CN113843621A - Robot automatic spot splicing and welding integrated automation device and method - Google Patents
Robot automatic spot splicing and welding integrated automation device and method Download PDFInfo
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- CN113843621A CN113843621A CN202111130272.XA CN202111130272A CN113843621A CN 113843621 A CN113843621 A CN 113843621A CN 202111130272 A CN202111130272 A CN 202111130272A CN 113843621 A CN113843621 A CN 113843621A
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- 238000003466 welding Methods 0.000 title claims abstract description 71
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000005452 bending Methods 0.000 claims abstract description 241
- 230000007246 mechanism Effects 0.000 claims abstract description 82
- 238000009434 installation Methods 0.000 claims abstract description 25
- 238000007664 blowing Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000012827 research and development Methods 0.000 abstract description 3
- 238000007599 discharging Methods 0.000 abstract 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D7/00—Bending rods, profiles, or tubes
- B21D7/06—Bending rods, profiles, or tubes in press brakes or between rams and anvils or abutments; Pliers with forming dies
-
- 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
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The invention relates to the technical field of automatic welding, in particular to an automatic device and method integrating automatic splicing and spot welding of a robot. The automatic feeding mechanism comprises a bending mechanism, a feeding mechanism used for being matched with feeding, a first material taking mechanical arm used for being matched with material taking and discharging, an automatic welding mechanical arm used for being matched with automatic welding and an unloading mechanical arm used for being automatically driven, wherein the bending mechanism comprises a concave block bending module and a convex block bending module. The invention has the advantages that: adopt the mechanism of bending to cooperate the installation of bending and fixed each part of spacing to be injectd, cooperation manipulator and welding hand carry out the erection welding, have improved work efficiency greatly, and the equipment research and development of reduction, the cost of manufacture, and be applicable to the roof beam head product of different models and bend, weld.
Description
Technical Field
The invention relates to the technical field of automatic welding, in particular to an automatic device and method integrating automatic splicing and spot welding of a robot.
Background
The existing beam head product needs to be bent to obtain multiple parts through matched welding, the bending of the existing part matched bending machine cannot meet the requirement of the product, multiple procedures are required to be performed for bending and welding during bending of the product, the efficiency is low, the consumed time is long, and therefore the automatic device and the method integrating automatic splicing and welding of the robot are required to be designed to solve the problems.
Disclosure of Invention
The invention aims to provide an automatic device integrating automatic splicing and spot welding of a robot, so as to overcome the defects in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic robot splicing and spot welding integrated automatic device comprises a bending mechanism, a feeding mechanism used for being matched with feeding, a first material taking mechanical arm used for being matched with material taking and placing, an automatic welding mechanical arm used for being matched with automatic welding and an automatic driving blanking mechanical arm, wherein the bending mechanism comprises a bending concave block module and a bending convex block module;
the first material taking manipulator is used for being matched with the feeding mechanism and the bending mechanism to use, and the parts on the feeding mechanism are respectively clamped and placed on the corresponding positions of the bending mechanism;
the bending mechanism is used for bending the part to be welded, can fixedly install other auxiliary parts, is used for being matched with the automatic welding manipulator for welding and fixing, can automatically eject the machined part, and is matched with the blanking manipulator for use;
the automatic welding manipulator is used for welding the bent part and other parts in a matching manner;
and the blanking manipulator is used for taking out the bent and welded part products and moving the downward moving station.
Preferably, the bending concave block module and the bending convex block module are matched with a sliding rail assembly for installation, auxiliary bending modules for matching bending are arranged on two sides of the bending convex block module, and the bending convex block module and the bending concave block module are correspondingly arranged left and right.
Preferably, the bending lug module comprises a bending lug fixing seat fixed on the equipment working frame, a bending lug hydraulic press fixedly installed on the bending lug fixing seat, and a rear plate installation block connected to the telescopic end of the bending lug hydraulic press through a first connecting piece, wherein a bending lug installation plate is fixed at the bottom of the rear plate installation block, a bending lug is arranged on the bending lug installation plate, a jacking pin is arranged in the middle of the bending lug, the bottom of the equipment working frame is provided with a jacking hydraulic press used for driving the jacking pin, a rear plate placing groove is formed between the rear half installation block and the bending lug, and the bending installation plate is installed on the slide rail assembly through a sliding block in a sliding mode.
Preferably, the bending concave block module comprises a bending concave block fixing seat fixedly mounted on the equipment working frame, a bending concave block hydraulic press fixedly mounted on the bending concave block fixing seat, and a bending concave block connected to the telescopic end of the bending concave block hydraulic press through a first connecting piece, and the bending concave block is slidably mounted on the slide rail assembly through a slide block.
Preferably, the auxiliary bending die comprises auxiliary bending mechanisms symmetrically arranged on two sides of the bending concave block module, each auxiliary bending mechanism comprises an auxiliary support arranged on the equipment working frame and auxiliary bending blocks arranged on the auxiliary support, one end of each auxiliary bending block is fixed on the auxiliary support through a rotating shaft, universal wheels are arranged on the auxiliary supports, the other ends of the auxiliary bending blocks are arranged on the universal wheels, and the auxiliary bending blocks on the two sides are mutually limited through springs.
An automatic operation method for integrating automatic spot splicing and welding of a robot comprises the following steps:
s1, placing the processed beam block parts on a feeding platform of a feeding mechanism respectively;
s2, clamping the bent part from the feeding mechanism through the first material taking manipulator, placing the bent part on the bending mechanism, moving the bent part to the feeding mechanism to clamp the first auxiliary part after placing the bent part, and placing the bent part at a position corresponding to the bending mechanism;
s3, bending by the bending mechanism, and welding the bent part and the first auxiliary part together by an automatic welding manipulator after the bent part is bent;
s4, the first material taking manipulator clamps the upper part from the feeding mechanism, places the upper part at a corresponding position of the bending mechanism, limits the upper part, welds the upper part and the bending part through the automatic welding manipulator, and fixes the upper part and the bending part in a welding manner;
and S5, the first material taking manipulator clamps the side part from the feeding mechanism, moves to the corresponding position of the bending mechanism, clamps and fixes the side part on the upper part, and moves to the corresponding position of the automatic welding manipulator to weld the side part on the upper part.
And S6, forming a beam head after all parts are welded, jacking the welded beam head through a jacking pin shaft of a jacking hydraulic machine, moving the blanking manipulator to the bending mechanism, clamping the jacked beam head, and moving the clamped beam head to a downward moving station.
The invention has the beneficial effects that: adopt the mechanism of bending to cooperate the installation of bending and fixed each part of spacing to be injectd, cooperation manipulator and welding hand carry out the erection welding, have improved work efficiency greatly, and the equipment research and development of reduction, the cost of manufacture, and be applicable to the roof beam head product of different models and bend, weld.
Drawings
FIG. 1 is a schematic structural diagram of an automated robot-based automated spot welding system according to the present invention;
FIG. 2 is a side view of a bending mechanism of an automated robotic assembly and spot welding integrated apparatus of the present invention;
FIG. 3 is a perspective view of a bending mechanism of the automated robot spot-weld integrated automation device of the present invention;
in the figure: 1. an equipment working frame; 2. bending the bump module; 3. bending the concave block module; 4. an auxiliary bending module; 5. a slide rail assembly; 21. bending the bump fixing seat; 22. bending the lug hydraulic press; 23. a rear plate mounting block; 24. bending the bump mounting plate; 25. bending the convex block; 26. a knock pin; 27. jacking hydraulic press; 28. a rear plate placing groove; 31. bending the concave block fixing seat; 32. bending the concave block hydraulic press; 33. a first connecting member; 34. bending the concave block; 41. an auxiliary bending mechanism; 42. an auxiliary support; 43. an auxiliary bending block; 44. a rotating shaft; 45. a universal wheel; 46. a spring; 6. a bending mechanism; 7. a feeding mechanism; 8. a first material taking manipulator; 9. an automatic welding manipulator; 10 blanking manipulator.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely 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.
Referring to fig. 1 to 3, the present embodiment is an automatic robot splicing and spot welding integrated device, which includes a bending mechanism 6, a feeding mechanism 7 for feeding in a matching manner, a first material taking manipulator 8 for taking and placing materials in a matching manner, an automatic welding manipulator 9 for automatic welding in a matching manner, and a blanking manipulator 10 for automatic driving, wherein the bending mechanism includes a bending concave block module and a bending convex block module;
the first material taking manipulator is used for being matched with the feeding mechanism and the bending mechanism to use, and the parts on the feeding mechanism are respectively clamped and placed on the corresponding positions of the bending mechanism;
the bending mechanism is used for bending the part to be welded, can fixedly install other auxiliary parts, is used for being matched with the automatic welding manipulator for welding and fixing, can automatically eject the machined part, and is matched with the blanking manipulator for use;
the automatic welding manipulator is used for welding the bent part and other parts in a matching manner;
and the blanking manipulator is used for taking out the bent and welded part products and moving the downward moving station.
The bending concave block module 3 and the bending convex block module 2 are matched with a sliding rail assembly 5 for installation, auxiliary bending modules 4 for matching bending are arranged on two sides of the bending convex block module 2, and the bending convex block module 2 and the bending concave block module 3 are arranged in a left-right corresponding mode. A part to be bent is placed between the bending convex block module and the bending concave block module through the first material taking mechanical arm, and the part is bent by the bending concave block module and the bending convex block module through bidirectional hydraulic pressure.
The bending lug module 2 comprises a bending lug fixing seat 21 fixed on an equipment working frame 1, a bending lug hydraulic press 22 fixedly installed on the bending lug fixing seat 21, and a rear plate installation block 23 connected to the telescopic end of the bending lug hydraulic press 22 through a first connecting piece, a bending lug installation plate 24 is fixed at the bottom of the rear plate installation block 23, a bending lug 25 is arranged on the bending lug installation plate 24, an ejector pin 26 is arranged in the middle of the bending lug 25, a jacking hydraulic press 27 used for driving the ejector pin 26 is arranged at the bottom of the equipment working frame, a rear plate placing groove 28 is formed between the rear half installation block and the bending lug, and the bending installation plate is installed on the slide rail assembly through a sliding block in a sliding mode. The rear plate can be placed on the rear plate placing groove 28, the bent part and the rear plate are in contact and matched with a welding machine for welding, the bent part and the rear plate do not need to be welded on other equipment and can work on the same equipment, the working efficiency is greatly improved, the cost is reduced, the bending lug is fixedly installed on the bending lug installing plate through a fixing piece, the position and the model size of the bending lug can be adjusted, the bending lug is used for being matched with different products for bending, and the adjustment of the position of the bending lug is the adjustment of the gap of the rear plate placing groove 28; the bending lug hydraulic press 22 drives hydraulic expansion and contraction to drive the rear plate mounting block 23 to move, so that the bending lug mounting plate 24 is driven to move along the direction of the slide rail assembly to be matched with the bending concave block module for bending in a matched mode, after bending is completed, an upper cover plate is placed on the bending lug, the upper cover plate is welded in a matched mode through a welding machine, and after welding is completed, a pin shaft is jacked through the jacking hydraulic press 27, and a product is ejected.
The bending concave block module 3 comprises a bending concave block fixing seat 31 fixedly installed on the equipment working frame 1, a bending concave block hydraulic press 32 fixedly installed on the bending concave block fixing seat 31, and a bending concave block 34 connected to the telescopic end of the bending concave block hydraulic press through a first connecting piece 33, wherein the bending concave block 34 is slidably installed on the slide rail assembly through a slide block. The telescopic end is driven to stretch by a bending concave block hydraulic press 32, so that the bending concave block 34 is driven to move along the direction of the sliding rail assembly;
the auxiliary bending die 4 comprises auxiliary bending mechanisms 41 symmetrically arranged on two sides of a bending concave block module, each auxiliary bending mechanism 41 comprises an auxiliary support 42 arranged on the equipment working frame 1 and auxiliary bending blocks 43 arranged on the auxiliary support 42, one ends of the auxiliary bending blocks 43 are fixed on the auxiliary support 42 through rotating shafts 44, universal wheels 45 are arranged on the auxiliary support 42, the other ends of the auxiliary bending blocks are arranged on the universal wheels, and the auxiliary bending blocks on the two sides are mutually limited through springs 46. The auxiliary bending block is U-shaped, one end of the auxiliary bending block is matched with a rotation angle, the other end of the auxiliary bending block is used for being matched with a bending part, when the bending concave block module moves forwards, the rear end of the bending concave block 34 pushes the rotating end of the auxiliary bending block to open the auxiliary bending block, and when the bending concave block resets, the bending concave block 34 is abutted against the rotating end of the auxiliary bending block to close the auxiliary bending block; the auxiliary bending blocks are connected with each other through springs, so that the auxiliary bending blocks are reset in a matched mode, the auxiliary bending blocks are practical in matched bending, and the auxiliary bending blocks are opened or closed to provide certain pressure. The universal wheels are arranged to facilitate the movement of the auxiliary bending blocks.
An automatic operation method for integrating automatic spot splicing and welding of a robot comprises the following steps:
s1, placing the processed beam block parts on a feeding platform of a feeding mechanism respectively;
s2, clamping the bent part from the feeding mechanism through the first material taking manipulator, placing the bent part on the bending mechanism, moving the bent part to the feeding mechanism to clamp the first auxiliary part after placing the bent part, and placing the bent part at a position corresponding to the bending mechanism;
s3, bending by the bending mechanism, and welding the bent part and the first auxiliary part together by an automatic welding manipulator after the bent part is bent;
s4, the first material taking manipulator clamps the upper part from the feeding mechanism, places the upper part at a corresponding position of the bending mechanism, limits the upper part, welds the upper part and the bending part through the automatic welding manipulator, and fixes the upper part and the bending part in a welding manner;
and S5, the first material taking manipulator clamps the side part from the feeding mechanism, moves to the corresponding position of the bending mechanism, clamps and fixes the side part on the upper part, and moves to the corresponding position of the automatic welding manipulator to weld the side part on the upper part.
And S6, forming a beam head after all parts are welded, jacking the welded beam head through a jacking pin shaft of a jacking hydraulic machine, moving the blanking manipulator to the bending mechanism, clamping the jacked beam head, and moving the clamped beam head to a downward moving station.
In the embodiment, the first material taking manipulator moves to the position of the feeding mechanism, the bending part on the feeding mechanism is clamped and placed between the bending concave block module and the bending convex block module, then the first material taking manipulator moves to the position of the feeding mechanism, the rear plate part is placed on the rear plate placing groove, the bending concave block module and the bending convex block module are driven by hydraulic pressure to move in two directions through the bending convex block and the bending concave block, the bending part is bent and formed for the first time, the bending concave block module resets after the bending is formed, the bending convex block module continues to move, as the bending concave block is abutted against the rotating end of the auxiliary bending block when the bending concave block resets, the auxiliary bending block is closed, the outer end of the auxiliary bending block is in a certain angle, the bending part is wrapped, the bending part is bent for the second time, the bending part is completely wrapped by the bending convex block, and the automatic welding manipulator is matched to weld the bending part and the rear plate part, the first material taking manipulator moves to the feeding mechanism again to clamp the cover plate part and place the cover plate part on the bending lug to limit the bending lug, then the cover plate part and the bending part are welded together through the automatic welding manipulator, after the welding is finished, the first material taking manipulator moves to the feeding mechanism again to clamp the side plate part and moves to the cover plate part and attaches one side of the side plate part to the rear plate part, one side of the side plate part is attached to the cover plate part, the first material taking manipulator clamps and fixes the side plate part, the automatic welding manipulator moves to a corresponding position to weld and fix the side plate part and the cover plate part respectively, so that the side plate part at the other side is welded, the machining is finished after the welding is finished, a pin shaft is jacked through a jacking hydraulic machine to eject a machined part product, and a blanking manipulator clamps the part and moves to a next station, and repeating the above work to process the next group of beam heads.
The bending mechanism is matched with the bending mechanism to bend, fix and limit the installation and limitation of each part, and is matched with the manipulator and the welding hand to carry out installation and welding, so that the working efficiency is greatly improved, the equipment research and development and manufacturing cost is reduced, and the bending mechanism is suitable for bending and welding beam head products of different models.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (6)
1. The utility model provides an automatic integrative automation equipment of stitch welding of robot, includes the mechanism of bending, for the feed mechanism of cooperation feed, for the cooperation get the material blowing first get the material manipulator, be used for cooperating automatic weld's automatic weld manipulator and be used for automatic drive's unloading manipulator, its characterized in that: the bending mechanism comprises a bending concave block module and a bending convex block module;
the first material taking manipulator is used for being matched with the feeding mechanism and the bending mechanism to use, and the parts on the feeding mechanism are respectively clamped and placed on the corresponding positions of the bending mechanism;
the bending mechanism is used for bending the part to be welded, can fixedly install other auxiliary parts, is used for being matched with the automatic welding manipulator for welding and fixing, can automatically eject the machined part, and is matched with the blanking manipulator for use;
the automatic welding manipulator is used for welding the bent part and other parts in a matching manner; and the blanking manipulator is used for taking out the bent and welded part products and moving the downward moving station.
2. The robotic automated stitch-bonding integrated automation device according to claim 1, wherein: the bending concave block module and the bending convex block module are matched with a sliding rail assembly for installation, auxiliary bending modules for matching bending are arranged on two sides of the bending convex block module, and the bending convex block module and the bending concave block module are correspondingly arranged left and right.
3. The robotic automated stitch and weld integrated automation device of claim 2, wherein: the bending lug module comprises a bending lug fixing seat fixed on an equipment working frame, a bending lug hydraulic press fixedly installed on the bending lug fixing seat, and a rear plate installation block connected to the telescopic end of the bending lug hydraulic press through a first connecting piece, wherein a bending lug installation plate is fixed at the bottom of the rear plate installation block, a bending lug is arranged on the bending lug installation plate, a jacking pin is arranged in the middle of the bending lug, the bottom of the equipment working frame is provided with a jacking hydraulic press used for driving the jacking pin, a rear plate placing groove is formed between the rear half installation block and the bending lug, and the bending installation plate is installed on the slide rail assembly through a slide block in a sliding mode.
4. The robotic automated stitch and weld integrated automation device of claim 2, wherein: the bending concave block module comprises a bending concave block fixing seat fixedly mounted on the equipment working frame, a bending concave block hydraulic press fixedly mounted on the bending concave block fixing seat, and a bending concave block connected to the telescopic end of the bending concave block hydraulic press through a first connecting piece, and the bending concave block is slidably mounted on the slide rail assembly through a slide block.
5. The robotic automated stitch and weld integrated automation device of claim 2, wherein: the auxiliary bending die comprises auxiliary bending mechanisms symmetrically arranged on two sides of a bending concave block module, the auxiliary bending mechanisms comprise auxiliary supports arranged on the equipment working frame and auxiliary bending blocks arranged on the auxiliary supports, one ends of the auxiliary bending blocks are fixed on the auxiliary supports through rotating shafts, universal wheels are arranged on the auxiliary supports, the other ends of the auxiliary bending blocks are arranged on the universal wheels, and the auxiliary bending blocks on the two sides are mutually limited through springs.
6. The automated robot welding and spot welding integrated operation method according to claim 1, wherein the automated robot welding and spot welding integrated operation method comprises the following steps: the method comprises the following steps:
s1, placing the processed beam block parts on a feeding platform of a feeding mechanism respectively;
s2, clamping the bent part from the feeding mechanism through the first material taking manipulator, placing the bent part on the bending mechanism, moving the bent part to the feeding mechanism to clamp the first auxiliary part after placing the bent part, and placing the bent part at a position corresponding to the bending mechanism;
s3, bending by the bending mechanism, and welding the bent part and the first auxiliary part together by an automatic welding manipulator after the bent part is bent;
s4, the first material taking manipulator clamps the upper part from the feeding mechanism, places the upper part at a corresponding position of the bending mechanism, limits the upper part, welds the upper part and the bending part through the automatic welding manipulator, and fixes the upper part and the bending part in a welding manner;
s5, the first material taking manipulator clamps the side part from the feeding mechanism, moves the side part to the corresponding position of the bending mechanism, clamps and fixes the side part on the upper part, and moves the automatic welding manipulator to the corresponding position to weld the side part on the upper part;
and S6, forming a beam head after all parts are welded, jacking the welded beam head through a jacking pin shaft of a jacking hydraulic machine, moving the blanking manipulator to the bending mechanism, clamping the jacked beam head, and moving the clamped beam head to a downward moving station.
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| CN202111130272.XA CN113843621B (en) | 2021-09-26 | 2021-09-26 | Robot automatic spot welding integrated automation device and method |
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