CN112743197B - Automatic tracking and positioning welding method for welding spot center of reinforcing mesh - Google Patents
Automatic tracking and positioning welding method for welding spot center of reinforcing mesh Download PDFInfo
- Publication number
- CN112743197B CN112743197B CN202011401670.6A CN202011401670A CN112743197B CN 112743197 B CN112743197 B CN 112743197B CN 202011401670 A CN202011401670 A CN 202011401670A CN 112743197 B CN112743197 B CN 112743197B
- Authority
- CN
- China
- Prior art keywords
- welding
- transverse
- longitudinal
- girder
- point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/133—Means for feeding electrodes, e.g. drums, rolls, motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
- B23K9/287—Supporting devices for electrode holders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention provides a method for automatically tracking and positioning welding of a welding spot center of a reinforcing mesh, which comprises the following steps of: presetting a reference point of the welding spot automatic tracking and positioning device on the welding girder; determining the welding range of the welding gun according to the reference point; determining feeding parameters of a feeding platform according to the welding range of a welding gun; setting three-dimensional operation parameters between the welding spot automatic tracking and positioning device and the welded A, B steel bars according to the feeding parameters; and starting the welding spot automatic tracking and positioning device, the wire feeding device and the welding gun, and welding A, B steel bars to be welded on the welding girder according to the three-dimensional operation parameters. The limitation that the welding cannot be carried out due to the fact that the longitudinal axis displacement and the transverse axis displacement size of the welded steel bar are larger than the diameter size of the welding rod and the limitation that the welding cannot be carried out due to the fact that the horizontal and vertical height error size exceeds the diameter size of the welding rod in the process of carrying out three-dimensional or multi-layer steel bar mesh welding is achieved. The single-layer and multi-layer reinforcing mesh can be automatically, massively and continuously normally manufactured.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a method for automatically tracking and positioning welding of a welding point center of a reinforcing mesh.
Background
In the current automatic welding process of all manufactured single-layer reinforcing mesh sheets, the working track of a welding machine is horizontal linear motion with the accuracy of more than 7 levels in the transverse direction and the longitudinal direction, or horizontal arc motion within 180 degrees, and the melting point center position of the welded reinforcing steel bar must be equal to the center of the working track of the welding machine. If the offset size of the vertical, horizontal and horizontal line vertical height crossing center position of the welding melting point center of the steel bar is more than one time larger than the diameter of the welding rod, the automatic welding machine loses the welding function.
Therefore, the process has extremely high requirement on the dimensional accuracy of the welding machine and the matched die set of the welded steel bar, and a large number of steel bars with deformation coefficients larger than the diameter of the welding rod can not be welded in the actual welding process. And the limitation of three-dimensional welding of the square cage with the reinforcing steel bars on two or more horizontal layers can not be performed.
Disclosure of Invention
The invention provides a method for automatically tracking and positioning welding points of reinforcing mesh sheets, which is used for realizing the purpose that a clothes airing machine capable of realizing continuous production or large-scale welding of multilayer three-dimensional reinforcing mesh sheets can realize the purpose of welding single-layer reinforcing mesh sheets.
The invention provides a method for automatically tracking and positioning welding of a welding spot center of a reinforcing mesh, which comprises the following steps of:
presetting a reference point of the welding spot automatic tracking and positioning device on the welding girder;
determining the welding range of the welding gun according to the reference point;
determining feeding parameters of a feeding platform according to the welding range of a welding gun;
setting three-dimensional operation parameters between the welding spot automatic tracking and positioning device and the welded A, B steel bars according to the feeding parameters;
and starting the welding spot automatic tracking and positioning device, the wire feeding device and the welding gun, and welding A, B steel bars to be welded on the welding girder according to the three-dimensional operation parameters.
Preferably, the datum point is an initial position of the welding point automatic tracking and positioning device on the welding girder;
the three-dimensional operation parameters of the welding spot automatic tracking and positioning device comprise: the center positions of welding points in the vertical position, the transverse position and the longitudinal position track the movement distance of automatic positioning.
Preferably, the welding girders comprise transverse girders and longitudinal girders; the transverse girder is arranged on the longitudinal girder to reciprocate; a moving shaft is arranged on the transverse girder through a box body, one end of the moving shaft, which is far away from the box body, is provided with an automatic welding spot tracking and positioning device, and the automatic welding spot tracking and positioning device comprises a transverse touch sensor, a longitudinal touch sensor and a vertical touch sensor;
predetermine solder joint automatic tracking positioner and be located the benchmark on the welding girder, include: a first initial position, a second initial position and a third initial position;
determining a first initial position of the transverse girder on the longitudinal girder according to the transverse spacing of the welded A, B steel bars;
determining a second initial position of the welding point automatic tracking positioning device on the transverse girder according to the longitudinal distance of A, B welded steel bars;
determining a third initial position of the moving shaft according to the distance between the welding gun fuse end point on the moving shaft and the melting point center of the crossed steel bar to be welded A, B,
the first initial position is a fixed point which is initially moved at a longitudinal distance;
the second initial position is a fixed point of initial movement of the transverse distance;
the third initial position is an initial fixed point of the vertical movement of the movement axis.
Preferably, the tracking of the welding point center position of the vertical position and the movement distance of the automatic positioning comprise:
moving a welding gun of the welding spot automatic tracking and positioning device and a moving shaft with a photoelectric sensor to enable a vertical touch sensor to be in contact with the upper plane of the A steel bar;
starting the motion shaft to move downwards to the position X1 in the vertical direction of the welding girder and stopping;
starting the motion shaft to move upwards in the vertical direction of the welding girder, wherein the distance of the upward movement is X2;
wherein the distance X2 of upward movement coincides with the center of the melting point of the intersection of the A, B bars being welded.
Preferably, the first and second electrodes are formed of a metal,
the upward movement distance X2 is the height of the melting point center, or the movement distance between the tracking and automatic positioning of the welding point center position at the vertical position;
the distance X2 of the upward movement is obtained according to equation (1):
X2=a1-（b1+b2+b3）（1）
wherein, a1 is the height of the fuse end point of the welding gun from the welded A, B steel bar, b1 is the contact surface of the welded A, B steel bar; b2 is the distance from the photoelectric sensing sheet to the light sensing area; b3 is the torch travel distance in time of photoelectric response t 1.
Preferably, the tracking of the welding point center position of the transverse position and the movement distance of the automatic positioning comprise:
setting the transverse steel bar spacing of the transverse girder on the longitudinal girder as a transverse initial moving fixed point of the welding spot automatic tracking positioning device;
displacing the motion shaft on a longitudinal transverse girder according to the transverse initial movement fixed point to enable a longitudinal touch sensor to be in contact with the side face of the steel bar B;
then, the longitudinal touch sensor is separated from the contact with the side face of the steel bar B, and the longitudinal position of the moving shaft is retracted;
the distance of the longitudinal position back is the point where the end point of the welding gun fuse wire is matched with the diameter center of the welded steel bar b.
Preferably, the tracking of the welding point center position of the longitudinal position and the movement distance of the automatic positioning comprise:
setting the longitudinal steel bar spacing of the longitudinal girder on the transverse girder as a longitudinal initial moving fixed point of the welding spot automatic tracking positioning device;
the moving shaft carries out transverse reciprocating motion on the transverse girder, so that the transverse touch sensor is in contact with the side face of the A steel bar;
then, the contact between the transverse touch sensor and the side face of the steel bar A is separated, and the transverse position of the moving shaft is retracted;
the distance X3 of the transverse position back-off is calculated according to the formula (2);
X3=c1+c2（2）
wherein c1 is the distance from the touch surface to the photoelectric sensing trigger piece entering the photoelectric sensing area, and c2 is the advancing distance of the photoelectric response time.
Preferably, the starting the welding spot automatic tracking and positioning device, the wire feeding device and the welding gun, and the welding A, B steel bars welded on the welding girder according to the three-dimensional operation parameters comprises: determining the length of the welding wire according to the melting point volume;
starting a wire feeding device to feed the welding wire according to the determined length of the welding wire;
wherein, the end point of the welding gun fuse wire is matched with the melting point of the longitudinal, transverse and vertical crossing center of the welded A, B steel bar.
Preferably, the method further comprises the following steps: after one process of welding is finished, starting the motion shaft to return to the reference point;
and starting the transverse touch sensor, the longitudinal touch sensor and the vertical touch sensor on the motion shaft, returning to the initial three-dimensional operation parameters, and preparing for the next welding process.
The working principle and the beneficial effects of the invention are as follows:
the invention provides a method for automatically tracking and positioning welding of a welding spot center of a reinforcing mesh, which comprises the following steps of:
presetting a reference point of the welding spot automatic tracking and positioning device on the welding girder;
determining the welding range of the welding gun according to the reference point;
determining feeding parameters of a feeding platform according to the welding range of a welding gun;
setting three-dimensional operation parameters between the welding spot automatic tracking and positioning device and the welded A, B steel bars according to the feeding parameters;
and starting the welding spot automatic tracking and positioning device, the wire feeding device and the welding gun, and welding A, B steel bars to be welded on the welding girder according to the three-dimensional operation parameters.
According to the method provided by the invention, the limitations that the welding cannot be carried out due to the fact that the longitudinal axis displacement and the transverse axis displacement of the welded steel bar are larger than the diameter of the welding rod and the welding cannot be carried out due to the fact that the horizontal and vertical height error size exceeds the diameter of the welding rod in the process of carrying out three-dimensional or multi-layer steel mesh welding are solved. The single-layer and multi-layer reinforcing mesh can be automatically, massively and continuously normally manufactured.
The function of automatically tracking and positioning welding within plus or minus 5 cm of transverse displacement of the axis of the welding point of the welded longitudinal steel bar is realized; the welding point axis of the welded transverse steel bar longitudinally shifts within plus or minus 5 cm and has the function of automatic tracking and positioning welding; the error of the horizontal line vertical height cross point of the welded steel bar is within plus or minus 5 cm, and the welding is automatically tracked and positioned; and the welding device has the functions of vertically and automatically tracking and positioning the center of the welding spot and performing three-dimensional welding on multiple layers of steel bars.
Compared with the existing welding machine, the welding efficiency is effectively improved, the precision in the welding process is improved, and the condition that the rejection rate is too high in the manufacturing process of the reinforcing mesh due to inaccurate welding is reduced.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of the structure of the present invention;
FIG. 2 is a front view of the feeding platform and the automatic welding spot tracking device of the present invention;
FIG. 3 is a bottom view of the feeding platform and the automatic welding spot tracking device of the present invention;
FIG. 4 is a schematic structural diagram of an automatic tracking apparatus for solder joints according to the present invention;
FIG. 5 is a schematic structural view of a feeding mechanism of the feeding platform of the present invention;
FIG. 6 is a schematic view of a material guide roller according to the present invention;
FIG. 7 is a schematic cross-sectional view of a feeding mechanism of the feeding platform of the present invention;
FIG. 8 is a schematic structural view of a torch mounting mechanism of the present invention;
FIG. 9 is a schematic structural view of the securing mechanism of the present invention;
FIG. 10 is a schematic view of a securing mechanism of the present invention in use;
FIG. 11 is a schematic view of a vertical touch sensor according to the present invention;
FIG. 12 is a schematic diagram of the structure of a lateral touch sensor and a longitudinal touch sensor according to the present invention;
FIG. 13 is a top view of the vertical touch sensor of the present invention;
FIG. 14 is a front view of the longitudinal position of welded A, B bars of the present invention;
FIG. 15 is a right side elevational view of the longitudinal position of welded A, B reinforcement bars of the present invention;
FIG. 16 is a bottom view of the longitudinal position of welded A, B bars of the present invention;
wherein, 1-a feeding platform, 2-a longitudinal girder, 3-a transverse girder, 4-a welding spot automatic tracking and positioning device, 5-a box body, 6-a controller, 7-a motion shaft, 8-a welding gun and 10-a three-dimensional motion driving device,
11-a first gear, 12-a first sliding sleeve, 13-a first rotating shaft, 14-a first guide rod, 15-a second guide rod, 16-a second sliding sleeve, 17-a first connecting rod, 18-a first pusher, 19-a first push rod, 20-a push plate, 21-a first telescopic rod, 22-a first feeding panel, 23-a discharge port, 24-a second feeding panel, 25-a second pusher, 26-a first toothed plate, 27-a second connecting rod, 28-a third connecting rod, 29-a fourth connecting rod, 30-a second toothed plate, 31-a second push rod, 32-a first groove, 33-a guide roller, 34-a second rotating shaft, 35-a first connecting block, 36-a third rotating shaft, 37-a fifth connecting rod, 38-a first hinge shaft, 39-sixth link, 40-second hinge axis, 41-seventh link, 42-third hinge axis, 43-fixed disk, 44-eighth link, 45-fourth hinge axis, 46-first through hole, 47-roller, 48-first pad, 49-second pad, 50-first slot, 51-second slot, 52-first latch, 53-handle, 54-first press rod, 55-first movable slot, 56-second press rod, 57-third slot, 58-third pad, 59-fifth hinge axis, 60-third press rod, 61-fourth slot, 62-second through hole, 63-fifth press plate, 64-mounting rod, 65-transverse touch sensor, 66-longitudinal touch sensor, 67-vertical touch sensor, 68-lateral touch switch, 69-longitudinal touch switch, 70-vertical touch switch.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
According to the drawings shown in fig. 1-16, the invention provides a method for automatically tracking and positioning welding of a welding point center of a reinforcing mesh, which comprises the following steps:
presetting a reference point of the welding spot automatic tracking and positioning device on the welding girder;
determining the welding range of the welding gun according to the reference point;
determining feeding parameters of a feeding platform according to the welding range of a welding gun;
setting three-dimensional operation parameters between the welding spot automatic tracking and positioning device and the welded A, B steel bars according to the feeding parameters;
and starting the welding spot automatic tracking and positioning device, the wire feeding device and the welding gun, and welding A, B steel bars to be welded on the welding girder according to the three-dimensional operation parameters.
The working principle and the beneficial effects of the invention are as follows:
according to the method provided by the invention, the limitations that the welding cannot be carried out due to the fact that the longitudinal axis displacement and the transverse axis displacement of the welded steel bar are larger than the diameter of the welding rod and the welding cannot be carried out due to the fact that the horizontal and vertical height error size exceeds the diameter of the welding rod in the process of carrying out three-dimensional or multi-layer steel mesh welding can be realized. The single-layer and multi-layer reinforcing mesh can be automatically, massively and continuously normally manufactured.
The function of automatically tracking and positioning welding within plus or minus 5 cm of transverse displacement of the axis of the welding point of the welded longitudinal steel bar is realized; the welding point axis of the welded transverse steel bar longitudinally shifts within plus or minus 5 cm and has the function of automatic tracking and positioning welding; the error of the horizontal line vertical height cross point of the welded steel bar is within plus or minus 5 cm, and the welding is automatically tracked and positioned; and the welding device has the functions of vertically and automatically tracking and positioning the center of the welding spot and performing three-dimensional welding on multiple layers of steel bars.
Compared with the existing welding machine, the welding efficiency is effectively improved, the precision in the welding process is improved, and the condition that the rejection rate is too high in the manufacturing process of the reinforcing mesh due to inaccurate welding is reduced.
In one embodiment, the datum point is an initial position of the welding point automatic tracking and positioning device on the welding girder;
the three-dimensional operation parameters of the welding spot automatic tracking and positioning device comprise: the center positions of welding points in the vertical position, the transverse position and the longitudinal position track the movement distance of automatic positioning.
The three-dimensional operation parameters and the reference points can facilitate the automatic tracking and positioning device of the welding points to carry out adaptive motion according to the three-dimensional operation parameters and the reference points, thereby achieving the purpose of finding the welding points of A, B welded steel bars.
In one embodiment, the preset welding point automatic tracking and positioning device is located at a datum point on the welding girder and comprises: a first initial position, a second initial position and a third initial position;
determining a first initial position of the transverse girder on the longitudinal girder according to the transverse spacing of the welded A, B steel bars;
determining a second initial position of the welding point automatic tracking positioning device on the transverse girder according to the longitudinal distance of A, B welded steel bars;
determining a third initial position of the moving shaft according to the distance between the welding gun fuse end point on the moving shaft and the melting point center of the crossed steel bar to be welded A, B,
the first initial position is a fixed point which is initially moved at a longitudinal distance;
the second initial position is a fixed point of initial movement of the transverse distance;
the third initial position is an initial fixed point of the vertical movement of the movement axis.
When the automatic tracking and positioning device works, the upper part of the feeding platform is used for bearing the bound steel bar net group, longitudinal girders are symmetrically arranged on two sides of the feeding platform, transverse girders are erected above the longitudinal girders and reciprocate above the longitudinal girders, and the transverse girders are connected with an automatic tracking and positioning device through a box body; the aim of accurately finding the welding point of A, B welded steel bars is achieved by utilizing the reciprocating motion of the transverse girder and the longitudinal girder, and the aim of starting a welding gun to weld by utilizing the accurately found welding point of A, B welded steel bars is further achieved.
In one embodiment, the tracking of the center position of the vertically positioned welding point and the moving distance of the automatic positioning comprises:
moving a welding gun of the welding spot automatic tracking and positioning device and a moving shaft with a photoelectric sensor to enable the vertical touch sensor 67 to be in contact with the upper plane of the A steel bar;
starting the motion shaft to move downwards to the position X1 in the vertical direction of the welding girder and stopping;
starting the motion shaft to move upwards in the vertical direction of the welding girder, wherein the distance of the upward movement is X2;
wherein the distance X2 of upward movement coincides with the center of the melting point of the intersection of the A, B bars being welded.
The upward movement distance X2 is the height of the melting point center, or the movement distance between the tracking and automatic positioning of the welding point center position at the vertical position;
the distance X2 of the upward movement is obtained according to equation (1):
X2=a1-（b1+b2+b3）（1）
wherein, a1 is the height of the fuse end point of the welding gun from the welded A, B steel bar, b1 is the contact surface of the welded A, B steel bar; b2 is the distance from the photoelectric sensing sheet to the light sensing area; b3 is the torch travel distance in time of photoelectric response t 1.
In this embodiment, according to the third initial position as the starting position and the return position during resetting, the movement axis drives the vertical touch sensor 67 to move upward or downward, the vertical touch sensor 67 and the vertical touch switch 70 reciprocate up and down on the box body, so that the vertical touch switch 70 is started by the movement of the vertical touch sensor 67 contacting with the upper plane of the a steel bar, the start signal of the vertical touch switch 70 is transmitted to the controller 6, and then the controller 6 combines the longitudinal and transverse movement information to judge whether to start the welding gun, so that the welding gun can find the position of the welded steel bar in the vertical direction, and the welding gun can accurately align the welding point of the welded A, B steel bar for welding. The touch switch is a touch button.
In one embodiment, the tracking of the welding point center position of the transverse position and the moving distance of the automatic positioning comprise:
setting the transverse steel bar spacing of the transverse girder on the longitudinal girder as a transverse initial moving fixed point of the welding spot automatic tracking positioning device;
displacing the motion shaft on the longitudinal transverse girder according to the transverse initial movement fixed point, so that the longitudinal touch sensor 66 is contacted with the side surface of the B steel bar;
then, the longitudinal touch sensor 66 is separated from the contact with the side surface of the B steel bar, and the longitudinal position of the moving shaft is retracted;
the distance of the longitudinal position back is the point where the end point of the welding gun fuse wire is matched with the diameter center of the welded steel bar b.
In the embodiment, according to the second initial position as the starting position and the return position during resetting, the transverse girder is driven by the longitudinal touch sensor 66 on the movement shaft to reciprocate on the transverse girder, and the longitudinal touch sensor 66 and the transverse touch switch 68 are driven by the transverse girder to reciprocate in the transverse direction above the feeding platform;
thereby utilize the motion of vertical touch sensor 66 and the contact of B reinforcing bar side to start horizontal touch switch 68, horizontal touch switch 68's actuating signal transmits for controller 6, and whether start welder is judged to combine vertical and vertically motion information via controller 6 again, realizes that welder can find the position of the horizontal direction of being welded the reinforcing bar, and what be convenient for welder can be accurate aligns the welding point of being welded A, B reinforcing bar and carries out the welded purpose.
In one embodiment, the tracking of the welding point center position of the longitudinal position and the moving distance of the automatic positioning comprise:
setting the longitudinal steel bar spacing of the longitudinal girder on the transverse girder as a longitudinal initial moving fixed point of the welding spot automatic tracking positioning device;
the motion shaft is transversely reciprocated on the transverse girder, so that the transverse touch sensor 65 is contacted with the side surface of the A steel bar;
then, the lateral touch sensor 65 is disengaged from the contact with the side of the a steel bar, and the lateral position of the movement shaft is retracted;
the distance X3 of the transverse position back-off is calculated according to the formula (2);
X3=c1+c2（2）
wherein c1 is the distance from the touch surface to the photoelectric sensing trigger piece entering the photoelectric sensing area, and c2 is the advancing distance of the photoelectric response time.
In this embodiment, according to the first initial position as the starting position and the return position at the time of resetting, the transverse girder drives the transverse touch sensor 65 on the movement shaft to reciprocate on the longitudinal girder, and the transverse touch sensor 65 and the longitudinal touch switch 69 reciprocate in the transverse direction above the feeding platform;
utilize the motion axle to carry out horizontal reciprocating motion on horizontal girder, make the motion of the side contact of horizontal touch sensor 65 and the A reinforcing bar remove to start vertical touch switch 69, vertical touch switch 69's actuating signal transmits for controller 6, judge whether start welder via controller 6 combination horizontal and vertically motion information again, realize that welder can find the position of the horizontal direction of the reinforcing bar that is welded, the welder of being convenient for can be accurate aim at the welding point of the A, B reinforcing bar that is welded and weld the purpose.
In one embodiment, the starting the automatic welding point tracking and positioning device, the wire feeder and the welding gun, and the welding A, B steel bars welded on the welding girder according to the three-dimensional operation parameters comprises: determining the length of the welding wire according to the melting point volume;
starting a wire feeding device to feed the welding wire according to the determined length of the welding wire;
wherein, the end point of the welding gun fuse wire is matched with the melting point of the longitudinal, transverse and vertical crossing center of the welded A, B steel bar.
The controller 6 controls the welding gun according to the trigger instruction obtained by combining the transverse touch switch 68, the longitudinal touch switch 69 and the vertical touch switch 70 with the transverse touch sensor 65, the longitudinal touch sensor 66 and the vertical touch sensor 67, so that the aim of welding the aligned welding point position by the welding gun is fulfilled.
In one embodiment, further comprising: after one process of welding is finished, starting the motion shaft to return to the reference point;
the transverse touch sensor 65, the longitudinal touch sensor 66 and the vertical touch sensor 67 on the starting motion axis all return to the initial three-dimensional operation parameters and are ready for the next welding process.
After one welding operation is completed, the moving shaft returns to the first initial position, the second initial position and the third initial position, so that preparation for the next welding operation is realized.
According to fig. 2-10, in one embodiment the welding girder comprises a transverse girder 3 and a longitudinal girder 2; the transverse girder 3 is erected on the longitudinal girder 2 to reciprocate; a motion shaft 7 is arranged on the transverse girder 3 through a box body 5, one end, far away from the box body 5, of the motion shaft 7 is provided with an automatic welding point tracking and positioning device 4, and the automatic welding point tracking and positioning device 4 comprises a transverse touch sensor 65, a longitudinal touch sensor 66 and a vertical touch sensor 67;
the longitudinal girders 2 are provided with two groups, a feeding platform 1 is arranged between the longitudinal girders 2, and the feeding platform 1 is used for placing bound reinforcement mesh groups;
the longitudinal girders 2 are provided with slide rails, and the slide rails are used for the transverse girders 3 to reciprocate on the longitudinal girders 2;
the transverse girder 3 is provided with a slide rail, and the slide rail is used for the box body 5 to reciprocate on the transverse girder 3;
a toothed plate is arranged on the moving shaft 7 and used for enabling the moving shaft 7 to reciprocate on the box body 5;
the three-dimensional motion driving device 10 is connected with the controller 6, and the three-dimensional motion driving device 10 is used for controlling the transverse girders 3 to reciprocate on the longitudinal girders 2, the box body 5 to reciprocate on the transverse girders 3 and the motion shaft 7 to reciprocate on the box body 5.
In this embodiment, the three-dimensional motion driving device 10 includes a motor and a gear, the rotating end of the motor is connected with the gear,
a rack is arranged on the longitudinal girder 2, a motor and a gear are arranged at one end of the transverse girder 3 close to the longitudinal girder 2, and the gear and the rack of the longitudinal girder 2 are meshed with each other; when the motor works, the motor drives the gear to rotate, the gear is meshed with the rack of the longitudinal girder 2, and the transverse girder 3 reciprocates on the longitudinal girder 2 through the slide rail; further driving the moving shaft 7 to move in the longitudinal direction;
the transverse girder 3 is provided with a rack, the box body 5 is provided with a motor and a gear, and the gear and the rack of the transverse girder 3 are meshed with each other; when the controller 6 starts the motor to work, the gear rotates, the gear is meshed with the rack of the transverse girder 3, and the box body 5 can reciprocate on the transverse girder 3; further driving the moving shaft 7 to realize the movement in the transverse direction;
toothed plate meshing gear on the motion axle 7, gear connection motor rotates the end, the motor is fixed inside box 5, 6 starter motor during operation of controller, the motor takes the gear to rotate, the gear will with toothed plate on the motion axle 7 meshes, thereby realizes taking motion axle 7 is in go up and down reciprocating motion on the box 5, and then the area solder joint automatic tracking positioner 4 on the motion axle 7 carries out up and down reciprocating motion, realizes the purpose of finding the welding point.
In one embodiment, as shown in fig. 1-10, a material conveying mechanism is arranged on the feeding platform 1, a material outlet 23 is arranged at one end of the feeding platform 1 away from the reference point, and the lower surface of the feeding platform 1 is erected on the ground through a fourth connecting rod 29;
a first guide rod 14 and a second guide rod 15 are arranged on one side of the feeding platform 1 through a third connecting rod 28 in a spaced manner, a U-shaped structure is formed between each of the first guide rod 14 and the third connecting rod 28 and between each of the second guide rod 15 and the third connecting rod 28, and an opening of the U-shaped structure faces the upper surface of the feeding platform 1;
a first sliding sleeve 12 is slidably arranged on the first guide rod 14, second connecting rods 27 are arranged on one side of the first sliding sleeve 12 close to the discharge hole 23 at intervals, and a second toothed plate 30 is arranged between the second connecting rods 27;
a second sliding sleeve 16 is slidably arranged on the second guide rod 15, and first connecting rods 17 are arranged at intervals at one end of the second sliding sleeve 16 close to the discharge hole 23; a first rotating shaft 13 protruding outwards is arranged on one side of the second sliding sleeve 16 away from the datum point, the first rotating shaft 13 is connected with a first gear 11, and the first gear 11 is connected with a motor;
one end of the second connecting rod 27 far away from the first sliding sleeve 12 is connected with a second pusher 25, the second pusher 25 is connected with a second feeding panel 24 through a second push rod 31, and the second pusher 25 is used for the second feeding panel 24 to reciprocate up and down at the position of the discharge hole 23;
a first toothed plate 26 is arranged on the feeding platform 1, the first toothed plate 26 is positioned on one side of the second guide rod 15 close to the discharge hole 23, and the first toothed plate 26 and the second toothed plate 30 are respectively meshed with the first gear 11;
one end of the first connecting rod 17, which is far away from the second sliding sleeve 16, is connected with a first feeding panel 22, rollers 47 are arranged at intervals on one side, which is close to the feeding platform 1, of the first feeding panel 22, the rollers 47 are used for the first feeding panel 22 to reciprocate on the feeding platform 1, and one side, which is far away from the rollers 47, of the first feeding panel 22 is used for erecting a bound steel bar net group;
the upper surface of the first feeding panel 22 is provided with a first groove 32, a plurality of guide rollers 33 are arranged in the first groove 32 at intervals, and two ends of each guide roller 33 are rotatably arranged in the first groove 32 through a second rotating shaft 34.
One end of the first feeding panel 22 close to the reference point is provided with a material pushing mechanism; the material pushing mechanism comprises a first pusher 18, a first push rod 19 and a push plate 20, the first pusher 18 is fixed on one side of the first feeding panel 22 close to a reference point, the driving end of the first pusher 18 faces the discharge hole 23, the driving end of the first pusher 18 is connected with the first push rod 19, the other end of the first push rod 19 is connected with the push plate 20, and a plurality of first telescopic rods 21 are further arranged between the push plate 20 and the first pusher 18 at intervals.
In the embodiment, after being bound, the steel bar net group is hoisted to the feeding platform through a crane, and the longitudinal girders arranged at two sides of the feeding platform, the transverse girders arranged on the longitudinal girders and the welding spot automatic tracking and positioning device arranged on the transverse girders can realize the purpose of accurately finding welding spots in the transverse, longitudinal and vertical directions of the steel bar net group, and further realize the purpose of welding by using a welding gun;
after the welding of the reinforcing mesh group is finished, the crane needs to firstly hoist the welded reinforcing mesh group and then hoist the reinforcing mesh group bound and required to be welded to the feeding platform; therefore, the situation of reduction of the working efficiency is caused, and the situation can be greatly reduced through the arranged material conveying mechanism;
when the material conveying mechanism works, namely after the group welding of a group of reinforcing mesh is finished, the first gear is driven by the motor, so that the first gear is respectively meshed with the first toothed plate and the second toothed plate; the first gear firstly realizes that the second sliding sleeve moves from right to left on the second guide rod according to the meshing with the first toothed plate;
the second toothed plate connected to the first sliding sleeve is further driven to move together, so that the first sliding sleeve connected with the first toothed plate is driven to move on the first guide rod from right to left; when the second sliding sleeve moves from right to left, the second sliding sleeve drives the first feeding panel to move from right to left through the first connecting rod;
in the initial state of the first feeding panel, the first feeding panel should be at a position close to a reference point, namely close to a first initial point, a second initial point and a third initial point of the welding spot automatic tracking positioning device;
the roller below the first feeding panel can slide on the feeding platform, so that the welded steel bar mesh group on the first feeding panel can be rapidly moved away from the working area of the welding spot automatic tracking and positioning device;
when the first feeding panel slides to the left, the second feeding panel can also slide from right to left along with the first feeding panel, and the second feeding panel is erected below the first feeding panel; the first pushers on the first feeding panel are started simultaneously, so that the first pushers drive the first telescopic rods to extend through the first push rods, and further drive the push plates to move from right to left, and the push rods are used for pushing the welded steel bar mesh group above the first feeding panel to move from right to left; because the plurality of guide rollers arranged on the first feeding panel are rotatably arranged in the first groove through the second rotating shaft, the guide rollers can also assist the welded steel bar net group to push towards the second feeding panel in the pushing process of the push plate;
when the first feeding panel leaves the working area of the welding spot automatic tracking and positioning device and the second feeding panel completely reaches the discharge hole, the welded steel bar net group can be pushed to the second feeding panel by the push plate; at the moment, the second pusher is started, and the second pusher drives the second push rod to drive the second feeding panel to extend towards the lower part of the feeding platform, so that the welded steel bar net group is taken away by a receiving platform connected with the lower part;
and then, the second pusher drives the second feeding panel to reset, the motor drives the first gear to rotate and realizes that the first sliding sleeve and the second sliding sleeve respectively drive the first feeding panel and the second feeding panel to reset to a working area of the welding spot automatic tracking and positioning device, and the hoisting machine is further started to hoist the bound reinforcement net group to the first feeding panel to perform a new round of reinforcement net group welding work.
Therefore, the condition that the steel bar net group does not need to wait for the back-and-forth hoisting of the crane in the welding process is realized, and the condition that the crane knocks or the working efficiency is reduced due to the back-and-forth hoisting and dismounting of the crane is reduced; the full-automatic assembly line type welding is realized, and therefore the working efficiency of welding is improved.
In one embodiment, according to fig. 8-10, the moving shaft 7 is provided with a welding gun 8 mounting mechanism, and the welding gun 8 mounting mechanism is used for mounting a plurality of welding guns 8 and performing transverse, longitudinal and vertical movement on the feeding platform 1 according to the three-dimensional movement of the moving shaft 7;
the welding gun 8 installation mechanism comprises: the connecting structure comprises a first connecting block 35, a third rotating shaft 36 and a fifth connecting rod 37, wherein the first connecting block 35 is rotatably connected with the third rotating shaft 36, one end of the third rotating shaft 36, which is close to the first connecting block 35, is fixedly connected with a sixth connecting rod 39, and the other end of the third rotating shaft 36 is connected with a motor;
one side surface of the first connecting block 35 is mounted on the moving shaft 7;
one end of the sixth connecting rod 39, which is far away from the third rotating shaft 36, is provided with a second hinge shaft 40 protruding outwards, one end of a seventh connecting rod 41 is rotatably connected to the second hinge shaft 40, and the other end of the seventh connecting rod 41 is provided with a fixed disc 43;
the sixth connecting rod 39 is provided with a first hinge shaft 38 protruding outwards, the first hinge shaft 38 is arranged at one end close to the first hinge shaft 13, the first hinge shaft 38 is rotatably connected with a fifth connecting rod 37, the other end of the fifth connecting rod 37 is rotatably connected with an eighth connecting rod 44 through a fourth hinge shaft 45, the center positions of the eighth connecting rod 44 and the fifth connecting rod 37 are both provided with a fixed disc 43,
one end of the eighth link 44, which is far away from the fifth link 37, is rotatably connected to the seventh link 41 through a third hinge shaft 42;
a first through hole 46 is formed in each fixed disk 43, the first through hole 46 is used for installing an installation rod 64 of the welding gun 8, and a fixing mechanism is arranged above each fixed disk 43 and used for installing and tightening the welding gun 8;
the fixing mechanism includes: a first 54, a second 56 and a third 60 strut,
a first through hole 55 is formed in the second pressing rod 56, a second through hole 62 is formed in the first pressing rod 54, the second through hole 62 is used for allowing a fifth hinge shaft 59 to pass through, and two ends of the fifth hinge shaft 59 are fixed in the first through hole 55;
two fourth clamping grooves 61 are arranged on the third pressing rod 60 at intervals, wherein one fourth clamping groove 61 is used for mounting a mounting rod 64 of the welding gun 8, the other fourth clamping groove 61 is used for being rotatably connected with one end of the first pressing rod 54 through a fifth hinge shaft 59, and the other end of the first pressing rod 54 is provided with a handle 53 with a spherical structure;
one end of the third pressing rod 60 close to the second pressing rod 56 is rotatably hinged in a third clamping groove 57 of a third cushion block 58 through a fifth hinge shaft 59, the third cushion block 58 is arranged at one side of the first through hole 46 at intervals, the other side of the first through hole 46 is provided with a first cushion block 48 at intervals, and one side of the first cushion block 48 away from the fixed disc 43 is provided with a second cushion block 49;
a first clamping groove 50 is formed in the mounting rod 64, a first clamping block 52 is arranged at one end, away from the third cushion block 58, of the second pressing rod 56, and the first clamping block 52 is used for being matched with the first clamping groove 50;
an extended fifth pressing plate 63 is arranged at one end of the third pressing rod 60 close to the first cushion block 48, a first clamping groove 50 is arranged at one end of the fifth pressing plate 63 far away from the third pressing rod 60, the first clamping groove 50 is of an arc-shaped structure, and the first clamping groove 50 is used for being matched with the second cushion block 49;
a plurality of second slots 51 are arranged on the mounting rod 64 at intervals, and the direction of the second slots 51 is perpendicular to the axial center line of the mounting rod 64.
In the embodiment, after the movement shaft with the welding point automatic tracking and positioning device moves in the transverse direction, the longitudinal direction and the vertical direction, the welding point of the A, B welded steel bars is positioned; then, a welding gun is required to be started to weld the welding point of the A, B positioned steel bars to be welded, and because a plurality of welding points exist on the same plane of the steel bar net group, in order to improve the welding efficiency, a welding gun mounting mechanism capable of mounting a plurality of welding guns is arranged on each motion shaft, so that the aim of improving the welding work efficiency in the welding process is fulfilled;
when the welding gun positioning device works, the motor connected with the third rotating shaft can drive the electric rotating shaft to rotate, so that the sixth connecting rod connected with the third rotating shaft can swing, the welding gun mounting mechanism can be driven to swing integrally after the sixth connecting rod swings, the welding gun mounting mechanism can drive a plurality of welding guns to swing, the aim that the welding guns can finely adjust the positions is fulfilled, the welding guns can swing back and forth along with the positioning of the welding spot automatic tracking and positioning device in the welding process to find welding spots needing to be welded, and the aim of finding the welding spots is further fulfilled;
the motor of the third rotating shaft is connected with the controller 6, when the sixth connecting rod swings, the fifth connecting rod and the seventh connecting rod are respectively driven to swing, and when the fifth connecting rod and the private connecting rod swing, the eighth connecting rod is driven to swing, so that the fixed disc on the seventh connecting rod, the fixed disc on the eighth connecting rod and the fixed disc on the fifth connecting rod swing together at the same time, the purpose that the welding gun rod fixedly connected with the fixed disc drives the welding gun to swing at the same time is realized, and the purpose that a plurality of welding guns can perform alignment welding on welding points of adjacent welded A, B steel bars at the periphery according to the welding point of the currently aligned welded A, B steel bar is realized;
the welding gun rod is fixed on the fixed disc through the fixing mechanism, so that the aim of quickly disassembling the welding gun from the fixed disc can be fulfilled; when the welding gun needs to be disassembled, firstly, the handle is held, the handle is pulled, the handle can swing in the first movable groove through the first pressure lever and the fifth articulated shaft, as shown in fig. 10, the swinging direction swings towards the right side, so that the purpose of pulling the second pressure lever towards the right side is achieved, when the second pressure lever is pulled towards the right side, the first clamping block arranged on the second pressure lever is separated from the second clamping groove on the mounting lever, so that the purpose of separating the mounting lever of the welding gun from the clamping buckle is achieved; then, the handle is further pulled, the third pressure rod is turned over in a third clamping groove of the third cushion block through a fifth hinge shaft, the purpose that a fifth pressure plate connected with the third pressure rod can be tilted is achieved, and the fifth pressure plate can be separated from the first cushion block and the second cushion block after being tilted; thereby realizing that the first clamping groove is completely separated from the second cushion block; at the moment, the mounting rod can be completely separated from the fixed disc; thereby realizing the purpose of detaching the welding gun;
when the welding gun needs to be installed, firstly, an installation rod of the welding gun penetrates through the first through hole, and then a second clamping groove on the installation rod faces to the axial center line of the first movable groove, namely the axial center line of the swinging of the handle; pulling the handle to turn the handle from right to left in fig. 10, so that the handle drives the first pressure lever to swing from right to left, and further the second pressure lever moves from right to left; the first clamping block is inserted into the second clamping groove of the mounting rod; continuing to swing the handle to enable the third pressure lever to swing leftwards, so that a fifth pressure plate connected to the third pressure lever can press the upper surface of the first cushion block, and the first clamping groove can be clamped on the circumferential outer wall of the second cushion block; the fixing of the mounting rod of the welding gun is completed at the moment, so that the aim of quickly replacing the welding gun when the welding gun fails is fulfilled;
electromagnets are embedded in the second cushion block and the first cushion block, each electromagnet is provided with a switch, when the first clamping groove is clamped on the circumferential outer wall of the second cushion block and the fifth pressing plate is pressed on the upper surface of the first cushion block, the electromagnet is started, and the fifth pressing plate is made into a magnetic material; at the moment, the fifth pressure plate is adsorbed by the electromagnet, so that the purpose of fastening and mounting the mounting rod of the welding gun is enhanced. The situation that the welding gun flies off due to the fact that the mounting rod loosens in the using process is reduced; the safety and the stability in the production process are improved.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (4)
1. The automatic tracking and positioning welding method for the welding point center of the steel mesh is characterized by comprising the following steps of:
presetting a reference point of the welding spot automatic tracking and positioning device on the welding girder;
determining the welding range of the welding gun according to the reference point;
determining feeding parameters of a feeding platform according to the welding range of a welding gun;
setting three-dimensional operation parameters between the welding spot automatic tracking and positioning device and the welded A, B steel bars according to the feeding parameters;
starting the welding spot automatic tracking and positioning device, the wire feeding device and the welding gun, and welding A, B steel bars to be welded on the welding girder according to the three-dimensional operation parameters;
the datum point is an initial position of the welding spot automatic tracking and positioning device on the welding girder;
the three-dimensional operation parameters of the welding spot automatic tracking and positioning device comprise: tracking the movement distance between the center positions of welding points at the vertical position, the transverse position and the longitudinal position and automatically positioning;
the movement distance between the tracking of the welding point center position of the longitudinal position and the automatic positioning comprises the following steps:
setting the longitudinal steel bar spacing of the longitudinal girder on the transverse girder as a longitudinal initial moving fixed point of the welding spot automatic tracking positioning device;
the moving shaft carries out transverse reciprocating motion on the transverse girder, so that the transverse touch sensor is in contact with the side face of the A steel bar;
then, the contact between the transverse touch sensor and the side face of the steel bar A is separated, and the transverse position of the moving shaft is retracted;
the distance X3 of the transverse position back-off is calculated according to the formula (2);
X3=c1+c2（2）
wherein c1 is the distance from the touch surface to the photoelectric sensing trigger piece entering the photoelectric sensing area, and c2 is the advancing distance of photoelectric response time;
after one process of welding is finished, starting the motion shaft to return to the reference point;
starting a transverse touch sensor, a longitudinal touch sensor and a vertical touch sensor on a motion shaft, returning all initial three-dimensional operation parameters, and preparing for the next welding procedure;
the welding girder comprises a transverse girder and a longitudinal girder; the transverse girder is arranged on the longitudinal girder to reciprocate; a moving shaft is arranged on the transverse girder through a box body, one end of the moving shaft, which is far away from the box body, is provided with an automatic welding spot tracking and positioning device, and the automatic welding spot tracking and positioning device comprises a transverse touch sensor, a longitudinal touch sensor and a vertical touch sensor;
the longitudinal girders are provided with two groups, a feeding platform is arranged between the longitudinal girders and used for placing the bound steel bar net group;
the longitudinal girders are provided with slide rails, and the slide rails are used for the transverse girders to reciprocate on the longitudinal girders;
the transverse girder is provided with a slide rail, and the slide rail is used for the box body to reciprocate on the transverse girder;
a toothed plate is arranged on the moving shaft and used for reciprocating motion of the moving shaft on the box body;
the three-dimensional motion driving device is connected with the controller and is used for controlling the transverse girder to reciprocate on the longitudinal girder, the box body to reciprocate on the transverse girder and the motion shaft to reciprocate on the box body.
2. The automatic welding-position tracking method for the welding point center of the steel mesh as claimed in claim 1,
predetermine solder joint automatic tracking positioner and be located the benchmark on the welding girder, include: a first initial position, a second initial position and a third initial position;
determining a first initial position of the transverse girder on the longitudinal girder according to the transverse spacing of the welded A, B steel bars;
determining a second initial position of the welding point automatic tracking positioning device on the transverse girder according to the longitudinal distance of A, B welded steel bars;
determining a third initial position of the moving shaft according to the distance between the welding gun fuse end point on the moving shaft and the melting point center of the crossed steel bar to be welded A, B,
the first initial position is a fixed point which is initially moved at a longitudinal distance;
the second initial position is a fixed point of initial movement of the transverse distance;
the third initial position is an initial fixed point of the vertical movement of the movement axis.
3. The automatic welding-position tracking method for the welding point center of the steel mesh as claimed in claim 1,
the movement distance between the tracking of the welding point center position of the transverse position and the automatic positioning comprises the following steps:
setting the transverse steel bar spacing of the transverse girder on the longitudinal girder as a transverse initial moving fixed point of the welding spot automatic tracking positioning device;
displacing the motion shaft on a longitudinal transverse girder according to the transverse initial movement fixed point to enable a longitudinal touch sensor to be in contact with the side face of the steel bar B;
then, the longitudinal touch sensor is separated from the contact with the side face of the steel bar B, and the longitudinal position of the moving shaft is retracted;
the distance of the longitudinal position back is the point where the end point of the welding gun fuse wire is matched with the diameter center of the welded steel bar b.
4. The automatic welding-position tracking method for the welding point center of the steel mesh as claimed in claim 1,
the automatic tracking and positioning device for the starting welding spot, the wire feeding device and the welding gun, and the welding of A, B welded steel bars on the welding girder according to the three-dimensional operation parameters comprises the following steps: determining the length of the welding wire according to the melting point volume;
starting a wire feeding device to feed the welding wire according to the determined length of the welding wire;
wherein, the end point of the welding gun fuse wire is matched with the melting point of the longitudinal, transverse and vertical crossing center of the welded A, B steel bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011401670.6A CN112743197B (en) | 2020-12-02 | 2020-12-02 | Automatic tracking and positioning welding method for welding spot center of reinforcing mesh |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011401670.6A CN112743197B (en) | 2020-12-02 | 2020-12-02 | Automatic tracking and positioning welding method for welding spot center of reinforcing mesh |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112743197A CN112743197A (en) | 2021-05-04 |
| CN112743197B true CN112743197B (en) | 2022-04-01 |
Family
ID=75649009
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011401670.6A Active CN112743197B (en) | 2020-12-02 | 2020-12-02 | Automatic tracking and positioning welding method for welding spot center of reinforcing mesh |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112743197B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113857395A (en) * | 2021-09-15 | 2021-12-31 | 杭州蓝达工艺制品有限公司 | Full-automatic punch forming and welding production equipment for metal mesh and production method thereof |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1169794A1 (en) * | 1983-12-05 | 1985-07-30 | Тбилисский Филиал Всесоюзного Института По Проектированию Организаций Энергетического Строительства "Оргэнергострой" | Device for locating cross-like joint of reinforcing fabrics in resistance welding |
| FR2955048A1 (en) * | 2010-01-11 | 2011-07-15 | Clotures Michel Willoquaux Soc | Constructing a bar grid, comprises positioning bars on edge and then welding the bars, forming a notch in the edge to house a fraction of bar, placing the bar in corresponding notch, and fixing the bar in notch by welding |
| CN107498152A (en) * | 2017-09-06 | 2017-12-22 | 江苏菲达环保科技有限公司 | A kind of large area metal plate tool structure automatic soldering device for being classified positioning |
| CN208584095U (en) * | 2018-06-05 | 2019-03-08 | 美好建筑装配科技有限公司 | A kind of intelligence reinforced mesh welder |
| CN109496173A (en) * | 2018-08-01 | 2019-03-19 | 深圳配天智能技术研究院有限公司 | Automatic welding device, clamping device people and automatic soldering method |
| CN110369871A (en) * | 2019-08-12 | 2019-10-25 | 湖南城市学院 | A kind of pipeline processing laser soldering device |
| CN110711982A (en) * | 2019-11-01 | 2020-01-21 | 长沙汉堃环保科技有限公司 | Automatic welding method and system based on induction head automatic point finding and tracking |
| CN111318783A (en) * | 2020-03-27 | 2020-06-23 | 陕西丝路机器人智能制造研究院有限公司 | Method for calibrating robot welding gun and laser weld tracking sensor of marine pipe welding machine |
-
2020
- 2020-12-02 CN CN202011401670.6A patent/CN112743197B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1169794A1 (en) * | 1983-12-05 | 1985-07-30 | Тбилисский Филиал Всесоюзного Института По Проектированию Организаций Энергетического Строительства "Оргэнергострой" | Device for locating cross-like joint of reinforcing fabrics in resistance welding |
| FR2955048A1 (en) * | 2010-01-11 | 2011-07-15 | Clotures Michel Willoquaux Soc | Constructing a bar grid, comprises positioning bars on edge and then welding the bars, forming a notch in the edge to house a fraction of bar, placing the bar in corresponding notch, and fixing the bar in notch by welding |
| CN107498152A (en) * | 2017-09-06 | 2017-12-22 | 江苏菲达环保科技有限公司 | A kind of large area metal plate tool structure automatic soldering device for being classified positioning |
| CN208584095U (en) * | 2018-06-05 | 2019-03-08 | 美好建筑装配科技有限公司 | A kind of intelligence reinforced mesh welder |
| CN109496173A (en) * | 2018-08-01 | 2019-03-19 | 深圳配天智能技术研究院有限公司 | Automatic welding device, clamping device people and automatic soldering method |
| CN110369871A (en) * | 2019-08-12 | 2019-10-25 | 湖南城市学院 | A kind of pipeline processing laser soldering device |
| CN110711982A (en) * | 2019-11-01 | 2020-01-21 | 长沙汉堃环保科技有限公司 | Automatic welding method and system based on induction head automatic point finding and tracking |
| CN111318783A (en) * | 2020-03-27 | 2020-06-23 | 陕西丝路机器人智能制造研究院有限公司 | Method for calibrating robot welding gun and laser weld tracking sensor of marine pipe welding machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112743197A (en) | 2021-05-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112743197B (en) | Automatic tracking and positioning welding method for welding spot center of reinforcing mesh | |
| CN109014536B (en) | Automatic assembly device and method for welded steel bar truss floor support plate | |
| CN104439801B (en) | Welder and the automatic welding machine with the welder | |
| CN206105265U (en) | Welding system of frame robot | |
| CN110539098B (en) | Automatic welding equipment for reinforcement cage robot and welding method thereof | |
| CN110814479A (en) | Automatic welding device and welding method for three-wave circular pipe anti-blocking submerged arc welding | |
| CN202490898U (en) | Hoop bending machine and reinforcing steel bar automatic shearing and hoop bending device of hoop bending machine | |
| CN202344115U (en) | Automobile truck body front-end panel automatic spot welding tool | |
| CN108817596A (en) | A kind of fully automatic feeding welding system of contact knife turntable structure | |
| CN113828978A (en) | Automatic hoop welding equipment and using method thereof | |
| CN215357195U (en) | Multi-point row welding machine | |
| CN114570864A (en) | Integrated and meshed production device and production process for steel bars of large bridge prefabricated part | |
| FI84328B (en) | FOERFARANDE OCH MASKIN FOER HOPSAETTNING AV TREDIMENSIONELLA METALLKONSTRUKTIONER. | |
| CN111069814A (en) | Automatic production equipment for embedded scaffold | |
| CN207309302U (en) | A kind of automatic welding machine for tubular element bracing ring | |
| CN217142153U (en) | Reinforcing steel bar mesh welding machine | |
| CN207925305U (en) | A kind of coil-winding mash welder | |
| CN216780837U (en) | Positioning device for welding U-shaped ribs | |
| CN104815929A (en) | Sliding type longitudinal rib end support of steel reinforcement framework machine | |
| CN212885812U (en) | Welding device for composite plate wear-resistant steel plate | |
| CN209256208U (en) | Skirtboard clamps welder | |
| CN206153791U (en) | Spot welding feeding system of truss for fast -assembling plate | |
| CN112719655A (en) | Manufacturing process of three-dimensional multi-head welding spot automatic tracking and positioning welding machine | |
| CN206277042U (en) | A kind of spot welding system of Quick-mounting board truss | |
| CN206153779U (en) | Spot welding system of truss for fast -assembling plate |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |