CN115958343A - A corrugated steel plate automatic positioning assembly welding equipment and method - Google Patents

Abstract

The invention discloses automatic positioning, assembling and welding equipment and method for a corrugated steel plate, and relates to the technical field of welding, wherein the equipment comprises a base, a first crawler mechanism, a welding platform and a second crawler mechanism are sequentially arranged in the base, and a multi-degree-of-freedom welding gun is arranged above the welding platform through a portal frame; one end of the welding platform is provided with a fixed clamping device, the other end of the welding platform is provided with a movable clamping device, and two ends of the welding platform are also fixedly provided with infrared signal devices; the side surface of the base corresponding to the first crawler mechanism is provided with a lateral pushing mechanism, and the movable clamping device and the lateral pushing mechanism move synchronously. The invention can realize automatic posture correction, automatic measurement and calculation of geometric parameters, automatic alignment of the splicing ports of the corrugated steel plates and automatic clamping and fixing of the corrugated steel plates, saves labor cost and time cost and improves the splicing efficiency of the corrugated steel plates.

Description

A corrugated steel plate automatic positioning assembly welding equipment and method

technical field

The invention relates to the field of welding technology, in particular to an automatic positioning and assembling welding equipment and method for corrugated steel plates.

Background technique

The corrugated steel plate is a plate-shaped structure composed of continuous wave segments. Due to the limitations of the structural characteristics of the corrugated steel plate and the production and processing methods, its assembly and manufacturing process is more difficult than ordinary steel plates. Due to the complex geometric shape of the corrugated steel plate, its welding is difficult, and manual welding is usually the main method, but manual welding is inconvenient, and the welding quality is not easy to guarantee, and the fluctuation is large, so some automatic welding equipment has appeared. For example:

CN115194384A discloses a high-quality splicing method of corrugated steel plates, which includes the following steps: 1) component processing; 2) welding and assembly of corrugated steel plates; 3) shaping and correction of corrugated steel plates; The splicing and welding operation of the corrugated steel plates is performed by welding the joints through the welding head, and the corrugated steel plates are pushed forward by the rollers while welding. Although the above solution can realize splicing of corrugated steel plates, it has many deficiencies. First of all, the continuity of its welding automation is poor. The layout of the corrugated steel plates in the above scheme requires manual operation, and only two corrugated steel plates can be welded at one time, so continuous welding of multiple plates cannot be realized; secondly, the transmission device is a sliding roller. The transmission force of this device is small, and it can only be effective for small corrugated steel plates used in construction. It is more difficult for large corrugated steel plates used in bridges, so it is necessary to develop a transmission scheme with greater transmission force; The calibration device is more complicated.

Contents of the invention

In view of the deficiencies in the prior art, the purpose of the present invention is to provide a corrugated steel plate automatic positioning assembly welding equipment and method, which can realize the automatic correction of the posture of the corrugated steel plate, the automatic measurement and calculation of geometric parameters, the automatic alignment of the spliced interface of the corrugated steel plate and the The automatic clamping and fixing of the corrugated steel plate saves labor cost and time cost, and improves the assembly efficiency of the corrugated steel plate.

In order to achieve the above object, the present invention is achieved through the following technical solutions:

In the first aspect, the embodiment of the present invention provides a corrugated steel plate automatic positioning assembly welding equipment, including a base, a first crawler mechanism, a welding platform and a second crawler mechanism are arranged in the base in turn, and multiple Freedom welding gun; one end of the welding platform is equipped with a fixed clamping device, the other end is equipped with a movable clamping device, and the two ends of the welding platform are also fixed with infrared signal devices;

The base is corresponding to the side of the first crawler mechanism to install a lateral pushing mechanism, and the movable clamping device moves synchronously with the lateral pushing mechanism.

As a further implementation, the push seat, the push column and the push plate of the lateral push mechanism are fixed on the inner wall of the base, the push plate and the push seat are parallel to each other, and there are multiple connections between the two. push columns arranged at intervals.

As a further implementation manner, the installation direction of the push column is perpendicular to the crawler belt transmission direction, and the length direction of the push plate is along the crawler belt transmission direction.

As a further implementation, the push plate is equipped with a load reaction force meter.

As a further implementation, the fixed clamping device includes at least two fixed columns arranged side by side, the fixed columns are installed with the first upper splint and the first lower splint at an axial interval, and the fixed columns are telescopic columns.

As a further implementation, the movable clamping device includes at least two movable columns arranged side by side, the top end of the movable column cooperates with the upper movable part, and the bottom end cooperates with the lower movable part; The second upper splint and the second lower splint, and the movable column is a telescopic column.

As a further implementation, the sides of the upper movable part and the lower movable part facing each other are respectively provided with elongated guide grooves, and the movable column is slidably matched with the guide grooves.

As a further implementation, the gantry includes a base and a beam, the two ends of the beam are respectively connected to the base, and the base is fixed to the base;

A welding torch track is installed along the length direction of the beam, and the multi-degree-of-freedom welding torch is slidably connected to the welding torch track through a lifting mechanism.

As a further implementation manner, the infrared rays of the infrared signal device are vertically distributed in strips.

In the second aspect, the embodiment of the present invention also provides a method for automatic positioning and assembling welding of corrugated steel plates, using the welding equipment, including:

Place the corrugated steel plate on the corresponding crawler mechanism, and correct the shape of the corrugated steel plate through the lateral push mechanism;

The lateral pushing mechanism automatically calculates the width of the corrugated steel plate according to the pushing distance, and transmits the data to the multi-degree-of-freedom welding torch numerical control system;

When the front end of the corrugated steel plate runs to the center of the welding platform, the signal transmission of the infrared part is interrupted, and the crawler mechanism stops running. The infrared signal device calculates the thickness of the corrugated steel plate according to the distribution width of the interrupted signal, and transmits the data to the numerical control system of the multi-degree-of-freedom welding torch;

After the crawler mechanism stops running, the two steel plates to be welded are aligned, and at the same time, the clamping device fixes the two steel plates to be welded;

The multi-degree-of-freedom welding gun descends to the upper surface of the corrugated steel plate, and automatically sets the welding path and the number of weld bead layers according to the width and thickness of the corrugated steel plate to complete the welding of the corrugated steel plate.

The beneficial effects of the present invention are as follows:

(1) The lateral pushing mechanism, the clamping device and the infrared signal device of the present invention can realize the automatic correction of the posture of the corrugated steel plate, the automatic measurement and calculation of the geometric parameters, the automatic alignment of the joint of the corrugated steel plate and the automatic clamping and fixing of the corrugated steel plate , saving labor costs and time costs, and improving the assembly efficiency of corrugated steel plates.

(2) The present invention realizes the stable transmission of the corrugated steel plate by the crawler mechanism; the lateral jacking mechanism has the limit of the maximum jacking distance, and a load reaction force gauge is installed on the jacking plate. Reaction force, the lateral push mechanism resets after exceeding the set limit value of the reaction force meter; the movable clamping device and the lateral push mechanism can move synchronously to ensure the welding quality; by setting the infrared signal device, according to whether the signal is interrupted Control the start and stop of the crawler mechanism, and calculate the thickness of the corrugated steel plate according to the interrupted width of the signal, so as to realize the digital control of the corrugated steel plate.

(3) The present invention ensures the randomness of placing the corrugated steel plate by setting the lateral push mechanism on the side of the first crawler mechanism; The position accuracy of the steel plate.

Description of drawings

The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention, and the schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations to the present invention.

FIG. 1 is a first perspective view of the present invention according to one or more embodiments;

Fig. 2 is a second perspective view of the present invention according to one or more embodiments;

Fig. 3 is a schematic diagram of the installation of a multi-degree-of-freedom welding torch according to one or more embodiments of the present invention;

Fig. 4 is a schematic structural diagram of a fixing and clamping device according to one or more embodiments of the present invention;

Fig. 5 is a schematic structural diagram of a movable clamping device according to one or more embodiments of the present invention;

Fig. 6 is a schematic diagram of the position of an infrared signal device according to one or more embodiments of the present invention;

Fig. 7 is a schematic diagram of a crawler mechanism according to one or more embodiments of the present invention.

Among them, 1. base; 2. first crawler mechanism; 3. second crawler mechanism; 4. base; 5. beam; 6. welding gun track; 7. pressure plate; Multi-degree-of-freedom welding gun; 11. Fixed clamping device; 12. Movable clamping device; 13. Welding platform; 14. Pushing seat; 15. Pushing column; 16. Pushing plate; 17. Infrared sending end; 18 , infrared receiver; 19, upper fixed part; 20, first upper splint; 21, fixed column; 22, first lower splint; 23, lower fixed part; 24, upper movable part; 25, second upper splint; 26 , movable column; 27, the second lower splint; 28, the lower movable part; 29, crawler belt; 30, gear.

Detailed ways

Embodiment one:

This embodiment provides a corrugated steel plate automatic positioning assembly welding equipment, as shown in Fig. 1 and Fig. The clamping device 11, the movable clamping device 12, the welding platform 13, etc., the base 1 is a box-shaped structure with openings at both ends, so that an installation space is formed inside, the first crawler mechanism 2, the welding platform 13 and the second crawler mechanism 3 They are arranged in the base 1 in turn.

The gantry is fixed on the upper side of the base 1, and the gantry slides toward the side of the first crawler mechanism 2 to connect with the multi-degree-of-freedom welding torch 10, and the multi-degree-of-freedom welding torch 10 corresponds to the top of the welding platform 13; one end of the welding platform 13 is provided with a fixed clamping device 11. The other end is provided with a movable clamping device 12, that is, the movable clamping device 12 is set opposite to the fixed clamping device 11, so as to realize the clamping effect on the corrugated steel plate.

An infrared signal device is also provided at both ends of the welding platform 13. As shown in FIG. The infrared rays of the infrared signal device are vertically distributed in strips, and the start and stop of the crawler mechanism can be controlled according to whether the signal is interrupted, and the thickness of the corrugated steel plate can be calculated according to the width of the interrupted signal.

As shown in Figure 7, the first crawler mechanism 2 and the second crawler mechanism 3 include crawler belts 29 and gears 30 located at both ends of the crawler belts 29 respectively. A crawler mechanism transmits the sides of the two corrugated steel plates that are close to each other to achieve the alignment of the two corrugated steel plates for the next step of welding.

In this embodiment, the crawler belt 29 is made of insulating and fire-resistant rubber material, which is compatible with the geometric shape of the corrugated steel plate, so as to ensure the effectiveness of the transmission process.

As shown in FIG. 2 , the inner wall of the side of the base 1 where the first crawler mechanism 2 is installed is equipped with a lateral pushing mechanism, and the state of the corrugated steel plate is corrected by the lateral pushing mechanism. Since the unique wave structure of the corrugated steel plate itself can ensure that the whole will not be deformed or displaced in a certain direction during the transmission process, combined with the crawler-type transmission mechanism of this embodiment, the concave-convex structure of the track and the form of the corrugated steel plate can form a Small-sized interlocking mechanism, so after the first crawler mechanism 2 corrects its attitude, the attitude of the steel plate afterwards can be guaranteed. In this embodiment, the randomness of placing the corrugated steel plate is ensured by setting a lateral pushing mechanism, and there is no need to intentionally arrange the corrugated steel plate neatly, so as to optimize the manpower control work.

The lateral pushing mechanism comprises a pushing seat 14, a pushing column 5 and a pushing plate 16, the pushing seat 14 is fixed on the inner wall of the base 1, the pushing plate 16 and the pushing seat 14 are parallel to each other, and there are multiple connections between the two. Pushing columns 5 arranged at intervals; the setting direction of the pushing columns 5 is perpendicular to the direction of crawler belt transmission, and the length direction of the pushing plate 16 is along the direction of crawler belt transmission; A crawler mechanism 2 moves to correct the state of the corrugated steel plate.

The lateral jacking has a maximum pushing distance limit, and a load reaction gauge is installed on the jacking plate 16. After the shape of the steel plate is corrected, continued jacking will generate a larger reaction force, and the lateral jacking will exceed the set limit value of the counterforce gauge. Push mechanism reset.

In this embodiment, the push column 5 can be powered by pneumatic or hydraulic power.

As shown in FIG. 3 , the gantry frame includes a base 4 and a beam 5 , there are two bases 4 , one base 4 is fixed on the top of both sides of the base 1 , and the two bases 4 are connected by a beam 5 . The welding torch rail 6 is installed along the length direction of the crossbeam 5, and the welding torch rail 6 is fixed with the crossbeam 5 by the pressing plate 7 arranged in groups, for example, the pressing plate 7 and the crossbeam 5 are fixed by bolting. The welding torch track 6 is slidingly connected with the welding torch bottom plate 8, and the multi-degree-of-freedom welding torch 10 is installed on one side of the welding torch bottom plate 8 through the lifting mechanism 9. The welding torch 10 moves vertically.

Each welding multi-degree-of-freedom welding torch 10 is welded from one side to the other, the length of the weld seam is determined by the width of the corrugated steel plate calculated by the lateral push mechanism, and the number of weld bead layers is determined by the waveform calculated by the infrared signal device The thickness of the steel plate is determined, and after the welding is completed, the multi-degree-of-freedom welding torch 10 is reset. If the welding quality is not good during the welding process, the automatic welding procedure of the multi-degree-of-freedom welding torch 10 is allowed to be stopped artificially.

If the thickness of the steel plate calculated by scanning the infrared signal device and the width of the steel plate calculated by the lateral pushing mechanism are not accurate, it is allowed to artificially modify the parameters of the numerical control system of the multi-degree-of-freedom welding torch 10 . After the automatic welding is completed, if repair welding is required, it is allowed to manually control the multi-degree-of-freedom welding torch 10 to continue supplementary welding.

As shown in Figure 4, the fixed clamping device 11 includes at least two fixed columns 21 arranged side by side, the bottom ends of the fixed columns 21 are fixed to the base 1 through the lower fixing part 23, and the top ends of the fixed columns 21 are fixed to the base 1 through the upper fixing part 19. The first upper clamping plate 20 and the first lower clamping plate 22 are installed at fixed column 21 axial intervals, and the fixed column 21 is a telescopic column (for example: hydraulic telescopic rod), and the first upper clamping plate 20 and the first clamping plate 20 are changed under the effect of the numerical control system. The distance between the lower clamping plates 22 realizes the clamping or loosening of the corrugated steel plates.

As shown in Figure 5, the movable clamping device 12 includes at least two movable columns 26 arranged side by side, the top end of the movable column 26 cooperates with the upper movable part 24, and the bottom end cooperates with the lower movable part 28; The second upper clamping plate 25 and the second lower clamping plate 27 are installed to the interval, and the movable column 26 is a telescopic column (for example: a hydraulic telescopic rod), and the second upper clamping plate 25 and the second lower clamping plate 27 are changed under the action of the numerical control system. The distance between them realizes the clamping or loosening of the corrugated steel plate.

The sides of the upper movable part 24 and the lower movable part 28 facing each other are respectively provided with elongated guide grooves, and the movable column 26 is slidably matched with the guide groove. Under the action of the numerical control system, the movable column 26 can move along the length direction of the guide groove move. The lateral moving power of the movable column 26 can be an air cylinder, a hydraulic cylinder or others.

In this embodiment, two fixed uprights 21 and two movable uprights 26 are respectively provided to realize the end clamping effect of two corrugated steel plates. Of course, in other embodiments, in order to further ensure the clamping stability, the number of fixed uprights 21 and movable uprights 26 may also be increased.

The movable clamping device 12 is controlled by the numerical control system to move synchronously with the lateral pushing mechanism, but when the lateral pushing mechanism resets, the movable clamping device 12 does not reset. If the butt joints of the two steel plates to be welded are not level, it is allowed to manually adjust the fixed clamping device 11 and the movable clamping device (12) to carry out artificial correction.

The working principle of this embodiment is:

First, the corrugated steel plate is placed on the crawler mechanism, and at the same time, the lateral push mechanism is activated, and the shape of the corrugated steel plate is adjusted, and then the caterpillar conveys it to the vicinity of the welding platform 13, and the start and stop of the crawler mechanism are controlled by infrared signals. Finally, after the positioning is completed The steel plate to be welded is fixed by the clamping device, while the multi-degree-of-freedom welding torch 10 descends to the vicinity of the upper surface of the corrugated steel plate, and the assembled welding of the steel plate is realized by moving laterally on the welding torch track 6 .

The lateral pushing mechanism, the clamping device and the infrared signal device of this embodiment can realize the automatic correction of the posture of the corrugated steel plate, the automatic measurement and calculation of the geometric parameters, the automatic alignment of the spliced joints of the corrugated steel plate, and the automatic clamping and fixing of the corrugated steel plate. The labor cost and time cost are saved, and the assembly efficiency of the corrugated steel plate is improved.

Embodiment two:

This embodiment provides a method for automatic positioning and assembling welding of corrugated steel plates, using the welding equipment described in Embodiment 1, including the following steps:

Step 1: Place the corrugated steel plate on the corresponding crawler mechanism, and correct the shape of the corrugated steel plate through the lateral push mechanism.

Step 2: The lateral pushing mechanism automatically calculates the width of the corrugated steel plate according to the pushing distance, and transmits the data to the numerical control system of the multi-degree-of-freedom welding torch.

Step 3: Wait for the front end of the corrugated steel plate to run to the center of the welding platform, interrupt the infrared part of the signal transmission, the crawler mechanism stops running, the infrared signal device calculates the thickness of the corrugated steel plate according to the distribution width of the interrupted signal, and transmits the data to the multi-degree-of-freedom welding torch CNC system.

Step 4: After the crawler mechanism stops running, the two steel plates to be welded are aligned, and at the same time, the clamping device fixes the two steel plates to be welded.

Step 5: The multi-degree-of-freedom welding torch is lowered to the upper surface of the corrugated steel plate, and the welding path and the number of weld bead layers are automatically set according to the aforementioned width and thickness data of the corrugated steel plate to complete the welding of the corrugated steel plate.

Step 6: Return the welding torch to its original position after welding, restart the crawler, and wait until the end of the steel plate reaches the central position of the welding platform, the infrared signal is connected, and a welding work is completed.

The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, there may be various modifications and changes in the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims (10)

1. The automatic positioning, assembling and welding equipment for the corrugated steel plate is characterized by comprising a base, wherein a first crawler mechanism, a welding platform and a second crawler mechanism are sequentially arranged in the base, and a multi-degree-of-freedom welding gun is arranged above the welding platform through a portal frame; one end of the welding platform is provided with a fixed clamping device, the other end of the welding platform is provided with a movable clamping device, and two ends of the welding platform are also fixedly provided with infrared signal devices;

the side surface of the base corresponding to the first crawler mechanism is provided with a lateral pushing mechanism, and the movable clamping device and the lateral pushing mechanism move synchronously.

2. The automatic positioning, assembling and welding equipment for the corrugated steel plates according to claim 1, wherein the lateral pushing mechanism comprises a pushing seat, a pushing column and a pushing plate, the pushing seat is fixed on the inner wall of the base, the pushing plate and the pushing seat are parallel to each other, and a plurality of pushing columns arranged at intervals are connected between the pushing seat and the pushing seat.

3. The automatic positioning, assembling and welding equipment for the corrugated steel plates as claimed in claim 2, wherein the arrangement direction of the pushing columns is perpendicular to the conveying direction of the crawler, and the length direction of the pushing plate is along the conveying direction of the crawler.

4. The automatic positioning, assembling and welding equipment for the corrugated steel plates as claimed in claim 2, wherein the jacking plate is provided with a load reaction force meter.

5. The automatic positioning, assembling and welding equipment for the corrugated steel plates according to claim 1, wherein the fixing and clamping device comprises at least two fixing vertical columns which are arranged side by side, a first upper clamping plate and a first lower clamping plate are axially arranged on the fixing vertical columns at intervals, and the fixing vertical columns are telescopic vertical columns.

6. The automatic positioning, assembling and welding equipment for the corrugated steel plates as claimed in claim 1, wherein the movable clamping device comprises at least two movable upright columns arranged side by side, the top ends of the movable upright columns are matched with the upper movable part, and the bottom ends of the movable upright columns are matched with the lower movable part; the movable upright post is axially provided with a second upper clamping plate and a second lower clamping plate at intervals, and the movable upright post is a telescopic upright post.

7. The automatic positioning, assembling and welding equipment for the corrugated steel plates as claimed in claim 6, wherein one sides of the upper movable part and the lower movable part facing each other are respectively provided with a long strip-shaped guide groove, and the movable upright posts are in sliding fit with the guide grooves.

8. The automatic positioning, assembling and welding equipment for the corrugated steel plate according to claim 1, wherein the portal frame comprises a base and a cross beam, two ends of the cross beam are respectively connected with the base, and the base is fixed with the base;

and a welding gun rail is arranged along the length direction of the cross beam, and the multi-freedom-degree welding gun is connected with the welding gun rail in a sliding manner through a lifting mechanism.

9. The automatic positioning, assembling and welding equipment for the corrugated steel plates according to claim 1, wherein infrared rays of the infrared signal device are vertically distributed in a strip shape.

10. An automatic positioning, assembling and welding method for corrugated steel plates, which is characterized in that the welding equipment according to any one of claims 1 to 8 is adopted, and comprises the following steps:

placing the corrugated steel plate on a corresponding crawler mechanism, and correcting the shape of the corrugated steel plate through a lateral pushing mechanism;

the lateral pushing mechanism automatically calculates the width of the corrugated steel plate according to the pushing distance and transmits data to the multi-degree-of-freedom welding gun numerical control system;

when the front end of the corrugated steel plate runs to the center of the welding platform, signal transmission of an infrared part is interrupted, the crawler mechanism stops running, the infrared signal device calculates the thickness of the corrugated steel plate according to the distribution width of the interrupted signal, and data are transmitted to the multi-degree-of-freedom welding gun numerical control system;

after the crawler mechanism stops running, aligning the two steel plates to be welded, and fixing the two steel plates to be welded by the clamping device;

and the multi-freedom-degree welding gun descends to the upper surface of the corrugated steel plate, and the welding path and the number of welding bead layers are automatically set according to the width and thickness data of the corrugated steel plate, so that the welding of the corrugated steel plate is completed.

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