CN112122736A - Automatic welding device for civil air defense door frame - Google Patents

Abstract

The invention provides an automatic welding device for a door frame of civil air defense, which is provided with a welding gantry with three columns and double gantry positions, two arc welding robots are suspended on each gantry position, and a frame joint is arranged under each of the two gantry positions. The welding platform, the rear side of the two-frame tailor welding platform is provided with a grabbing robot, and the side of the grabbing robot is provided with a repair welding robot. When in use, the frame tailor welding platform can position and clamp all the components of the air defense door frame at the same time, and then the arc welding robot on the welding gantry will automatically tailor the air defense door frame. The door frame is taken out and transported to the repair welding robot for repair welding. After the repair welding is completed, the grasping robot transports the welded civil air defense door frame to the station of the subsequent equipment. The overall layout and structural design of the automatic welding device for personal defense door frames are reasonable, the work efficiency is high, and the continuity is good.

Description

Automatic welding device for civil air defense door frame

technical field

The invention relates to manufacturing equipment for a civil air defense door frame, in particular to an automatic welding device for a civil air defense door frame, which belongs to the technical field of automatic welding equipment.

Background technique

The civil air defense door is an important access protection equipment in the civil air defense engineering facilities. The installation of the air defense door needs to be equipped with a civil air defense door frame. The air defense door frame is generally made of four angle steels, four bearing plates, four embedded pressure edges and two hinge bases, and the four angle steels are respectively used as long-side angle steel and wide-side angle steel to form a rectangular door frame. Four bearing plates and four embedment edges are welded on the outer frame surface of the rectangular door frame to form a closed loop, and two hinge bases are welded on the outer edge of the long-side angle steel on one side of the rectangular door frame. The production of air defense door frames needs to go through multiple steps such as welding, correction, and painting. At present, most of the production methods of air defense door frames in my country still use manual positioning and clamping, manual welding, manual hoisting, transportation and other production methods. Due to the workload of manual positioning and clamping Large, low positioning accuracy, poor quality of manual welding and welding deformation, and it is not easy to control the amount of welding deformation, which affects the product qualification rate and increases the difficulty of subsequent correction. Low efficiency and unstable product quality. To this end, we have designed an automatic production line for civil air defense door frames, which uses a variety of automated designs to replace manual operations, and can be applied to produce a variety of civil air defense door frames with the same height and different width specifications to improve production efficiency, stability and product quality.

The automatic production line of the civil air defense door frame designed by us is equipped with an automatic welding device for the air defense door frame, a hydraulic correction device for the air defense door frame, a roller conveyor, an automatic painting room for the air defense door frame and a palletizing device for the air defense door frame. The device is set at the front end, and is used to automatically tailor and weld the components of the air defense door frame into a complete air defense door frame frame, and then repair and weld all the welds, and then transport the welded air defense door frame to the subsequent civil air defense door frame hydraulic correction device station. middle.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an automatic welding device for civil air defense door frame, which is the most front-end equipment of the automatic production line of civil air defense door frame, and is used for automatic tailor welding, repair welding and conveying to subsequent stations of the civil air defense door frame frame.

The concrete technical scheme adopted by the present invention is as follows:

An automatic welding device for civil air defense door frames, which is provided with a welding gantry arranged horizontally on the left and right sides, the welding gantry is provided with three-column double gantry positions, and two welding arms are suspended on each gantry position and can move laterally along the gantry beam. Arc welding robot that can be extended downwards; there is a tailor-made frame welding platform under the two gantry positions of the welding gantry, which can be applied to a variety of civil air defense door frames of the same height and different widths, and the rear sides of the two-frame tailor-made welding platforms are aligned for welding. A rotary multi-station grabbing robot is installed at the position of the middle column of the gantry. The front end of the grabbing robot's arm is connected with a gripper component with adjustable clamping width; a repair welding robot is installed beside the grabbing robot.

The frame tailor-welding platform is provided with a base, the rear side of the base is provided with a horizontal fixed long side, and the base is provided with six linear guide rails longitudinally on the front side of the fixed long side, among which two linear guide rails in the middle have a cross frame that can be used. The horizontal movable short side sliding along the linear guide rail, each of the two linear guide rails on the left and right spans a row of movable support plates that can slide along the linear guide rail, and the number of the left and right rows of movable support plates is equal and arranged at intervals; The fixed long side and the movable short side are respectively provided with angle steel supporting and clamping mechanisms arranged horizontally and corresponding to the two long side angles of the civil air defense door frame; the left and right two rows of movable support plates are respectively erected longitudinally arranged and corresponding to the two wide side angle steels of the civil air defense door frame. The corresponding angle steel support and clamping mechanism; the fixed long side is also provided with an angle steel end limiter on the left side of the angle steel support and clamping mechanism; The pressure-bearing plate clamping mechanism is distributed along the outer edge of the whole frame of the air defense door frame at the corresponding positions on the outer side, and also has an embedment edge clamping mechanism distributed along the inner edge of the whole frame of the air defense door frame at the corresponding positions; The lower part of the corresponding position of the hinge base of the civil air defense door frame is provided with a hinge base positioning mechanism.

The angle steel support and clamping mechanism includes an angle steel support device and an angle steel clamp device; the angle steel support device is provided with a group of angle steel support blocks arranged in a row at intervals, and a plurality of angle steel support blocks are arranged from the lower side of the horizontal side of the angle steel of the civil air defense door frame to jointly protect the civil air defense. The door frame is supported by angle steel, one side of each angle steel support block is also equipped with a push pulley, and the bottom of the push pulley is provided with a push cylinder; To the opposite top surface, each plug is equipped with a pressing cylinder to drive it, and the multiple plugs and the opposite top surface jointly clamp the civil air defense door frame angle steel from both sides of the vertical edge of the civil air defense door frame angle steel.

The pressure-bearing plate clamping mechanism and the caulking edge clamping mechanism respectively comprise a plurality of spaced-apart pressure-bearing plate clamping devices and a plurality of spaced-apart caulking-side clamping devices; the pressure-bearing plate clamping devices and Embedding and crimping clamping devices all use double-jaw clamping assemblies with the same structure; the double-jaw clamping assemblies are provided with a sliding seat that can slide linearly along the bottom installation platform, and the sliding seat is driven by a sliding driving cylinder. At least one double-claw chuck is fixedly installed on the sliding seat; the double-claw chuck is provided with a rear claw whose head protrudes forward, and a rear claw whose head protrudes forward and downward is set on the upper part of the rear claw. The front hook, the rear end of the front hook is fixedly connected to a crank shaft, and a jacking driving cylinder is arranged under the crank shaft, and the crank shaft and the front hook are driven to rotate together by the lifting driving cylinder, so that the front hook is rotated. The head and the head of the rear support claw form an openable double-claw chuck; the shape of the clamping notch formed when the double-claw chuck of the pressure-bearing plate clamping device and the caulking edge clamping device is closed Match the shape of the pressure plate and the embedment edge of the civil air defense door frame respectively; the double-claw chuck of each pressure plate clamping device faces the position of the air defense door frame pressure plate corresponding to its installation position, and each embedment edge is clamped The double-claw chucks of the device are all facing the position of the embedment edge of the civil air defense door frame corresponding to the installation position, and the double-claw clips of the pressure-bearing plate clamping device and the embedment and edge clamping device are staggered in space from each other.

The hinge base positioning mechanism is composed of an ejector rod seat, a ejector rod and a support block, the lower end of the ejector rod seat is fixedly connected to the fixed long side of the base, the ejector rod is a 7-shaped bending structure, and the vertical side of the ejector rod is slidably connected There are screws in the chute on the side of the ejector rod seat for locking, the horizontal edge of the ejector rod is higher than the top surface of the ejector rod seat, the rod body on the lateral side of the ejector rod is fixedly connected with a support block, and the top surface of the support block is connected to the top surface of the top rod seat. The top surface of the horizontal edge of the pole is flush, and the horizontal edge of the top pole and the support block are used to lift and locate it from the bottom of the hinge base of the civil air defense door frame.

The gripper assembly is provided with a rectangular frame. The center of the top surface of the rectangular frame is provided with a flange connecting plate that matches the front end flange of the grabbing robot arm. The long frame of the rectangular frame is used as a track, and each long frame is There are two transverse chucks with opposite openings that can slide and lock along the long frame, and the clamping width of the gripper assembly can be adjusted by adjusting the distance between the two transverse chucks; Each side is provided with a lateral claw, each lateral claw is provided with a fixed upper claw and a movable lower claw matching the frame of the civil air defense door frame, and the movable lower claw is equipped with a claw driving cylinder to control its opening and closing.

When the self-defense door frame automatic welding device is used, since its frame tailor-welding platform is also equipped with an angle steel support clamping mechanism, a pressure-bearing plate clamping mechanism, a crimping edge clamping mechanism and a hinge base positioning mechanism, it can realize the simultaneous detection of the air defense door frame. All the components are positioned and clamped, and then the arc welding robot on the welding gantry will automatically tailor the air defense door frame. After the air defense door frame is welded, the grabbing robot will take out the air defense door frame through the gripper assembly and transport it to the repairer. The welding robot is turned to an appropriate angle, and the repair welding robot automatically repairs the incomplete welding seam on the bottom surface of the air defense door frame. After the repair welding is completed, the grabbing robot transports the welded air defense door frame to the subsequent air defense door frame. In the workstation of the hydraulic straightening device. Self-defense door frame automatic welding device is the front-end equipment of the civil air defense door frame automatic production line. The overall layout and structural design of the equipment are reasonable, the work efficiency is high, the continuity is good, and it is suitable for automatic welding of various civil air defense door frames of the same height and different width specifications , which is conducive to the realization of flexible production.

Description of drawings

Figure 1 is a schematic diagram of the overall layout and structure of the automatic welding device for the self-defense door frame.

FIG. 2 is a schematic structural diagram of a frame tailor-welded platform.

FIG. 3 is a schematic diagram of the base.

Figure 4 is a schematic diagram of the angle steel support and clamping mechanism, the angle steel end limiting device and the hinge base positioning mechanism installed on the base.

Figure 5 is a schematic diagram of the clamping and support of the frame tailor-welded platform (removing the pressure-bearing plate clamping device and the embossing edge clamping device on the right row of movable support plates) when clamping the air defense door frame.

FIG. 6 is a schematic view of the pressure-bearing plate clamping device provided with a double-jaw chuck.

FIG. 7 is a schematic view of the pressure-bearing plate clamping device provided with two double-jaw chucks.

Fig. 8 is a schematic diagram of a double-jaw chuck provided on the edge-embedding clamping device.

FIG. 9 is a schematic view of the caulking edge clamping device provided with two double-jaw chucks.

FIG. 10 is a schematic diagram of the two-jaw chuck of the pressure-bearing plate clamping device and the embedding and crimping side clamping device respectively clamping the pressure-bearing plate and the embedding and crimping side.

Fig. 11 is a schematic diagram of an auxiliary clamping device for a pressure-bearing plate.

Fig. 12 is a schematic diagram of the additional clamping device for the bearing plate.

Figure 13 is a schematic diagram of the hinge base positioning mechanism.

FIG. 14 is a schematic diagram of a grasping robot.

Figure 15 is a schematic diagram of the gripper assembly.

Fig. 16 is a schematic diagram after the welding of the civil air defense door frame is completed.

In the picture: 1- Welding Gantry, 2- Arc Welding Robot, 3- Frame Tailored Welding Platform, 4- Grabbing Robot, 5- Grabber Assembly, 6- Repair Welding Robot, 7- Base, 8- Fixed Long Side, 9 -Linear guide rail, 10-movable short side, 11-movable support plate, 12-angle steel support clamping mechanism, 13-angle steel end limiter, 14-pressure plate clamping mechanism, 15-embedding edge clamping mechanism , 16- hinge base positioning mechanism, 17- slide block, 18- angle steel limit stop, 19- angle steel limit hook, 20- angle steel support block, 21- push pulley, 22- push cylinder, 23- head , 24-pair top surface, 25-pressing cylinder, 26-long bottom plate, 27-support, 28-fixed baffle, 29-fixed guide wheel, 30-retractable guide wheel, 31-slide seat, 32- Sliding Drive Cylinder, 33-Double Jaw Chuck, 34-Rear Claw, 35-Front Claw, 36-Lifting Drive Cylinder, 37-Fixed Support Plate, 38-Claw, 39-Claw Drive Cylinder, 40 -Single hook head, 41-Single hook head driving cylinder, 42- Ejector rod seat, 43- Ejector rod, 44-Bracket, 45-Rectangular frame, 46-Flange connection plate, 47-Transverse collet, 48-Fixed Upper jaw, 49- movable lower jaw, 50- jaw drive cylinder, 51- civil air defense door frame angle steel, 52- civil air defense door frame pressure plate, 53- civil air defense door frame embossing edge, 54- civil air defense door frame hinge base.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings.

As shown in Figure 1, the automatic welding device for the door frame of the self-defense is provided with a welding gantry 1 arranged horizontally on the left and right sides. The welding gantry 1 is provided with three-column double gantry positions, and two gantry positions are suspended on each gantry position. Arc welding robot 2 that can move horizontally and whose welding arm can extend downward; a frame welding platform 3 that can be applied to a variety of civil air defense door frames of the same height and different widths is provided under the two gantry positions of the welding gantry. A rotary multi-station grabbing robot 4 is installed at the position where the rear side of the platform 3 is aligned with the middle column of the welding gantry. The front end of the arm of the grabbing robot 4 is connected with a gripper component 5 with adjustable clamping width; A repair welding robot 6 is arranged beside the robot 4 .

As shown in Fig. 2-13, the frame tailor welding platform 3 is provided with a base 7, the rear side of the base 7 is provided with a horizontal fixed long side 8, and the base 7 is longitudinally provided with six straight lines on the front side of the fixed long side 8 The guide rails 9, wherein the two linear guide rails 9 in the middle have a horizontal movable short side 10 that can slide along the linear guide rails 9, and the two linear guide rails 9 on the left and right have a row across the frame that can slide along the linear guide rails. The moved movable support plates 11, the left and right rows of movable support plates 11 are equal in number and arranged at intervals; the fixed long side 8 and the movable short side 10 are respectively provided with horizontally arranged and corresponding to the angle steel of the two long sides of the civil air defense door frame. Mechanism 12; the left and right two rows of movable support plates 11 are respectively provided with an angle steel supporting and clamping mechanism 12 arranged longitudinally and corresponding to the two wide-sided angle steels of the civil air defense door frame; There is an angle steel end limiting device 13; the base 7 is provided with pressure-bearing plates distributed along the outer edge of the whole frame of the civil air defense door frame at the corresponding positions on the fixed long side 8, the movable short side 10 and the left and right rows of movable support plates 11. Clamping The mechanism 14 is also provided with a caulking edge clamping mechanism 15 distributed along the inner side of the entire frame of the civil air defense door frame at corresponding positions; the two ends of the fixed long side 8 of the base 7 are provided with hinges below the corresponding positions of the hinge base of the civil air defense door frame Base positioning mechanism 16 . Further, the bottom of the movable short side 10 and the bottom of the movable support plate 11 are connected to the linear guide rail 9 through the slider 17 . The angle steel end limiting device 12 includes an angle steel limit block 18 for limiting the front edge of the angle steel end and an angle steel limit hook 19 for limiting the edge of the angle steel end.

As shown in FIG. 4 , the angle steel support and clamping mechanism 12 includes an angle steel support device and an angle steel clamp device; the angle steel support device is provided with a group of angle steel support blocks 20 arranged in a row at intervals. The lower side of the horizontal side of the angle steel supports the angle steel of the civil air defense door frame together. One side of each angle steel support block is also provided with a push pulley 21, and the bottom of the push pulley 21 is provided with a push cylinder 22; There is a set of spaced headers 23 and a set of opposing top surfaces 24 arranged opposite to the headers 23, each of which is equipped with a pressing cylinder 25 to drive it, and is driven by a plurality of headers 23 and the opposing top surfaces 24 from the air defense. The two sides of the vertical side of the door frame angle steel jointly clamp the civil air defense door frame angle steel.

As shown in FIG. 4 , in the angle steel support and clamping mechanism 12 erected on the fixed long side 8 and the movable short side 10 , the angle steel support blocks 20 are respectively fixedly connected to the fixed long side 8 and the movable short side 10 through the long bottom plate 26 . The top surface of the cylinder is arranged at horizontal intervals, and the pressing cylinders 25 of the plurality of plugs 23 are respectively fixedly connected to the right side of the fixed long side 8 and the movable short side 10 through the support 27, and the opposite top surface 24 of the fixed long side 8 is The front side wall of the angle steel support block 20 which is staggered and opposite to the plug head 23 , and the opposite top surface 24 of the movable short side 10 is the front side wall of the fixed baffle plate 28 which is in the positive position opposite to the plug head 23 .

As shown in FIG. 4 , in the angle steel support clamping mechanism 12 erected on the left and right two rows of movable support plates 11 , each movable support plate 11 is provided with an angle steel support block 20 , a plug 23 and an opposite top surface 24. Each angle steel support block 20 is fixedly connected to the middle of the top surface of each movable support plate 11 and forms a longitudinally spaced arrangement, and the pressing cylinder 25 of the plug 23 is fixedly connected to the left side of the top surface of the movable support plate 11 through the support 27, The opposite top surface 24 of the left row of movable support plates 11 is the left side wall of the fixed baffle plate 28 which is in positive position with the plug head 23, and the opposite top surface 24 of the right row of movable support plates 11 is the angle steel support block 20 opposite to the plug head 23 in dislocation. the left side wall.

As shown in Figure 4-5, in order to facilitate feeding, the fixed long side 8, the movable short side 10 and the left and right two rows of movable support plates 11 are each provided with a row on the vertical side of the angle steel in the inner ring of the civil air defense door frame when feeding. The vertical guide wheel for limiting and guiding, wherein the fixed long side 8 and the right row of movable support plates 11 are provided with fixed guide wheels 29, and the movable short side 10 and the left row of movable support plates 11 are set on the guide wheels driven by the guide wheels Cylinder-driven retractable guide wheel 30.

As shown in FIGS. 2-10 , the pressure-bearing plate clamping mechanism 14 and the caulking edge clamping mechanism 15 respectively comprise a plurality of spaced-apart pressure-bearing plate clamping devices and a plurality of spaced-apart caulking edge clamping devices ; Both the pressure-bearing plate clamping device and the embossing edge clamping device adopt a double-claw type clamping assembly with the same structure; The sliding seat 31 is equipped with a sliding driving cylinder 32 for driving, and at least one double-claw chuck 33 is fixedly installed on the sliding seat 31; A front hook 35 with its head protruding to the front and lower side is framed above the rear support claw 34. The rear end of the front hook 35 is fixedly connected to a crank shaft, and a jacking driving cylinder 36 is arranged under the crank shaft. The crankshaft and the front hook 35 are driven to rotate together by the jacking drive cylinder 36, so that the head of the front hook 35 and the head of the rear support claw 34 can be opened and closed under the lifting and lowering drive of the jacking drive cylinder 36. Double-claw chuck 33; the shape of the clamping notch formed by the double-claw chuck 33 of the pressure-bearing plate clamping device and the embedding and pressing edge clamping device when closed is respectively the same as the shape of the pressure plate of the civil air defense door frame and the shape of the embedding and pressing edge. Matching; the double-claw chucks 33 of each pressure-bearing plate clamping device face the position of the pressure plate of the civil air defense door frame corresponding to its installation position, and the double-claw chucks 33 of each embedment edge clamping device are towards its installation position. The position of the corresponding civil air defense door frame inlaid and pressed edge, and the double-jaw chuck 33 of the pressure-bearing plate clamping device and the inlaid and pressed edge clamping device are staggered in space to avoid movement interference.

As shown in Figure 2-10, at the position corresponding to the long-side angle steel on the rear side of the civil air defense door frame, each pressure-bearing plate clamping device is respectively installed on the fixed support plate 37 extending outward from the rear side of the fixed long-side 8, and each embedment edge The clamping devices are respectively installed on the fixed support plates 37 extending outward from the front side of the fixed long side 8; at the position corresponding to the long side angle steel on the front side of the civil air defense door frame, each pressure-bearing plate clamping device is respectively installed on the front side of the movable short side 10. On the fixed support plate 37 extended outwards, each embedding and pressing edge clamping device is respectively installed on the fixed support plate 37 extended outward from the rear side of the movable short side 10; The pressure plate clamping devices are respectively installed on the left side of the top surface of each movable support plate 11 in the left row, and each embedded pressing edge clamping device is respectively installed on the right side of the top surface of each movable support plate 11 in the left row; on the right side of the corresponding air defense door frame For the position of the wide-sided angle steel, each pressure-bearing plate clamping device is installed on the right side of the top surface of each movable support plate 11 in the right row, and each embedded pressure edge clamping device is installed on the left side of the top surface of each movable support plate 11 in the right row. side.

As shown in Figure 2 and Figure 11, in order to adapt to the pressure plate of some special specifications of the air defense door frame, there is also a pressure plate on one side of the clamping device of each pressure plate at the position corresponding to the wide angle steel on the left side of the air defense door frame. plate auxiliary clamping device; the pressure bearing plate auxiliary clamping device is provided with a hook 38, the rear end of the hook 38 is fixedly connected to a crank shaft, and a hook drive cylinder 39 is arranged under the crank shaft. The claw driving cylinder 39 drives the crank shaft and the hook 38 to rotate together, and the head of the hook 38 assists the clamping and positioning of the special bearing plate.

As shown in Figures 2 and 12, since the hinge base needs to be placed at the position of the hinge base positioning mechanism 16 at the position of the base fixing long side 8 for tailor welding, the pressure bearing plate clamping device cannot be installed there, resulting in pressure bearing at this place. The clamping and positioning of the plate is insufficient, therefore, an additional clamping device for the pressure-bearing plate is provided on the side of the hinge base positioning mechanism 16 where the long side 8 of the base is fixed; the additional clamping device for the pressure-bearing plate is provided with a single hook 40 , the front end of the single hook 40 is provided with a groove that matches the shape of the bearing plate, the rear end of the single hook 40 is fixedly connected to a crankshaft, and a single hook drive cylinder 41 is arranged under the crankshaft. The hook head driving cylinder 41 drives the crankshaft to rotate together with the single hook head 40 , and the front end groove of the single hook head 40 clamps and locates the pressure-bearing plate there.

As shown in FIG. 2 and FIG. 13 , the hinge base positioning mechanism 16 is composed of an ejector rod seat 42, a ejector rod 43 and a support block 44, and the lower end of the ejector rod seat 42 is fixedly connected to the fixed long side 8 of the base 7, The top rod 43 is a 7-shaped bending structure, the vertical side of the top rod 43 is slidably connected in the chute on the side of the top rod seat 42 and is locked with screws, and the horizontal side of the top rod 43 is higher than the top surface of the top rod seat 42 , a support block 44 is fixedly connected to the rod body of the horizontal side of the top rod 43, and the top surface of the support block 44 is flush with the top surface of the horizontal side of the top rod 43. The bottom face of it is lifted and positioned. Further, there are multiple hinge base positioning mechanisms 16 to match various civil air defense door frames with different hinge base positions.

As shown in Figures 14-15, the gripper assembly 5 is provided with a rectangular frame 45, and the center of the top surface of the rectangular frame 45 is provided with a flange connecting plate 46 that matches the flange at the front end of the arm of the grabbing robot 4. The rectangular frame The long frame of 45 is used as a track, and there are two transverse chucks 47 under each long frame that are opposite to each other and can slide and lock along the long frame. The gripper assembly 5 is adjusted by adjusting the distance between the two transverse chucks 47. Each transverse chuck 47 is provided with a transverse jaw on both sides under the long frame, and each transverse jaw is provided with a fixed upper jaw 48 and a movable upper jaw matching the frame of the civil air defense door frame. The lower jaw 49, the movable lower jaw 49 is equipped with a jaw driving cylinder 50 to control its opening and closing.

The steps for using the automatic welding device for self-defense door frame are as follows:

(1) Adjust one of the frame tailored welding platforms 3, and adjust the position of the movable short side 10 on the base 7 and the left and right rows of movable support plates 11 on its linear guide 9 according to the specifications of the civil air defense door frame to be tailored. to lock.

(2) Operate the push cylinder 22 of the angle steel support clamping mechanism 12 to push the push pulley 21 upward, and manipulate the guide wheel to drive the cylinder to make the movable short side 10 and the telescopic guide wheel 30 on the left row movable support plate 11 stretch out. Out, manually knock the door frame angle steel 51 of each side on the corresponding angle steel support block 20 and push it into place through the guidance of the push pulley 21 and the telescopic guide wheel 30, and then operate the push cylinder 22 and the telescopic guide wheel 30. Retract, so that the angle steels 51 of the security door frame on all sides are completely supported on the angle steel support block 20, and the pressing cylinder 25 is activated to push the plug 23 to clamp and fix the angle steels 51 of the security door frame on each side.

In this step, the feeding and pushing sequence of the angle steel 51 of the civil air defense door frame is as follows: firstly, the long side angle steel on the rear side of the civil air defense door frame is pushed to the front end against the angle steel end limiting device 13, and then the two wide side angle steels of the civil air defense door frame are pushed respectively. Until the front end is against the long side angle steel on the rear side of the air defense door frame, and finally push the long side angle steel on the front side of the air defense door frame into place.

(3) Manually place the air defense door frame pressure plate 52 and the embedded pressure edge 53 on the corresponding position on the air defense door frame angle steel 51, start the sliding driving cylinder 32, and make the pressure plate clamping mechanism 14 and the embedded pressure edge clamping mechanism. The rear claws 34 of 15 press against the outer surfaces of the air defense door frame pressure plate 52 and the embedment pressure edge 53 respectively, and then start the jacking drive cylinder 36 to make the pressure plate clamping mechanism 14 and the embedding pressure edge clamping mechanism 15. The front hooks 35 are respectively pressed against the inner surfaces of the air defense door frame pressure plate 52 and the embedment pressure edge 53, and the double claw chuck 33 of the pressure plate clamping mechanism 14 and the embedment pressure edge clamping mechanism 15 faces the air defense from both sides. The door frame pressure plate 52 and the embedded pressure edge 53 are clamped and fixed.

In this step, if necessary, the pressure-bearing plate auxiliary clamping device and the pressure-bearing plate additional clamping device are also manipulated to clamp and fix the corresponding civil air defense door frame pressure-bearing plate 52 .

(4) Place the two-person door frame hinge base 54 above the two hinge base positioning mechanism 16 on the base 7, and the air defense door frame hinge base 54 is carried out by the top rod 43 and the support block 44 of the hinge base positioning mechanism 16. Lift, and at the same time make the welding edge of the hinge base 54 of the civil air defense door frame fit to the outer edge of the long-side angle steel on the rear side of the civil air defense door frame, so that the horizontal edge end of the ejector rod 43 rests on the reinforcing rib on the bottom surface of the hinge base 54 of the civil air defense door frame. , thereby realizing the lifting and positioning of the hinge base 54 of the civil air defense door frame.

(5) The arc welding robot 2 on the welding gantry 1 corresponding to the tailor welding platform 3 of the frame automatically tailors the frame of the civil air defense door frame that has been clamped and positioned at this station, and at the same time manually moves to another frame tailor welding platform 3. Carry out the adjustment, feeding operation, clamping and positioning and automatic tailor-welding operation of the above steps, and the two frame tailor-welding platforms 3 are used alternately to improve work efficiency.

(6) After the custom welding of the civil air defense door frame on any frame welding platform 3 is completed, the double-jaw chucks 33 of all the pressure-bearing plate clamping mechanisms 14 and the embedment and pressing edge clamping mechanisms 15 are opened and the cylinder is driven by sliding. Driven by 32 to return to the original position, the grabbing robot 4 takes out the air defense door frame through the grabbing handle assembly 5 and transports it to the repair welding robot 6 to turn it over to a suitable angle, and the repair welding robot 6 automatically welds the underside of the air defense door frame. The welding seam is repaired, and after the repair is completed, the grabbing robot 4 transports the welded civil air defense door frame to the subsequent station of the civil air defense door frame hydraulic correction device.

The above figures are only typical embodiments of the present invention and are not intended to limit the present invention. Any modifications or equivalent replacements and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention. .

Claims (10)

1. an automatic welding device for civil air defense door frame, it is characterized in that: described automatic welding device for civil air defense door frame is provided with a welding gantry arranged horizontally on the left and right, and described welding gantry is provided with three-column double gantry positions, and each gantry position is hung with a Two arc welding robots that can move left and right along the gantry beam and whose welding arms can extend downwards; each of the two gantry positions of the welding gantry is provided with a frame welding platform that can be applied to a variety of security door frames of the same height and different widths. A rotary multi-station grabbing robot is installed at the position where the rear side of the two-frame tailor-welding platform is aligned with the middle column of the welding gantry. The front end of the grabbing robot's arm is connected with a gripper component with adjustable clamping width; There is a repair welding robot beside the taking robot; The frame tailor-welding platform is provided with a base, the rear side of the base is provided with a horizontal fixed long side, and the base is provided with six linear guide rails longitudinally on the front side of the fixed long side, among which two linear guide rails in the middle have a cross frame that can be used. The horizontal movable short side sliding along the linear guide rail, each of the two linear guide rails on the left and right spans a row of movable support plates that can slide along the linear guide rail, and the number of the left and right rows of movable support plates is equal and arranged at intervals; The fixed long side and the movable short side are respectively provided with angle steel supporting and clamping mechanisms arranged horizontally and corresponding to the two long side angles of the civil air defense door frame; the left and right two rows of movable support plates are respectively erected longitudinally arranged and corresponding to the two wide side angle steels of the civil air defense door frame. The corresponding angle steel support and clamping mechanism; the fixed long side is also provided with an angle steel end limiter on the left side of the angle steel support and clamping mechanism; The pressure-bearing plate clamping mechanism is distributed along the outer edge of the whole frame of the air defense door frame at the corresponding positions on the outer side, and also has an embedment edge clamping mechanism distributed along the inner edge of the whole frame of the air defense door frame at the corresponding positions; The lower part of the corresponding position of the hinge base of the civil air defense door frame is provided with a hinge base positioning mechanism. 2. The automatic welding device of civil air defense door frame according to claim 1, is characterized in that: described angle steel support clamping mechanism comprises angle steel support device and angle steel clamp device; Angle steel support device is provided with a group of angle steel support blocks arranged in a row at intervals , A plurality of angle steel support blocks jointly support the civil air defense door frame angle steel from the lower side of the horizontal side of the civil air defense door frame angle steel. One side of each angle steel support block is also equipped with a push pulley, and the bottom of the push pulley is equipped with a push pulley. Cylinder; angle steel clamping device is provided with a set of plugs arranged at intervals and a set of opposite top surfaces arranged opposite to the plugs. The two sides of the vertical side of the door frame angle steel jointly clamp the civil air defense door frame angle steel. 3. The air defense door frame automatic welding device according to claim 1, wherein the pressure-bearing plate clamping mechanism and the embedment edge clamping mechanism respectively comprise a plurality of spaced-apart pressure-bearing plate clamping devices and a plurality of Embedding and crimping edge clamping devices arranged at intervals; the pressure-bearing plate clamping device and the caulking edge clamping device both use double-claw clamping assemblies with the same structure; The sliding seat of the platform slides linearly, the sliding seat is equipped with a sliding driving cylinder for driving, and at least one double-claw chuck is fixedly installed on the sliding seat; the double-claw chuck is provided with a rear support whose head extends forward Claw, the top of the rear support claw is provided with a front hook claw whose head protrudes to the front and lower side, the rear end of the front hook claw is fixedly connected to a crank shaft, and a jack-up driving cylinder is arranged under the crank shaft. The lift drive cylinder drives the crankshaft to rotate together with the front hook, so that the head of the front hook and the head of the rear support claw form a double-claw collet that can be opened and closed; the pressure plate clamping device and the embedded pressure The shape of the clamping notch formed by the double-claw chuck of the side clamping device when it is closed is matched with the shape of the pressure plate of the civil air defense door frame and the shape of the embedment edge; the double-claw chuck of each pressure plate clamping device is facing the The position of the pressure plate of the civil air defense door frame corresponding to the installation position, the double-jaw chucks of each embedment and crimping device are all facing the position of the embedment and crimping edge of the civil air defense door frame corresponding to the installation position, and the pressure plate clamping device and the embedment. The double-jaw chucks of the blank holder are staggered in space from each other. 4. The automatic welding device of the air defense door frame according to claim 3, characterized in that: at the position corresponding to the wide side angle steel on the left side of the air defense door frame, one side of each pressure-bearing plate clamping device is also provided with a pressure-bearing plate auxiliary clamp The pressure-bearing plate auxiliary clamping device is provided with a hook, the rear end of the hook is fixedly connected to a crank shaft, a hook driving cylinder is arranged under the crank shaft, and the crank is driven by the hook driving cylinder The shaft rotates together with the hook, and the special bearing plate is assisted by the head of the hook to clamp and locate. 5. The air defense door frame automatic welding device according to claim 3, characterized in that: a pressure-bearing plate additional clamping device is provided on one side of the hinge base positioning mechanism for fixing the long side of the base; the pressure-bearing plate additional clamp The tightening device is provided with a single hook head, the front end of the single hook head is provided with a groove matching the shape of the bearing plate, the rear end of the single hook head is fixedly connected to a crank shaft, and a single hook head drive is arranged under the crank shaft The cylinder is driven by the single hook head to drive the crankshaft to rotate together with the single hook head, and the pressure bearing plate at the place is clamped and positioned by the front end groove of the single hook head. 6. The air defense door frame automatic welding device according to claim 1, wherein the hinge base positioning mechanism is composed of a push rod seat, a push rod and a support block, and the lower end of the push rod seat is fixedly connected to the fixed length of the base. On the side, the top rod is a 7-shaped bending structure. The vertical side of the top rod is slidably connected to the chute on the side of the top rod seat and is locked with screws. The horizontal edge of the top rod is higher than the top surface of the top rod seat, and the top A support block is fixedly connected to the rod body of the horizontal side of the rod, and the top surface of the support block is flush with the top surface of the horizontal side of the ejector rod. and positioning. 7. The automatic welding device for civil air defense door frame according to claim 1, characterized in that: the gripper assembly is provided with a rectangular frame, and the center of the top surface of the rectangular frame is provided with a method that matches the front end flange of the grabbing robot arm. The blue connecting plate, the long frame of the rectangular frame is used as a track, and the bottom of each long frame is provided with two lateral chucks that are opposite to each other and can slide and lock along the long frame. The clamping width of the hand assembly; each transverse chuck is provided with a transverse jaw on both sides under the long frame, and each transverse jaw is provided with a fixed upper jaw and a movable upper jaw matching the frame of the civil air defense door frame. The lower jaw, the movable lower jaw is equipped with a jaw drive cylinder to control its opening and closing. 8. The automatic welding device for a civil air defense door frame according to claim 1, wherein the fixed long side, the movable short side and the left and right two rows of movable support plates are each provided with a row of angle steel for the inner ring of the civil air defense door frame when feeding materials. The vertical guide wheel is used to limit and guide the vertical side. The fixed long side and the right row of movable support plates are set with fixed guide wheels, and the movable short side and the left row of movable support plates are set with the guide wheel driven cylinder. Driven retractable guide wheels. 9 . The automatic welding device for civil air defense door frame according to claim 1 , wherein the bottom of the movable short side and the bottom of the movable support plate are connected to the linear guide rail through a slider. 10 . 10 . The automatic welding device for civil air defense door frame according to claim 1 , wherein the angle steel end limiting device comprises an angle steel limit block for limiting the front edge of the angle steel end and an angle steel limit stop for the angle steel end Angle steel limit hook for limiting the edge of the upper part.

Images