CN111515568B - Pairing and welding production system for main beam web of crane - Google Patents
Pairing and welding production system for main beam web of crane Download PDFInfo
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- CN111515568B CN111515568B CN202010317726.3A CN202010317726A CN111515568B CN 111515568 B CN111515568 B CN 111515568B CN 202010317726 A CN202010317726 A CN 202010317726A CN 111515568 B CN111515568 B CN 111515568B
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- 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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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Abstract
A pair of group of crane main beam web to weld the production system related to crane bridge frame and weld and make the field, include hanging beam and rotating plate rack and two gantry frames; the two door type racks comprise top beams, the upper surfaces of the top beams are provided with house trolley slide rails, house type trolleys are mounted on the house trolley slide rails, and vertical hoisting mechanisms for synchronously hoisting the hoisting beams are arranged in the two house type trolleys; the upper surface of the hanging beam is provided with a robot sliding rail, and an assembly welding robot is arranged on the robot sliding rail; two lifting lug boxes are symmetrically fixed at two ends of the lower surface of the lifting beam, the inner sides of the bottom ends of the two lifting lug boxes are respectively and correspondingly and rotatably connected with two ends of the rotating plate frame, and a plurality of magnetic suction assemblies for sucking the web plate are uniformly arranged on the lower surface of the rotating plate frame along the axial direction of the rotating plate frame; the pair of assembly welding production systems can finish the automatic welding of longitudinal welding seams between the web plate and the cover plate and vertical welding seams between the web plate and the rib plate after the web plate is hoisted and positioned quickly and accurately.
Description
Technical Field
The invention relates to the field of welding and manufacturing of crane bridges, in particular to a pairing welding production system for a girder web of a crane.
Background
The main beam of the crane is generally of a box structure, is used as a main bearing part of the whole crane and mainly comprises an upper cover plate, a lower cover plate, two side webs and a rib plate in the middle of a beam box in a welding way; the welding sequence of the main beam is generally that a plurality of uniformly arranged rib plates and a lower cover plate are welded and positioned, then the web plates are assembled through a fixture, and then the web plates and the rib plates, the web plates and the cover plates are spot-welded or broken and positioned, so that preparation is made for welding the inner welding seam of the main beam in the next step; because the length of the web plate of the crane is long and the web plate is of a plate splicing structure, the plates of the web plate of the main beam need to be spliced and welded before assembly, and the waviness of the web plate after splicing and welding can be ensured due to the existence of the tool at a splicing and welding station; however, when the tailor-welded web plate is welded with the cover plate and the rib plate in an assembly mode, the existing production process needs to manually clamp one side edge of the web plate by a crane hook to lift, so that the web plate of the main beam is converted into a vertical state from a flat state, plastic deformation of the web plate is easily caused in the lifting and straightening process, the waviness of the assembled web plate is directly reduced, and the requirement cannot be met; more importantly, the existing production process is that manual assembly is carried out spot welding after the assembly, the operable space in the main beam is small, the manual welding environment is severe, the welding quality and the welding precision cannot be guaranteed, the welding efficiency is low, and the whole bridge manufacturing process cannot achieve the aim of automatic rapid production.
Disclosure of Invention
In order to overcome the defects in the background art, the invention discloses a pairing welding production system for a main girder web plate of a crane, which can finish the automatic welding of a longitudinal welding seam between the web plate and a cover plate and a vertical welding seam between the web plate and a rib plate after the web plate is quickly and accurately hoisted and positioned.
In order to achieve the purpose, the invention adopts the following technical scheme:
a pairing welding production system for a crane main beam web plate comprises a hanging beam and a rotating plate frame which are axially parallel to the longitudinal direction of a crane main beam, and two portal frames which are respectively positioned outside two ends of the crane main beam; the two portal frames respectively comprise a horizontal top beam, a caravan slide rail which is transverse to the main beam of the crane is arranged on the upper surface of the top beam, house-type trolleys which can move along the caravan slide rail are mounted on the caravan slide rail, vertical hoisting mechanisms are respectively arranged in the two house-type trolleys, the two vertical hoisting mechanisms are respectively used for synchronously hoisting two ends of a hoisting beam, and a first laser range finder for measuring the distance to the ground is mounted on the side surface of the end part of the hoisting beam; the upper surface of the hanging beam is provided with a robot sliding rail along the longitudinal direction of the main beam of the crane, an assembly welding robot capable of moving along the robot sliding rail is mounted on the robot sliding rail, and the assembly welding robot is used for automatically welding the webs and the rib plates and the welding seams of the webs and the lower cover plate which are assembled and assembled; the lower surface both ends symmetry of hanging beam is fixed with two lug casees, and the bottom inboard of two lug casees corresponds with the both ends of rotatory grillage respectively and rotates and be connected, and the lug incasement has and is used for driving rotatory grillage pivoted rotary mechanism, the lower surface of rotatory grillage evenly is equipped with a plurality of magnetic suction assembly that are used for absorbing the web along rotatory grillage axial.
Further, vertical hoisting mechanism contains lifting by crane motor, reduction gear, reel and lifting rope, lifting by crane the motor and being fixed in the room type dolly, the output shaft that lifts by crane the motor passes through the reduction gear and is connected with the central pivot transmission of reel, the one end of lifting rope twines in the reel stack shell, and the other end of lifting rope is connected with the lifting hook, the corresponding end fixed connection of lifting hook and hanging beam.
Further, the assembly welding robot comprises a transverse sliding frame, a transverse sliding block, a vertical telescopic arm rod, a welding gun and a longitudinal trolley; the lower surface of the longitudinal trolley is provided with wheels which are driven by a motor and can move along a robot sliding rail, one end of the upper surface of the longitudinal trolley is fixedly provided with a welding machine box in signal connection with a welding gun, and the other end of the upper surface of the longitudinal trolley is fixedly provided with a supporting sliding seat; a first transverse slideway is arranged on the outer side surface of the supporting sliding seat, and one side of the transverse sliding frame is arranged in the first transverse slideway and can be driven by a first driving mechanism to move transversely; a second transverse slideway is arranged on the other side of the transverse sliding frame, and one side of the transverse sliding block is arranged in the second transverse slideway and can be driven by a second driving mechanism to move transversely; an arm lever supporting shell is fixed on the other side of the transverse sliding block, and the vertical telescopic arm lever penetrates through the arm lever supporting shell and can be driven by a third driving mechanism to vertically move; the bottom mounting of vertical flexible armed lever has the welding gun seat, the lower surface outer end of welding gun seat rotates and is connected with the welder clamp that the head end is used for joint welder, welder clamp can be driven by fourth drive mechanism and rotates around vertical rotation axis, the lower surface middle part of welding gun seat is fixed with the second laser range finder that is used for detecting longitudinal distance.
Furthermore, the first driving mechanism comprises a first motor fixed on the upper surface of the supporting sliding seat, an output shaft of the first motor is coaxially fixed with a first gear, and one side, close to the supporting sliding seat, of the upper surface of the transverse sliding frame is provided with a first rack meshed with the first gear.
Further, the second driving mechanism comprises a second motor fixed on the upper surface of the transverse sliding block, a second gear is coaxially fixed on an output shaft of the second motor, and a second rack meshed with the second gear is arranged on one side, close to the transverse sliding block, of the upper surface of the transverse sliding frame.
Further, the third driving mechanism comprises a third motor fixed on the side surface of the arm lever supporting shell, a third rack is arranged on one side surface of the vertical telescopic arm lever, and a third gear meshed with the third rack is coaxially fixed on an output shaft of the third motor.
Furthermore, be equipped with the three roller assembly of group that are used for the tight vertical flexible armed lever in top other three sides respectively in the armed lever supports the casing, the roller assembly contains running roller and both ends and installs the shaft on the armed lever supports the casing.
Further, the fourth driving mechanism comprises a fourth motor fixed at the outer end of the welding gun seat, and an output shaft of the fourth motor is fixedly connected with the tail end of the welding gun clamp.
Further, rotary mechanism contains horizontal rotating shaft, rotation motor, fourth gear and fifth gear, the motor cabinet that rotates the motor is fixed in the inner wall of lug case, fourth gear and fifth gear respectively with the output shaft that rotates the motor and the one end coaxial fastening of horizontal rotating shaft, fourth gear and fifth gear intermeshing, horizontal rotating shaft's the other end rotate pass lug case lateral wall and with the central fixed connection of the corresponding terminal surface of rotatory grillage.
Further, the magnetic suction assembly comprises an electro-permanent magnet, a thrust oil cylinder and a fixed seat plate fixed on the lower surface of the rotary plate frame, four limiting rods vertical to the plate surface are symmetrically fixed on two sides of the lower plate surface of the fixed seat plate, each limiting rod body is sleeved with a disc spring, and two ends of each disc spring are fixedly connected with the lower plate surface of the fixed seat plate and the back surface of the electro-permanent magnet respectively; the cylinder body of the thrust oil cylinder is fixed on the upper plate surface of the fixed seat plate, and the rod end of the thrust rod of the thrust oil cylinder penetrates through the middle part of the plate surface of the fixed seat plate in a sliding mode and corresponds to the back surface of the electro-permanent magnet.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
the assembling and welding production system for the girder web plate of the crane disclosed by the invention is provided with the rigid rotating plate frame, the magnetic suction assemblies are reasonably arranged on the rotating plate frame, the tailor-welded web plate is adsorbed, and the web plate is ensured to be always in a straight state in the process of rotating from flat placement to vertical placement, so that the web plate waviness is ensured to meet the requirement, and finally the requirement on the straightness of the girder web plate in the next assembling process can be ensured; the web plate hoisted by the house-type trolley is driven to move transversely along a main beam of the crane for positioning, the web plate is driven to vertically hoist by the vertical hoisting mechanism, the distance between the magnetic suction component and the horizontally placed web plate is sensed by the first laser range finder, and an instruction is sent when the descending height of the hoisting beam is proper so that the magnetic suction component starts to suck the surface of the web plate, then after the hoisting beam rises to a set height, the rotating mechanism is started to rotate the web plate for 90 degrees for positioning, and then the assembly welding is carried out, so that compared with the traditional manual control hoisting, the hoisting efficiency and the hoisting precision are greatly improved; after the lower cover plate, the web plate and the plurality of rib plates are assembled, the assembling and welding robot moves longitudinally along the crane girder, so that the assembling and welding robot can move to an assembling and welding station between any two adjacent rib plates to perform welding operation, meanwhile, at any assembling and welding station, the assembling and welding robot can position a welding gun to a welding position, and perform automatic welding on a longitudinal welding seam between the web plate and the cover plate and a vertical welding seam between the web plate and the rib plates;
compared with the traditional girder web plate assembly welding mode, the assembly welding method has the advantages that the rotating web plate is automatically lifted, meanwhile, the web plate waviness can meet the requirement, the lifting efficiency and the lifting precision are improved, the assembly of the web plate is quicker and more accurate, the manpower loss and the harm to human health caused by welding are reduced, the welding quality and the welding precision can meet the requirement standard, the welding efficiency is improved, and the whole bridge manufacturing process can achieve the aim of automatic and rapid production.
Drawings
FIG. 1 is a schematic view of the present invention;
FIG. 2 is an enlarged end view of the hanging beam and the rotating bed;
FIG. 3 is a schematic structural view of the vertical lifting mechanism;
FIG. 4 is a schematic structural view of the assembly welding robot;
FIG. 5 is a schematic structural view of the first and second drive mechanisms;
FIG. 6 is a schematic structural view of the third drive mechanism;
FIG. 7 is a schematic structural view of the fourth drive mechanism;
fig. 8 is a schematic structural view of the rotating mechanism;
fig. 9 is a schematic structural view of the magnetic attraction component.
In the figure: 1. a hanging beam; 2. a first laser range finder; 3. a lug box; 301. rotating the motor; 302. a fourth gear; 303. a fifth gear; 304. a horizontal rotating shaft; 4. rotating the plate frame; 5. a magnetic component; 501. an electro-permanent magnet; 502. a disc spring; 503. fixing the seat plate; 504. a thrust oil cylinder; 6. assembling and welding robots; 61. welding the case; 62. a longitudinal trolley; 63. a support slide; 64. a cross sliding frame; 65. a transverse slide block; 66. the arm lever supports the casing; 67. a first drive mechanism; 6701. a first motor; 6702. a first gear; 6703. a first rack; 68. a second drive mechanism; 6801. a second motor; 6802. a second gear; 6803. a second rack; 69. a third drive mechanism; 6901. a third motor; 6902. a third gear; 6903. a third rack; 6904. a roller assembly; 610. a fourth drive mechanism; 61001. a fourth motor; 611. a vertical telescopic arm; 612. a welding gun; 613. a wire feeder; 614. a welding gun seat; 615. a second laser rangefinder; 616. welding gun clamp; 7. a door type frame; 8. a house-type trolley; 9. a caravan slide rail; 10. a robot slide rail; 11. a vertical hoisting mechanism; 1101. a hoisting motor; 1102. a speed reducer; 1103. a reel; 1104. a lifting rope.
Detailed Description
The present invention will be explained in detail by the following examples, which are intended to disclose the invention and protect all technical improvements within the scope of the invention, and the invention is not limited to the following examples; in the description of the present invention, it should be understood that, if there is an orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", etc., which corresponds to the drawings of the present application, the present invention is described for convenience, but does not indicate or imply that the indicated device or element must have a particular orientation:
the assembling and welding production system of the crane main beam web plates, which is described in conjunction with the attached drawings 1-9, comprises a hanging beam 1 and a rotating plate frame 4 which are axially parallel to the longitudinal direction of the crane main beam, and two portal frames 7 which are respectively positioned outside two ends of the crane main beam; the two portal frames 7 respectively comprise horizontal top beams, the upper surfaces of the top beams are provided with recreational vehicle slide rails 9 which are transverse along a crane girder, house-shaped trolleys 8 which can move along the recreational vehicle slide rails 9 are mounted on the recreational vehicle slide rails 9, wheels which are driven by motors to rotate are mounted on the lower surfaces of the house-shaped trolleys 8, and therefore the house-shaped trolleys 8 can be conveniently controlled to move and be positioned by driving one web plate to be hoisted to move to a pairing station on one side of the girder, and in addition, the house-shaped trolleys 8 can also be positioned on the same hoisting station to drive the other web plate to move and be positioned to the pairing station on the other side of the girder; according to the requirement, two house-type trolleys 8 and corresponding hanging beams 1 can be arranged in one group, and two groups can be arranged as shown in figure 1 and are respectively positioned on two sides of a main beam of the crane, so that the hoisting efficiency can be improved;
vertical hoisting mechanisms 11 are arranged in the two house-type trolleys 8, the two vertical hoisting mechanisms 11 are respectively used for synchronously hoisting two ends of the hoisting beam 1, a first laser range finder 2 for measuring the distance to the ground is arranged on the side surface of the end part of the hoisting beam 1, and the first laser range finder 2 is in signal connection with the vertical hoisting mechanisms 11 and can automatically control the hoisting height of the hoisting beam 1; according to the requirement, the vertical hoisting mechanism 11 comprises a hoisting motor 1101, a speed reducer 1102, a winding drum 1103 and a hoisting rope 1104, wherein the hoisting motor 1101 is fixed in the house-type trolley 8, an output shaft of the hoisting motor 1101 is in transmission connection with a central rotating shaft of the winding drum 1103 through the speed reducer 1102, one end of the hoisting rope 1104 is wound on the drum body of the winding drum 1103, the other end of the hoisting rope 1104 is connected with a lifting hook, the lifting hook is fixedly connected with the corresponding end of the hoisting beam 1, and the winding drum 1103 is driven to actively release or take up the line through the hoisting motor 1101 so as to achieve the purpose of hoisting; in addition, for guaranteeing that the hoisting is stable, the vertical hoisting mechanisms 11 at the same end of the hoisting beam 1 are set as two symmetrical groups, the outer ends of the hoisting ropes 1104 of the two groups of vertical hoisting mechanisms 11 are connected and then hung on the fixed pulleys arranged between the two groups of vertical hoisting mechanisms 11, the hoisting ropes 1104 between the fixed pulleys and the winding drums 1103 are provided with the movable pulleys, and the lifting hooks are installed on the movable pulleys, so that the two groups of vertical hoisting mechanisms 11 at the same end of the hoisting beam 1 can be guaranteed to be capable of synchronously hoisting, and the hoisting beam 1 is enabled to be more stable in hoisting.
The upper surface of the hanging beam 1 is provided with a robot sliding rail 10 along the longitudinal direction of a crane main beam, an assembly welding robot 6 capable of moving along the robot sliding rail 10 is installed on the robot sliding rail 10, the assembly welding robot 6 is used for automatically welding a web plate and a rib plate which are assembled and assembled, and a welding seam between the web plate and a lower cover plate, after the lower cover plate, the web plate and a plurality of rib plates are assembled, the assembly welding robot 6 can move along the longitudinal direction of the crane main beam through the assembly welding robot 6, so that the assembly welding robot 6 can move to an assembly welding station between any two adjacent rib plates to perform welding operation, of course, as shown in fig. 1, the assembly welding robot 6 can also be arranged between any two adjacent rib plates to perform welding simultaneously, and the welding efficiency is improved;
the assembly welding robot 6 comprises a transverse sliding frame 64, a transverse sliding block 65, a vertical telescopic arm rod 611, a welding gun 612 and a longitudinal trolley 62 as required; wheels which are driven by a motor and can move along the robot sliding rail 10 are mounted on the lower surface of the longitudinal trolley 62, so that when the longitudinal trolley 62 moves, a welding gun 612 can weld longitudinal welding seams between the web plate and the lower cover plate; a welding case 61 in signal connection with the welding gun 612 is fixed at one end of the upper surface of the longitudinal trolley 62, the welding case 61 improves power supply and welding signals for the welding gun 612, and a supporting sliding seat 63 is fixed at the other end of the upper surface of the longitudinal trolley 62; a wire feeder 613 for feeding a welding wire to the welding gun 612 is fixed to the top surface of the welding machine case 61; a first transverse slideway is arranged on the outer side surface of the supporting sliding seat 63, one side of the transverse sliding frame 64 is arranged in the first transverse slideway, and can be driven by a first driving mechanism 67 to move transversely; according to the requirement, the first driving mechanism 67 comprises a first motor 6701 fixed on the upper surface of the supporting sliding seat 63, a first gear 6702 is coaxially fixed on an output shaft of the first motor 6701, a first rack 6703 meshed with the first gear 6702 is arranged on one side, close to the supporting sliding seat 63, of the upper surface of the transverse sliding frame 64, the first gear 6702 is driven to rotate through the first motor 6701, and then the transverse sliding frame 64 can travel on the first rack 6703, so that the transverse sliding frame 64 can transversely move along the main beam; a second transverse slideway is arranged on the other side of the transverse sliding frame 64, and one side of the transverse sliding block 65 is arranged in the second transverse slideway and can be driven by a second driving mechanism 68 to move transversely; according to the requirement, the second driving mechanism 68 comprises a second motor 6801 fixed on the upper surface of the transverse sliding block 65, a second gear 6802 is coaxially fixed on an output shaft of the second motor 6801, a second rack 6803 meshed with the second gear 6802 is arranged on one side, close to the transverse sliding block 65, of the upper surface of the transverse sliding frame 64, the second motor 6801 drives the second gear 6802 to rotate, and then the transverse sliding block 65 can walk on the second rack 6803, so that the transverse sliding block 65 can transversely move along the main beam; the transverse sliding frame 64 and the transverse sliding block 65 are respectively driven by the first driving mechanism 67 and the second driving mechanism 68 to transversely move along the main beam, so that the welding gun 612 has two positioning modes of coarse adjustment and fine adjustment along the transverse direction of the main beam, the movement is more convenient and faster, and the whole transverse supporting structure of the welding gun 612 is more stable and reliable while the expansion amount is increased;
an arm support casing 66 is fixed on the other side of the transverse slide block 65, and a vertical telescopic arm 611 penetrates through the arm support casing 66 and can be driven by a third driving mechanism 69 to vertically move; according to the requirement, the third driving mechanism 69 comprises a third motor 6901 fixed on the side surface of the shell of the arm support case 66, a third rack 6903 is arranged on one side surface of the vertical telescopic arm 611, a third gear 6902 meshed with the third rack 6903 is coaxially fixed on an output shaft of the third motor 6901, the third gear 6902 is driven by the third motor 6901 to rotate to walk on the third rack 6903, so that the vertical telescopic arm 611 can vertically move, the welding gun 612 is driven to complete welding of the rib plates and the welding seams in the vertical direction of the web plates between two adjacent rib plates, meanwhile, the vertical telescopic arm 611 is convenient to contract and move upwards after welding at one welding station is finished, and the whole assembly welding robot is convenient to transfer the rib plates between two adjacent rib plates; in addition, three groups of roller assemblies 6904 respectively used for tightly propping the other three sides of the vertical telescopic arm lever 611 are arranged in the arm lever supporting casing 66, each roller assembly 6904 comprises a roller and a wheel axle with two ends installed on the casing of the arm lever supporting casing 66, and the roller assemblies 6904 can clamp and tightly prop the vertical telescopic arm lever 611 while not hindering the action of the vertical telescopic arm lever 611, so that the welding precision is prevented from being reduced due to the movement of the vertical telescopic arm lever 11; according to the requirement, a limiting plate is fixed at the top end of the vertical telescopic arm 611, and the limiting plate can prevent the vertical telescopic arm 611 from falling off the arm supporting shell 66 in the moving process; in addition, the limiting plate is provided with a threading hole for threading and positioning the signal wire and the power wire of the welding gun 612, the fourth motor 61001 and the second laser range finder 615, so as to prevent the action of the vertical telescopic arm 611 from being influenced by too many wires;
a welding gun holder 614 is fixed at the bottom end of the vertical telescopic arm rod 611, a welding gun clamp 616 with a head end used for clamping a welding gun 612 is rotatably connected to the outer end of the lower surface of the welding gun holder 614, and the welding gun clamp 616 can be driven by the fourth driving mechanism 610 to rotate around a vertical rotating axis; according to the requirement, the fourth driving mechanism 610 comprises a fourth motor 61001 fixed at the outer end of the welding gun holder 614, and an output shaft of the fourth motor 61001 is fixedly connected with the tail end of the welding gun clamp 616; the fourth driving mechanism 610 includes a fourth motor 61001 fixed at the outer end of the welding gun holder 614, an output shaft of the fourth motor 61001 is fixedly connected with the tail end of the welding gun clamp 616, the welding gun clamp 616 is driven to rotate by the rotation of the fourth motor 61001, so that the welding gun 612 can rotate to align with the welding seam for welding; a second laser range finder 615 for detecting the longitudinal distance is fixed in the middle of the lower surface of the welding gun base 614, when the bottom end of the vertical telescopic arm 611 extends into a space between two adjacent rib plates, the second laser range finder 615 is used for detecting the distance between the welding gun 612 and one of the rib plates, the positions of two welding ends of the longitudinal welding seam between the induction lower cover plate and the web plate are judged according to the distance, when the welding gun 612 is welded to be close to the rib plates, the welding gun 612 rotates according to the angle required by the distance, and when the welding gun 612 moves vertically to be separated from the upper edge of the rib plate or just enters the space between two rib plates, the distance between the second laser range finder 615 and the rib plates changes from existence to nonexistence or from nonexistence; in order to ensure the precision of movement or rotation, the first motor 6701, the second motor 6801, the third motor 6901 and the fourth motor 61001 all adopt servo motors.
Two lifting lug boxes 3 are symmetrically fixed at two ends of the lower surface of the lifting beam 1, the inner sides of the bottom ends of the two lifting lug boxes 3 are respectively and correspondingly rotatably connected with two ends of the rotating plate frame 4, and a rotating mechanism for driving the rotating plate frame 4 to rotate is arranged in each lifting lug box 3; according to the requirement, the rotating mechanism comprises a horizontal rotating shaft 304, a rotating motor 301, a fourth gear 302 and a fifth gear 303, a motor base of the rotating motor 301 is fixed on the inner wall of the lug box 3, the fourth gear 302 and the fifth gear 303 are coaxially fixed with an output shaft of the rotating motor 301 and one end of the horizontal rotating shaft 304 respectively, the fourth gear 302 and the fifth gear 303 are in transmission engagement with each other, the other end of the horizontal rotating shaft 304 rotates to penetrate through the side wall of the lug box 3 and is fixedly connected with the center of the corresponding end face of the rotating plate frame 4, the first laser range finder 2 is in signal connection with the rotating motor 301, the rotating motor 301 is used for improving rotating power for the horizontal rotating shaft 304 through the fourth gear 302 and the fifth gear 303, and the purposes of automatically rotating a web plate and controlling the rotating angle are achieved; in addition, the rotating motor 301 is set as a servo motor, so that the rotating angle can be accurately controlled; the lower surface of the rotating plate frame 4 is uniformly provided with a plurality of magnetic suction components 5 for sucking the web along the axial direction of the rotating plate frame 4, and the magnetic suction components 5 are reasonable in layout, so that the web is always in a straight state in the process of being horizontally arranged to be vertical, and the waviness of the web is ensured to meet the requirement; according to the requirement, two rows of the magnetic suction assemblies 5 are arranged at intervals, so that sufficient suction force is ensured, and the lifting stability of the web plate can be improved;
according to the requirement, the magnetic suction component 5 comprises an electro-permanent magnet 501, a thrust oil cylinder 504 and a fixed seat plate 503 fixed on the lower surface of the rotary plate frame 4, four limiting rods vertical to the plate surface are symmetrically fixed on two sides of the lower plate surface of the fixed seat plate 503, each limiting rod body is sleeved with a disc spring 502, the length of each limiting rod is shorter than that of the disc spring 502, and the radial jumping distance of the disc spring 502 in the expansion process is prevented from being too large; two ends of the disc spring 502 are respectively fixedly connected with the lower plate surface of the fixing seat plate 503 and the back surface of the electro-permanent magnet 501, and when the web plate surface cannot be attached to the adsorption surface of the electro-permanent magnet 501, the disc spring 502 can play a role in fine adjustment; the cylinder body of thrust cylinder 504 is fixed in the last face of fixed bedplate 503, thrust cylinder 504's thrust rod end slides and passes fixed bedplate 503's face middle part and corresponding with electric permanent magnet 501's back, generally speaking, electric permanent magnet 501 adsorbs the position of web is the programming, can avoid the position of the horizontal angle steel of installing additional on the tailor-welded web, if can't avoid the time, horizontal angle steel will hinder this hoist device whole decline, need to start thrust cylinder 504 work this moment, promote electric permanent magnet 501 and move down alone, thereby adsorb on the web.
The assembling and welding production system of the crane girder web plate is implemented by starting a house type trolley 8, moving a hanging beam 1 to one end of a trolley slide rail 9 corresponding to a hoisting station, sensing the distance between a magnetic suction component 5 and a horizontally placed web plate by using a first laser range finder 2, sending an instruction when the hanging beam 1 descends to a proper height to enable the magnetic suction component 5 to start a suction web plate surface, starting a rotating mechanism to rotate the web plate to one side of the girder by 90 degrees after the hanging beam 1 ascends to a set height, starting the house type trolley 8 to enable the web plate to move to the girder, and carrying out assembling and assembling positioning;
after the rib plates, the lower cover plate and the web plate of the main beam are assembled, the longitudinal trolley 62 starts to run until the longitudinal trolley corresponds to the position set between the two rib plates at one end of the main beam; the first motor 6701 starts to work, and the transverse traveling trolley frame 64 moves towards the rib plates until the transverse traveling trolley frame moves to the position above the space between the two rib plates; meanwhile, the second motor 6801 starts to work, the transverse slide block 65 drives the vertical telescopic arm rod 611 to move towards the rib plate until the transverse slide frame 64 stops moving; at this time, the third motor 6901 starts to work, and the vertical telescopic arm rod 611 moves downwards until the position is set;
the vertical telescopic boom 611 moves to a set position towards the inner side of the web along the transverse direction of the girder, the fourth motor 61001 starts to work, the welding gun 612 rotates to a weldable angle, the welding gun 612 ignites to weld the web and the cover plate of the girder, and the longitudinal trolley 62 starts to move at the same time until the next rib plate position, the welding gun 612 is flamed out to complete the welding work of the web and the cover plate at the welding station, the longitudinal trolley 62 runs in the reverse direction, and the original path returns to the starting point;
the vertical telescopic boom 611 moves to a set position towards the inner side of the web along the transverse direction of the girder, the fourth motor 61001 starts to work, the welding gun 612 rotates to a weldable angle, the welding gun 612 ignites to weld the web and the rib plate of the girder, meanwhile, the third motor 6901 starts to work, the vertical telescopic boom 611 moves upwards, when the second laser range finder 615 detects a gap between the rib plates (the position where the rib plate edge penetrates through the angle steel during hole digging), the welding gun 612 stops working, the vertical telescopic boom 611 stops after moving the rib plate digging width distance towards the side far away from the web, the vertical telescopic boom 611 stops moving after continuing to move the rib plate digging height upwards, the vertical telescopic boom 611 stops moving after moving the rib plate digging width distance towards the side close to the web, and the action is to avoid the interference of the welding gun 612 and the transverse angle steel; when the second laser range finder 615 senses the edge of the rib plate again, the welding gun 612 is ignited again for welding until the rib plate and the web plate are welded; after welding stations between any two adjacent rib plates are welded, one web plate on one side of the crane girder completes the assembly welding with the lower cover plate and the rib plates, and then another web plate is hoisted to move and position to the other side of the girder and then the assembly welding is carried out.
The present invention is not described in detail in the prior art.
Claims (10)
1. The utility model provides a group of hoist girder web is to welding production system which characterized in that: the crane comprises a hanging beam (1) and a rotating plate frame (4) which are axially parallel to the longitudinal direction of a main beam of the crane, and two portal frames (7) which are respectively positioned outside two ends of the main beam of the crane; the two portal frames (7) respectively comprise a horizontal top beam, a caravan slide rail (9) which is transverse to a main beam of the crane is arranged on the upper surface of the top beam, house-type trolleys (8) which can move along the caravan slide rail (9) are mounted on the caravan slide rail (9), vertical hoisting mechanisms (11) are respectively arranged in the two house-type trolleys (8), the two vertical hoisting mechanisms (11) are respectively used for synchronously hoisting two ends of the hanging beam (1), and a first laser range finder (2) for measuring the distance to the ground is mounted on the side surface of the end part of the hanging beam (1); the upper surface of the hanging beam (1) is provided with a robot sliding rail (10) along the longitudinal direction of a main beam of the crane, an assembly welding robot (6) capable of moving along the robot sliding rail (10) is installed on the robot sliding rail (10), and the assembly welding robot (6) is used for automatically welding the webs and the rib plates and the welding seams of the webs and the lower cover plate which are assembled and assembled; the lower surface both ends symmetry of hanging beam (1) is fixed with two lug boxes (3), and the bottom inboard of two lug boxes (3) corresponds with the both ends of rotatory grillage (4) respectively and rotates and be connected, and lug box (3) embeds there is the rotary mechanism who is used for driving rotatory grillage (4) pivoted, the lower surface of rotatory grillage (4) evenly is equipped with a plurality of magnetism subassembly (5) of inhaling that are used for absorbing the web along rotatory grillage (4) axial.
2. The crane main beam web pairing welding production system according to claim 1, wherein: vertical hoisting mechanism (11) contain hoisting motor (1101), reduction gear (1102), reel (1103) and lifting rope (1104), hoisting motor (1101) are fixed in room type dolly (8), the output shaft that lifts by crane motor (1101) passes through reduction gear (1102) and is connected with the central pivot transmission of reel (1103), the one end of lifting rope (1104) is twined in reel (1103) stack shell, and the other end of lifting rope (1104) is connected with the lifting hook, the corresponding end fixed connection of lifting hook and hanging beam (1).
3. The crane main beam web pairing welding production system according to claim 1, wherein: the assembly welding robot (6) comprises a transverse sliding frame (64), a transverse sliding block (65), a vertical telescopic arm rod (611), a welding gun (612) and a longitudinal trolley (62); wheels which are driven by a motor and can move along the robot sliding rail (10) are mounted on the lower surface of the longitudinal trolley (62), a welding machine box (61) in signal connection with a welding gun (612) is fixed at one end of the upper surface of the longitudinal trolley (62), and a supporting sliding seat (63) is fixed at the other end of the upper surface of the longitudinal trolley (62); a first transverse slideway is arranged on the outer side surface of the supporting sliding seat (63), one side of the transverse sliding frame (64) is arranged in the first transverse slideway, and can be driven by a first driving mechanism (67) to move transversely; a second transverse slideway is arranged on the other side of the transverse sliding frame (64), and one side of the transverse sliding block (65) is arranged in the second transverse slideway and can be driven by a second driving mechanism (68) to move transversely; an arm lever supporting shell (66) is fixed on the other side of the transverse sliding block (65), and the vertical telescopic arm lever (611) penetrates through the arm lever supporting shell (66) and can be driven by a third driving mechanism (69) to vertically move; the bottom mounting of vertical flexible armed lever (611) has welding gun seat (614), the lower surface outer end of welding gun seat (614) rotates and is connected with welding gun clamp (616) that the head end is used for joint welder (612), welding gun clamp (616) can be driven by fourth drive mechanism (610) and rotate around vertical axis of rotation, the lower surface middle part of welding gun seat (614) is fixed with second laser range finder (615) that are used for detecting longitudinal distance.
4. The crane main beam web pairing welding production system according to claim 3, wherein: the first driving mechanism (67) comprises a first motor (6701) fixed on the upper surface of the supporting sliding seat (63), a first gear (6702) is coaxially fixed on an output shaft of the first motor (6701), and a first rack (6703) meshed with the first gear (6702) is arranged on one side, close to the supporting sliding seat (63), of the upper surface of the transverse sliding frame (64).
5. The crane main beam web pairing welding production system according to claim 3, wherein: the second driving mechanism (68) comprises a second motor (6801) fixed on the upper surface of the transverse sliding block (65), a second gear (6802) is coaxially fixed on an output shaft of the second motor (6801), and a second rack (6803) meshed with the second gear (6802) is arranged on one side, close to the transverse sliding block (65), of the upper surface of the transverse sliding frame (64).
6. The crane main beam web pairing welding production system according to claim 3, wherein: the third driving mechanism (69) comprises a third motor (6901) fixed on the side face of the shell of the arm lever supporting shell (66), a third rack (6903) is arranged on one side face of the vertical telescopic arm lever (611), and a third gear (6902) meshed with the third rack (6903) is coaxially fixed on an output shaft of the third motor (6901).
7. The pairing welding production system of crane girder webs as claimed in claim 6, wherein: three groups of roller wheel assemblies (6904) which are respectively used for tightly jacking the other three side surfaces of the vertical telescopic arm lever (611) are arranged in the arm lever supporting casing (66), and each roller wheel assembly (6904) comprises a roller wheel and a wheel shaft, wherein the two ends of the wheel shaft are installed on the casing of the arm lever supporting casing (66).
8. The crane main beam web pairing welding production system according to claim 3, wherein: the fourth driving mechanism (610) comprises a fourth motor (61001) fixed at the outer end of the welding gun holder (614), and an output shaft of the fourth motor (61001) is fixedly connected with the tail end of the welding gun clamp (616).
9. The crane main beam web pairing welding production system according to claim 1, wherein: rotary mechanism contains horizontal rotating shaft (304), rotates motor (301), fourth gear (302) and fifth gear (303), the motor cabinet that rotates motor (301) is fixed in the inner wall of lug case (3), fourth gear (302) and fifth gear (303) are coaxial fixed with the output shaft that rotates motor (301) and the one end of horizontal rotating shaft (304) respectively, fourth gear (302) and fifth gear (303) intermeshing, the other end rotation of horizontal rotating shaft (304) passes lug case (3) lateral wall and with the central fixed connection of the corresponding terminal surface of rotatory grillage (4).
10. The crane main beam web pairing welding production system according to claim 1, wherein: the magnetic suction component (5) comprises an electro-permanent magnet (501), a thrust oil cylinder (504) and a fixed seat plate (503) fixed on the lower surface of the rotary plate frame (4), four limiting rods vertical to the plate surface are symmetrically fixed on two sides of the lower plate surface of the fixed seat plate (503), each limiting rod body is sleeved with a disc spring (502), and two ends of each disc spring (502) are respectively fixedly connected with the lower plate surface of the fixed seat plate (503) and the back surface of the electro-permanent magnet (501); the cylinder body of the thrust oil cylinder (504) is fixed on the upper plate surface of the fixed seat plate (503), and the rod end of a thrust rod of the thrust oil cylinder (504) penetrates through the middle part of the plate surface of the fixed seat plate (503) in a sliding mode and corresponds to the back surface of the electro-permanent magnet (501).
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| CN113253671B (en) * | 2021-06-09 | 2023-11-14 | 曹智军 | Parameterized programming method for gusset seam welding robot of main girder of double-girder crane |
| CN114939752B (en) * | 2022-06-02 | 2023-06-27 | 江汉大学 | Welding processing system and method for web tailor-welding production |
| CN114932363A (en) * | 2022-06-09 | 2022-08-23 | 中联重科股份有限公司 | Cantilever crane web welding positioner and welding equipment |
| CN116750644B (en) * | 2023-08-22 | 2023-12-05 | 河南科技学院 | Permanent magnet driving crane with adjustable lifting height |
| CN118106697B (en) * | 2024-04-29 | 2024-06-28 | 山西源泰重工液压有限公司 | Hydraulic cylinder welding device and welding method |
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