CN114393360A - Automatic positioning device for welding steel arch frame connecting plate by robot - Google Patents
Automatic positioning device for welding steel arch frame connecting plate by robot Download PDFInfo
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- CN114393360A CN114393360A CN202210073599.6A CN202210073599A CN114393360A CN 114393360 A CN114393360 A CN 114393360A CN 202210073599 A CN202210073599 A CN 202210073599A CN 114393360 A CN114393360 A CN 114393360A
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 230
- 239000010959 steel Substances 0.000 title claims abstract description 230
- 238000003466 welding Methods 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 claims description 16
- 230000001105 regulatory effect Effects 0.000 claims description 12
- 238000001179 sorption measurement Methods 0.000 claims description 9
- 230000003028 elevating effect Effects 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 claims 3
- 230000011218 segmentation Effects 0.000 description 4
- 238000005520 cutting process Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010891 electric arc Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
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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
- 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
- B23K37/0443—Jigs
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- 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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/25—Greenhouse technology, e.g. cooling systems therefor
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention relates to an automatic positioning device for a welding steel arch connecting plate of a robot, which comprises a three-dimensional moving frame and a steel end plate fixing mechanical arm connected to the three-dimensional moving frame, wherein the steel end plate fixing mechanical arm comprises a back plate, a back plate part vertical positioning strip connected to one vertical side of the back plate, a back plate part horizontal positioning strip connected to the lower side of the back plate, an electromagnet arranged on the back plate and used for adsorbing a steel end plate on the back plate, a transverse positioning ejector rod connected to the back plate part vertical positioning strip in a threaded mode and extending into the front surface of the back plate, and a vertical positioning ejector rod connected to the back plate part horizontal positioning strip in a threaded mode and extending into the front surface of the back plate, wherein the back plate part horizontal positioning strip is perpendicular to the back plate part vertical positioning strip. The invention aims to provide an automatic positioning device for welding a steel arch connecting plate by a robot, which is used for fixing a steel end plate on the end surface of a steel arch and lays a foundation for automatic welding of the steel end plate.
Description
Technical Field
The invention belongs to the technical field of tunnel construction, and particularly relates to an automatic positioning device for a robot welding steel arch connecting plate.
Background
Need use the steel bow member to support the tunnel diapire in tunnel work progress, tunnel steel bow member is formed by connecting a plurality of steel bow members segmentation, the steel bow member segmentation includes the steel bow member main part of the arc structure that is formed by the I-steel preparation, the welding constitutes at the steel end plate at steel bow member main part both ends, adjacent steel bow member segmentation levels the butt through the steel end plate and then fixes the steel end plate together (if the welding, screw cooperation nut locking) realization butt joint together during the use, in order to make the steel bow member segmentation atress of butt joint together not produce the skew, then the plane that requires steel end plate place is the face of the diameter of the circle with arc main part place and the geometry center that the arc initiative is located the steel end plate. The steel arch main body is a steel arch main body which is formed by finishing the arc shape corresponding to the curvature of I-steel with a linear structure through a rounding machine and then cutting the required length by a cutting structure. In the prior art, the steel end plate is manually held to be positioned at a required position when being welded to the steel arch body, so that labor is wasted, and the realization of the automation of steel end plate welding is restricted.
Disclosure of Invention
The invention aims to provide an automatic positioning device for welding a steel arch connecting plate by a robot, which is used for fixing a steel end plate on the end surface of a steel arch and lays a foundation for automatic welding of the steel end plate.
The technical problems are solved by the following technical scheme: an automatic positioning device for a welding steel arch connecting plate of a robot is characterized by comprising a three-dimensional moving frame and a steel end plate fixing mechanical arm connected to the three-dimensional moving frame, wherein the steel end plate fixing mechanical arm comprises a back plate, a back plate vertical positioning strip connected to one vertical side of the back plate, a back plate horizontal positioning strip connected to the lower side of the back plate, an electromagnet arranged on the back plate and used for adsorbing a steel end plate on the back plate, a transverse positioning ejector rod connected to the back plate vertical positioning strip in a threaded mode and stretching into the front surface of the back plate, and a vertical positioning ejector rod connected to the back plate horizontal positioning strip in a threaded mode and stretching into the front surface of the back plate, the back plate horizontal positioning strip is perpendicular to the back plate vertical positioning strip, the I-shaped steel comprises two side steel plates and a connecting steel plate which connects the middle parts of the two side steel plates together, and the two side steel plates and the connecting steel plate are connected together in an I-shaped mode, the steel end plate is rectangular; the method for connecting the steel end plate and the steel arch center main body comprises the following steps: the first step, install the steel end plate on the fixed manipulator of steel end plate: adjusting the distance from the transverse positioning ejector rod to the front surface of the back plate to a set value, adjusting the distance from the vertical positioning ejector rod to the front surface of the back plate to a set value, horizontally placing the steel end plate on the back plate, adjusting one side edge of the steel end plate to be abutted with the vertical positioning strip of the back plate part, and abutting the steel end plate on the horizontal positioning strip of the back plate part; secondly, starting the electromagnet, and adsorbing the steel end plate on the back plate by the magnetic force generated by the electromagnet; thirdly, moving the steel end plate fixing manipulator through the three-dimensional moving frame to enable the steel end plate to be abutted against the end face of the steel arch main body until the transverse positioning ejector rod is abutted against the side steel plate and the vertical positioning ejector rod is abutted against the connecting steel plate, and at the moment, the geometric center of the steel end plate is aligned with the geometric center of the cross section of the I-shaped steel; and fourthly, welding the steel end plate and the steel arch frame main body together. The centering and fixing of the active cross sections of the steel end plates and the steel arch centering can be conveniently realized, so that the position consistency of each steel end plate and the steel arch centering body is good, and when screws penetrate through screw holes in the steel end plates to be connected through the screws between the steel arch centering bodies, the steel arch centering bodies which are butted together are positioned on the same circle.
The invention also comprises a control unit and a current regulating switch for regulating the current transmitted to the electromagnet, wherein the end surface of the steel arch frame main body is a plane, the back surface of the back plate is provided with a spherical connector, and the back plate is hinged on the three-dimensional moving frame through the spherical connector; thirdly, adjusting the steel end plate to the whole end surface of the steel arch body to be abutted with the steel end plate, then carrying out a fourth step, and stopping supplying power to the electromagnet after the fourth step; the method for adjusting the whole end surface of the steel end plate to the steel arch body to be abutted with the steel end plate comprises the following steps: the control unit controls the current regulating switch to increase the adsorption force of the current input to the electromagnet so as to increase the electromagnet, so that the electromagnet can generate adsorption force on the steel arch main body, the adsorption force drives the back plate to rotate by taking the spherical connector as a fulcrum to change the state of the steel end plate to the whole end surface of the steel arch main body and abut against the steel end plate, and the whole end surface of the steel arch main body and the steel end plate can not rotate after abutting against the steel end plate. The steel end plates can be conveniently abutted to the whole end faces of the steel arch main body, so that the steel end plates on the two steel arches can be configured and attached together when the steel arches are butted, and the connection stability when the steel arches are butted together is improved.
The invention also comprises a wireless signal generator and a wireless signal receiver, wherein the geometric center of the steel end plate is provided with a process hole which is a through hole, the front surface of the back plate is provided with a blind hole, the wireless signal generator is arranged in the blind hole, and the process hole is aligned with the blind hole when the steel end plate is fixed on the steel end plate fixing manipulator; the method for judging whether the whole end surface of the steel arch body is abutted with the steel end plate comprises the following steps: the wireless signal generator sends a signal and the wireless signal receiver receives the signal sent by the wireless signal generator, if the wireless signal receiver receives the signal sent by the wireless signal generator, the whole end face of the steel arch body is not abutted to the steel end plate, and if the wireless signal receiver does not receive the signal sent by the wireless signal generator, the whole end face of the steel arch body is abutted to the steel end plate. And the process hole is sealed, the signal sent by the wireless signal generator is shielded, and the signal cannot be sent. Whether the force of the electromagnet drives the steel end plate to move to the end face of the steel arch body and the steel end plate is completely abutted (namely vertical) together can be conveniently known.
Preferably, the three-dimensional moving frame includes a moving frame part base frame, a moving frame part middle frame supported on the moving frame base frame by a moving frame part longitudinal moving structure, a moving frame part top frame connected to the moving frame part middle frame by a moving frame part elevating structure, and a moving frame part connecting arm connected to the moving frame part top frame by a moving frame part transverse moving structure, and the steel end plate fixed robot is connected to the moving frame part connecting arm.
Preferably, the longitudinal moving structure of the movable frame part comprises a longitudinal bottom frame sliding rail arranged on the bottom frame part chassis, a longitudinal middle frame sliding block connected on the longitudinal bottom frame sliding rail in a sliding mode, a longitudinal middle frame threaded sleeve connected on the longitudinal middle frame of the movable frame part, a longitudinal middle frame screw rod connected on the longitudinal middle frame threaded sleeve in a threaded mode, and a longitudinal screw rod driving motor driving the longitudinal middle frame screw rod to rotate, wherein the longitudinal screw rod driving motor is fixed on the bottom frame of the movable frame part, and the longitudinal middle frame of the movable frame part is connected with the longitudinal middle frame sliding block.
Preferably, the movable rack part lifting structure comprises a middle rack part lifting cylinder and a middle rack part vertical guide rod, the lower end of the middle rack part lifting cylinder is connected to the movable rack part middle rack, the movable rack part top rack is supported on the movable rack part middle rack through the middle rack part lifting cylinder, and the upper end of the middle rack part vertical guide rod penetrates through a guide hole in the movable rack part top rack.
Preferably, the movable frame part transverse moving structure comprises a top frame part transverse sliding rail arranged on a top frame of the movable frame part, a connecting arm part sliding block connected on the top frame part transverse sliding rail in a sliding mode, a sliding block part threaded through hole arranged on the connecting arm part sliding block, a top frame part transverse screw rod connected in the sliding block part threaded through hole in a threaded mode, and a transverse screw rod driving motor driving the top frame part transverse screw rod to rotate, wherein the transverse screw rod driving motor is fixed on the movable frame part top frame, and the movable frame part connecting arm and the top frame part sliding block are fixed together.
The invention has the beneficial effects that: the steel end plate can be held in place of manual work when the steel end plate is welded, safety of the steel end plate during welding is improved by pushing, and a foundation is laid for automatic welding of the steel end plate.
Drawings
FIG. 1 is a schematic view of the present invention in use;
FIG. 2 is a schematic cross-sectional view taken along line D-D of FIG. 1;
FIG. 3 is a schematic view of the electrical portion of the steel end plate feeding structure;
fig. 4 is a schematic cross-sectional view of an i-beam.
In the figure: the device comprises an I-shaped steel 37, a side steel plate 22, a connecting steel plate 23, a steel groove 24, a back plate 105, a back plate vertical positioning bar 106, a back plate horizontal positioning bar 109, an electromagnet 110, a horizontal positioning ejector rod 111, a vertical positioning ejector rod 112, a steel end plate 113, a power supply 114, a control unit 115, a current regulating switch 116, a ball-type connector 117, a wireless signal generator 118, a wireless signal receiver 119, a process hole 120, a blind hole 121, a mobile frame underframe 122, a mobile frame middle frame 123, a mobile frame top frame 124, a mobile frame connecting arm 125, a bottom frame vertical sliding rail 126, a middle frame sliding block 127, a middle frame threaded sleeve 128, a middle frame vertical screw rod 129, a vertical screw rod driving motor 130, a middle frame lifting cylinder 131, a middle frame vertical guiding rod 132, a top frame horizontal sliding rail 133, a connecting arm sliding block 134, a top frame horizontal screw rod 135 and a horizontal screw rod driving motor 136.
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.
Referring to fig. 1 to 4, the automatic positioning device for the welding steel arch connecting plate of the robot comprises a three-dimensional moving frame and a steel end plate fixing manipulator connected to the three-dimensional moving frame. The fixed manipulator of steel end plate includes backplate 105, connect the perpendicular locating strip 106 of backplate portion in the vertical one side of backplate, connect backplate portion horizontal location strip 109 of backplate downside, the setting adsorbs the steel end plate on the backplate with electromagnet 110 of usefulness, threaded connection stretches into on the perpendicular locating strip of backplate portion the horizontal location ejector pin 111 on the backplate is positive and threaded connection stretches into the vertical location ejector pin 112 on the front of backplate on the backplate portion horizontal location strip, backplate portion horizontal location strip is perpendicular with backplate portion vertical location strip.
The method for connecting the steel end plate and the steel arch center main body comprises the following steps: the first step, install the steel end plate on the fixed manipulator of steel end plate: adjusting the distance from the transverse positioning ejector rod to the front surface of the back plate to a set value, adjusting the distance from the vertical positioning ejector rod to the front surface of the back plate to a set value, horizontally placing the steel end plate on the back plate, adjusting one side edge of the steel end plate to be abutted with the vertical positioning strip of the back plate part, and abutting the steel end plate on the horizontal positioning strip of the back plate part; secondly, starting the electromagnet (even if the power supply 114 supplies power to the electromagnet), and enabling the steel end plate to be adsorbed on the back plate through magnetic force generated by the electromagnet; thirdly, moving the steel end plate fixing manipulator through the three-dimensional moving frame to enable the steel end plate to be abutted against the end face of the steel arch main body until the transverse positioning ejector rod is abutted against the side steel plate and the vertical positioning ejector rod is abutted against the connecting steel plate, and at the moment, the geometric center of the steel end plate is aligned with the geometric center of the cross section of the I-shaped steel; and fourthly, welding the steel end plate and the steel arch frame main body together through an electric arc machine. The electric welding machine is a welding robot. The invention also comprises a control unit 115 and a current regulating switch 116 for regulating the current transmitted to the electromagnet, wherein the end surface of the steel arch frame main body is a plane, the back surface of the back plate is provided with a spherical connector 117, and the back plate is hinged on the three-dimensional moving frame through the spherical surface of the spherical connector; thirdly, adjusting the steel end plate to the whole end surface of the steel arch body to be abutted with the steel end plate, then carrying out a fourth step, and stopping supplying power to the electromagnet after the fourth step; the method for adjusting the whole end surface of the steel end plate to the steel arch body to be abutted with the steel end plate comprises the following steps: the control unit controls the current regulating switch to increase the adsorption force of the current input to the electromagnet so as to increase the electromagnet, so that the electromagnet can generate adsorption force on the steel arch main body, the adsorption force drives the back plate to rotate by taking the spherical connector as a fulcrum to change the state of the steel end plate to the whole end surface of the steel arch main body and abut against the steel end plate, and the whole end surface of the steel arch main body and the steel end plate can not rotate after abutting against the steel end plate. The wireless signal generator is arranged in the blind hole, and the process hole is aligned to the blind hole when the steel end plate is fixed on the steel end plate fixing manipulator; the method for judging whether the whole end surface of the steel arch body is abutted with the steel end plate comprises the following steps: the wireless signal generator sends a signal and the wireless signal receiver receives the signal sent by the wireless signal generator, if the wireless signal receiver receives the signal sent by the wireless signal generator, the whole end face of the steel arch body is not abutted to the steel end plate, at the moment, the control device enables the circuit regulating switch to continuously increase a circuit for supplying the electromagnet to improve attraction force, if the wireless signal receiver does not receive the signal sent by the wireless signal generator, the whole end face of the steel arch body is abutted to the steel end plate, and at the moment, the current transmitted to the electromagnet by the power supply is kept unchanged. After the welding is maintained, the control device enables the power supply to stop supplying power to the electromagnet. The three-dimensional moving frame includes a moving frame part base frame 122, a moving frame part middle frame 123 supported on the moving frame base through a moving frame part longitudinal moving structure, a moving frame part top frame 124 connected to the moving frame part middle frame through a moving frame part lifting structure, and a moving frame part connecting arm 125 connected to the moving frame part top frame through a moving frame part transverse moving structure, and the steel end plate fixed manipulator is connected to the moving frame part connecting arm. The longitudinal moving structure of the moving frame part comprises a longitudinal sliding rail 126 of the chassis part arranged on the chassis of the moving frame part, a sliding block 127 of the middle frame part connected on the longitudinal sliding rail of the chassis part in a sliding way, a thread sleeve 128 of the middle frame part connected on the middle frame of the moving frame part, a longitudinal screw rod 129 of the middle frame part connected on the thread sleeve of the middle frame part in a threaded way and a longitudinal screw rod driving motor 130 for driving the longitudinal screw rod of the middle frame part to rotate, wherein the longitudinal screw rod driving motor is fixed on the chassis of the moving frame part, and the middle frame of the moving frame part is connected with the sliding block of the middle frame part. The movable rack part lifting structure comprises a middle rack part lifting cylinder 131 and a middle rack part vertical guide rod 132 of which the lower end is connected to the middle rack part of the movable rack part, the movable rack part top rack is supported on the movable rack part middle rack through the middle rack part lifting cylinder, and the upper end of the middle rack part vertical guide rod penetrates through a guide hole in the movable rack part top rack. The transverse moving structure of the movable frame part comprises a top frame part transverse sliding rail 133 arranged on a top frame of the movable frame part, a connecting arm part sliding block 134 connected on the top frame part transverse sliding rail in a sliding mode, a sliding block part threaded through hole arranged on the connecting arm part sliding block, a top frame part transverse screw rod 135 connected in the sliding block part threaded through hole in a threaded mode and a transverse screw rod driving motor 136 driving the top frame part transverse screw rod to rotate, wherein the transverse screw rod driving motor is fixed on the top frame of the movable frame part, and a connecting arm of the movable frame part is fixed with the top frame part sliding block. The I-shaped steel comprises two side steel plates 22 and a connecting steel plate 23 which connects the middle parts of the two side steel plates together, the two steel grooves 24 are enclosed by the side steel plates and the connecting steel plate, the two side steel plates and the connecting steel plate are connected together in an I shape, the steel end plate 113 is rectangular, and the I-shaped steel moves in the way that the steel grooves move in the vertical direction in the whole machining process.
Claims (7)
1. An automatic positioning device for a welding steel arch connecting plate of a robot is characterized by comprising a three-dimensional moving frame and a steel end plate fixing mechanical arm connected to the three-dimensional moving frame, wherein the steel end plate fixing mechanical arm comprises a back plate, a back plate vertical positioning strip connected to one vertical side of the back plate, a back plate horizontal positioning strip connected to the lower side of the back plate, an electromagnet arranged on the back plate and used for adsorbing a steel end plate on the back plate, a transverse positioning ejector rod connected to the back plate vertical positioning strip in a threaded mode and stretching into the front surface of the back plate, and a vertical positioning ejector rod connected to the back plate horizontal positioning strip in a threaded mode and stretching into the front surface of the back plate, the back plate horizontal positioning strip is perpendicular to the back plate vertical positioning strip, the I-shaped steel comprises two side steel plates and a connecting steel plate which connects the middle parts of the two side steel plates together, and the two side steel plates and the connecting steel plate are connected together in an I-shaped mode, the steel end plate is rectangular; the method for connecting the steel end plate and the steel arch center main body comprises the following steps: the first step, install the steel end plate on the fixed manipulator of steel end plate: adjusting the distance from the transverse positioning ejector rod to the front surface of the back plate to a set value, adjusting the distance from the vertical positioning ejector rod to the front surface of the back plate to a set value, horizontally placing the steel end plate on the back plate, adjusting one side edge of the steel end plate to be abutted with the vertical positioning strip of the back plate part, and abutting the steel end plate on the horizontal positioning strip of the back plate part; secondly, starting the electromagnet, and adsorbing the steel end plate on the back plate by the magnetic force generated by the electromagnet; thirdly, moving the steel end plate fixing manipulator through the three-dimensional moving frame to enable the steel end plate to be abutted against the end face of the steel arch main body until the transverse positioning ejector rod is abutted against the side steel plate and the vertical positioning ejector rod is abutted against the connecting steel plate, and at the moment, the geometric center of the steel end plate is aligned with the geometric center of the cross section of the I-shaped steel; and fourthly, welding the steel end plate and the steel arch frame main body together.
2. The automatic positioning device for the robot welding steel arch connecting plate according to claim 1, further comprising a control unit and a current regulating switch for regulating the amount of current supplied to the electromagnet, wherein the control unit and the current regulating switch are electrically connected together, the end surface of the steel arch main body is a plane, the back surface of the back plate is provided with a spherical connector, and the back plate is hinged to the three-dimensional moving frame through the spherical connector; thirdly, adjusting the steel end plate to the whole end surface of the steel arch body to be abutted with the steel end plate, then carrying out a fourth step, and stopping supplying power to the electromagnet after the fourth step; the method for adjusting the whole end surface of the steel end plate to the steel arch body to be abutted with the steel end plate comprises the following steps: the control unit controls the current regulating switch to increase the adsorption force of the current input to the electromagnet so as to increase the electromagnet, so that the electromagnet can generate adsorption force on the steel arch main body, the adsorption force drives the back plate to rotate by taking the spherical connector as a fulcrum to change the state of the steel end plate to the whole end surface of the steel arch main body and abut against the steel end plate, and the whole end surface of the steel arch main body and the steel end plate can not rotate after abutting against the steel end plate.
3. The automatic positioning device for the robotic welding steel arch connecting plate of claim 2, further comprising a wireless signal generator and a wireless signal receiver electrically connected with the control unit, wherein the geometric center of the steel end plate is provided with a fabrication hole, the fabrication hole is a through hole, the front surface of the back plate is provided with a blind hole, the wireless signal generator is installed in the blind hole, and the fabrication hole is aligned with the blind hole when the steel end plate is fixed on the steel end plate fixing manipulator; the method for judging whether the whole end surface of the steel arch body is abutted with the steel end plate comprises the following steps: the steel arch centering device comprises a steel arch centering body, a wireless signal generator, a wireless signal receiver, a steel end plate and a process hole, wherein the wireless signal generator sends a signal, the wireless signal receiver receives the signal sent by the wireless signal generator, the whole end surface of the steel arch centering body is not abutted to the steel end plate if the wireless signal receiver receives the signal sent by the wireless signal generator, and the whole end surface of the steel arch centering body is abutted to the steel end plate if the wireless signal receiver does not receive the signal sent by the wireless signal generator, so that the process hole is sealed, and the signal sent by the wireless signal generator is shielded.
4. The automatic positioning device for a robot welding steel arch connecting plate according to claim 1, wherein the three-dimensional moving frame includes a moving frame portion base frame, a moving frame portion middle frame supported on a moving frame portion base frame by a moving frame portion longitudinal moving structure, a moving frame portion top frame connected to the moving frame portion middle frame by a moving frame portion elevating structure, and a moving frame portion connecting arm connected to the moving frame portion top frame by a moving frame portion transverse moving structure, the steel end plate fixing robot being connected to the moving frame portion connecting arm.
5. The automatic positioning device for the robot welding steel arch connecting plate according to claim 4, wherein the moving frame part longitudinal moving structure comprises a bottom frame part longitudinal slide rail arranged on the moving frame part chassis, a middle frame part slide block slidably connected to the bottom frame part longitudinal slide rail, a middle frame part threaded sleeve connected to the moving frame part middle frame, a middle frame part longitudinal screw rod threadedly connected to the middle frame part threaded sleeve, and a longitudinal screw rod driving motor for driving the middle frame part longitudinal screw rod to rotate, wherein the longitudinal screw rod driving motor is fixed on the moving frame part chassis, and the moving frame part middle frame is connected with the middle frame part slide block.
6. The automatic positioning device for a robot welding steel arch connecting plate according to claim 4, wherein the movable frame portion elevating structure includes an intermediate frame portion elevating cylinder and an intermediate frame portion vertical guide rod having a lower end connected to an intermediate frame portion of the movable frame portion, the movable frame portion upper frame is supported on the movable frame portion intermediate frame by the intermediate frame portion elevating cylinder, and an upper end of the intermediate frame portion vertical guide rod is inserted into a guide hole of the movable frame portion upper frame.
7. The automatic positioning device for the robot welding steel arch connecting plate according to claim 4, wherein the moving frame portion lateral moving structure includes a top frame portion lateral sliding rail provided on the moving frame portion top frame, a connecting arm slider slidably connected to the top frame portion lateral sliding rail, a slider portion threaded through hole provided on the connecting arm slider, a top frame portion lateral screw rod threadedly connected in the slider portion threaded through hole, and a lateral screw rod driving motor for driving the top frame portion lateral screw rod to rotate, the lateral screw rod driving motor being fixed to the moving frame portion top frame, the moving frame portion connecting arm being fixed to the top frame portion slider.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210073599.6A CN114393360B (en) | 2022-01-21 | 2022-01-21 | Automatic positioning device for robot welding steel arch connecting plate |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210073599.6A CN114393360B (en) | 2022-01-21 | 2022-01-21 | Automatic positioning device for robot welding steel arch connecting plate |
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| CN114393360B CN114393360B (en) | 2024-05-03 |
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| CN216939163U (en) * | 2022-01-21 | 2022-07-12 | 浙江交工金筑交通建设有限公司 | Automatic positioning device for welding steel arch frame connecting plate by robot |
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| CN114393360B (en) | 2024-05-03 |
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