CN113275702A - Assembling device for building node ball robot automatic welding and regulating and controlling method thereof - Google Patents

Assembling device for building node ball robot automatic welding and regulating and controlling method thereof Download PDF

Info

Publication number
CN113275702A
CN113275702A CN202110612987.2A CN202110612987A CN113275702A CN 113275702 A CN113275702 A CN 113275702A CN 202110612987 A CN202110612987 A CN 202110612987A CN 113275702 A CN113275702 A CN 113275702A
Authority
CN
China
Prior art keywords
welding
node ball
clamp
ball
servo motor
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.)
Granted
Application number
CN202110612987.2A
Other languages
Chinese (zh)
Other versions
CN113275702B (en
Inventor
王磊
刘永涛
李柳萌
乔及森
石玗
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Barton Welding Technology Research Institute
Lanzhou University of Technology
Original Assignee
Zhejiang Barton Welding Technology Research Institute
Lanzhou University of Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Zhejiang Barton Welding Technology Research Institute, Lanzhou University of Technology filed Critical Zhejiang Barton Welding Technology Research Institute
Priority to CN202110612987.2A priority Critical patent/CN113275702B/en
Publication of CN113275702A publication Critical patent/CN113275702A/en
Application granted granted Critical
Publication of CN113275702B publication Critical patent/CN113275702B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • B23K9/0026—Arc welding or cutting specially adapted for particular articles or work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
    • 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
    • B23K9/02—Seam welding; Backing means; Inserts
    • B23K9/028—Seam welding; Backing means; Inserts for curved planar seams
    • 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
    • B23K9/1272—Geometry oriented, e.g. beam optical trading
    • B23K9/1274—Using non-contact, optical means, e.g. laser means
    • 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
    • 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

Abstract

The invention relates to an assembling device for automatic robot welding of building node balls. A blanking inclined ladder is arranged on the base, a left support column is arranged on one side of the blanking inclined ladder, and a sink groove is arranged on the other side of the blanking inclined ladder; the inner side of the left support column is respectively provided with a left mounting chuck and a welding seam laser measuring instrument, the outer side of the left support column is provided with a bracket and a servo motor II arranged on the bracket, and the servo motor II is connected with the left mounting chuck; two guide rails are arranged on two sides of the sinking groove, and a right support column is arranged on each guide rail; a driven rotating disk is arranged on the right supporting column; the welding robot is arranged right behind the blanking inclined ladder; and the welding seam laser measuring instrument and the servo motor II are respectively connected with the controller. Meanwhile, the invention also provides a regulating and controlling method of the assembling device. The invention can realize the purpose of accurately positioning the position of the welding line in the welding process.

Description

Assembling device for building node ball robot automatic welding and regulating and controlling method thereof
Technical Field
The invention relates to the technical field of automatic welding of ribbed spheres, in particular to an assembling device for automatic welding of a building node sphere robot and a regulating and controlling method thereof.
Background
In various large stadiums and various large steel frame structures, node balls are used as connecting points to connect steel frames in various directions. The node ball is a steel ball body with different diameters, which is formed by connecting two semicircular hollow steel balls with ribbed plates at the middle part together through arc welding.
At present, all steel structure manufacturers produce node balls by adopting traditional manual welding, and the problems of poor welding quality, low production efficiency, large fluctuation deviation of welding seam qualification rate and the like are caused. Although patent CN 107252950a proposes a method for realizing automatic welding of a welding ball by using a welding robot, the method mentions that the pre-welding size of a node ball (also called node ball) and the groove-to-position size of the node ball need to be satisfied within a certain range, and the welding condition of the node ball cannot be monitored during welding, which results in insufficient welding practicability of the welding robot. Patent CN 112247455A proposes a welding platform and a control method thereof, which utilize a guide plate to realize rapid positioning of a welding ball, and although the position correction before node ball welding is added due to the addition of the guide plate, the adjustment effect on the position of the node ball of the ribbed plate is not good, and meanwhile, during the welding process, real-time monitoring of the welding seam cannot be realized, and the position of the node ball during welding cannot be accurately adjusted.
Therefore, when the traditional manual welding is replaced by the automatic robot welding, the node ball welding mainly faces the problems that the precision of the previous processing procedure is poor, the groove position cannot be matched with a welding robot, and the node ball cannot be accurately positioned and effectively clamped.
In order to realize the automatic robot welding, the positions of the grooves to be welded of the node balls must be accurately positioned at the positions to be welded of the welding guns. At present, when a robot welds a node ball, the robot cannot know the position of a groove to be welded, and therefore a corresponding assembling device needs to be matched. In the existing assembly device scheme, in order to fix the node ball at two ends of the clamping device, a magnetic chuck is needed, and the magnetic chuck has magnetic force, so that magnetic force influence is generated on the welding process, the welding process is unstable, and welding cannot be performed.
The precision of the front processing procedure of the to-be-welded groove of the node ball is poor, and the front procedure of the semicircular hollow steel ball of the node ball is formed by adopting an oxyacetylene cutting mode, so that the bottom clearance, the groove width, the vertical roundness and the like of the to-be-welded groove of the node ball are greatly fluctuated. If the groove state is not reproduced, the traditional robot is adopted to directly perform parameter-fixed welding, welding leakage can be caused at the position with large gap at the bottom of the groove, and the defects of welding seam collapse, side wall incomplete fusion and the like can be caused at the position with large groove width, so that the robot cannot be used for welding the node ball. Meanwhile, in the existing automatic welding, the requirement on the size precision of a welding seam is high, the assembly error of the groove caused by the previous process is uncontrollable, and all node ball welding beads can not be welded by a robot.
Disclosure of Invention
The invention aims to solve the technical problem of providing an assembling device for building node ball robot automatic welding, which can accurately position the position of a welding line in the welding process.
The invention also provides a regulating and controlling method of the assembling device for the building node ball robot automatic welding.
In order to solve the problems, the assembling device for the building node ball robot automatic welding is characterized in that: the device comprises a base, a left supporting column, a right supporting column and a welding robot, wherein the left supporting column and the right supporting column are arranged on the base; the base is provided with a blanking inclined ladder, one side of the blanking inclined ladder is provided with the left support column, and the other side of the blanking inclined ladder is provided with a sinking groove; the inner side of the left support column is respectively provided with a left mounting chuck and a welding seam laser measuring instrument, the outer side of the left support column is provided with a bracket and a servo motor II arranged on the bracket, and the servo motor II is connected with the left mounting chuck; two guide rails are arranged on two sides of the sinking groove, and the right support column is arranged on the guide rails; the right supporting column is provided with a driven rotating disk; the welding robot is arranged right behind the blanking inclined ladder; and the welding seam laser measuring instrument and the servo motor II are respectively connected with the controller.
The device also includes a flexible clamp; the flexible clamp comprises a left clamp and a right clamp which are both semicircular; the left clamp is provided with a left clamp handle and a positioning plate, and a positioning precision surface of the positioning plate is in contact with a precision surface of the left mounting chuck; the right clamp is provided with a right clamp handle and a positioning boss respectively, and the positioning boss is inserted into a groove to be welded of the node ball; the left clamp is connected with one end of the right clamp through a positioning pin, and the other end of the left clamp is connected with the other end of the right clamp through a connecting rod.
The flexible fixture clamps the node ball with the weld joint angle of the groove to be welded being 40-70 degrees, and limits the groove to be welded of the node ball in the area to be welded of the welding gun.
The left clamp handle and the right clamp handle are symmetrically arranged on a central horizontal plane.
The positioning plate is arranged on the left side of the left clamp between the positioning pin and the left clamp handle.
The positioning boss is arranged on the left side of the right clamp between the connecting rod and the right clamp handle.
Four discontinuous positioning bosses are arranged in the flexible clamp.
The section of the positioning boss is T-shaped and surrounds the inner side of the right clamp; and flexible materials are pasted on the positioning bosses.
And the left clamp and the right clamp are respectively provided with a plurality of positioning pin holes matched with the positioning pins.
The left mounting chuck is circular, a hollow cylinder with a hemispherical bottom is arranged in the center of one side of the left mounting chuck, an in-place sensor I and an in-place sensor II are arranged in the center end face of the left mounting chuck, and a bearing connecting rod is arranged on the other side of the left mounting chuck; a spring is arranged at the bottom axis of the hollow cylinder and is connected with a trigger rod; a center in-place sensor is arranged at the joint of the trigger rod and the spring; a spring chuck is arranged at the bottom of the hollow cylinder on the periphery of the trigger rod, and anti-skid rubber I is arranged on the end face of the spring chuck; the bearing connecting rod penetrates through a hole formed in the left supporting column, a gear II is arranged at the bottom end of the bearing connecting rod, and the gear II is meshed with a gear I arranged on a shaft of the servo motor II; the in-place sensor I, the in-place sensor II and the center in-place sensor are respectively connected with the controller through signal wires.
And 4 spring chucks are arranged in the left mounting chuck.
The driven rotating disk is circular, is internally provided with a left contact disk and is movably arranged on the right supporting column through a bearing I; the left contact disc is of a hemispherical structure, and anti-skid rubber II is arranged in the hemispherical surface.
The welding line laser measuring instrument comprises a scanning probe, a support rod I and a support rod II which are connected together; the support rod I is connected with the support rod II through a connecting joint, and the support rod II is fixed at the lower part of the inner side of the left support column; the scanning probe is connected with the controller through a lead I.
The right supporting column is provided with an upper hole and a lower hole respectively; the upper hole is connected with the driven rotating disc through a bearing activity II; a screw penetrates through the lower hole, and one end of the screw is inserted into the base and is movably connected with the inner wall of the sink tank through a bearing III; the other end of the screw rod is connected with a servo motor I through a bearing, and the servo motor I is connected with the controller through a lead II.
The device also comprises a speed control pedal which is arranged on one side of the base opposite to the welding robot and is connected with the controller through a lead III.
The regulation and control method of the assembling device for the building node ball robot automatic welding comprises the following steps:
pre-assembling a node ball:
assembling and spot-welding two hollow semicircular steel balls with ribbed plates in the middle, so that 3-4 welding spots are welded on the periphery of a groove welding seam of the node ball, and pre-assembling before welding of the node ball is completed;
a flexible clamp fixes the node ball:
pulling out a positioning pin in the flexible clamp, and opening the left clamp and the right clamp in opposite directions by taking the connecting rod as a shaft; placing the node ball in the flexible fixture, so that the positioning boss is inserted into a to-be-welded notch of the node ball; then, the left clamp and the right clamp are rotated towards opposite directions, and after the left clamp and the right clamp are restored to the previous opening positions, the positioning pins are inserted into corresponding positioning pin holes according to the diameter of the node ball;
mounting the node at a position before ball welding:
tying a nylon lifting belt on a left clamp handle and a right clamp handle of the flexible clamp, and lifting the flexible clamp clamped with the node ball to a horizontal middle shaft of a left mounting chuck by a crane to enable the direction of the precision surface of the positioning plate of the flexible clamp to be consistent with that of the precision surface of the left mounting chuck; the rotating speed of a servo motor I is controlled through a controller, so that the servo motor I is started to drive a screw rod in a base, and a right supporting column provided with a driven rotating disk moves towards the left mounting chuck along a guide rail; the driven rotating disk continues to move to the left after contacting the node ball clamped by the flexible clamp, causing the node ball to also move to the left until the node ball spherical surface comes into seating contact with a spring chuck in the left mounting chuck; the triggering rod is extruded by the node ball to trigger the center in-place sensor; meanwhile, the positioning precision surface of the positioning plate is in-place contact with the precision surface of the left mounting chuck, and an in-place sensor I and an in-place sensor II at the position are triggered; at the moment, the controller sends a rotation stop instruction to the servo motor I, the right supporting column moves leftwards to a proper position and stops, and the groove to be welded of the node ball is limited in a region to be welded under a welding gun of the welding robot;
the flexible clamp is dismounted:
pulling out the positioning pin, taking the connecting rod as an axis, opening the left clamp and the right clamp in opposite directions, and detaching the flexible clamp;
fifthly, tracking and scanning the welding line:
the controller sends a starting instruction to a servo motor II, and the servo motor II is meshed with a gear II through a gear I to drive the left mounting chuck to rotate clockwise; the left mounting chuck drives the node ball to rotate clockwise, and the welding seam laser measuring instrument scans a groove to be welded of the node ball to form a three-dimensional welding seam appearance and then transmits the three-dimensional welding seam appearance back to the controller; then the controller is compared with the preset position of the welding line in the database;
sixthly, welding the node ball:
if the deviation between the groove to be welded of the node ball and the pre-designed position of the welding robot is large, or the shape of the groove of the welding seam returned by the welding seam laser measuring instrument is judged, the deviation of the precision of the semicircular hollow steel ball forming the node ball caused by oxyacetylene processing in the previous process is too large, and then manual arc welding is carried out; an operator adjusts the rotating speed through a speed control pedal, so that the left mounting chuck drives the node ball to rotate stably to complete welding;
if the position of the welding seam is not at the preset position of a welding gun of the welding robot, fine-tuning the position of the node ball by using a spring chuck to enable the in-place size of the groove welding seam to reach the automatic welding range, and carrying out automatic welding by the welding robot; meanwhile, the welding seam laser measuring instrument tracks and detects the positions of welding gun electric arcs of the welding robot and grooves to be welded of the node balls and the electric arc states in the welding process;
discharging and finishing:
after welding, the controller sends a starting instruction to the servo motor I after welding, the servo motor I drives the right supporting column to move out rightwards at a constant speed through the screw rod, the node ball after welding slides out through the blanking slide, and the whole welding process is completed.
Compared with the prior art, the invention has the following advantages:
1. the groove to be welded of the node ball is clamped by the flexible clamp, and the in-place precision of the groove to be welded is ensured by utilizing the mode that the positioning precision surface of the positioning plate in the flexible clamp is in contact with the precision surface of the left mounting chuck.
2. The positioning boss in the flexible fixture is inserted into the groove to be welded of the node ball, so that the flexible fixture can accurately reproduce the position state of the groove.
3. The section of the positioning boss is T-shaped and surrounds the inner side of the right clamp; the positioning boss is pasted with a flexible material. At the part with poor roundness of the node ball or rough surface, the flexible material of the positioning boss in the flexible clamp 3 can be tightly attached to the slope surface of the node ball due to the fact that the flexible material is attached to the T-shaped positioning boss.
4. In the invention, a plurality of positioning pin holes matched with the positioning pins are respectively arranged on the left clamp and the right clamp so as to adapt to stable clamping of node balls with different sizes and radiuses and fluctuation.
5. Four discontinuous positioning lug boss structures are designed in the flexible clamp, so that welding beading caused by spot welding of the node ball is effectively avoided, and the positioning lug bosses can be effectively inserted into the node ball notches.
6. The flexible clamp is provided with the right clamp handle and the left clamp handle, so that the carrying convenience of the node ball is enhanced.
7. According to the invention, the flexible material is pasted on the positioning boss, and the positioning boss is inserted into the to-be-welded groove of the node ball, so that the to-be-welded groove of the node ball is suitable for a welding seam angle of 40-70 degrees, namely, the boss can clamp the groove welding seam within the range of 40-70 degrees, therefore, the welding seam roughness adaptability is strong, and the use universality is increased.
8. According to the invention, the flexible clamp is matched with the rigid chuck (the left mounting chuck and the right driven rotating disk), the left mounting chuck and the right driven rotating disk simultaneously support against the ball body, and the ball body is directly held, so that the stable clamping of the node ball is ensured through the position fine adjustment and the clamping of the spring chuck on the premise of not applying magnetic force. Meanwhile, the end face of the positioning plate of the flexible clamp on one side can effectively guarantee precision and carry out precision transmission, so that the positions of to-be-welded grooves of the node balls are accurate in place, and a necessary foundation is provided for robot welding.
9. The anti-skidding rubber I is arranged on the end face of the spring chuck, so that when the servo motor II is started, the left mounting chuck drives the node ball to work, the friction force in the node ball welding process is increased, and skidding is prevented.
10. The welding line laser measuring instrument is arranged on the inner side of the left supporting column, so that the groove state can be scanned in advance by adopting a laser corrugation method, and off-line and on-line variable parameter working condition support can be further provided for the robot by obtaining the groove state. Meanwhile, the welding condition is monitored in real time by the welding seam laser measuring instrument in the welding process, real-time welding data are returned, the welding position and technological parameters are corrected in real time by the controller, the welding qualified rate of the node ball is improved, and the quality of a welded finished product is further improved.
11. In the invention, the spring is arranged between the spring chuck and the left mounting chuck. When the spring chuck is in a static state, the position of the spring chuck is higher than the central spherical surface of the left mounting chuck to form position allowance, so that the position fine adjustment can be performed on a node ball with irregular spherical surface degree before welding, the position deviation of a node ball welding seam groove in the mounting process and the position deviation of a welding gun electric arc and the node ball groove in the welding process are adjusted, and the welding can be normally performed.
12. The invention is additionally provided with a speed control pedal to assist the manual welding. Meanwhile, double-station conditions are designed on the welding seam laser measuring instrument, and when the welding seam laser measuring instrument does not meet the preset welding groove precision requirement of the automatic welding robot, a manual welding mode is switched to.
13. After the method is adopted, the welding seam laser measuring instrument can carry out three-dimensional scanning on the node ball welding seam, the data is transmitted back to the controller, the controller compares the welding seam size with the theoretical welding range, and automatic welding is carried out after the optimal adjustment is carried out on the position before welding. If the deviation of the front groove state is large and is not within the theoretical size range, the manual welding process can be automatically switched to, the welding is stably carried out through the speed control pedal, the welding safety and the actual welding precision are improved, the operation time of node ball transfer, installation and the like is saved, and the overall production efficiency is improved.
Drawings
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is an exploded view of the present invention.
FIG. 3 is a schematic view of a flexible fixture according to the present invention.
FIG. 4 is a schematic view of the left mounting chuck of the present invention.
FIG. 5 is a front view of the left mounting chuck of the present invention.
FIG. 6 is a sectional view taken along line A-A in the present invention.
Fig. 7 is a schematic view of the structure of the driven rotating disk in the invention.
FIG. 8 is a schematic structural view of a laser measuring instrument for a weld joint according to the present invention.
FIG. 9 is a schematic view of a node sphere structure according to the present invention.
Fig. 10 is a schematic diagram of the operation of the present invention.
In the figure: 1-a base; 2-left support column; 3-a flexible clamp; 4-a welding robot; 5-a controller; 6-right support column; 7-speed control pedal; 8-installing a chuck on the left; 9-a driven rotating disc; 10-a guide rail; 11-blanking inclined ladder; 12-weld laser measuring instrument; 13-nodal balls; 14-left clamp handle; 15-positioning a plate; 16-left clamp; 17-a locating pin; 18-right clamp; 19-right clamp handle; 20-positioning a boss; 21-a connecting rod; 22-in-place sensor I; 23-a spring chuck; 24-a trigger lever; 25-in-place sensor II; 26-left contact pad; 27-servo motor I; 28-screw rod; 29-servo motor II; 30-gear I; 31-center-in-place sensor; 32-gear II; 33-a scanning probe; 34-support bar I; 35-a connecting joint; 36-support bar II; 37-signal lines; 38-anti-slip rubber II; 39-groove to be welded; 40-a welding gun; 41-hollow cylinder; 42-bearing connecting rod.
Detailed Description
As shown in figures 1-9, the assembling device for the building node ball robot automatic welding comprises a base 1, a left support column 2 and a right support column 6 which are arranged on the base 1, and a welding robot 4 connected with a controller 5.
A blanking inclined ladder 11 is arranged on the base 1, a left support column 2 is arranged on one side of the blanking inclined ladder 11, and a sink groove is arranged on the other side of the blanking inclined ladder 11; the inner side of the left support pillar 2 is respectively provided with a left mounting chuck 8 and a welding seam laser measuring instrument 12, the outer side of the left support pillar is provided with a bracket and a servo motor II 29 arranged on the bracket, and the servo motor II 29 is connected with the left mounting chuck 8; two parallel guide rails 10 are arranged on two sides of the sinking groove, and a right support column 6 is arranged on each guide rail 10; a driven rotating disk 9 is arranged on the right supporting column 6; the welding robot 4 is arranged right behind the blanking inclined ladder 11; the welding seam laser measuring instrument 12 and the servo motor II 29 are respectively connected with the controller 5.
The device also comprises a flexible clamp 3 (shown in figure 3). The flexible clamp 3 comprises a left clamp 16 and a right clamp 18 which are both semicircular; a left clamp handle 14 and a positioning plate 15 are arranged on the left clamp 16, and the positioning precision surface of the positioning plate 15 is contacted with the precision surface of the left mounting chuck 8; a right clamp handle 19 and a positioning boss 20 are respectively arranged on the right clamp 18, and the positioning boss 20 is inserted into a groove 39 to be welded of the node ball 13; the left clamp 16 and the right clamp 18 are connected at one end by a positioning pin 17 and at the other end by a connecting rod 21. The flexible fixture 3 is a positioning tool, and when the node ball 13 is mounted in place and the groove to be welded of the node ball 13 is restrained in place, the flexible fixture 3 is dismounted.
Wherein: the flexible clamp 3 clamps the node ball 13 with the groove 39 to be welded at a weld angle of 40-70 degrees, and limits the groove 39 to be welded of the node ball 13 in a region to be welded of the welding gun 40.
The left clamp handle 14 and the right clamp handle 19 are symmetrically arranged on a central horizontal plane.
The positioning plate 15 is provided on the left side of the left clamp 16 between the positioning pin 17 and the left clamp handle 14.
A positioning boss 20 is provided on the left side of the right clamp 18 between the connecting rod 21 and the right clamp handle 19.
Four discontinuous positioning bosses 20 are arranged in the flexible clamp 3.
The section of the positioning boss 20 is T-shaped and surrounds the inner side of the right clamp 18; the positioning boss 20 and the main body of the flexible fixture 3 are of an integral structure. Flexible materials are pasted on the positioning bosses 20 to meet the requirements of node ball grooves with different dimensional accuracies. The positioning boss 20 is designed to have an interference fit in length, width and angle.
The left clamp 16 and the right clamp 18 are respectively provided with a plurality of positioning pin holes matched with the positioning pins 17.
The left mounting chuck 8 is circular, a hollow cylinder 41 with a hemispherical bottom is arranged in the center of one side of the left mounting chuck, an in-place sensor I22 and an in-place sensor II 25 are arranged in the center end face of the left mounting chuck, and a bearing connecting rod 42 is arranged on the other side of the left mounting chuck (as shown in figures 4-6). A spring is arranged at the bottom axis of the hollow cylinder 41 and is connected with a trigger rod 24; a center in-place sensor 31 is arranged at the joint of the trigger rod 24 and the spring; the bottom of the hollow cylinder 41 at the periphery of the trigger rod 24 is provided with a spring chuck 23, and the end surface of the spring chuck 23 is provided with anti-skid rubber I; the bearing connecting rod 42 penetrates through a hole formed in the left supporting column 2, the bottom end of the bearing connecting rod is provided with a gear II 32, and the gear II 32 is meshed with a gear I30 arranged on a shaft of a servo motor II 29; the in-place sensor I22, the in-place sensor II 25 and the center in-place sensor 31 are respectively connected with the controller 5 through signal lines 37.
The left mounting chuck 8 is internally provided with 4 spring chucks 23. The spring chuck 23 is spring seated in the spherical surface of the left mounting chuck 8.
The driven rotating disk 9 is circular, is internally provided with a left contact disk 26, and is movably arranged on the right supporting column 6 through a bearing I (as shown in figure 7). The left contact disc 26 is of a hemispherical structure, and anti-skid rubber II 38 is arranged in the hemispherical surface.
The weld laser measuring instrument 12 comprises a scanning probe 33, and a support rod I34 and a support rod II 36 (shown in FIG. 8) which are connected together. The support rod I34 is connected with the support rod II 36 through a connecting joint 35, and the support rod II 36 is fixed at the lower part of the inner side of the left support column 2; the scanning probe 33 is connected to the controller 5 through a lead i. The welding line laser measuring instrument 12 can adopt an LJ-X8000 series 2D/3D line laser measuring instrument produced by Kenzhi.
An upper hole and a lower hole are respectively arranged on the right supporting column 6; the upper hole is connected with the driven rotating disc 9 through a bearing activity II; a screw 28 penetrates through the lower hole, and one end of the screw 28 is inserted into the base 1 and is movably connected with the inner wall of the sink groove through a bearing III; the other end of the screw 28 is connected with a servo motor I27 through a bearing, and the servo motor I27 is connected with the controller 5 through a lead II.
The apparatus further comprises a speed control pedal 7, and the speed control pedal 7 is provided on the side of the base 1 opposite to the welding robot 4 and connected to the controller 5 through a lead wire iii.
As shown in fig. 10, the method for regulating and controlling the assembling device for the building node ball robot automatic welding comprises the following steps:
pre-assembling node balls 13:
and (3) assembling and spot-welding two hollow semicircular steel balls with rib plates in the middle to enable 3-4 welding spots to be welded on the periphery of the groove welding seam of the node ball 13, namely, pre-assembling the node ball 13 before welding is completed. A schematic diagram of node ball 13 after pre-assembly is shown in fig. 9.
A node ball 13 is fixed by the flexible clamp 3:
pulling out the positioning pin 17 in the flexible clamp 3, and opening the left clamp 16 and the right clamp 18 in opposite directions by taking the connecting rod 21 as an axis; placing node ball 13 in flexible fixture 3, so that positioning boss 20 is inserted into the to-be-welded notch of node ball 13; then, the left jig 16 and the right jig 18 are rotated in the opposite directions, and after returning to the previous open position, the positioning pins 17 are inserted into the corresponding positioning pin holes according to the diameter of the node ball 13.
Mounting node ball 3 at a position before welding:
a nylon lifting belt is tied on a left clamp handle 14 and a right clamp handle 19 of the flexible clamp 3, the flexible clamp 3 clamped with the node ball 13 is lifted to a horizontal middle shaft of the left installation chuck 8 by a travelling crane, so that the direction of a precision surface of a positioning plate 15 of the flexible clamp 3 is consistent with that of the precision surface of the left installation chuck 8; the controller 5 is used for controlling the rotating speed of the servo motor I27 so as to start the servo motor I27 to drive a screw 28 in the base 1, and the right support column 6 provided with the driven rotating disk 9 moves along the guide rail 10 together with the left mounting chuck 8; the driven rotating disk 9 continues to move to the left after contacting the node ball 13 clamped by the flexible clamp 3, so that the node ball 13 also moves to the left until the spherical surface of the node ball 13 is in position contact with the spring clamp 23 in the left mounting clamp 8; and the trigger rod 24 is extruded by the node ball 13 to trigger the center-to-position sensor 31; meanwhile, the positioning precision surface of the positioning plate 15 is in-place contact with the precision surface of the left mounting chuck 8, and an in-place sensor I22 and an in-place sensor II 25 at the position are triggered; at this time, the controller 5 sends a rotation stop instruction to the servo motor i 27, and the right support column 6 moves to the left to a right position and stops, so that the groove 39 to be welded of the node ball 13 is limited to the area to be welded under the welding gun 40 of the welding robot 4.
The flexible clamp 3 is dismounted:
the positioning pin 17 is pulled out, and the left jig 16 and the right jig 18 are opened in opposite directions with the connecting rod 21 as an axis, and the flexible jig 3 is removed.
Fifthly, tracking and scanning the welding line:
the controller 5 sends a starting instruction to the servo motor II 29, and the servo motor II 29 is meshed with the gear II 32 through the gear I30 to drive the left mounting chuck 8 to rotate clockwise; the left mounting chuck 8 drives the node ball 13 to rotate clockwise, and the welding seam laser measuring instrument 12 scans a groove 39 to be welded of the node ball 13 to form a three-dimensional welding seam appearance and then transmits the three-dimensional welding seam appearance back to the controller 5; and then the controller 5 compares the preset position of the welding line in the database.
Sixthly, welding a node ball 13:
if the deviation between the groove to be welded 39 of the node ball 13 and the preset position of the welding robot 4 is large, or the shape of the welding seam groove returned by the welding seam laser measuring instrument 12 is judged, the precision deviation of the semicircular hollow steel ball forming the node ball is too large due to oxyacetylene processing in the previous process, and then manual electric arc welding is carried out; an operator adjusts the rotating speed through the speed control pedal 7, so that the left mounting chuck 8 drives the node ball 13 to rotate stably, and welding is completed.
If the position of the welding seam is not at the preset position of the welding gun 40 of the welding robot 4, the position of the groove welding seam reaches the automatic welding range after the spring chuck 23 is used for carrying out position fine adjustment on the node ball 13, and the welding robot 4 carries out automatic welding; meanwhile, the weld laser measuring instrument 12 tracks and detects the positions of the arc of the welding gun 40 of the welding robot 4 and the groove to be welded 39 of the node ball 13 and the arc state in the welding process.
Discharging and finishing:
after welding, the controller 5 sends a starting instruction to the servo motor I27, the servo motor I27 drives the right supporting column 6 to move out rightwards at a constant speed through the screw 28, the node ball 13 after welding slides out through the blanking slide 11, and the whole welding process is completed.

Claims (16)

1. Building node ball robot automation of welding's assembly quality, its characterized in that: the device comprises a base (1), a left supporting column (2) and a right supporting column (6) which are arranged on the base (1), and a welding robot (4) connected with a controller (5); a blanking inclined ladder (11) is arranged on the base (1), one side of the blanking inclined ladder (11) is provided with the left support column (2), and the other side of the blanking inclined ladder is provided with a sink groove; the inner side of the left support pillar (2) is respectively provided with a left mounting chuck (8) and a welding line laser measuring instrument (12), the outer side of the left support pillar is provided with a support and a servo motor II (29) arranged on the support, and the servo motor II (29) is connected with the left mounting chuck (8); two guide rails (10) are arranged on two sides of the sinking groove, and the right supporting column (6) is arranged on the guide rails (10); a driven rotating disk (9) is arranged on the right supporting column (6); the welding robot (4) is arranged right behind the blanking inclined ladder (11); the welding seam laser measuring instrument (12) and the servo motor II (29) are respectively connected with the controller (5).
2. The building node ball robotic automated welding assembly apparatus of claim 1, wherein: the device further comprises a flexible clamp (3); the flexible clamp (3) comprises a left clamp (16) and a right clamp (18) which are both semicircular; a left clamp handle (14) and a positioning plate (15) are arranged on the left clamp (16), and the positioning precision surface of the positioning plate (15) is in contact with the precision surface of the left mounting chuck (8); a right clamp handle (19) and a positioning boss (20) are respectively arranged on the right clamp (18), and the positioning boss (20) is inserted into a groove (39) to be welded of the node ball (13); and one end of the left clamp (16) is connected with one end of the right clamp (18) through a positioning pin (17), and the other end of the left clamp is connected with the other end of the right clamp through a connecting rod (21).
3. The building node ball robotic automated welding assembly apparatus of claim 2, wherein: the flexible clamp (3) clamps the node ball (13) with the groove (39) to be welded at the welding angle of 40-70 degrees, and limits the groove (39) to be welded of the node ball (13) in the area to be welded of the welding gun (40).
4. The building node ball robotic automated welding assembly apparatus of claim 2, wherein: the left clamp handle (14) and the right clamp handle (19) are symmetrically arranged on a central horizontal plane.
5. The building node ball robotic automated welding assembly apparatus of claim 2, wherein: the positioning plate (15) is arranged on the left side of the left clamp (16) between the positioning pin (17) and the left clamp handle (14).
6. The building node ball robotic automated welding assembly apparatus of claim 2, wherein: the positioning boss (20) is arranged on the left side of the right clamp (18) between the connecting rod (21) and the right clamp handle (19).
7. The building node ball robotic automated welding assembly apparatus of claim 2, wherein: four discontinuous positioning bosses (20) are arranged in the flexible clamp (3).
8. The building node ball robot automated welding assembly apparatus of claim 2 or 7, wherein: the section of the positioning boss (20) is T-shaped and surrounds the inner side of the right clamp (18); the positioning boss (20) is pasted with a flexible material.
9. The building node ball robotic automated welding assembly apparatus of claim 2, wherein: the left clamp (16) and the right clamp (18) are respectively provided with a plurality of positioning pin holes matched with the positioning pins (17).
10. The building node ball robotic automated welding assembly apparatus of claim 1, wherein: the left mounting chuck (8) is circular, a hollow cylinder (41) with a hemispherical bottom is arranged in the center of one side of the left mounting chuck, a position sensor I (22) and a position sensor II (25) are arranged in the center end face, and a bearing connecting rod (42) is arranged on the other side of the left mounting chuck; a spring is arranged at the bottom axis of the hollow cylinder (41), and the spring is connected with a trigger rod (24); a center in-place sensor (31) is arranged at the joint of the trigger rod (24) and the spring; a spring chuck (23) is arranged at the bottom of the hollow cylinder (41) at the periphery of the trigger rod (24), and anti-skid rubber I is arranged on the end surface of the spring chuck (23); the bearing connecting rod (42) penetrates through a hole formed in the left supporting column (2), a gear II (32) is arranged at the bottom end of the bearing connecting rod, and the gear II (32) is meshed with a gear I (30) arranged on a shaft of the servo motor II (29); the in-place sensor I (22), the in-place sensor II (25) and the center in-place sensor (31) are respectively connected with the controller (5) through signal lines (37).
11. The building node ball robotic automated welding assembly apparatus of claim 10, wherein: and 4 spring chucks (23) are arranged in the left mounting chuck (8).
12. The building node ball robotic automated welding assembly apparatus of claim 1, wherein: the driven rotating disc (9) is circular, is internally provided with a left contact disc (26), and is movably arranged on the right supporting column (6) through a bearing I; the left contact disc (26) is of a hemispherical structure, and anti-skid rubber II (38) is arranged in the hemispherical surface.
13. The building node ball robotic automated welding assembly apparatus of claim 1, wherein: the welding seam laser measuring instrument (12) comprises a scanning probe (33), a support rod I (34) and a support rod II (36) which are connected together; the support rod I (34) is connected with the support rod II (36) through a connecting joint (35), and the support rod II (36) is fixed at the lower part of the inner side of the left support column (2); the scanning probe (33) is connected with the controller (5) through a lead I.
14. The building node ball robotic automated welding assembly apparatus of claim 1, wherein: an upper hole and a lower hole are respectively formed in the right supporting column (6); the upper hole is connected with the driven rotating disc (9) through a bearing activity II; a screw rod (28) penetrates through the lower hole, and one end of the screw rod (28) is inserted into the base (1) and is movably connected with the inner wall of the sinking groove through a bearing III; the other end of the screw rod (28) is connected with a servo motor I (27) through a bearing, and the servo motor I (27) is connected with the controller (5) through a lead II.
15. The building node ball robotic automated welding assembly apparatus of claim 1, wherein: the device also comprises an speed control pedal (7), wherein the speed control pedal (7) is arranged on one side of the base (1) opposite to the welding robot (4) and is connected with the controller (5) through a lead III.
16. The method for regulating and controlling the assembling device for the building node ball robot automatic welding of the claim 1 comprises the following steps:
pre-assembling a node ball (13):
assembling and spot-welding two hollow semicircular steel balls with ribbed plates in the middle, so that 3-4 welding spots are spot-welded on the periphery of a groove welding seam of the node ball (13), and pre-assembling the node ball (13) before welding is completed;
the node ball (13) is fixed by a flexible clamp (3):
pulling out a positioning pin (17) in the flexible clamp (3), and opening a left clamp (16) and a right clamp (18) in opposite directions by taking a connecting rod (21) as an axis; placing the node ball (13) in the flexible fixture (3) so that the positioning boss (20) is inserted into a to-be-welded notch of the node ball (13); then, the left clamp (16) and the right clamp (18) are rotated towards opposite directions, and after the left clamp and the right clamp are restored to the previous opening positions, the positioning pins (17) are inserted into corresponding positioning pin holes according to the diameter of the node ball (13);
mounting the node ball (3) at a position before welding:
tying nylon lifting belts on a left clamp handle (14) and a right clamp handle (19) of the flexible clamp (3), and lifting the flexible clamp (3) clamped with the node ball (13) to a horizontal central shaft of a left mounting chuck (8) by a crane to enable the precision surface of a positioning plate (15) of the flexible clamp (3) to be consistent with the precision surface of the left mounting chuck (8) in direction; the rotating speed of a servo motor I (27) is controlled through a controller (5), so that the servo motor I (27) is started to drive a screw rod (28) in a base (1), and a right supporting column (6) provided with a driven rotating disk (9) moves towards a left mounting chuck (8) along a guide rail (10); the driven rotating disk (9) continues to move to the left after contacting the node ball (13) clamped by the flexible clamp (3), so that the node ball (13) also moves to the left until the spherical surface of the node ball (13) is in place contact with a spring chuck (23) in the left mounting chuck (8); the trigger rod (24) is extruded by the node ball (13) to trigger the center-to-position sensor (31); meanwhile, the positioning precision surface of the positioning plate (15) is in-place contact with the precision surface of the left mounting chuck (8), and an in-place sensor I (22) and an in-place sensor II (25) at the position are triggered; at the moment, the controller (5) sends a rotation stop instruction to the servo motor I (27), the right supporting column (6) moves leftwards to a right position to stop, and the groove (39) to be welded of the node ball (13) is limited to an area to be welded under a welding gun (40) of the welding robot (4);
fourthly, detaching the flexible clamp (3):
the positioning pin (17) is pulled out, the left clamp (16) and the right clamp (18) are opened in opposite directions by taking the connecting rod (21) as an axis, and the flexible clamp (3) is detached;
fifthly, tracking and scanning the welding line:
the controller (5) sends a starting instruction to the servo motor II (29), and the servo motor II (29) is meshed with the gear II (32) through the gear I (30) to drive the left mounting chuck (8) to rotate clockwise; the left mounting chuck (8) drives the node ball (13) to rotate clockwise, and the welding seam laser measuring instrument (12) scans a groove (39) to be welded of the node ball (13) to form a three-dimensional welding seam appearance and then transmits the three-dimensional welding seam appearance back to the controller (5); then the controller (5) is compared with the preset position of the welding line in the database;
sixthly, welding the node ball (13):
if the deviation between the groove (39) to be welded of the node ball (13) and the preset position of the welding robot (4) is large, or the shape of the welding seam groove returned by the welding seam laser measuring instrument (12) is judged, the deviation of the precision of the semicircular hollow steel ball forming the node ball caused by oxyacetylene processing in the previous process is too large, and then manual arc welding is carried out; an operator adjusts the rotating speed through the speed control pedal (7), so that the left mounting chuck (8) drives the node ball (13) to rotate stably to complete welding;
if the position of the welding seam is not at the preset position of a welding gun (40) of the welding robot (4), fine adjustment is carried out on the position of the node ball (13) by using a spring chuck (23), the in-place size of the groove welding seam reaches the automatic welding range, and the welding robot (4) carries out automatic welding; meanwhile, the welding line laser measuring instrument (12) tracks and detects the positions of an electric arc of a welding gun (40) of the welding robot (4) and a groove (39) to be welded of the node ball (13) and the state of the electric arc in the welding process;
discharging and finishing:
after the welding is finished, the controller (5) sends a starting instruction to the servo motor I (27), the servo motor I (27) drives the right supporting column (6) to move out rightwards at a constant speed through the screw rod (28), the node ball (13) slides out through the blanking slide (11) after the welding is finished, and the whole welding process is finished.
CN202110612987.2A 2021-06-02 2021-06-02 Assembling device for building node ball robot automatic welding and regulating and controlling method thereof Active CN113275702B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110612987.2A CN113275702B (en) 2021-06-02 2021-06-02 Assembling device for building node ball robot automatic welding and regulating and controlling method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110612987.2A CN113275702B (en) 2021-06-02 2021-06-02 Assembling device for building node ball robot automatic welding and regulating and controlling method thereof

Publications (2)

Publication Number Publication Date
CN113275702A true CN113275702A (en) 2021-08-20
CN113275702B CN113275702B (en) 2022-05-31

Family

ID=77283126

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110612987.2A Active CN113275702B (en) 2021-06-02 2021-06-02 Assembling device for building node ball robot automatic welding and regulating and controlling method thereof

Country Status (1)

Country Link
CN (1) CN113275702B (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113714701A (en) * 2021-09-14 2021-11-30 山西汾阳丰源网架钢结构有限公司 Automatic welding device for net rack welding balls and control system thereof
CN115781580A (en) * 2022-12-08 2023-03-14 中建材(合肥)钢构科技有限公司 Splicing device convenient for chord member installation
CN116275993A (en) * 2022-12-08 2023-06-23 中建材(合肥)钢构科技有限公司 Net frame assembling device
CN117139789A (en) * 2023-10-30 2023-12-01 山西汾阳丰源网架钢结构有限公司 Automatic tracking welding equipment for net rack ball

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB797139A (en) * 1955-07-29 1958-06-25 British Oxygen Co Ltd Welding jig
SU122825A1 (en) * 1959-01-02 1959-11-30 Г.П. Дубенко Hollow Ball Welding Machine
CN204122981U (en) * 2014-08-07 2015-01-28 沃德思源集团有限公司 A kind of automatic welding fixture
CN204381626U (en) * 2014-12-02 2015-06-10 武汉钢铁(集团)公司 A kind of hollow ball welding equipment
CN105171197A (en) * 2015-09-30 2015-12-23 厦门理工学院 Welded combination visual sensor device
CN208929520U (en) * 2018-10-31 2019-06-04 山东金博利达精密机械有限公司 A kind of hollow sphere automatic welding device
CN209867406U (en) * 2019-04-25 2019-12-31 中山中炬精工机械有限公司 Jack catch and machine tool
CN112247455A (en) * 2020-11-06 2021-01-22 浙江东南网架股份有限公司 Welding platform for realizing rapid positioning of welding balls by utilizing guide plate and control method thereof
CN112658540A (en) * 2020-12-15 2021-04-16 南京举森智能设备有限公司 High-precision welding process for low-temperature reaction pressure vessel

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB797139A (en) * 1955-07-29 1958-06-25 British Oxygen Co Ltd Welding jig
SU122825A1 (en) * 1959-01-02 1959-11-30 Г.П. Дубенко Hollow Ball Welding Machine
CN204122981U (en) * 2014-08-07 2015-01-28 沃德思源集团有限公司 A kind of automatic welding fixture
CN204381626U (en) * 2014-12-02 2015-06-10 武汉钢铁(集团)公司 A kind of hollow ball welding equipment
CN105171197A (en) * 2015-09-30 2015-12-23 厦门理工学院 Welded combination visual sensor device
CN208929520U (en) * 2018-10-31 2019-06-04 山东金博利达精密机械有限公司 A kind of hollow sphere automatic welding device
CN209867406U (en) * 2019-04-25 2019-12-31 中山中炬精工机械有限公司 Jack catch and machine tool
CN112247455A (en) * 2020-11-06 2021-01-22 浙江东南网架股份有限公司 Welding platform for realizing rapid positioning of welding balls by utilizing guide plate and control method thereof
CN112658540A (en) * 2020-12-15 2021-04-16 南京举森智能设备有限公司 High-precision welding process for low-temperature reaction pressure vessel

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113714701A (en) * 2021-09-14 2021-11-30 山西汾阳丰源网架钢结构有限公司 Automatic welding device for net rack welding balls and control system thereof
CN115781580A (en) * 2022-12-08 2023-03-14 中建材(合肥)钢构科技有限公司 Splicing device convenient for chord member installation
CN116275993A (en) * 2022-12-08 2023-06-23 中建材(合肥)钢构科技有限公司 Net frame assembling device
CN116275993B (en) * 2022-12-08 2023-12-01 中建材(合肥)钢构科技有限公司 Net frame assembling device
CN117139789A (en) * 2023-10-30 2023-12-01 山西汾阳丰源网架钢结构有限公司 Automatic tracking welding equipment for net rack ball
CN117139789B (en) * 2023-10-30 2024-01-02 山西汾阳丰源网架钢结构有限公司 Automatic tracking welding equipment for net rack ball

Also Published As

Publication number Publication date
CN113275702B (en) 2022-05-31

Similar Documents

Publication Publication Date Title
CN113275702B (en) Assembling device for building node ball robot automatic welding and regulating and controlling method thereof
KR100587251B1 (en) Auto welding device for pipe
KR200391479Y1 (en) Auto welding device for pipe
CN206898588U (en) The axle gantry laser-beam welding machine of laser vision weld joint tracking three
KR20070066061A (en) The continuous automatic welding device for horizontal and vertical fillet welding groove
US5010226A (en) Automatic seam welding apparatus
CN110948093A (en) Automatic welding device for straight welding seams on two sides of automobile rear axle housing
KR101218790B1 (en) a manipulator of auto welding in pipe
CN111604612A (en) Electric bicycle frame welding device and welding method thereof
CA2160715C (en) Process and device for welding a weld-on part on a supporting board
CN213257619U (en) Build-up welding equipment
CN202356770U (en) All-digital automatic welding machine of T-shaped pipe
CN206445415U (en) A kind of fixture welded for car floor
JP3586021B2 (en) Positioning jig for welding steel segments and welding equipment
CN213764386U (en) Full-automatic multi-angle arc welding device of robot
CN115106711A (en) Automatic welding device for circumferential and longitudinal welding seams
JP3246692B2 (en) Method and apparatus for seam welding of fuel tank
CN211539878U (en) Automatic welding device for straight welding seams on two sides of automobile rear axle housing
CN211966362U (en) Cone machine welding production system
CN210649120U (en) Five-axis automatic welding equipment
JPH06234089A (en) Laser beam seam welding machine
CN110883473A (en) Circular seam welder
CN220718204U (en) Device for welding closed cavity parts
CN110757046A (en) Automatic welding machine
CN111230344A (en) Cone machine welding production system

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