CN113664336B - Automatic welding equipment for hydraulic steel gate - Google Patents

Automatic welding equipment for hydraulic steel gate Download PDF

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Publication number
CN113664336B
CN113664336B CN202110835937.0A CN202110835937A CN113664336B CN 113664336 B CN113664336 B CN 113664336B CN 202110835937 A CN202110835937 A CN 202110835937A CN 113664336 B CN113664336 B CN 113664336B
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China
Prior art keywords
welding
dust collection
collection frame
hammering
steel gate
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CN202110835937.0A
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Chinese (zh)
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CN113664336A (en
Inventor
李建林
李红辉
刘兴
黄露
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Hubei Shuizong Water Resources & Hydropower Construction Co ltd
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Hubei Shuizong Water Resources & Hydropower Construction Co ltd
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Publication of CN113664336A publication Critical patent/CN113664336A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/16—Arc welding or cutting making use of shielding gas
    • 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
    • B23K9/18—Submerged-arc welding
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

Abstract

The invention discloses an automatic welding device for a hydraulic steel gate, which comprises: the positioner comprises a tool clamp for clamping a hydraulic steel gate panel; two groups of mechanical arms are arranged on one side of the positioner, and the tail ends of any mechanical arm are fixedly connected with a welding device and a hammering device; and the control device is respectively connected with the positioner, the mechanical arm, the welding device and the hammering device, and drives the mechanical arm to drive the welding device to weld and/or drive the hammering device to hammer weld seams. The invention can automatically weld the hydraulic steel gate and can carry out hammering along with welding in the welding process so as to reduce welding stress and welding deformation.

Description

Automatic welding equipment for hydraulic steel gate
Technical Field
The invention relates to the field of hydraulic steel gate welding equipment. More specifically, the invention relates to automatic welding equipment for a hydraulic steel gate.
Background
The hydraulic steel gate is a water retaining and stopping device commonly used in water supply and drainage engineering, water conservancy and hydropower engineering and mainly has a welded structure. Therefore, welding is used as a key process in the manufacturing of the hydraulic steel gate, and the reasonable welding mode directly influences the manufacturing progress and the manufacturing cost. In the welding process of the hydraulic steel gate, due to the fact that a welding heat source heats a part of a welding piece, uneven expansion caused by heat and contraction caused by cold occur to a welding material, and welding stress and welding deformation are caused. Controlling the welding stress and reducing the welding deformation are the key points for ensuring the welding quality. Common stress relief methods include stepped or multi-layer, multi-pass welding, localized annealing, hammering, etc. The welding automation degree of the existing hydraulic steel gate is low, and the hydraulic steel gate is basically manually operated, so that the hydraulic steel gate automatic welding equipment is developed, the hydraulic steel gate automatic welding equipment can be used for carrying out automatic welding, meanwhile, corresponding measures for eliminating welding stress are adopted, the purposes of reducing dependence on manpower and ensuring welding quality are achieved, and the hydraulic steel gate automatic welding equipment has a very good application prospect.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and to provide at least the advantages described later.
To achieve these objects and other advantages and in accordance with the purpose of the invention, there is provided an automatic welding apparatus for a hydraulic steel gate, comprising:
the positioner comprises a tool clamp for clamping a hydraulic steel gate panel; two groups of mechanical arms are arranged on one side of the positioner, and the tail ends of any mechanical arm are fixedly connected with a welding device and a hammering device;
and the control device is respectively connected with the positioner, the mechanical arm, the welding device and the hammering device, and drives the mechanical arm to drive the welding device to weld and/or drive the hammering device to hammer weld seams.
Preferably, the welding device comprises a welding supply device and a welding gun, the welding gun is connected with the welding supply device through a cable, the welding supply device is fixed on the mechanical arm, and the welding gun is installed at the tail end of the mechanical arm.
Preferably, the hammering device comprises a cylinder, a connecting rod and a hammering head; two ends of the connecting rod are respectively connected with the movable end of the cylinder and the hammering head, and the cylinder drives the hammering head to hammer the welding line; the cylinder comprises an electromagnetic valve, and the electromagnetic valve is connected with the control device.
Preferably, the connecting rod is connected with the hammering head through an elastic part, the connecting rod is recessed into a groove towards the end face of the hammering head, one end of the elastic part is fixedly connected with the inner bottom face of the groove, and the other end of the elastic part is fixedly connected with the hammering head.
Preferably, the welding device and the hammering device are arranged at an included angle of 90-180 degrees.
Preferably, a plurality of positioning cylinders are horizontally arranged on two sides of the positioner, and the movable ends of the positioning cylinders on two sides of the positioner are oppositely arranged; the movable end of any positioning cylinder is fixedly connected with an extension rod, a sucker is fixedly connected to the extension rod, and the sucker is connected with a vacuum generator through a hose; the positioning cylinder and the vacuum generator are respectively connected with the control device.
Preferably, two sides of the positioner are also provided with slag removing devices, and each slag removing device comprises a dust collection frame and a fan; two ends of the dust collection frame are fixedly connected with the positioner through brackets; one side of the dust collection frame is provided with an opening and faces the hydraulic steel gate panel, and the inner bottom surface of the dust collection frame is not higher than the upper surface of the hydraulic steel gate panel; the fan is communicated with the dust collection frame through a pipeline.
Preferably, the dust collection frame is of a horizontally arranged U-shaped structure, and the open end of the dust collection frame faces the hydraulic steel gate panel; a plurality of through holes used for connecting the pipeline are formed in the side wall of the dust collection frame at intervals, and partition plates are arranged on two sides of each through hole.
The clapboard is in a right trapezoid shape, the inclined edge of the clapboard faces the inner bottom surface of the dust collection frame, and the inclined edge of the clapboard is away from the inner bottom surface of the dust collection frame at a certain distance; the baffle slope sets up, the through-hole both sides the baffle symmetry sets up and is the loudspeaker form that expands outward.
Preferably, the dust collection frame further comprises a scraper and a driving device, the scraper is vertically arranged below the partition plate and is in contact with the inner bottom surface of the dust collection frame, a through groove is formed in the side wall of the dust collection frame, one side of the scraper penetrates through the through groove and is connected with the driving device, and the driving device drives the scraper to horizontally move back and forth along the inner bottom surface of the dust collection frame.
Preferably, an inclination angle sensor is arranged on the upper end surface of the dust collection frame, and the inclination angle sensor is connected with the control device.
The invention at least comprises the following beneficial effects:
1. according to the automatic welding equipment for the hydraulic steel gate, the welding device can be driven by the two groups of mechanical arms to symmetrically weld from the middle to two sides, the position of the hydraulic steel gate panel is adjusted by the positioner, and vertical welding, horizontal welding and overhead welding are sequentially matched to reduce the welding stress concentration and welding deformation of the hydraulic steel gate. Can also carry out along with welding the hammering through the hammering device to select two sets of arms as required to drive welding set simultaneously earlier and weld, drive the hammering device simultaneously again and carry out the hammering welding seam, perhaps drive welding set by a set of arm and weld, another group of arm drives the hammering device and follows the hammering welding seam in the position apart from welding set certain distance, with the welding stress concentration and the welding deformation that further reduce the hydraulic steel gate.
2. According to the automatic welding equipment for the hydraulic steel gate, the slag removing devices are arranged on the two sides of the positioner, so that welding slag is adsorbed in the welding process, the welding slag generated in the welding process is reduced to fall on a component to be welded or field equipment, and the workload and time for polishing the welding slag on the surface of a product by workers and arranging the equipment are reduced.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a front view of a welding apparatus according to an embodiment of the present invention;
FIG. 2 is a top view of the welding apparatus in the above embodiment of the present invention;
fig. 3 is a schematic structural diagram of the hammering device in the above embodiment of the present invention;
FIG. 4 is a schematic structural diagram of the positioning cylinder according to the above embodiment of the present invention;
FIG. 5 is a left side view of the dust collecting frame according to the above embodiment of the present invention;
fig. 6 is a partially enlarged view of the dust collecting frame according to the above embodiment of the present invention.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
It is to be noted that the experimental methods described in the following embodiments are all conventional methods unless otherwise specified, and the reagents and materials described therein are commercially available unless otherwise specified; in the description of the present invention, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
As shown in fig. 1 to 6, the present invention provides an automatic welding apparatus for a hydraulic steel gate, comprising:
the positioner 4 comprises a tool clamp 42 for clamping the hydraulic steel gate panel; two groups of mechanical arms 1 are arranged on one side of the positioner 4, and the tail ends of any mechanical arm 1 are fixedly connected with a welding device 3 and a hammering device 2;
and the control device is respectively connected with the positioner 4, the mechanical arm 1, the welding device 3 and the hammering device 2, drives the mechanical arm 1 to drive the welding device 3 to weld and/or drive the hammering device 2 to hammer welding seams.
In the technical scheme, the mechanical arm 1 adopts a six-axis mechanical arm, and six joint axes are directly driven to move through a speed reducer, a synchronous pulley and the like by six servo motors. The movement trajectory of the robot arm 1 is programmed to be defined by inputting a welding path in the control device. The hydraulic steel gate panel is fixed on the positioner 4 through the tooling fixture 42, and then the welding device 3 is driven by the mechanical arm 1 to weld and assemble the main beam, the longitudinal beam and the secondary beam. In order to ensure that welding errors and parallelism meet the standard requirements, the welding device 3 can be driven by the two groups of mechanical arms 1 to symmetrically weld from the middle to two sides so as to reduce the welding stress concentration and welding deformation of the steel gate. In the welding process, the sequence of vertical welding, horizontal welding and back welding is needed, so that the position of the panel is adjusted through the positioner 4 to cooperate with the welding mode.
In the welding process of the hydraulic steel gate, due to the fact that a welding heat source heats parts to be welded such as the panel and the main beam locally, the uneven expansion and contraction of materials can cause stress to be generated in the parts to be welded, and then welding deformation is caused. In order to ensure the fatigue strength and the service life of the steel gate, the welding seam can be hammered by the hammering device 2 to eliminate stress, and the welding can also be carried out by adopting a multilayer multi-pass welding mode. One mode of multilayer multiple welding is that, the weldment carries out multiple layer welding, has welded the one deck at every turn after, through arm 1 drives hammering device 2 aims at the welding seam and the weld line is hit in order to eliminate welding seam residual stress, makes the welding seam filler metal obtain fully extending under the hot state, and then reduces the residual stress of shrink in-process. The two groups of mechanical arms 1 can drive the welding device 3 to weld at the same time, and then drive the hammering device 2 to hammer at the same time; or one group of the mechanical arms 1 can drive the welding device 3 to weld, and then the other group of the mechanical arms drives the hammering device 2 to hammer. In another mode of multi-layer and multi-pass welding, the weldment is subjected to multi-layer welding, and hammering is carried out during welding of each layer. In this way, one set of the mechanical arms 1 can drive the welding device 3 to weld, the other set of the mechanical arms 1 drives the hammering device 2 to hammer at a position away from the welding device 3 by a certain distance, and the hammering device 2 hammers the weld line of the layer of weld line until the layer of weld line is welded. Under the condition, the distance between the welding device 3 and the hammering device 2 can be accurately controlled through the two groups of mechanical arms 1, and the welding stability is influenced due to the fact that the distance between the welding device 3 and the hammering device 2 is too close; or the distance between the two is too far, so that the temperature of the hammered part is reduced, and the hammering effect is influenced.
In another embodiment, the welding device 3 includes a welding supply device and a welding torch, the welding torch is connected with the welding supply device through a cable, the welding supply device is fixed on the mechanical arm 1, and the welding torch is installed at the tail end of the mechanical arm 1.
In this embodiment, the welding device 3 is a submerged arc welding device or a gas shielded arc welding device, and when the welding device 3 is a submerged arc welding device, the welding supply device includes a welding machine, a welding machine power supply, a wire feeder, and a wire reel, and the welding gun is a submerged arc welding gun or a gas shielded welding gun. The welding gun is arranged at the tail end of the mechanical arm 1, moves to a position to be welded along with the mechanical arm 1, and is controlled by the mechanical arm 1 to weld.
In another embodiment, the hammering device 2 comprises a cylinder 21, a connecting rod 22 and a hammering head 24; two ends of the connecting rod 24 are respectively connected with the movable end of the cylinder 21 and the hammering head 24, and the cylinder 21 drives the hammering head 24 to hammer a welding seam; the cylinder 21 comprises a solenoid valve which is connected to the control device.
In the technical scheme, the control device controls the electromagnetic valve to enable the cylinder 21 to do linear reciprocating motion, so that the connecting rod 22 drives the hammering head 24 to do linear reciprocating motion, and hammering of a welding seam is achieved. The hammering head 24 is preferably a ball head to meet different angles of hammering. The connecting rod 22 is used for extending the length of the telescopic end of the cylinder 21, and the length of the hammering device 2 is adjusted by selecting connecting rods 22 with different lengths.
In another embodiment, the connecting rod 22 is connected to the hammering head 24 through an elastic member 23, a groove is recessed in an end surface of the connecting rod 22 facing the hammering head 24, one end of the elastic member 23 is fixedly connected to an inner bottom surface of the groove, and the other end of the elastic member 23 is fixedly connected to the hammering head 24.
In this technical solution, the elastic component 23 can increase the hammering frequency of the hammering head 24, and can also increase the flexibility of the hammering head 24, so as to offset part of the reaction force received by the cylinder 21 when the welding seam is hammered, thereby improving the service life of the cylinder 21. And the elastic part 23 is arranged in the groove, and supports the elastic part 23 in the axial direction, so that the elastic part is prevented from being bent under the gravity action of the hammering head 24, and the hammering effect is prevented from being influenced. The elastic member 23 may be a coil spring, a rubber spring, or the like.
In another embodiment, the welding device 3 and the hammering device 2 are arranged at an included angle of 90-180 °. In this kind of technical scheme, for avoiding same on the arm 1 welding set 3 with hammering device 2 influences each other, the two need be the contained angle setting, the contained angle does hammering head 24 with the contained angle between the welder, it should be greater than 90 at least, better will the contained angle sets up to 180.
In another embodiment, a plurality of positioning cylinders 41 are horizontally arranged on two sides of the positioner 4, and the movable ends of the positioning cylinders 41 on two sides of the positioner 4 are oppositely arranged; an extension rod 411 is fixedly connected to the movable end of any one of the positioning cylinders 41, a suction cup 412 is fixedly connected to the extension rod 411, and the suction cup 412 is connected with a vacuum generator through a hose; the positioning cylinder 41 and the vacuum generator are respectively connected with the control device.
In this technical solution, it is considered that the main beam member, the longitudinal beam member or the secondary beam member welded on the panel of the hydraulic steel gate is vertically connected with the panel, that is, when the panel is horizontally installed, the member to be welded is vertically placed. The positioning cylinder 41 is required to position and fix the member to be welded. The suction cup 412 in the positioning cylinder 41 can firmly suck the workpiece to be welded, the extending rod 411 with different lengths is selected to adjust the overall length of the positioning cylinder 41, and then the distance between the suction cup 412 and the workpiece to be welded is finely adjusted through the positioning cylinder 41. To ensure the positioning accuracy, a plurality of positioning cylinders 41 may be used for positioning on one side of the workpiece to be welded, or the positioning cylinders 41 may be used for positioning on both sides of the workpiece to be welded.
In another embodiment, two sides of the positioner 4 are also provided with deslagging devices 5, and each deslagging device 5 comprises a dust collection frame 54 and a fan; two ends of the dust collection frame 54 are fixedly connected with the positioner 4 through brackets 6; one side of the dust collection frame 54 is open and faces the hydraulic steel gate panel, and the inner bottom surface of the dust collection frame 54 is not higher than the upper surface of the hydraulic steel gate panel; the fan is in communication with the dust extraction stand 54 via a conduit.
In the technical scheme, the two dust collection frames 54 are oppositely arranged at two sides of the positioner 4 along the axial direction of the positioner 4, namely, the opening sections of the two dust collection frames 54 are oppositely arranged. The inner bottom surface of the dust collection frame 54 is not higher than the upper surface of the hydraulic steel gate panel, so that welding slag on the hydraulic steel gate panel can enter the dust collection frame 54 conveniently. The fan is communicated with the dust collection frame 54, and provides suction force for welding slag through the opening end of the dust collection frame 54, so that the welding slag is sucked into the dust collection frame 54. The support 6 can be a telescopic rod so as to adapt to hydraulic steel gate panels of different sizes.
In another embodiment, the dust collecting rack 54 is a horizontally disposed U-shaped structure, and the open end faces the hydraulic steel gate panel; a plurality of through holes 51 for connecting the pipes are formed in the side wall of the dust collection frame 54 at intervals, and partition plates 55 are arranged on two sides of any through hole 51.
The partition plate 55 is a right trapezoid, the inclined edge of the partition plate faces the inner bottom surface of the dust collection rack 54, and the inclined edge of the partition plate is spaced from the inner bottom surface of the dust collection rack 54 by a certain distance; the partition plates 55 are obliquely arranged, and the partition plates 55 at two sides of the through hole 51 are symmetrically arranged and are in an outward-expanding horn shape.
In this technical scheme, the fans are respectively connected with the through holes 51 through a plurality of pipelines so as to ensure that uniform adsorption force is provided for welding slag on the hydraulic steel gate panel through the dust collection frame 54. The partition boards 55 are arranged on two sides of the through hole 51, the partition boards 55 are in a right trapezoid shape, the inclined edges of the partition boards 55 face the inner bottom surface of the dust collection frame 54, namely the right-angle edges of the partition boards can be attached to the upper top corner of the dust collection frame 54, and the wind power provided by the fan is prevented from being weakened due to the fact that a gap is formed between the upper end of the partition board 55 and the dust collection frame 54. The partition plates 55 at the two sides of the through hole 51 are symmetrically arranged and are flared, so that the coverage area of the fan for absorbing wind power provided by the single through hole 51 can be increased.
In another embodiment, the dust collection rack 54 further includes a scraper 56 and a driving device 52, the scraper 56 is vertically disposed below the partition 55 and contacts with the inner bottom surface of the dust collection rack 54, a through slot 57 is disposed on a side wall of the dust collection rack 54, one side of the scraper 56 passes through the through slot and is connected with the driving device 52, and the driving device 52 drives the scraper 56 to horizontally reciprocate along the inner bottom surface of the dust collection rack 54.
In this embodiment, the oblique side of the partition 55 is spaced from the inner bottom surface of the dust collection rack 54 by a certain distance to accommodate the scraper 56, so that the scraper 56 can push the welding slag in the dust collection rack 54 to the two ends thereof under the driving of the driving device 52, and correspondingly, notches or slag receiving boxes can be arranged at the two ends of the dust collection rack 54 to facilitate the discharge of the welding slag and the cleaning of the welding slag. The driving device 52 is a linear reciprocating structure such as a screw guide rail structure or a cylinder structure, and the driving device 52 is connected with the control device and periodically drives the scraping plate 56 to clean welding slag in the dust collection frame 54.
In another embodiment, an inclination angle sensor 53 is arranged on the upper end surface of the dust collection frame 54, and the inclination angle sensor 53 is connected with the control device.
In this kind of technical scheme, for considering for cooperating welding set carries out vertical position welding or overhead welding, the hydraulic steel gate panel can correspond the slope certain angle, and under this kind of state, be located the fan in the dross removal mechanism 5 of top need not open. Therefore, the state of the hydraulic steel gate panel can be judged through the tilt angle sensor 53, and when the hydraulic steel gate panel leaves the horizontal position, the welding slag in the dust collection frame 54 on the side to be moved to the upper side can be cleaned through the driving device 52 and the scraper 56 in time.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.

Claims (6)

1. The utility model provides an automatic welding equipment of water conservancy project steel gate which characterized in that includes:
the positioner comprises a tool clamp for clamping a hydraulic steel gate panel; two groups of mechanical arms are arranged on one side of the positioner, and the tail ends of any mechanical arm are fixedly connected with a welding device and a hammering device;
the welding device and the hammering device are arranged in an included angle of 90-180 degrees;
the control device is respectively connected with the positioner, the mechanical arm, the welding device and the hammering device, and drives the mechanical arm to drive the welding device to weld and/or drive the hammering device to hammer a welding seam;
two sides of the positioner are also provided with slag removal devices, and each slag removal device comprises a dust collection frame and a fan; two ends of the dust collection frame are fixedly connected with the positioner through brackets; one side of the dust collection frame is provided with an opening and faces the hydraulic steel gate panel, and the inner bottom surface of the dust collection frame is not higher than the upper surface of the hydraulic steel gate panel; the fan is communicated with the dust collection frame through a pipeline;
the dust collection frame is of a horizontally arranged U-shaped structure, and the opening end of the dust collection frame faces the hydraulic steel gate panel; a plurality of through holes for connecting the pipelines are arranged on the side wall of the dust collection frame at intervals, and partition plates are arranged on two sides of any through hole;
the clapboard is in a right trapezoid shape, the inclined edge of the clapboard faces the inner bottom surface of the dust collection frame, and a certain distance is reserved between the inclined edge of the clapboard and the inner bottom surface of the dust collection frame; the partition plates are obliquely arranged, and the partition plates on the two sides of the through hole are symmetrically arranged and are in an outward-expanding horn shape;
the dust collection frame further comprises a scraper and a driving device, the scraper is vertically arranged below the partition plate and is in contact with the inner bottom surface of the dust collection frame, a through groove is formed in the side wall of the dust collection frame, one side of the scraper penetrates through the through groove and is connected with the driving device, and the driving device drives the scraper to move back and forth along the inner bottom surface of the dust collection frame.
2. The automated welding equipment for hydraulic steel gates according to claim 1, wherein the welding device comprises a welding feeder and a welding torch, the welding torch is connected with the welding feeder through a cable, the welding feeder is fixed on the mechanical arm, and the welding torch is installed at the tail end of the mechanical arm.
3. The automated welding equipment of a hydraulic steel gate according to claim 1, wherein the hammering device comprises a cylinder, a connecting rod and a hammering head; two ends of the connecting rod are respectively connected with the movable end of the cylinder and the hammering head, and the cylinder drives the hammering head to hammer the welding line; the cylinder comprises an electromagnetic valve, and the electromagnetic valve is connected with the control device.
4. The automatic welding equipment for the hydraulic steel gate according to claim 3, wherein the connecting rod is connected with the hammering head through an elastic member, a groove is recessed in the end surface of the connecting rod facing the hammering head, one end of the elastic member is fixedly connected with the inner bottom surface of the groove, and the other end of the elastic member is fixedly connected with the hammering head.
5. The automatic welding equipment for the hydraulic steel gate as claimed in claim 1, wherein a plurality of positioning cylinders are horizontally arranged at two sides of the positioner, and movable ends of the positioning cylinders at two sides of the positioner are oppositely arranged; the movable end of any positioning cylinder is fixedly connected with an extension rod, the extension rod is fixedly connected with a sucker, and the sucker is connected with a vacuum generator through a hose; the positioning cylinder and the vacuum generator are respectively connected with the control device.
6. The automatic welding equipment of the hydraulic steel gate of claim 1, wherein an inclination angle sensor is arranged on the upper end surface of the dust collection frame, and the inclination angle sensor is connected with the control device.
CN202110835937.0A 2021-07-23 2021-07-23 Automatic welding equipment for hydraulic steel gate Active CN113664336B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110835937.0A CN113664336B (en) 2021-07-23 2021-07-23 Automatic welding equipment for hydraulic steel gate

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Application Number Priority Date Filing Date Title
CN202110835937.0A CN113664336B (en) 2021-07-23 2021-07-23 Automatic welding equipment for hydraulic steel gate

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CN113664336A CN113664336A (en) 2021-11-19
CN113664336B true CN113664336B (en) 2023-04-07

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CN205032832U (en) * 2015-08-31 2016-02-17 长春英利汽车工业有限公司 Welding system coordinates in two robots
CN209532470U (en) * 2018-12-29 2019-10-25 博士杰(天津)工业自动化技术有限公司 A kind of dust exhaust apparatus on components welding bench
CN211219088U (en) * 2019-08-03 2020-08-11 浙江治丞智能机械科技有限公司 Robot automatic weld workstation based on machine of shifting is assisted
CN210789733U (en) * 2019-10-28 2020-06-19 济南和谐模具制造有限公司 Knocking device
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