robot 4 is Pan tm1400, the control cabinet for controlling the welding robot 4 is a control cabinet and a program which are carried by a factory, the controllers of the carrying manipulator 7 and the welding robot 4 are installed inside the action controller 71 in a centralized mode, so that the operation and the setting of actions and coordinates are facilitated, the turning, the displacement and the action program setting of the carrying manipulator 7 and the welding robot 4 are facilitated, the programming and the action setting of the carrying manipulator 7 and the welding robot 4 are determined according to manufacturers and are conventional operations, and the description is omitted.

Although specific embodiments of the invention have been described above, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting upon the scope of the invention, and that equivalent modifications and variations can be made by those skilled in the art without departing from the spirit of the invention, which is to be limited only by the appended claims.

Claims

1. The utility model provides a construction elevator attaches automatic weld equipment of wall frame which characterized in that: comprises that

The main body frame (1) is of a cross beam type frame structure, a cross beam on the main body frame (1) is a sliding rail cross rod (11), the sliding rail cross rod (11) is provided with a raw material frame (3) on one side of the sliding rail cross rod (11), a finished product frame (5) is arranged on the other side of the sliding rail cross rod (11), and the main body frame (1) is not arranged on a movable path between the raw material frame (3) and the finished product frame (5);

the raw material rack (3) is also provided with a transfer clamping jaw (34);

the welding device comprises a large piece welding position (2) and a small piece welding position (21), wherein the large piece welding position (2) and the small piece welding position (21) are arranged below a main body frame (1), base plates (24) are arranged on the large piece welding position (2) and the small piece welding position (21), a plurality of locking devices (22) capable of clamping welding raw materials (33) are arranged on the base plates (24), two ends of each base plate (24) are erected on a turnover motor (212) and a bearing seat (211) respectively, the base plates (24) can be installed on a station support (23) in a turnover mode through the turnover motors (212), and the station support (23) is fixedly arranged on the main body frame (1);

the welding robot (4) is installed on the movable hanging bracket (41), and the welding robot (4) is arranged on the sliding rail cross rod (11) in a sliding mode through the movable hanging bracket (41);

the conveying manipulator (7) is also installed on the main body frame (1), and a conveying clamping jaw (72) is arranged at the tail end of the conveying manipulator (7);

the motion controller (71), the welding robot (4) and the carrying manipulator (7) both control the moving path through a code preset by the motion controller (71);

and the action controller (71), the carrying clamping jaws (72), the movable hanging bracket (41), the locking device (22), the transfer clamping jaws (34) and the overturning motor (212) are coordinately controlled by the master controller (8).

2. The automatic welding equipment of construction elevator wall attaching frame according to claim 1, characterized in that: the carrying clamping jaw (72) comprises two fixing clamping rods (721), two movable clamping buckles (722) and a clamping jaw air cylinder (73), wherein each fixing clamping rod (721) is provided with an opening at the same side, each movable clamping buckle (722) is arranged in the opening of the fixing clamping rod (721) in a telescopic mode, each fixing clamping rod (721) can be clamped with one movable clamping buckle (722) in a releasable mode, each movable clamping buckle (722) is connected to the telescopic end of the same clamping jaw air cylinder (73), and the clamping jaw air cylinder (73) is controlled through a main controller (8).

3. The automatic welding equipment of construction elevator wall attaching frame according to claim 2, characterized in that: the raw material rack (3) comprises a small raw material rack (30), a common raw material rack (31) and a large raw material rack (32), wherein a plurality of layers of supporting plates (37) are obliquely arranged on the small raw material rack (30), a width limiting rod (35) is installed on each layer of supporting plate (37) through bolts, a plurality of station limiting rods (36) are fixedly arranged at the lowest end of each supporting plate (37), the station limiting rods (36) block welding raw materials (33) on the downward sliding path of the supporting plates (37), the small raw material rack (30), the common raw material rack (31) and the large raw material rack (32) are identical in structure, a transfer clamping jaw (34) is further arranged on the common raw material rack (31), the transfer clamping jaw (34) is identical in structure with the conveying clamping jaw (72), the transfer clamping jaw (34) is controlled by a master controller (8), and the large raw material rack (32) is fixedly placed on the side close to the large welding position (2), the small raw material frame (30) is fixedly arranged on one side close to the large and small welding positions (21), and the common raw material frame (31) is fixedly arranged between the large raw material frame (32) and the small raw material frame (30);

the movable hanger (41) is provided with a movable motor, a gear is mounted at the output end of the movable motor, a toothed belt is arranged on the sliding rail cross rod (11), the gear and the toothed belt are in meshed transmission, and the motor of the movable hanger (41) is electrically connected with a master controller (8).

4. The automatic welding equipment of construction elevator wall attaching frame according to claim 1, characterized in that: the locking device (22) comprises a raw material locking cylinder (221), a movable locking clamp (222) and a fixed locking clamp (223), the fixed locking clamp (223) is fixedly locked on the base plate (24) through a bolt, one end of the movable locking clamp (222) is installed on the fixed locking clamp (223) through a rotating shaft, the movable locking clamp (222) is further locked with the telescopic end of the raw material locking cylinder (221), two anti-slip blocks are arranged at the clamping positions of the movable locking clamp (222) and the fixed locking clamp (223), and the shape formed by the anti-slip blocks of the movable locking clamp (222) and the fixed locking clamp (223) on the same plane is the same as the shape and size of the cross section of the welding raw material (33) fixed at the corresponding position.

5. The automatic welding equipment of construction elevator wall attaching frame according to claim 4, characterized in that: finished product frame (5) are including smallclothes finished product frame (5) and major possession finished product frame (51), smallclothes finished product frame (5) and major possession finished product frame (51) all are the dolly that has cantilever goods shelves, magnetic induction formula proximity switch has all been installed to cylinder on clamping jaw cylinder (73), raw materials locking cylinder (221) and the transfer clamping jaw (34), every magnetic induction formula proximity switch all is connected with total controller (8) electricity, has still installed audible-visual annunciator on total controller (8), audible-visual annunciator is connected with total controller (8) electricity, total controller (8) are connected with external power supply electricity.

6. The automatic welding equipment of construction elevator wall attaching frame according to claim 5, characterized in that: still include location platform (52), four spacing deflector (53) have set firmly on location platform (52), two spacing deflector (53) have all been pressed from both sides respectively to the both sides of smallclothes finished product frame (5) and major possession finished product frame (51), smallclothes finished product frame (5) and major possession finished product frame (51) are less than one centimetre with two spacing deflector (53) clearances of respective both sides respectively, spacing deflector (53) are the stainless steel sheet of terminal buckling, two in the middle of being close to each other inwards buckling of end of spacing deflector (53), outside two the terminal outwards buckling of spacing deflector (53), still installed two dolly retaining members (54) through rotating the motor in one side that is close to finished product frame (5) on location platform (52), dolly retaining member (54) can rotate the locking finished product frame (5) of separation, dolly retaining member (54) can be rotated and install respectively in the outside and the middle two spacing deflector (53) between the dolly And a rotating motor arranged on the trolley locking piece (54) is electrically connected with a master controller (8).

7. An automatic welding method for a construction elevator wall-attached frame is characterized in that: the automatic welding method for the construction elevator wall-attached frame is required to be provided with the automatic welding equipment for the construction elevator wall-attached frame, which is disclosed in claims 1-6 and comprises the following steps:

step 1, starting the master controller (8) and the action controller (71), inquiring whether coordinates and actions need to be reset by the master controller (8), entering step 2 if the coordinates and the actions need to be reset, entering step 4 if the coordinates and the actions do not need to be reset, and not performing step 2 and step 3 by the master controller (8) without restarting;

step 2, recording accurate position coordinates of production stations of the main body frame (1), the large piece welding position (2), the small piece welding position (2), the raw material frame (3), the finished product frame (5) and the positioning table (52) into a master controller (8), and recording initial positions and action states of the welding robot (4) and the carrying manipulator (7) into the master controller (8);

step 3, decomposing all operation actions of the welding robot (4), the carrying manipulator (7), the carrying clamping jaw (72), the mobile hanging bracket (41), the locking device (22), the transfer clamping jaw (34) and the overturning motor (212) into different actions, and correspondingly compiling the actions into an action controller (71) according to different numbers; the master controller (8) is used for respectively combining the decomposed operation actions into continuous and non-interference operation steps of feeding, welding and blanking of large pieces and small pieces;

step 4, manually placing the welding raw materials (33) forming the whole small finished product (6) and the large finished product (61) into a raw material frame (3) formed by a small raw material frame (30), a common raw material frame (31) and a large raw material frame (32) in a one-to-one correspondence manner, so as to ensure that any one welding raw material (33) in the raw material frame (3) cannot be lost;

step 5, the master controller (8) controls the welding robot (4) and the carrying manipulator (7) to move to the initial positions pre-recorded into the action controller (71), if the welding robot (4) and the carrying manipulator (7) enter the initial positions, the step 6 is carried out, and if the welding robot (4) and the carrying manipulator (7) cannot enter the initial positions, the step 11 is carried out;

step 6, the master controller (8) continuously monitors whether the small piece welding position (21) and the large piece welding position (2) are in a feeding completion state or not until the machine is shut down,

if the small piece welding position (21) is in a feeding completed state and the large piece welding position (2) is in a non-feeding state, entering the step 10;

if the small piece welding position (21) is in a non-feeding state and the large piece welding position (2) is in a feeding completion state, the step 9 is entered,

if the small piece welding position (21) and the large piece welding position (2) are both in a feeding completion state, entering step 8;

if the small piece welding position (21) and the large piece welding position (2) are both in a non-feeding state, entering the step 7;

if the operation is abnormal, entering step 11;

step 7, the master controller (8) controls the movable hanger (41) and the welding robot (4) to move to preset initial positions and action states;

meanwhile, the master controller (8) controls the carrying manipulator (7) and a clamping jaw cylinder (73) on the carrying clamping jaw (72) to put all welding raw materials (33) required by the small finished products (6) on the small raw material rack (30) and the common raw material rack (31) into the small welding position (21) in sequence according to the action set by the action controller (71), the master controller (8) controls the locking device (22) to lock all the put welding raw materials (33), and the carrying manipulator (7) drives the carrying clamping jaw (72) to return to the preset initial position and action state;

step 8, the master controller (8) controls the conveying manipulator (7) and the conveying clamping jaw (72) to move to a preset initial position and an action state;

meanwhile, the master controller (8) starts a moving motor on a moving hanger (41), the moving hanger (41) carries the welding robot (4) to move to the position right above the small piece welding position (21), the master controller (8) controls the welding robot (4) and the turnover motor (212) to sequentially weld according to the preset action sequence of welding the small piece finished product (6) on the action controller (71), the welding robot (4) welds the welding raw material (33) clamped on the small piece welding position (21) into the integral small piece finished product (6), and the master controller (8) controls the moving hanger (41) to carry the welding robot (4) to move to the preset initial position and action state;

then, the master controller (8) controls the carrying manipulator (7) and the carrying clamping jaw (72) to carry the welded small finished products (6) to the small finished product rack (50);

step 9, the master controller (8) controls the carrying manipulator (7) and a clamping jaw cylinder (73) on the carrying clamping jaw (72) to put all welding raw materials (33) required by the small finished products (6) on the small raw material rack (30) and the common raw material rack (31) into the small welding position (21) in sequence according to the action set by the action controller (71), the master controller (8) controls the locking device (22) to lock all the put welding raw materials (33), and the carrying manipulator (7) drives the carrying clamping jaw (72) to return to the preset initial position and action state;

meanwhile, the master controller (8) starts a moving motor on a moving hanger (41), the moving hanger (41) carries the welding robot (4) to move to the position right above the large-piece welding position (2), the master controller (8) controls the welding robot (4) and the turnover motor (212) to sequentially weld according to the preset action sequence of welding the large-piece finished product (61) on the action controller (71), the welding robot (4) welds the welding raw material (33) clamped on the large-piece welding position (2) into the integral large-piece finished product (61), and the master controller (8) controls the moving hanger (41) to carry the welding robot (4) to move to the preset initial position and action state;

then, the master controller (8) controls the carrying manipulator (7) and the carrying clamping jaw (72) in the initial position and the action state to carry the welded large finished product (61) to the large finished product rack (51);

the small piece welding position (21) is in a feeding completion state, the large piece welding position (2) is in a non-feeding state,

step 10, the master controller (8) controls a carrying manipulator (7) and a clamping jaw cylinder (73) on a carrying clamping jaw (72) to sequentially place all welding raw materials (33) required by a large finished product (61) placed on a large raw material rack (32) and a common raw material rack (31) into a large welding position (2) according to the action set by an action controller (71), the master controller (8) controls a locking device (22) to completely lock the welding raw materials (33) placed on the large welding position (2), and the carrying manipulator (7) drives the carrying clamping jaw (72) to return to a preset initial position and an action state;

and step 11, the master controller (8) controls all the devices to stop, and meanwhile, the master controller (8) controls the audible and visual alarm to be electrified to give an alarm.

8. The automatic welding method for the construction elevator wall attaching frame according to claim 7, characterized in that: the operational exception includes:

the conveying manipulator (7) can not reach the designated position or finish the action, the mobile hanging bracket (41) can not reach the designated position, or the welding robot (4) can not reach the designated position or finish the action,

the stroke of the clamping jaw cylinder (73) or a cylinder on the transfer clamping jaw (34) or a raw material locking cylinder (221) does not conform to the normal distance of opening or clamping;

the large piece feeding completion state is as follows: all raw material locking air cylinders (221) on the large piece welding position (2) are in a clamping distance in stroke;

the finished state of the small piece feeding is as follows: all raw material locking air cylinders (221) on the small piece welding position (21) are in a clamping distance in stroke;

the large part is not fed with the material state: all raw material locking air cylinders (221) on the large piece welding position (2) are in an opening distance in stroke;

the small pieces are not fed in the state that: all raw material locking cylinder (221) strokes on the small piece welding position (21) are in opening distance.

9. The automatic welding method for the construction elevator wall attaching frame according to claim 7, characterized in that: the master controller (8) sequentially controls a plurality of raw material locking cylinders (221) on the small welding position (21) to extend, the movable locking clamp (222) is pushed by the raw material locking cylinders (221), and the movable locking clamp (222) and the fixed locking clamp (223) lock the fed welding raw materials (33);

whether the carrying clamping jaw (72) is clamped or loosened is controlled by a master controller (8), the carrying clamping jaw (72) is loosened, the clamping jaw air cylinder (73) retracts, the movable clamp fastener (772) retracts and is separated from the fixed clamping rod (721) by a larger distance, and the clamping action is vice versa.

10. The automatic welding method for the construction elevator wall attaching frame according to claim 9, characterized in that: the master controller (8) monitors the stroke states of all raw material locking cylinders (221) on the clamping jaw cylinder (73), the cylinder on the transfer clamping jaw (34), the large welding position (2) and the small welding position (21) in real time through the magnetic induction type proximity switch.