CN115592246B - Bed body steel construction automatic welder of subsidiary location calibration function - Google Patents
Bed body steel construction automatic welder of subsidiary location calibration function Download PDFInfo
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- CN115592246B CN115592246B CN202211599186.8A CN202211599186A CN115592246B CN 115592246 B CN115592246 B CN 115592246B CN 202211599186 A CN202211599186 A CN 202211599186A CN 115592246 B CN115592246 B CN 115592246B
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 38
- 239000010959 steel Substances 0.000 title claims abstract description 38
- 238000010276 construction Methods 0.000 title claims description 15
- 238000003466 welding Methods 0.000 claims abstract description 204
- 239000012535 impurity Substances 0.000 claims description 16
- 238000005498 polishing Methods 0.000 claims description 16
- 238000001125 extrusion Methods 0.000 claims description 13
- 238000007599 discharging Methods 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 11
- 230000007704 transition Effects 0.000 claims description 11
- 238000009826 distribution Methods 0.000 claims description 8
- 230000000087 stabilizing effect Effects 0.000 claims description 6
- 238000009413 insulation Methods 0.000 claims description 5
- 238000000227 grinding Methods 0.000 description 18
- 238000000034 method Methods 0.000 description 18
- 230000008569 process Effects 0.000 description 14
- 230000032258 transport Effects 0.000 description 11
- 230000008859 change Effects 0.000 description 7
- 238000007781 pre-processing Methods 0.000 description 7
- 230000009467 reduction Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000004064 recycling Methods 0.000 description 4
- 238000009825 accumulation Methods 0.000 description 3
- 230000002596 correlated effect Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000017105 transposition Effects 0.000 description 2
- 238000010923 batch production Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010891 electric arc Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000007517 polishing process Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000005493 welding type 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
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The invention discloses an automatic welding device for a steel structure of a bed body with a positioning and calibrating function, which relates to the technical field of automatic welding and comprises a feeding assembly, a welding assembly, a calibrating assembly, a conveying assembly and a lower machine table, wherein the feeding assembly, the welding assembly, the conveying assembly and the lower machine table are fixedly connected, the feeding assembly is arranged at one end of the lower machine table, the welding assembly is arranged at one side of the feeding assembly close to the center of the lower machine table, the conveying assembly is arranged at one side of the welding assembly far away from the feeding assembly, one end of the calibrating assembly is arranged on the feeding assembly, and the other end of the calibrating assembly is arranged on the welding assembly. The calibration assembly continuously shoots pictures, compares the shot pictures with the pictures of the standard positions input in advance, and judges whether the carrying manipulator and the welding manipulator are accurately in place or not according to the similarity.
Description
Technical Field
The invention relates to the technical field of automatic welding, in particular to a bed body steel structure automatic welding device with a positioning and calibrating function.
Background
The treatment cabin of medical magnetic induction rehabilitation platform influences the treatment effect great, and it is higher to the requirement of bed body structure, and the medical bed body is supported by the frame of steel construction usually, and its manufacturing volume of same batch is great, can adopt production line batch production usually, but current bed body steel construction welding is carried out by the manual work usually, and a small part of mills begin to use automatic welding, but current automatic fluidized bed body steel construction welding set has the defect of certain degree, can't satisfy the user demand.
Current bed body steel construction welding set can't carry out the accurate positioning to bed body spare part when lacking artifical supplementary to the spare part put, fixed and welding process can't go on in step, the reduction of very big degree automatic welder's work efficiency, be not conform to automated production's essential demand.
Traditional manual welding electrode is shorter, namely, it is shorter, the welding rod exposes time under operational environment, and automatic welding equipment's working process is continuous, the hanging of its welding rod that uses becomes the circle is on machinery, can be in factory's environment for a long time, the pile-up speed of welding rod surface impurity is far higher than manual welding's welding rod, can set up equipment of polishing for this type of welding rod usually, but conventional equipment of polishing can't distinguish the impurity concentration region and the smooth region on welding rod surface, can polish whole welding rod with unified dynamics, the loss of very big degree has promoted the welding rod.
Disclosure of Invention
The invention aims to provide an automatic welding device for a bed body steel structure with a positioning and calibrating function, which aims to solve the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: an automatic welding device for a steel structure of a bed body with a positioning and calibrating function comprises a feeding assembly, a welding assembly, a calibrating assembly, a conveying assembly and a lower machine table, wherein the feeding assembly, the welding assembly, the conveying assembly and the lower machine table are fixedly connected;
the feeding assembly comprises a first conveying belt, a carrying mechanical arm, a feeding unit and a portal frame, the first conveying belt, the feeding unit and the portal frame are arranged above the lower machine table, the first conveying belt is provided with two groups, the two groups of first conveying belts are respectively arranged on two sides of the feeding unit, the carrying mechanical arm is arranged on the portal frame, and the feeding unit and the first conveying belt penetrate through the lower portion of the portal frame. The feeding unit both sides are carried with the spare part of bed body steel construction to first conveyer belt, and the transport manipulator removes bed body steel construction spare part to the feeding unit on, and the calibration subassembly is to the spare fixed position and calibrate, and the feeding unit will wait to weld and transport welding assembly department after the part position is confirmed, and welding assembly welds the bed body steel construction, and transport assembly transports the bed body steel construction away after the welding is accomplished. The calibration assembly continuously shoots pictures, compares the shot pictures with the pictures of the standard positions input in advance, and judges whether the carrying manipulator and the welding manipulator are accurately in place or not according to the similarity.
Further, the feed unit is including founding the frame, the mount, the revolving frame, the accommodate motor, stabilize the motor, found frame and lower board fastening connection, revolving frame central point puts and founds the frame rotation and connects, revolving frame central point puts the department and is provided with adjusting gear, accommodate motor and found frame fastening connection, be provided with drive gear on the output shaft of accommodate motor, drive gear and adjusting gear meshing, the mount has two sets ofly, two sets of mounts set up respectively in the revolving frame both sides, the mount intermediate position rotates with the revolving frame to be connected, stabilize motor and revolving frame fastening connection, the output shaft and the mount fastening connection of stabilize the motor, be provided with a plurality of dead levers on the mount, the one end that the mount was kept away from to the dead lever is provided with electric clamping jaw. Each spare part of constituteing bed body steel construction is carried on the mount, the mount is designed to single bed type, each spare part is fixed by the electronic clamping jaw on the mount, spare part is put according to treating welding position, adjusting motor drives drive gear and rotates this moment, drive gear drives adjusting gear and rotates, the revolving frame is rotatory, the position change with two mounts, the mount is stabilized the motor and is rotated thereupon when the position is changed, it is in the horizontality all the time to keep the mount. The rotary type structure ensures that the connection relation of the bed body steel structure always comes from a horizontal feeding section after the assembly position and the welding position are changed, no obstruction exists around the bed body steel structure, and the work of welding components is facilitated.
Further, the feed unit still includes carriage, rotatory worm wheel, worm, support motor, covers the cover, and the carriage rotates with founding the frame and is connected, and one side that the frame was kept away from to the carriage is provided with electronic clamping jaw, covers the cover and founds frame fastening connection, and rotatory worm wheel and carriage fastening connection, worm one end rotate with the cover and connect, and the worm other end and support motor's output shaft fastening connection, support motor and cover fastening connection. After transposition finishes at every turn, the support motor all can drive the worm and rotate, and the worm drives rotatory worm wheel and rotates, and rotatory worm wheel drives the carriage upset, and the carriage after the upset withstands the swivel mount, and electronic clamping jaw on the carriage pins the swivel mount to the realization is to the support of swivel mount.
Further, the welding subassembly includes welding mechanical hand, remove the module, the collar, ring rail, the sliding sleeve, encircle the motor, encircle the gear, the soldered connection, remove module and lower board fastening connection, the displacement platform fastening connection of collar and removal module, ring rail and collar lateral wall fastening connection, be provided with ring gear on the collar inner wall, sliding sleeve and ring rail sliding connection, encircle motor and sliding sleeve fastening connection, encircle the output shaft of motor and encircle gear fastening connection, encircle gear and ring gear meshing, welding mechanical hand and sliding sleeve fastening connection, soldered connection and welding mechanical hand keep away from the one end fastening connection of sliding sleeve. The movable module can drive the mounting ring to move horizontally, the welding manipulator needs to continuously adjust the position of the welding manipulator in the welding process, when the position needs to be adjusted, the encircling motor can drive the encircling gear to rotate, the encircling gear is meshed with the annular gear ring to drive the sliding sleeve to rotate, and the sliding sleeve adjusts the position along the annular guide rail in a rotating mode.
Further, the welding subassembly still includes the preprocessing unit, the preprocessing unit sets up inside the board down, the preprocessing unit includes the annular chamber, rotate the ring gear, friction part, the rotation motor, rotatory minute gas dish, the annular chamber is connected with board down, the welding wire passes from the annular chamber, friction part is provided with the multiunit, multiunit friction part and rotation ring gear fastening connection, rotate ring gear and annular chamber rotation connection, rotation motor and annular chamber fastening connection, be provided with the power gear on the output shaft of rotation motor, power gear and rotation ring gear meshing, rotatory minute gas dish is connected with the annular chamber, rotatory minute gas dish passes through the pipeline and friction part links to each other, friction part includes the transition cover, flexible pipe, the fixed ring piece, the slip ring piece, the extrusion spring, drag the spring, the transition cover outside and rotation ring gear fastening connection, the inboard and flexible pipe fastening connection of transition cover, the extrusion spring sets up at flexible, extrusion spring both ends and flexible pipe connection, the flexible pipe one end and the fixed ring piece fastening connection of keeping away from the transition cover are connected to the slip ring piece and fixed ring piece sliding connection are dragged to the spring other end. The rotating air distributing disc is used for communicating the rotating air pipe with the static air pipe, belongs to the conventional technical means in the field, and the specific structure of the rotating air distributing disc is not described. Rotatory gas distribution dish and outside negative pressure pipeline UNICOM, continuously provide stable negative pressure for each transition cover, flexible pipe tends to compression state under the negative pressure effect, the extrusion spring is compressed, the slip ring piece is kept away from one side of fixed ring piece and is provided with the layer of polishing, the welding wire passes from the multiunit in the layer of polishing, friction part constantly rotates and polishes the surface and clears away impurity to the welding wire, at the in-process of polishing, the position that welding wire surface impurity is many is coarser, frictional force is great at this position, the relative displacement between slip ring piece and the fixed ring piece can be dragged to great frictional force is bigger, it is dragged to drag the spring, the breach that the relative displacement is bigger then fixed ring piece department expandes is bigger, the input of outside gas to flexible intraduct increases, flexible pipe reduction of negative pressure is big in department, the extension of extrusion spring promotion flexible pipe extension, bigger pressure effect is in welding wire department, to coarse department increase intensity of polishing. The pretreatment unit of the invention carries out differential grinding according to the amount of impurities on the surface of the welding wire, thereby not only ensuring the high-strength grinding of a rough surface, but also avoiding the transitional grinding of a smooth surface, reducing the loss of the welding wire on the basis of avoiding the impurities from mixing into the welding wire, on the other hand, the negative pressure airflow can also recycle grinding scraps in the grinding process, the scraps can be recycled into a negative pressure pipeline along with the negative pressure airflow, the accumulation of the scraps is avoided, the airflow recycling speed and the scrap generation amount are positively correlated, and the recycling power consumption ratio is optimized.
Furthermore, the welding head includes the arc head, the welding wire pipe, the arc head is managed with the welding wire and is connected in fastening, welding wire pipe and welding manipulator fastening, the welding wire intraduct is provided with the supporting rod, the drive wheel, the ejection of compact ring, the heat insulating board, the resistance piece, supporting rod and welding wire inside pipe wall fastening, the one side that the welding wire pipe was kept away from to drive wheel and supporting rod is connected, ejection of compact ring sets up the discharge end at the welding wire pipe, the heat insulating board embedding is inside ejection of compact ring, ejection of compact ring inside is provided with the cavity, the inside resistance spring that is provided with of cavity, resistance piece and cavity sliding connection, resistance spring one end and resistance piece fastening, the resistance spring other end and cavity inner wall fastening connection. The electric arc head welds, the welding wire pipe delivery welding wire, the supporting rod is scalable, the supporting rod is with outside positive pressure gas source UNICOM, positive pressure gas source inputs constant pressure to the supporting rod, the drive wheel has two sets ofly, with the welding wire centre gripping in the middle of, the drive wheel oppresses the welding wire with constant pressure all the time, the stable output of welding wire has been guaranteed, and the welding wire that has passed through the processing of polishing has the difference of local diameter, the welding wire itself also has small diameter difference man-hour adding, in order to guarantee that the welding wire output is stable, set up the inside constant power motor that uses of drive wheel, when the resistance grow, the output of welding wire is balanced the output quantity of welding wire as far as possible to the relative reduction of output speed of welding wire. The resistance block at the discharging position presses the welding wire, the resistance is adjusted by setting a proper resistance spring, the determination of the spring can be selected through experiments, the resistance applied to the position with the larger diameter of the welding wire is larger, the output speed of the welding wire at the position is reduced, and the output speed of the welding wire at the position with the smaller diameter of the welding wire is increased. The welding head adjusts the output resistance of the welding wire through the resistance block, so that the output speed change caused by the diameter change of the welding wire in the grinding process and the machining process is compensated, the output speed and the diameter of the welding wire are in negative correlation, the output quantity of the welding wire in unit time is balanced, and the stability of automatic welding is greatly improved.
Furthermore, the calibration assembly comprises a first camera set and a second camera set, the first camera set is fixedly connected with the portal frame, and the second camera set is fixedly connected with the sliding sleeve. The first camera group carries out location calibration to the transport position of transport manipulator, and the second camera group moves along with the sliding sleeve together, carries out location calibration to the welding position of welding manipulator, and first camera group and second camera group are through continuously taking the photo to the photo that will shoot compares with the standard position photo of inputing in advance, judges through the similarity whether transport manipulator, welding manipulator are accurate target in place.
Further, conveying element includes commodity circulation line, support frame, gripper jaw, and support frame and board fastening connection down, commodity circulation line and support frame are connected, and commodity circulation line one end extends to and removes the module top, and the gripper jaw setting is in the collar both sides, gripper jaw and collar fastening connection. When the welding is finished, the clamping claws on the mounting ring clamp the welded steel structure of the bed body, the mounting ring drives the bed body to move to a material flow line, and the material flow line outputs the bed body. The gripper jaw is electrically controlled, belongs to the conventional technical means in the field, and the specific structure of the gripper jaw is not described.
Compared with the prior art, the invention has the following beneficial effects: the rotary type structure ensures that the connection relation of the bed body steel structure always comes from a feeding section in the horizontal direction after the assembly position and the welding position are changed, no obstruction exists around the bed body steel structure, and the work of welding components is facilitated. The pretreatment unit of the invention carries out differential grinding according to the amount of impurities on the surface of the welding wire, thereby not only ensuring the high-strength grinding of a rough surface, but also avoiding the transitional grinding of a smooth surface, reducing the loss of the welding wire on the basis of avoiding the impurities from mixing into the welding wire, on the other hand, the negative pressure airflow can also recycle grinding scraps in the grinding process, the scraps can be recycled into a negative pressure pipeline along with the negative pressure airflow, the accumulation of the scraps is avoided, the airflow recycling speed and the scrap generation amount are positively correlated, and the recycling power consumption ratio is optimized. The welding head adjusts the output resistance of the welding wire through the resistance block, so that the output speed change caused by the diameter change of the welding wire in the grinding process and the machining process is compensated, the output speed and the diameter of the welding wire are in negative correlation, the output quantity of the welding wire in unit time is balanced, and the stability of automatic welding is greatly improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the overall structure of the fixing frame of the present invention;
FIG. 3 is a schematic view of the overall structure of the feeding unit of the present invention;
FIG. 4 is a partial schematic view of a weld stack according to the present invention;
FIG. 5 is a cross-sectional view of a pretreatment unit of the present invention;
FIG. 6 is a sectional view of the internal structure of the annular chamber of the present invention;
FIG. 7 is a cross-sectional view of the inner structure of the wire tube of the present invention;
FIG. 8 is an enlarged view of a portion of FIG. 7 at A;
FIG. 9 is a view of the welded components of the present invention;
in the figure: 1-feeding component, 11-first conveying belt, 12-carrying mechanical arm, 13-feeding unit, 131-vertical frame, 132-fixed frame, 133-rotating frame, 134-adjusting motor, 135-stabilizing motor, 136-fixed rod, 137-supporting frame, 138-rotating worm gear, 139-worm, 1310-supporting motor, 1311-covering cover, 14-portal frame, 2-welding component, 21-welding mechanical arm, 22-moving module, 23-mounting ring, 24-annular guide rail, 25-sliding sleeve, 26-surrounding motor, 27-surrounding gear, 28-welding head, 281-arc head, 282-welding wire pipe, 283-welding rod, 284-driving wheel, 285-discharging ring, 286-heat insulation plate, 287-resistance block, 29-pretreatment unit, 291-annular cavity, 292-rotating gear ring, 293-friction component, 2931-transition sleeve, 2932-telescopic pipe, 2933-fixed ring block, 2934-sliding ring block, 2935-extrusion spring, 2936-pulling spring, 295-pulling gas ring, 293-rotating disk motor, 3-rotating assembly, 3-rotating flow-conveying unit, 32-telescopic pipe, 2933-fixed support frame, 21-flow line, 21-lower support frame, and calibration unit, 41-4-lower support frame.
Detailed description of the preferred embodiments
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.
As shown in fig. 1 and 9, an automatic welding device for a bed steel structure with a positioning and calibrating function comprises a feeding assembly 1, a welding assembly 2, a calibrating assembly 3, a conveying assembly 4 and a lower machine table 5, wherein the feeding assembly 1, the welding assembly 2, the conveying assembly 4 and the lower machine table 5 are fixedly connected, the feeding assembly 1 is arranged at one end of the lower machine table 5, the welding assembly 2 is arranged at one side of the feeding assembly 1 close to the center of the lower machine table 5, the conveying assembly 4 is arranged at one side of the welding assembly 2 away from the feeding assembly 1, one end of the calibrating assembly 3 is arranged on the feeding assembly 1, and the other end of the calibrating assembly 3 is arranged on the welding assembly 2;
the feeding assembly 1 comprises a first conveying belt 11, a carrying manipulator 12, a feeding unit 13 and a portal frame 14, wherein the first conveying belt 11, the feeding unit 13 and the portal frame 14 are all arranged above the lower machine table 5, the first conveying belt 11 is provided with two groups, the two groups of first conveying belts 11 are respectively arranged on two sides of the feeding unit 13, the carrying manipulator 12 is arranged on the portal frame 14, and the feeding unit 13 and the first conveying belts 11 penetrate through the lower side of the portal frame 14. The parts of bed body steel construction are carried to feed unit 13 both sides by first conveyer belt 11, and transport manipulator 12 removes bed body steel construction parts to feed unit 13 on, and calibration subassembly 3 calibrates the part fixed position, and feed unit 13 will wait to weld and transport 2 departments of subassembly after the part position is confirmed, and welding subassembly 2 welds the bed body steel construction, and transport subassembly 4 transports the bed body steel construction after the welding is accomplished. The calibration assembly 3 of the invention continuously takes pictures, compares the taken pictures with the pictures of the standard positions input in advance, and judges whether the carrying manipulator 12 and the welding manipulator 21 are accurately positioned or not according to the similarity.
As shown in fig. 2 and 3, the feeding unit 13 includes a vertical frame 131, a fixing frame 132, a rotating frame 133, an adjusting motor 134, and a stabilizing motor 135, the vertical frame 131 is fastened to the lower machine table 5, a central position of the rotating frame 133 is rotatably connected to the vertical frame 131, an adjusting gear is disposed at a central position of the rotating frame 133, the adjusting motor 134 is fastened to the vertical frame 131, a driving gear is disposed on an output shaft of the adjusting motor 134, the driving gear is engaged with the adjusting gear, two sets of fixing frames 132 are provided, the two sets of fixing frames 132 are disposed on two sides of the rotating frame 133, a middle position of the fixing frame 132 is rotatably connected to the rotating frame 133, the stabilizing motor 135 is fastened to the rotating frame 133, an output shaft of the stabilizing motor 135 is fastened to the fixing frame 132, a plurality of fixing rods 136 are disposed on the fixing frame 132, and an electric clamping jaw is disposed at an end of the fixing rod 136 far from the fixing frame 132. Each part forming the steel structure of the bed body is carried to the fixing frame 132, the fixing frame 132 is designed for a single bed type, each part is fixed by the electric clamping jaw on the fixing frame 132 and is placed according to the position to be welded, at the moment, the adjusting motor 134 drives the driving gear to rotate, the driving gear drives the adjusting gear to rotate, the rotating frame 133 rotates, the positions of the two fixing frames 132 are exchanged, the stabilizing motor 135 rotates along with the fixing frame 132 when the positions are exchanged, and the fixing frame 132 is kept in a horizontal state all the time. According to the rotary type welding assembly machine, the synchronous welding and assembling of the steel structure of the bed body are realized through the feeding unit 13, the working efficiency is greatly improved, the rotary type structure enables the connection relation of the steel structure of the bed body to always come from the feeding section in the horizontal direction after the assembling position and the welding position are changed, the periphery of the steel structure of the bed body is not blocked, and the welding assembly machine is more beneficial to the work of the welding assembly 2.
As shown in fig. 2 and 3, the feeding unit 13 further includes a support frame 137, a rotary worm wheel 138, a worm 139, a support motor 1310, and a cover 1311, the support frame 137 is rotatably connected to the upright frame 131, a side of the support frame 137 away from the upright frame 131 is provided with a motor-driven clamping jaw, the cover 1311 is tightly connected to the upright frame 131, the rotary worm wheel 138 is tightly connected to the support frame 137, one end of the worm 139 is rotatably connected to the cover 1311, the other end of the worm 139 is tightly connected to an output shaft of the support motor 1310, and the support motor 1310 is tightly connected to the cover 1311. After each transposition is completed, support motor 1310 drives worm 139 to rotate, worm 139 drives rotating worm wheel 138 to rotate, rotating worm wheel 138 drives supporting frame 137 to overturn, supporting frame 137 after overturning props up rotating frame 133, and the electric clamping jaw on supporting frame 137 locks rotating frame 133 to realize the support of rotating frame 133.
As shown in fig. 1 and 4, the welding assembly 2 includes a welding robot 21, a moving module 22, a mounting ring 23, an annular guide rail 24, a sliding sleeve 25, a surrounding motor 26, a surrounding gear 27, and a welding head 28, the moving module 22 is fastened to the lower machine table 5, the mounting ring 23 is fastened to a displacement platform of the moving module 22, the annular guide rail 24 is fastened to a side wall of the mounting ring 23, an annular ring gear is disposed on an inner wall of the mounting ring 23, the sliding sleeve 25 is slidably connected to the annular guide rail 24, the surrounding motor 26 is fastened to the sliding sleeve 25, an output shaft of the surrounding motor 26 is fastened to the surrounding gear 27, the surrounding gear 27 is engaged with the annular ring gear, the welding robot 21 is fastened to the sliding sleeve 25, and the welding head 28 is fastened to one end of the welding robot 21 away from the sliding sleeve 25. The moving module 22 can drive the mounting ring 23 to translate, during the welding process, the welding robot 21 needs to adjust its position continuously, when the position needs to be adjusted, the surrounding motor 26 will drive the surrounding gear 27 to rotate, the surrounding gear 27 is meshed with the annular gear ring, the sliding sleeve 25 is driven to rotate, and the sliding sleeve 25 rotates along the annular guide rail to adjust the position.
As shown in fig. 5 and 6, the welding assembly 2 further includes a preprocessing unit 29, the preprocessing unit 29 is disposed inside the lower machine table 5, the preprocessing unit 29 includes an annular cavity 291, a rotating ring gear 292, a friction member 293, a rotating motor 294, a rotating gas distribution disc 295, the annular cavity 291 is connected with the lower machine table 5, a welding wire passes through the annular cavity 291, the friction member 293 is provided with a plurality of sets, the friction member 293 and the rotating ring gear 292 are fixedly connected, the rotating ring gear 292 is rotatably connected with the annular cavity 291, the rotating motor 294 is fixedly connected with the annular cavity 291, an output shaft of the rotating motor 294 is provided with a power gear, the power gear is engaged with the rotating ring gear 292, the rotating gas distribution disc 295 is connected with the annular cavity 291, the rotating gas distribution disc 295 is connected with the friction member 293 through a pipeline, the friction member 293 includes a transition sleeve 2931, a telescopic pipe 2932, a fixed ring 2933, a sliding ring 2934, an extrusion spring 2935, a pulling spring 2936, an outer side of the transition sleeve 2931 is fixedly connected with the expansion pipe 2932, an end of the expansion pipe 2932 is connected with the fixed ring 2933, and an end of the expansion pipe 2934 is connected with the fixed ring 2932. The rotary air distributing plate 295 is used to connect the air pipe in a rotating state with the stationary air pipe, and is a conventional technical means in the art, and the specific structure thereof is not described. The rotary gas distribution disc 295 is communicated with an external negative pressure pipeline, stable negative pressure is continuously provided for each transition sleeve 2931, the telescopic pipe 2932 tends to be in a compressed state under the action of the negative pressure, the extrusion spring 2935 is compressed, one side, away from the fixed ring block 2933, of the sliding ring block 2934 is provided with a polishing layer, welding wires penetrate through multiple groups of polishing layers, the friction part 293 continuously rotates to polish the surface of the welding wires to remove impurities, in the polishing process, the position with more impurities on the surface of the welding wires is rougher, the friction force at the position is larger, the relative displacement between the sliding ring block and the fixed ring block can be pulled by the larger friction force, the pulling spring is pulled, the opening formed in the position of the fixed ring block 2933 is larger when the relative displacement is larger, the input amount of the external gas telescopic pipe to the inside of the 2932 is increased, the negative pressure reduction amount at the position of the telescopic pipe 2932 is large, the extrusion spring 2935 pushes the telescopic pipe 2932 to extend, the larger pressure acts on the welding wires, and the polishing strength of the rough position is increased. The pretreatment unit 29 of the invention performs differential grinding according to the amount of impurities on the surface of the welding wire, thereby not only ensuring high-strength grinding of a rough surface, but also avoiding transitional grinding of a smooth surface, reducing the loss of the welding wire on the basis of avoiding the impurities from mixing into the welding wire, on the other hand, negative pressure airflow can also recover grinding scraps in the grinding process, the scraps are recovered into a negative pressure pipeline along with the negative pressure airflow, the accumulation of the scraps is avoided, the airflow recovery speed and the scrap generation amount are positively correlated, and the recovery power consumption ratio is optimized.
As shown in fig. 4, 7 and 8, the welding head 28 comprises an arc head 281, a welding wire pipe 282, the arc head 281 and the welding wire pipe 282 are connected in a fastening manner, the welding wire pipe 282 and the welding manipulator 21 are connected in a fastening manner, a clamping rod 283, a driving wheel 284, a discharging ring 285, a heat insulation plate 286 and a resistance block 287 are arranged inside the welding wire pipe 282, the clamping rod 283 is connected in a fastening manner with the inner wall of the welding wire pipe 282, the driving wheel 284 and the clamping rod 283 are connected on one side far away from the welding wire pipe 282, the discharging ring 285 is arranged at the discharging end of the welding wire pipe 282, the heat insulation plate 286 is embedded inside the discharging ring 285, a cavity is arranged inside the discharging ring 285, a resistance spring is arranged inside the cavity, the resistance block 287 is connected with the cavity in a sliding manner, one end of the resistance spring is connected with the resistance block 287 in a fastening manner, and the other end of the resistance spring is connected with the inner wall of the cavity in a fastening manner. The welding head 281 carries out welding, the welding wire pipe 282 conveys welding wires, the clamping rods 283 are telescopic, the clamping rods 283 are communicated with an external positive pressure gas source, the positive pressure gas source inputs constant pressure to the clamping rods 283, two groups of driving wheels 284 are arranged to clamp the welding wires in the middle, the driving wheels 284 always press the welding wires with constant pressure, the stable output of the welding wires is ensured, the welding wires which are subjected to polishing treatment have local diameter difference, the welding wires also have small diameter difference during processing, in order to ensure the stable output of the welding wires, a constant power motor is arranged inside the driving wheels 284, and when the resistance is increased, the output speed of the welding wires is relatively reduced to balance the output of the welding wires as much as possible. The resistance block 287 at the discharge compresses the wire, the resistance is adjusted by setting a suitable resistance spring, the determination of the spring can be selected through experiments, the resistance applied to the position with a larger diameter of the wire is larger, the output speed of the wire at the position is reduced, and the output speed of the wire is increased at the position with a smaller diameter of the wire. The welding head of the invention adjusts the output resistance of the welding wire through the resistance block 287, compensates the output speed change caused by the diameter change of the welding wire caused by the grinding process and the processing process, the output speed and the diameter of the welding wire present negative correlation, the output quantity of the welding wire in unit time is balanced, and the stability of automatic welding is greatly improved.
As shown in fig. 1 and 4, the calibration assembly 3 includes a first camera set 31 and a second camera set 32, the first camera set 31 is tightly connected with the gantry 14, and the second camera set 32 is tightly connected with the sliding sleeve 25. The first camera set 31 carries out positioning calibration on the conveying position of the conveying manipulator 12, the second camera set 32 moves along with the sliding sleeve 25 to carry out positioning calibration on the welding position of the welding manipulator 21, the first camera set 31 and the second camera set 32 continuously take pictures, the shot pictures are compared with the pictures of the standard positions input in advance, and whether the conveying manipulator 12 and the welding manipulator 21 are accurate in position or not is judged according to the similarity.
As shown in FIG. 1, the conveying assembly 4 comprises an logistics line 41, a support frame 42 and clamping jaws, wherein the support frame 42 is fixedly connected with the lower machine table 5, the logistics line 41 is connected with the support frame 42, one end of the logistics line 41 extends to the position above the movable module 22, the clamping jaws are arranged on two sides of the mounting ring 23, and the clamping jaws are fixedly connected with the mounting ring 23. When the welding is finished, the clamping claws on the mounting ring 23 clamp the welded steel structure of the bed body, the mounting ring 23 drives the bed body to move to the material flow line 41, and the material flow line 41 outputs the bed body. The gripper jaw is electrically controlled, belongs to the conventional technical means in the field, and the specific structure of the gripper jaw is not described.
The working principle of the invention is as follows: the carrying manipulator 12 moves the bed steel structure parts to the feeding unit 13, the first camera set 31 positions and calibrates the carrying position of the carrying manipulator 12, each part forming the bed steel structure is carried to the fixing frame 132, the parts are placed according to the positions to be welded, the adjusting motor 134 drives the driving gear to rotate at the moment, the driving gear drives the adjusting gear to rotate, the rotating frame 133 rotates, the positions of the two fixing frames 132 are exchanged, the stabilizing motor 135 rotates along with the fixing frames 132 when the positions are exchanged, and the fixing frames 132 are always in a horizontal state. The moving module 22 drives the mounting ring 23 to move horizontally to drive the welding manipulator to reach a welding area, the surrounding motor 26 drives the surrounding gear 27 to rotate, the surrounding gear 27 is meshed with the annular gear ring to drive the sliding sleeve 25 to rotate, the sliding sleeve 25 adjusts the position in a rotating mode along the annular guide rail to adjust the annular position of the welding manipulator, and the welding manipulator welds all welding positions. The welding wire is from preprocessing unit 29 process, the welding wire passes from the multiunit layer of polishing, friction part 293 constantly rotates and carries out the surface to the welding wire and polish and clear away impurity, at the in-process of polishing, the position that welding wire surface impurity is many is coarser, frictional force is great in this position, great frictional force can drag the relative displacement between slip ring piece and the retaining ring piece bigger, it is dragged to drag the spring, relative displacement is bigger then the breach that retaining ring piece 2933 department expanded is bigger, outside gaseous input increase to the inside of flexible pipe 2932, flexible pipe 2932 department negative pressure reduction is big, extrusion spring 2935 promotes flexible pipe 2932 extension, bigger pressure effect is in welding wire department, to the intensity of polishing of increase in coarse department, the piece of polishing down is retrieved by the negative pressure gas. The ground wire is continuously fed out from the wire tube 282 to weld the respective portions.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described above, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides a bed body steel construction automatic welder with location calibration function which characterized in that: the welding device comprises a feeding assembly (1), a welding assembly (2), a calibration assembly (3), a conveying assembly (4) and a lower machine table (5), wherein the feeding assembly (1), the welding assembly (2), the conveying assembly (4) and the lower machine table (5) are fixedly connected, the feeding assembly (1) is arranged at one end of the lower machine table (5), the welding assembly (2) is arranged at one side of the feeding assembly (1) close to the center of the lower machine table (5), the conveying assembly (4) is arranged at one side of the welding assembly (2) far away from the feeding assembly (1), one end of the calibration assembly (3) is arranged on the feeding assembly (1), and the other end of the calibration assembly (3) is arranged on the welding assembly (2);
the feeding assembly (1) comprises first conveying belts (11), a carrying manipulator (12), a feeding unit (13) and a portal frame (14), wherein the first conveying belts (11), the feeding unit (13) and the portal frame (14) are all arranged above the lower machine table (5), the first conveying belts (11) are arranged in two groups, the two groups of first conveying belts (11) are respectively arranged on two sides of the feeding unit (13), the carrying manipulator (12) is arranged on the portal frame (14), and the feeding unit (13) and the first conveying belts (11) penetrate through the lower portion of the portal frame (14);
the welding assembly (2) comprises a welding manipulator (21), a moving module (22), a mounting ring (23), an annular guide rail (24), a sliding sleeve (25), a surrounding motor (26), a surrounding gear (27) and a welding head (28), wherein the moving module (22) is fixedly connected with a lower machine table (5), the mounting ring (23) is fixedly connected with a displacement platform of the moving module (22), the annular guide rail (24) is fixedly connected with the side wall of the mounting ring (23), an annular gear ring is arranged on the inner wall of the mounting ring (23), the sliding sleeve (25) is slidably connected with the annular guide rail (24), the surrounding motor (26) is fixedly connected with the sliding sleeve (25), an output shaft of the surrounding motor (26) is fixedly connected with the surrounding gear (27), the surrounding gear (27) is meshed with the annular gear ring, the welding manipulator (21) is fixedly connected with the sliding sleeve (25), and the welding head (28) is fixedly connected with one end, far away from the sliding sleeve (25), of the welding manipulator (21);
the welding assembly (2) further comprises a pretreatment unit (29), the pretreatment unit (29) is arranged inside the lower machine table (5), the pretreatment unit (29) comprises an annular cavity (291), a rotating gear ring (292), a friction member (293), a rotating motor (294) and a rotating gas distribution disc (295), the annular cavity (291) is connected with the lower machine table (5), welding wires pass through the annular cavity (291), the friction member (293) is provided with multiple groups, the multiple groups of friction members (293) are fixedly connected with the rotating gear ring (292), the rotating gear ring (292) is rotatably connected with the annular cavity (291), the rotating motor (294) is fixedly connected with the annular cavity (291), an output shaft of the rotating motor (294) is provided with a power gear which is meshed with the rotating gear ring (292), the rotating gas distribution disc (295) is connected with the annular cavity (291), the rotating gas distribution disc (295) is connected with the friction member (293) through a pipeline, the friction member (293) comprises a transition sleeve (2931), a telescopic pipe (32), a fixed ring block (2933), a transition ring block (2934), a sliding ring block (2935) and a spring (2931) which are connected with an extrusion sleeve (2931) and a rotating spring (2931), the extrusion spring (2935) is arranged inside the telescopic pipe (2932), two ends of the extrusion spring (2935) are connected with two ends of the telescopic pipe (2932), one end, far away from the transition sleeve (2931), of the telescopic pipe (2932) is fixedly connected with the fixed ring block (2933), the sliding ring block (2934) is slidably connected with the fixed ring block (2933), one end of the pulling spring (2936) is fixedly connected with the fixed ring block (2933), the other end of the pulling spring (2936) is fixedly connected with the sliding ring block (2934), during polishing, the position with a large amount of impurities on the surface of the welding wire is rougher, the friction force is larger at the position with a large amount of impurities on the surface, the larger friction force can pull the relative displacement between the sliding ring block (2934) and the fixed ring block (2933), the pulling spring (2936) is pulled, the larger relative displacement is larger, the expanded notch at the fixed ring block (2933), external air is input into the telescopic pipe (2932), and the negative pressure of the telescopic pipe (2932) is increased, and the expansion amount of the telescopic pipe (2932) is reduced, and the expansion amount of the telescopic pipe (2932) is increased.
2. The automatic welding device for the bed body steel structure with the positioning and calibrating functions, according to claim 1, is characterized in that: feeding unit (13) is including founding frame (131), mount (132), rotatory frame (133), accommodate motor (134), stabilizing motor (135), found frame (131) and lower board (5) fastening connection, rotatory frame (133) central point puts and founds frame (131) and rotates the connection, rotatory frame (133) central point department of putting is provided with adjusting gear, accommodate motor (134) and found frame (131) fastening connection, be provided with drive gear on the output shaft of accommodate motor (134), drive gear and adjusting gear meshing, mount (132) have two sets ofly, and two sets of mount (132) set up respectively in rotatory frame (133) both sides, mount (132) intermediate position and rotatory frame (133) rotate the connection, stabilize motor (135) and rotatory frame (133) fastening connection, stabilize motor (135) output shaft and mount (132) fastening connection of motor (135), be provided with a plurality of dead levers (136) on mount (132), the one end that dead lever (136) kept away from mount (132) is provided with electronic clamping jaw.
3. The automatic welding device for the bed body steel structure with the positioning and calibrating functions, according to claim 2, is characterized in that: the feeding unit (13) further comprises a supporting frame (137), a rotary worm wheel (138), a worm (139), a supporting motor (1310) and a covering cover (1311), the supporting frame (137) is rotatably connected with the vertical frame (131), one side, away from the vertical frame (131), of the supporting frame (137) is provided with an electric clamping jaw, the covering cover (1311) is fixedly connected with the vertical frame (131), the rotary worm wheel (138) is fixedly connected with the supporting frame (137), one end of the worm (139) is rotatably connected with the covering cover (1311), the other end of the worm (139) is fixedly connected with an output shaft of the supporting motor (1310), the supporting motor (1310) is fixedly connected with the covering cover (1311), and the worm (139) drives the rotary worm wheel (138) to rotate.
4. The automatic welding device for the bed body steel structure with the positioning and calibrating functions, according to claim 3, is characterized in that: the welding head (28) comprises an arc head (281) and a welding wire pipe (282), the arc head (281) is fixedly connected with the welding wire pipe (282), the welding wire pipe (282) is fixedly connected with a welding manipulator (21), a clamping rod (283), a driving wheel (284), a discharging ring (285), a heat insulation plate (286) and a resistance block (287) are arranged inside the welding wire pipe (282), the clamping rod (283) is fixedly connected with the inner wall of the welding wire pipe (282), the driving wheel (284) is connected with one side, away from the welding wire pipe (282), of the clamping rod (283), the discharging ring (285) is arranged at the discharging end of the welding wire pipe (282), the heat insulation plate (286) is embedded inside the discharging ring (285), a cavity is arranged inside the discharging ring (285), a resistance spring is arranged inside the cavity, the resistance block (287) is slidably connected with the cavity, one end of the resistance spring is fixedly connected with the resistance block (287), and the other end of the resistance spring is fixedly connected with the inner wall of the cavity.
5. The automatic welding device for the bed body steel structure with the positioning and calibrating functions as claimed in claim 4, is characterized in that: the calibration assembly (3) comprises a first camera set (31) and a second camera set (32), the first camera set (31) is fixedly connected with the portal frame (14), and the second camera set (32) is fixedly connected with the sliding sleeve (25).
6. The automatic welding device for the bed body steel structure with the positioning and calibrating functions as claimed in claim 5, is characterized in that: conveying component (4) include commodity circulation line (41), support frame (42), gripper jaw, support frame (42) and lower board (5) fastening connection, commodity circulation line (41) and support frame (42) are connected, commodity circulation line (41) one end extends to and removes module (22) top, the gripper jaw sets up in collar (23) both sides, gripper jaw and collar (23) fastening connection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211599186.8A CN115592246B (en) | 2022-12-14 | 2022-12-14 | Bed body steel construction automatic welder of subsidiary location calibration function |
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| CN202211599186.8A CN115592246B (en) | 2022-12-14 | 2022-12-14 | Bed body steel construction automatic welder of subsidiary location calibration function |
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| CN115971610B (en) * | 2023-03-21 | 2023-06-23 | 中建安装集团有限公司 | Track type movable welding device for process pipeline |
| CN117817203A (en) * | 2024-01-30 | 2024-04-05 | 山东和成建设有限公司 | Welding device and welding method for building steel structure |
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