CN114393360B - Automatic positioning device for robot welding steel arch connecting plate - Google Patents
Automatic positioning device for robot welding steel arch connecting plate Download PDFInfo
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- CN114393360B CN114393360B CN202210073599.6A CN202210073599A CN114393360B CN 114393360 B CN114393360 B CN 114393360B CN 202210073599 A CN202210073599 A CN 202210073599A CN 114393360 B CN114393360 B CN 114393360B
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 219
- 239000010959 steel Substances 0.000 title claims abstract description 219
- 238000003466 welding Methods 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 claims description 22
- 230000001105 regulatory effect Effects 0.000 claims description 9
- 238000001179 sorption measurement Methods 0.000 claims description 9
- 230000001276 controlling effect Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
Classifications
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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
-
- 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
-
- 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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- Physics & Mathematics (AREA)
- 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 robot welding steel arch connecting plate, which comprises a three-dimensional moving frame and a steel end plate fixing manipulator connected to the three-dimensional moving frame, wherein the steel end plate fixing manipulator 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 the steel end plate on the back plate, a transverse positioning ejector rod which is connected to the back plate part vertical positioning strip in a threaded manner and stretches into the front face of the back plate, and a vertical positioning ejector rod which is connected to the back plate part horizontal positioning strip in a threaded manner and stretches into the front face of the back plate. The invention aims to provide an automatic positioning device for a robot welding steel arch connecting plate, which is used for fixing a steel end plate on the end face 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
The tunnel steel arch is formed by connecting a plurality of steel arch sections, each steel arch section comprises a steel arch main body of an arc-shaped structure formed by I-steel, and steel end plates welded at two ends of the steel arch main body, and when the tunnel steel arch is used, the adjacent steel arch sections are flatly abutted together through the steel end plates and then fixed (such as welding and locking by screws and nuts) with the steel end plates to realize butt joint, so that the stress of the steel arch sections abutted together does not deviate, and the plane where the steel end plates are located is the surface of the diameter of a circle where the arc-shaped main body is located and the arc is actively located in the geometric center of the steel end plates. The I-steel with the straight structure is used for finishing the arc shape with corresponding curvature through a rounding machine, and then the steel arch body with the required length is cut by a cutting structure. In the prior art, when the steel end plate is welded to the steel arch body, the steel end plate is manually held and positioned at a required position, so that the labor is wasted and the realization of the automation of the welding of the steel end plate is restricted.
Disclosure of Invention
The invention aims to provide an automatic positioning device for a robot welding steel arch connecting plate, which is used for fixing a steel end plate on the end face 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: the automatic positioning device for the robot welding steel arch connecting plate is characterized by comprising a three-dimensional moving frame and a steel end plate fixing manipulator connected to the three-dimensional moving frame, wherein the steel end plate fixing manipulator 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 the steel end plate on the back plate, a transverse positioning ejector rod which is connected to the back plate part vertical positioning strip in a threaded manner and stretches into the front face of the back plate, and a vertical positioning ejector rod which is connected to the back plate part horizontal positioning strip in a threaded manner and stretches into the front face of the back plate, the horizontal locating strip of the backboard part is vertical to the vertical locating strip of the backboard part, the I-steel comprises two side steel plates and a connecting steel plate for connecting the middle parts of the two side steel plates together, the two side steel plates and the connecting steel plate are connected together in an I shape, and the steel end plate is rectangular; the method for connecting the steel end plate and the steel arch body together comprises the following steps: first, mounting a steel end plate on a steel end plate fixing manipulator: adjusting the distance of the transverse positioning ejector rod extending to the front surface of the backboard to a set value, adjusting the distance of the vertical positioning ejector rod extending to the front surface of the backboard to the set value, horizontally arranging the steel end plate on the backboard, and adjusting one side edge of the steel end plate to be abutted with the vertical positioning strip of the backboard part so that the steel end plate is abutted on the horizontal positioning strip of the backboard part; secondly, starting the electromagnet, and adsorbing the steel end plate on the back plate by 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 on the end face of the steel arch body until the transverse positioning jacking rod is jacked on the side steel plate and the vertical positioning jacking rod is jacked on 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 body together. The centering fixation of the steel end plates and the steel arch active cross section can be conveniently realized, so that the position consistency of each steel end plate and the steel arch main body is good, and the steel arches which are butted together are positioned on the same circle when the steel arches are connected by screws through screw holes in the steel end plates.
The invention also comprises a control unit and a current regulating switch for regulating the current supplied to the electromagnet, wherein the end face of the steel arch 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; the steel end plate is adjusted to the whole end face of the steel arch body to be abutted with the steel end plate, and then the fourth step is carried out, and the power supply to the electromagnet is stopped after the fourth step; the method for adjusting the whole end face from the steel end plate to the steel arch body to be abutted with the steel end plate comprises the following steps: the control unit is used for controlling the current regulating switch to increase the current input to the electromagnet so as to increase the adsorption force of the electromagnet, so that the electromagnet also generates adsorption force to the steel arch body, the adsorption force drives the backboard to rotate by taking the spherical connector as a fulcrum so as to change the state of the steel end plate to the whole end face of the steel arch body to be abutted with the steel end plate, and the steel end plate cannot rotate after the whole end face of the steel arch body is abutted with the steel end plate. The steel end plates can be conveniently abutted with the whole end face of the steel arch body, so that when the steel arches are abutted, the steel end plates on the two steel arches can be configured and attached together, and the connection stability of the steel arches when being abutted together is improved.
The invention also comprises a wireless signal generator and a wireless signal receiver, wherein a process hole is formed in the geometric center of the steel end plate, the process hole is a through hole, a blind hole is formed in the front surface of the back plate, 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 face of the steel arch body is abutted with the steel end plate comprises the following steps: the wireless signal generator sends out signals and the wireless signal receiver receives the signals sent by the wireless signal generator, if the wireless signal receiver receives the signals sent by the wireless signal generator, the whole end face of the steel arch body is not abutted with the steel end plate, and if the wireless signal receiver does not receive the signals sent by the wireless signal generator, the whole end face of the steel arch body is abutted with the steel end plate. The signal emitted by the wireless signal generator is shielded by closing the process hole, so that the signal cannot be emitted. It can be conveniently known 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 are all abutted together (namely vertical).
Preferably, the three-dimensional moving frame comprises a moving frame part underframe, a moving frame part middle frame supported on the moving frame part underframe through a moving frame part longitudinal moving structure, a moving frame part top frame connected on the moving frame part middle frame through a moving frame part lifting structure and a moving frame part connecting arm connected on the moving frame part top frame through a moving frame part transverse moving structure, and the steel end plate fixing manipulator is connected on the moving frame part connecting arm.
Preferably, the movable frame longitudinal moving structure comprises a frame longitudinal sliding rail arranged on a movable frame chassis, a middle frame sliding block connected to the frame longitudinal sliding rail in a sliding manner, a middle frame threaded sleeve connected to the middle frame of the movable frame, a middle frame longitudinal screw connected to the middle frame threaded sleeve in a threaded manner, and a longitudinal screw driving motor for driving the middle frame longitudinal screw to rotate, wherein the longitudinal screw driving motor is fixed on the movable frame chassis, and the movable frame middle frame is connected with the middle frame sliding block.
Preferably, the movable frame lifting structure comprises a middle frame lifting cylinder and a middle frame vertical guide rod, the lower end of the middle frame vertical guide rod is connected to the movable frame, the movable frame top frame is supported on the movable frame through the middle frame lifting cylinder, and the upper end of the middle frame vertical guide rod is arranged in a guide hole in a penetrating mode on the movable frame top frame.
Preferably, the movable frame part transverse moving structure comprises a top frame part transverse sliding rail arranged on a movable frame part top frame, a connecting arm part sliding block connected to the top frame part transverse sliding rail in a sliding manner, 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 manner, and a transverse screw rod driving motor for 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 is fixed with the connecting arm part sliding block.
The beneficial effects of the invention are as follows: the steel end plate welding machine can replace manual holding of the steel end plate when the steel end plate is welded, so that safety of the steel end plate during welding is improved, 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 of D-D of FIG. 1;
FIG. 3 is a schematic illustration of the electrical portion of a steel end plate feed structure;
Fig. 4 is a schematic cross-sectional view of a h-beam.
In the figure: i-steel 37, side steel plates 22, connecting steel plates 23, steel grooves 24, back plates 105, back plate vertical positioning strips 106, back plate horizontal positioning strips 109, electromagnets 110, horizontal positioning ejector pins 111, vertical positioning ejector pins 112, steel end plates 113, power supplies 114, control units 115, current adjusting switches 116, ball-type connectors 117, wireless signal generators 118, wireless signal receivers 119, process holes 120, blind holes 121, moving frame bottom frames 122, moving frame middle frames 123, moving frame top frames 124, moving frame connecting arms 125, bottom frame vertical sliding rails 126, middle frame sliding blocks 127, middle frame threaded sleeves 128, middle frame vertical screw rods 129, vertical screw rod driving motors 130, middle frame lifting cylinders 131, middle frame vertical guide rods 132, top frame horizontal sliding rails 133, connecting arm sliding blocks 134, top frame horizontal screw rods 135, and horizontal screw rod driving motors 136.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention; all other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 4, an automatic positioning device for welding a steel arch connecting plate by a robot comprises a three-dimensional moving frame and a steel end plate fixing manipulator connected to the three-dimensional moving frame. The steel end plate fixing manipulator comprises a back plate 105, a back plate part vertical positioning strip 106 connected to one vertical side of the back plate, a back plate part horizontal positioning strip 109 connected to the lower side of the back plate, an electromagnet 110 arranged on the back plate and used for adsorbing the steel end plate on the back plate, a transverse positioning ejector rod 111 which is connected to the back plate part vertical positioning strip in a threaded manner and stretches into the front face of the back plate, and a vertical positioning ejector rod 112 which is connected to the back plate part horizontal positioning strip in a threaded manner and stretches into the front face of the back plate.
The method for connecting the steel end plate and the steel arch body together comprises the following steps: first, mounting a steel end plate on a steel end plate fixing manipulator: adjusting the distance of the transverse positioning ejector rod extending to the front surface of the backboard to a set value, adjusting the distance of the vertical positioning ejector rod extending to the front surface of the backboard to the set value, horizontally arranging the steel end plate on the backboard, and adjusting one side edge of the steel end plate to be abutted with the vertical positioning strip of the backboard part so that the steel end plate is abutted on the horizontal positioning strip of the backboard part; secondly, starting the electromagnet (even if the power supply 114 supplies power to 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 on the end face of the steel arch body until the transverse positioning jacking rod is jacked on the side steel plate and the vertical positioning jacking rod is jacked on 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 body together through an 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 supplied to the electromagnet, the end face of the steel arch 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 connector; the steel end plate is adjusted to the whole end face of the steel arch body to be abutted with the steel end plate, and then the fourth step is carried out, and the power supply to the electromagnet is stopped after the fourth step; the method for adjusting the whole end face from the steel end plate to the steel arch body to be abutted with the steel end plate comprises the following steps: the control unit is used for controlling the current regulating switch to increase the current input to the electromagnet so as to increase the adsorption force of the electromagnet, so that the electromagnet also generates adsorption force to the steel arch body, the adsorption force drives the backboard to rotate by taking the spherical connector as a fulcrum so as to change the state of the steel end plate to the whole end face of the steel arch body to be abutted with the steel end plate, and the steel end plate cannot rotate after the whole end face of the steel arch body is abutted with the steel end plate. The wireless signal generator 118 and the wireless signal receiver 119 are also included, the geometric center of the steel end plate is provided with a process hole 120, the process hole is a through hole, the front surface of the back plate is provided with a blind hole 121, 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 face of the steel arch body is abutted with the steel end plate comprises the following steps: the wireless signal generator sends out signals and simultaneously receives signals sent by the wireless signal generator through the wireless signal receiver, if the wireless signal receiver receives signals 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 adjusting switch to continuously enlarge a circuit for supplying the electromagnet so as to improve attractive force, if the wireless signal receiver does not receive signals 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 of the power supply supplied to the electromagnet by the control device is kept unchanged. The control device stops the power supply to the electromagnet after welding maintenance. The three-dimensional moving frame includes a moving frame base 122, a moving frame middle frame 123 supported on the moving frame base by a moving frame longitudinal moving structure, a moving frame top frame 124 connected on the moving frame middle frame by a moving frame lifting structure, and a moving frame connecting arm 125 connected on the moving frame top frame by a moving frame transverse moving structure, to which a steel end plate fixing manipulator is connected. The movable frame longitudinal moving structure comprises a frame longitudinal slide rail 126 arranged on the movable frame underframe, a middle frame sliding block 127 connected on the frame longitudinal slide rail in a sliding manner, a middle frame threaded sleeve 128 connected on the movable frame middle frame, a middle frame longitudinal screw 129 connected on the middle frame threaded sleeve in a threaded manner, and a longitudinal screw driving motor 130 for driving the middle frame longitudinal screw to rotate, wherein the longitudinal screw driving motor is fixed on the movable frame underframe, and the movable frame middle frame is connected with the middle frame sliding block. The movable frame lifting structure comprises a middle frame lifting cylinder 131 and a middle frame vertical guide rod 132, wherein the lower end of the middle frame vertical guide rod is connected to the middle frame of the movable frame, the movable frame top frame is supported on the middle frame of the movable frame through the middle frame lifting cylinder, and the upper end of the middle frame vertical guide rod is arranged in a guide hole in the movable frame top frame in a penetrating mode. The movable frame part transverse moving structure comprises a top frame part transverse sliding rail 133 arranged on a movable frame part top frame, a connecting arm part sliding block 134 which is connected to the top frame part transverse sliding rail in a sliding way, a sliding block part threaded through hole arranged on the connecting arm part sliding block, a top frame part transverse screw rod 135 which is connected in the sliding block part threaded through hole in a threaded way, and a transverse screw rod driving motor 136 which drives 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 connecting arm part sliding block are fixed together. The I-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, wherein the side steel plates and the connecting steel plates enclose two steel grooves 24, the two side steel plates and the connecting steel plates are connected together in an I shape, the steel end plate 113 is rectangular, and the I-steel moves in a mode that the steel grooves are along the up-down direction in the whole processing process.
Claims (4)
1. The automatic positioning device for the robot welding steel arch connecting plate is characterized by comprising a three-dimensional moving frame and a steel end plate fixing manipulator connected to the three-dimensional moving frame, wherein the steel end plate fixing manipulator 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 the steel end plate on the back plate, a transverse positioning ejector rod which is in threaded connection with the back plate part vertical positioning strip and stretches into the front surface of the back plate, and a vertical positioning ejector rod which is in threaded connection with the back plate part horizontal positioning strip and stretches into the front surface of the back plate; the method for connecting the steel end plate and the steel arch body together comprises the following steps: first, mounting a steel end plate on a steel end plate fixing manipulator: adjusting the distance of the transverse positioning ejector rod extending to the front surface of the backboard to a set value, adjusting the distance of the vertical positioning ejector rod extending to the front surface of the backboard to the set value, horizontally arranging the steel end plate on the backboard, and adjusting one side edge of the steel end plate to be abutted with the vertical positioning strip of the backboard part so that the steel end plate is abutted on the horizontal positioning strip of the backboard part; secondly, starting the electromagnet, and adsorbing the steel end plate on the back plate by 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 on the end face of the steel arch body until the transverse positioning jacking rod is jacked on the side steel plate and the vertical positioning jacking rod is jacked on 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; welding the steel end plate and the steel arch body together, wherein the three-dimensional movable frame comprises a movable frame part underframe, a movable frame part middle frame supported on the movable frame part underframe through a movable frame part longitudinal movable structure, a movable frame part top frame connected to the movable frame part middle frame through a movable frame part lifting structure and a movable frame part connecting arm connected to the movable frame part top frame through a movable frame part transverse movable structure, and the steel end plate fixing manipulator is connected to the movable frame part connecting arm; the movable frame part longitudinal moving structure comprises a frame part longitudinal slide rail arranged on a movable frame part frame, a middle frame part sliding block connected to the frame part longitudinal slide rail in a sliding manner, a middle frame part threaded sleeve connected to the middle frame part of the movable frame part, a middle frame part longitudinal screw rod connected to the middle frame part threaded sleeve in a threaded manner, 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 movable frame part frame, and the movable frame part middle frame is connected with the middle frame part sliding block; the movable frame lifting structure comprises a middle frame lifting cylinder and a middle frame vertical guide rod, wherein the lower end of the middle frame vertical guide rod is connected to the middle frame of the movable frame, the top frame of the movable frame is supported on the middle frame of the movable frame through the middle frame lifting cylinder, and the upper end of the middle frame vertical guide rod is arranged in a guide hole in a penetrating mode on the top frame of the movable frame.
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, wherein the control unit and the current regulating switch are electrically connected together, the current is supplied to the electromagnet, the end face of the steel arch main body is a plane, the back face 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; the steel end plate is adjusted to the whole end face of the steel arch body to be abutted with the steel end plate, and then the fourth step is carried out, and the power supply to the electromagnet is stopped after the fourth step; the method for adjusting the whole end face from the steel end plate to the steel arch body to be abutted with the steel end plate comprises the following steps: the control unit is used for controlling the current regulating switch to increase the current input to the electromagnet so as to increase the adsorption force of the electromagnet, so that the electromagnet also generates adsorption force to the steel arch body, the adsorption force drives the backboard to rotate by taking the spherical connector as a fulcrum so as to change the state of the steel end plate to the whole end face of the steel arch body to be abutted with the steel end plate, and the steel end plate cannot rotate after the whole end face of the steel arch body is abutted with the steel end plate.
3. The automatic positioning device for the robot welding steel arch connecting plate according to claim 2, further comprising a wireless signal generator and a wireless signal receiver which are electrically connected with the control unit, wherein the geometric center of the steel end plate is provided with a process hole, the process hole 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 face of the steel arch body is abutted with the steel end plate comprises the following steps: the wireless signal generator sends out signals and the wireless signal receiver receives the signals sent by the wireless signal generator, if the wireless signal receiver receives the signals sent by the wireless signal generator, the whole end face of the steel arch body is not abutted with the steel end plate, and if the wireless signal receiver does not receive the signals sent by the wireless signal generator, the whole end face of the steel arch body is abutted with the steel end plate, the process holes are closed, and the signals sent by the wireless signal generator are shielded.
4. The automatic positioning device for a welding steel arch connecting plate of a robot according to claim 1, wherein the movable frame part transverse moving structure comprises a top frame part transverse sliding rail arranged on a movable frame part top frame, a connecting arm part sliding block connected to the top frame part transverse sliding rail in a sliding manner, a sliding block part threaded through hole arranged on the connecting arm part sliding block, a top frame part transverse screw connected in the sliding block part threaded through hole in a threaded manner and a transverse screw driving motor for driving the top frame part transverse screw to rotate, the transverse screw driving motor is fixed on the movable frame part top frame, and the movable frame part connecting arm is fixed with the connecting arm part sliding block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
|---|---|---|---|
| CN202210073599.6A CN114393360B (en) | 2022-01-21 | 2022-01-21 | Automatic positioning device for robot welding steel arch connecting plate |
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| CN114393360A CN114393360A (en) | 2022-04-26 |
| CN114393360B true CN114393360B (en) | 2024-05-03 |
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| JPH09150264A (en) * | 1995-11-28 | 1997-06-10 | Kimura Tekkosho:Kk | Positioning jig and welding equipment for welding steel segment |
| CN206335288U (en) * | 2016-11-21 | 2017-07-18 | 滇南铁路有限责任公司 | A kind of device that plate weld locator card control is connected for tunnel steel arch frame |
| CN107138906A (en) * | 2017-07-20 | 2017-09-08 | 中铁隧道集团四处有限公司 | Steel arch-shelf connecting plate apparatus for welding and positioning |
| CN207144966U (en) * | 2017-09-21 | 2018-03-27 | 中铁十二局集团有限公司 | Steel arch-shelf connects plate positioning device |
| CN210888975U (en) * | 2019-10-31 | 2020-06-30 | 中交四公局第五工程有限公司 | Positioning device for welding I-steel and steel backing plate of supporting steel arch frame |
| CN211950524U (en) * | 2019-12-24 | 2020-11-17 | 中建四局贵州投资建设有限公司 | Tunnel bow member connecting plate positioner |
| CN111807014A (en) * | 2020-08-11 | 2020-10-23 | 中交第二公路工程局有限公司 | Steel arch frame conveying device |
| CN112045348A (en) * | 2020-08-12 | 2020-12-08 | 湖南中耀交通工程有限公司 | Auxiliary positioning device for I-shaped steel frame connecting steel plate and construction method thereof |
| CN213702263U (en) * | 2020-11-25 | 2021-07-16 | 中铁十二局集团第四工程有限公司 | Automatic welding production line for tunnel arch centering |
| 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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