CN210937590U - Steel pipe up-down line unit of net rack connecting rod automatic welding production system - Google Patents

Abstract

The utility model discloses a line unit about rack connecting rod automatic weld production system's steel pipe sets up the settlement position of within range all around at the automatic weld unit, snatch the line about steel pipe work piece bracket, steel pipe and put things in good order arm and steel pipe up-down wire electric control device. The utility model discloses when snatching the operation to steel pipe work piece, the terminal surface positional information of steel pipe work piece that the steel pipe work piece that mode identification sensor feedback was followed to the steel pipe upper and lower line controller contrasts with the terminal surface positional information of built-in standard steel pipe work piece, and calculate the offset, then the steel pipe upper and lower line controller snatchs the position of putting the manipulator in good order according to the offset of calculating to the steel pipe, degree of automation is higher, can realize that the steel pipe work piece that the accuracy will not weld shrouding or conical head work piece snatchs and puts in good order on the weldment work platform, the steel pipe work piece that the accuracy will weld shrouding or conical head work piece snatchs and puts in good order on steel pipe work piece bracket, specially.

Description

Steel pipe up-down line unit of net rack connecting rod automatic welding production system

Technical Field

The utility model relates to an automatic last offline unit of welding system specifically is a last offline unit of steel pipe suitable for carry out automatic weld's production system to rack connecting rod work piece, belongs to rack connecting rod and makes technical field.

Background

The space truss structure is a space structure which is covered by a large span and is formed by connecting a plurality of grid connecting rods through nodes according to a certain grid form, has the advantages of good integrity, large space rigidity and stable structure, has light weight, small field construction workload and high construction speed, and has small height and can effectively utilize space, thereby being widely applied to the building industry.

The grid structure node made of steel mainly has three forms of a cross plate node, a welded hollow ball node and a bolt ball node. The net rack structure formed by the bolt ball nodes and the net rack connecting rods has the advantages of strong adaptability, no additional node eccentricity, capability of avoiding a large amount of on-site welding workload, convenience in transportation and installation and the like, so that the net rack structure is widely applied to various spatial rod system structures.

The net rack connecting rod aiming at the bolt ball node generally comprises a steel pipe body, sealing plates (the diameter of the steel pipe body is less than 76mm) or conical heads (the diameter of the steel pipe body is more than or equal to 76mm) which are symmetrically welded at two ends of the steel pipe body, and a bolt which is arranged in the steel pipe body. The central point of shrouding or conical head puts all to be equipped with the through-hole that can allow the screw thread section of bolt to stretch out, when being connected the installation with bolt ball node, sheathe in microscler hexagonal sleeve (or long hexagonal no line nut) on the bolt thread section that stretches out shrouding or conical head, and be in the same place bolt and microscler hexagonal sleeve with pin or fastening screw, directly twist and move microscler hexagonal sleeve, drive the bolt through pin or fastening screw and rotate, thereby make the bolt screw in spheroid, the bolt head of bolt pastes tightly with the medial surface of shrouding or conical head and accomplishes the installation promptly. The existing welding procedure of the steel pipe body and the sealing plate or the conical head usually adopts a manual welding mode, namely, the sealing plate or the conical head is firstly tack-welded on the steel pipe body, and then the welding of an annular welding seam is carried out. The traditional manual welding mode has the following defects:

1. although the pre-spot welding can be carried out in a tool positioning mode, spot welding deviation still exists in a manual operation mode, the coaxiality of the through holes of the sealing plates or the conical heads and the steel pipe body cannot be accurately ensured, the product quality is further influenced, and subsequent installation problems such as eccentric installation, unbalanced load stress of the net rack connecting rods and the like are easily caused;

2. although welding is carried out on the basis of prespot welding, even if a tool is adopted to assist rotation to carry out welding, the uniformity of the welding seam is generally difficult to ensure by manual welding, and further the welding deformation cannot be effectively controlled;

3. the manual operation mode has higher requirements on the skills and proficiency of personnel, welding discontinuity is inevitable in the welding process of the annular welding line, the welding deformation degree is further aggravated, and the emotional factors of the operators and the like also have influence on the welding quality.

Disclosure of Invention

The problem to above-mentioned prior art exists, the utility model provides a line unit about rack connecting rod automatic weld production system's steel pipe, degree of automation is higher, can realize that the steel pipe work piece that the accuracy will not weld shrouding or conical head work piece snatchs and puts things in good order on weldment work platform, the steel pipe work piece that the accuracy will have welded shrouding or conical head work piece snatchs and puts things in good order on steel pipe work piece bracket, specially adapted rack connecting rod automatic weld production system.

In order to achieve the purpose, a steel pipe up-and-down line unit of the automatic welding production system for the net rack connecting rod is arranged at a set position in the peripheral range of the automatic welding unit and comprises a steel pipe workpiece bracket, a steel pipe up-and-down line grabbing and stacking mechanical arm and a steel pipe up-and-down line electric control device;

the steel pipe workpiece brackets with at least two numbers are respectively arranged in a set steel pipe online working area and a set steel pipe offline working area within the working range of the steel pipe online and offline grabbing and stacking mechanical arm;

the tail sections of the steel pipe upper and lower line grabbing and stacking mechanical arms are provided with steel pipe upper and lower line grabbing and stacking mechanical arms, each steel pipe upper and lower line grabbing and stacking mechanical arm at least comprises an X coordinate driving assembly capable of controlling the steel pipe upper and lower line grabbing and stacking mechanical arms to move along the left-right direction, the steel pipe loading and unloading grabbing and stacking mechanical arm comprises a Y coordinate driving assembly capable of controlling the steel pipe loading and unloading grabbing and stacking mechanical arm to move along the front-back direction coordinate and a Z coordinate driving assembly capable of controlling the steel pipe loading and unloading grabbing and stacking mechanical arm to move along the vertical direction up-down coordinate, the two ends of the steel pipe loading and unloading grabbing and stacking mechanical arm corresponding to a steel pipe workpiece are oppositely arranged into two pieces, a supporting mechanical finger and a supporting mechanical finger control mechanism which extend out along the left-right direction are arranged at the bottom of the steel pipe loading and unloading grabbing and stacking mechanical arm, a positioning clamping surface is further arranged on the supporting mechanical finger, and a distance sensor and a mode identification sensor are further arranged on the steel;

the steel pipe up-and-down line electric control device comprises a steel pipe up-and-down line controller, the steel pipe up-and-down line controller is respectively electrically connected with a coordinate driving assembly of a steel pipe up-and-down line grabbing and stacking mechanical arm, a distance sensor of a steel pipe up-and-down line grabbing and stacking mechanical arm, a mode identification sensor and a supporting mechanical finger control mechanism, and the steel pipe up-and-down line controller is electrically connected with a central controller of a centralized electric control unit of the automatic welding production system of the net rack;

when a steel pipe workpiece without a welded sealing plate or a conical head workpiece is subjected to grabbing operation, the steel pipe up-down line controller compares the end face position information of the steel pipe workpiece fed back by the mode identification sensor with the end face position information of a built-in standard steel pipe workpiece and calculates the offset, and then the steel pipe up-down line controller adjusts the position of the steel pipe up-down line grabbing and stacking manipulator according to the calculated offset; when a steel pipe workpiece with a welded sealing plate or a conical head workpiece is grabbed, the steel pipe up-and-down line controller compares the position information of the sealing plate or the conical head workpiece at the end part of the steel pipe workpiece fed back by the mode identification sensor with the position information of a built-in standard sealing plate or conical head workpiece and calculates the offset, and then the steel pipe up-and-down line controller adjusts the position of the steel pipe up-and-down line grabbing and stacking manipulator according to the calculated offset.

As a further improvement scheme of the utility model, a pressure sensor is arranged on the end surface of the positioning clamping surface of the supporting mechanical finger corresponding to the steel pipe workpiece, and the pressure sensor is electrically connected with an upper wire controller and a lower wire controller of the steel pipe;

when grabbing operation is carried out on a steel pipe workpiece which is not welded, the carrying mechanical fingers of the two steel pipe upper and lower line grabbing and stacking manipulators synchronously act to clamp the steel pipe workpiece, when a clamping signal is fed back by a pressure sensor, the steel pipe upper and lower line controllers compare the space size between two positioning clamping surfaces with the length size of a built-in standard steel pipe workpiece, record a deviation value and output the deviation value to the central controller, and then the steel pipe upper and lower line grabbing and stacking mechanical arms are controlled by the steel pipe upper and lower line controllers to act so that the steel pipe upper and lower line grabbing and stacking mechanical arm coordinates which grab the steel pipe workpiece move to a set position right above a welding working platform, and the center parting line of the actual steel pipe workpiece and the center parting line of the standard steel pipe workpiece are arranged in a collinear mode.

As an embodiment of the utility model, the support carries machinery and indicates to be straight round pin structure, and straight round pin structure middle part is equipped with the big footpath section of location centre gripping, and the location clamping face is the terminal surface of the big footpath section of location centre gripping towards steel pipe work piece, and the support carries machinery and indicates that control mechanism is the flexible control mechanism that the support of steerable straight round pin structure carries out the axial to stretch out and draw back.

As another embodiment of the utility model, the support carries mechanical finger to be that the top is articulated to be connected and snatch the hook-like swing arm structure of putting things in good order the arm end section about the steel pipe, and the setting of location clamping face is at the crotch middle part of hook-like swing arm structure, and the support that carries mechanical finger control mechanism is that the support that can control hook-like swing arm structure carries out wobbling swing control mechanism along its pin joint.

As the utility model discloses an optimal selection scheme, the steel pipe is gone up the lower line and is snatched the stacking machine arm and be portal arm structure, and two steel pipes are gone up the lower line and are snatched the stacking machine hand and share same portal arm.

Compared with the prior art, the steel pipe feeding and discharging unit of the automatic welding production system for the net rack connecting rod is a unit controlled by a microcomputer, so that full-automatic operation can be realized; because the steel pipe up-and-down line grabbing and stacking manipulator is provided with the distance sensor and the mode recognition sensor, the steel pipe up-and-down line controller can calculate the offset according to the feedback of the mode recognition sensor during grabbing operation, and then the steel pipe up-and-down line controller adjusts the position of the steel pipe up-and-down line grabbing and stacking manipulator according to the calculated offset, so that the steel pipe workpieces without welding the sealing plate or the conical head workpieces can be accurately grabbed and stacked on the welding working platform, and the steel pipe workpieces with the welding sealing plate or the conical head workpieces are accurately grabbed and stacked on the steel pipe workpiece bracket; because the pressure sensor is arranged on the end face of the positioning clamping face of the supporting mechanical finger corresponding to the steel pipe workpiece, when the unwelded steel pipe workpiece is grabbed, the supporting mechanical fingers of the two steel pipe upper and lower line grabbing and stacking mechanical arms synchronously act to clamp the steel pipe workpiece, when the pressure sensor feeds back a real clamping signal, the steel pipe upper and lower line controller compares the space size between the two positioning clamping faces with the length size of the built-in standard steel pipe workpiece and records a deviation value, and then outputs the deviation value to the central controller, then the steel pipe upper and lower line grabbing and stacking mechanical arms act to enable the steel pipe upper and lower line grabbing and stacking mechanical arm coordinates grabbing the steel pipe workpiece to move to a set position right above a welding working platform, so that a center parting line of the actual steel pipe workpiece is collinear with the center parting line of the standard steel pipe workpiece, and the central controller can control the closing plate or conical head pushing device to control the closing plate or conical head pushing device when the subsequent closing plate or conical head Or the welding distance between the conical head workpiece and the end face of the steel pipe workpiece, thereby ensuring the overall length size of a welded finished product and being particularly suitable for the automatic welding production system of the net rack connecting rod.

Drawings

FIG. 1 is a schematic three-dimensional structure diagram of an automatic welding production system for rack connecting rods;

FIG. 2 is a top layout view of the rack link automatic welding production system;

FIG. 3 is a schematic structural view of the steel pipe loading and unloading grabbing and stacking manipulator of the present invention;

FIG. 4 is a schematic three-dimensional structure diagram of an automatic welding unit of the automatic welding production system for rack connecting rods;

FIG. 5 is a schematic structural view of a steel pipe radial clamping and positioning device of the automatic welding production system for rack connecting rods;

FIG. 6 is a schematic structural diagram of a steel pipe rotation driving device of the automatic welding production system for rack connecting rods;

FIG. 7 is a schematic diagram of a closing plate or cone head supply bracket of the automatic welding production system for rack connecting rods;

FIG. 8 is a schematic view of a partially enlarged structure of a workpiece stacking tray translation control mechanism pushing and pulling a workpiece stacking tray after a drawer-type workpiece holding frame and an auxiliary transfer frame of the automatic welding production system for a rack connecting rod are butted;

fig. 9 is a schematic structural diagram of a closing plate or conical head workpiece grabbing and stacking manipulator of the automatic welding production system for the rack connecting rod, which adopts a negative pressure adsorption structure;

FIG. 10 is a schematic three-dimensional structure diagram of an automatic bolt inserting unit of the automatic welding production system for rack connecting rods;

FIG. 11 is a schematic structural view of a bolt grabbing and stacking manipulator of the automatic welding production system for rack connecting rods, which is additionally provided with a B coordinate rotation assembly;

FIG. 12 is a schematic structural diagram of the automatic welding production system for rack connecting rods, in which one welding gun is adopted for each set of welding gun device;

fig. 13 is a schematic structural diagram of the automatic welding production system for the net rack connecting rod, wherein each set of welding gun device adopts two opposite welding guns.

In the figure: 1. a steel pipe up-and-down line unit, 11, a steel pipe workpiece bracket, 12, a steel pipe up-and-down line grabbing and stacking mechanical arm, 13, a steel pipe up-and-down line grabbing and stacking manipulator, 131, a carrying mechanical finger, 132, a carrying mechanical finger control mechanism, 2, an automatic welding unit, 21, a welding working platform, 22, a steel pipe radial clamping and positioning device, 221, a support base, 222, a radial clamping and positioning mechanism, 2221, a radial clamping and positioning part, 2222, a radial clamping and stretching control part, 2223, a clamping roller, 23, a steel pipe rotation driving device, 231, a stretching and sliding driving part I, 232, a steel pipe rotation driving motor, 24, a sealing plate or a cone head pushing device, 241, a stretching and sliding driving part II, 242, a pushing mechanism, 243, a pushing part, 25, a welding gun device, 251, a welding gun, 26, a steel pipe workpiece supporting frame, 3, a sealing plate or a cone head supply unit, 31, a sealing plate, 311. supplementary revolving rack, 3111, translation guiding mechanism I, 3112, work piece stacking tray translation control mechanism, 3113, overlap joint buckle part, 312, drawer type work piece holds the frame, 3121, translation guiding mechanism II, 3122, work piece stacking tray, 3123, overlap joint adapting part, 32, shrouding or conical head work piece snatch the stacking mechanical arm, 33, shrouding or conical head work piece snatch the stacking mechanical arm, 4, the automatic unit of putting into of bolt, 41, the bolt is supplied to the bracket, 42, the bolt snatchs the stacking mechanical arm, 43, the bolt snatchs the stacking mechanical arm, 5, automatic laser coding unit, 6, steel pipe work piece, 7, shrouding or conical head work piece.

Detailed Description

The automatic welding production system for the net rack connecting rod is a digital control system and can be seamlessly connected with a digital bus of a digital factory to realize centralized digital management. The present invention will be further explained below with reference to the automatic welding production system for a rack-and-link and the accompanying drawings (hereinafter, the length direction of the steel pipe workpiece 6 will be described as the left-right direction).

As shown in fig. 1 and 2, the automatic welding production system for the rack connecting rod comprises a steel pipe up-down line unit 1, an automatic welding unit 2, a sealing plate or conical head supply unit 3, an automatic bolt embedding unit 4 and a centralized electric control unit.

The steel pipe up-and-down line unit 1 is arranged at a set position in the range around the automatic welding unit 2, as shown in fig. 2, the steel pipe up-and-down line unit 1 is arranged right behind the automatic welding unit 2, and the steel pipe up-and-down line unit 1 comprises a steel pipe workpiece bracket 11, a steel pipe up-and-down line grabbing and stacking mechanical arm 12 and a steel pipe up-and-down line electric control device;

the steel pipe workpiece brackets 11 are used for accommodating semi-finished steel pipe workpieces 6 without welded seal plates or conical head workpieces 7 or finished steel pipe workpieces 6 with welded seal plates or conical head workpieces 7, and the steel pipe workpiece brackets 11 with the number of at least two are respectively arranged in a set steel pipe online working area and a set steel pipe offline working area within the working range of the steel pipe online and offline grabbing and stacking mechanical arm 12;

the tail section of the steel pipe up-and-down line grabbing and stacking mechanical arm 12 is provided with a steel pipe up-and-down line grabbing and stacking mechanical arm 13, the steel pipe up-and-down line grabbing and stacking mechanical arm 12 at least comprises an X coordinate driving assembly capable of controlling the steel pipe up-and-down line grabbing and stacking mechanical arm 13 to move along the left-and-right direction coordinate, a Y coordinate driving assembly capable of controlling the steel pipe up-and-down line grabbing and stacking mechanical arm 13 to move along the front-and-back direction coordinate and a Z coordinate driving assembly capable of controlling the steel pipe up-and-down line grabbing and stacking mechanical arm 13 to move along the vertical direction up-and-down coordinate, as shown in figure 3, the bottom of the steel pipe up-and-down line grabbing and stacking mechanical arm 13 is provided with a carrying mechanical finger 131 and a carrying mechanical finger control mechanism 132 capable of penetrating into the end part of the steel pipe workpiece 6, the carrying mechanical finger 131 is further provided with, the supporting mechanical finger control mechanism 132 can adopt a straight pin telescopic control structure in a matching way, or the supporting mechanical finger 131 can also adopt a hook-shaped swing arm structure which can swing and penetrate into the end part of the steel pipe workpiece 6, the supporting mechanical finger control mechanism 132 can also adopt a swing arm swing control structure in a matching way, and a distance sensor is also arranged on the steel pipe upper and lower line grabbing and stacking manipulator 13; the steel pipe up-and-down line grabbing and stacking mechanical arm 12 can adopt a multi-joint mechanical arm structure, or adopt a portal mechanical arm structure, or adopt other forms of mechanical arms such as a Delta mechanical arm structure, and the like, because the control of the multi-joint mechanical arm and the Delta mechanical arm is centralized control, the precise coordinate control is complex, a large amount of calculation needs to be carried out by an industrial control computer, the software control program is complex, the manufacturing cost is high, the computer control burden is heavy, and faults easily occur, meanwhile, only one mechanical arm can be loaded by one mechanical arm, the portal mechanical arm structure adopts split control, namely, a plurality of coordinate systems are respectively controlled, the control is relatively simple and direct, faults are not easy to occur, and the steel pipe up-and-down line grabbing and stacking mechanical arms 13 at two end positions of the steel pipe workpiece 6 can share the same mechanical arm easily, thereby simplifying the complexity, therefore, the steel pipe up-and-down line grabbing and stacking mechanical arm 12 preferably adopts a portal mechanical arm structure;

the steel pipe up-and-down line electric control device comprises a steel pipe up-and-down line controller which is respectively electrically connected with a coordinate driving assembly of the steel pipe up-and-down line grabbing and stacking mechanical arm 12, a distance sensor of the steel pipe up-and-down line grabbing and stacking mechanical arm 13 and a supporting mechanical finger control mechanism 132.

As shown in fig. 4, the automatic welding unit 2 includes a welding work platform 21, a steel pipe radial clamping and positioning device 22, a steel pipe rotation driving device 23, a sealing plate or cone head pushing device 24, a welding gun device 25 and an automatic welding electric control device;

the welding work platform 21 is a long platform structure which is arranged along the left and right direction in the length direction;

the steel pipe radial clamping and positioning devices 22 are at least arranged in two sets in a bilateral symmetry manner, as shown in fig. 5, each steel pipe radial clamping and positioning device 22 comprises a support base 221 mounted on the welding work platform 21 and a radial clamping and positioning mechanism 222 mounted on the support base 221, each radial clamping and positioning mechanism 222 comprises a radial clamping and positioning component 2221 and a radial clamping and stretching control component 2222 which are oppositely arranged, each radial clamping and positioning component 2221 comprises a clamping surface, a plurality of clamping rollers 2223 which are arranged in a rolling manner are uniformly distributed on each clamping surface, rolling central axes of the clamping rollers 2223 are arranged in the left-right direction, and the radial clamping and positioning components 2221 can be completely combined in a clamping state and clamp a cylindrical surface structure through the clamping rollers 2223 on the clamping surfaces; the oppositely arranged radial clamping and positioning components 2221 may adopt a bidirectional control synchronous clamping mode, that is, the oppositely arranged radial clamping and positioning components 2221 move synchronously to clamp, or adopt a unidirectional control clamping mode, that is, one movable radial clamping and positioning component 2221 moves to another radial clamping and positioning component 2221 which is positioned and installed to clamp; the clamping surface can adopt an arc surface structure matched with the outer diameter of the steel pipe workpiece 6, and also can adopt a V-shaped surface structure, and the clamping surface of the V-shaped surface structure can clamp the steel pipe workpieces 6 with different outer diameter sizes, so the clamping surface preferably adopts the V-shaped surface structure; in order to facilitate the insertion of the steel pipe workpiece 6, the radial clamping and positioning component can adopt a horizontal clamping mode along the front-back direction or a vertical clamping mode along the up-down direction, that is, when the horizontal clamping method is adopted, as shown in fig. 5, the clamping surfaces are arranged to face each other in the front-rear direction, and the radial clamping positioning members 2221 are slidably fitted to the support base 221 in the front-rear direction, the clamping surfaces are arranged oppositely up and down, and the radial clamping positioning components 2221 are installed on the supporting columns on the supporting base 221 in a sliding fit manner along the up and down direction, so that the steel pipe workpieces 6 which need to be inserted in the non-clamping state are abducted for convenient insertion, when the steel pipe workpiece 6 is placed in the vertical direction by adopting the horizontal clamping mode, the running track design of the steel pipe up-down line grabbing and stacking mechanical arm 12 is simpler, and the mechanism design is more reasonable, so that the radial clamping and positioning part preferably adopts the horizontal clamping mode along the front-back direction; the radial clamping telescopic control part 2222 may adopt a telescopic structure of an air cylinder or a hydraulic cylinder, or other telescopic control structures such as a telescopic structure of an electric screw rod, and the like, wherein the telescopic end of the radial clamping telescopic control part 2222 is connected with the radial clamping positioning part 2221 in an installing manner, and the machine body end is connected with the support base 221 in an installing manner;

the steel pipe rotation driving device 23 is integrally installed on the welding working platform 21 in a sliding fit mode through a telescopic sliding driving part I231, and the steel pipe rotation driving device 23 comprises a steel pipe locking mechanism used for locking the steel pipe workpiece 6 and a steel pipe rotation driving motor 232 used for controlling the steel pipe locking mechanism to rotate; the telescopic sliding driving part I231 can adopt a telescopic structure of a hydraulic cylinder or other telescopic control structures such as a telescopic structure of an electric screw rod; the steel pipe locking mechanism can adopt an opening-closing clamping locking structure which is provided with a clamping roller 2223 and is the same as the radial clamping positioning mechanism 222, at the moment, a telescopic sliding driving part I231 can adopt a telescopic sliding mode along the front-back direction, and a steel pipe rotation driving motor 232 can be directly connected with the clamping roller 2223 through a transmission structure, so that the rotation of the steel pipe workpiece 6 can be driven to rotate by controlling the rotation of the clamping roller 2223; the steel pipe locking mechanism can also adopt a numerical control chuck structure which is coaxially arranged with the steel pipe workpiece 6 and is provided with a clamping jaw, at the moment, as shown in figure 6, a telescopic sliding driving part I231 adopts a telescopic sliding mode along the left-right direction, a steel pipe rotation driving motor 232 can directly adopt a hollow motor, the numerical control chuck is coaxially and fixedly arranged in a hollow rotor sleeve of the hollow motor, the numerical control chuck can adopt a slip ring mode to take electricity and can also adopt a built-in battery mode to take electricity, and after the clamping jaw of the numerical control chuck clamps the steel pipe workpiece 6, the steel pipe workpiece 6 can be driven to rotate by controlling the rotation of the hollow motor;

two sets of sealing plate or conical head pushing devices 24 are oppositely arranged left and right, the two sets of sealing plate or conical head pushing devices 24 are installed on the welding working platform 21, in order to be suitable for steel pipe workpieces 6 with different length sizes, at least one set of sealing plate or conical head pushing device 24 is installed on the welding working platform 21 in a sliding fit manner along the left and right direction through a telescopic sliding driving part II 241, each sealing plate or conical head pushing device 24 comprises a pushing mechanism 242 which is telescopically arranged along the left and right direction in a coordinate control manner and a pushing part 243 coaxially installed at the end part of the telescopic end of the pushing mechanism 242, the pushing mechanism 242 is installed on the body of the sealing plate or conical head pushing device 24 in a rolling fit manner, and the geometric center shaft of the pushing part 243 and the clamping geometric center shaft of the radial clamping and positioning; the pushing component 243 can be matched with the sealing plate or conical head workpiece grabbing and stacking manipulator 33 to adopt a clamping grabbing manipulator structure for clamping and grabbing the sealing plate or conical head workpiece 7, or can be matched with the sealing plate or conical head workpiece grabbing and stacking manipulator 33 to adopt a conical tip structure for concentric positioning and abutting, and the pushing mechanism 242 and the telescopic sliding driving component II 241 can adopt telescopic structures of a hydraulic cylinder, or can adopt other telescopic control structures such as a telescopic structure of an electric screw rod;

the welding gun devices 25 are oppositely arranged in two sets from left to right, each welding gun device 25 comprises a welding gun support frame, a welding gun 251 and a welding gun telescopic control mechanism which is arranged in a coordinate control telescopic mode, the welding gun 251 is installed on the welding gun support frame through the welding gun telescopic control mechanism, and a welding wire penetrates into the welding gun 251 through a welding wire feeding mechanism; the welding gun device 25 can be independently arranged and installed on the ground, namely the welding gun support frame is of a floor type structure, and the welding gun device 25 can also be directly installed on the sealing plate or the machine body of the conical head pushing device 24, namely the welding gun support frame is fixedly installed on the sealing plate or the machine body of the conical head pushing device 24; the welding gun telescopic control mechanism can adopt an electric screw rod telescopic control structure, also can adopt other telescopic control structures such as a telescopic control structure of a rack and pinion structure and the like, and can realize accurate coordinate positioning welding of the welding gun 251 by controlling the action of the welding gun telescopic control mechanism through coordinates; the number of the welding guns 251 of each set of welding gun device 25 can be one, that is, as shown in fig. 12, one welding gun 251 cooperates with the steel pipe rotation driving device 23 to control the steel pipe workpiece 6 to rotate circumferentially for one circle to realize one-time welding forming of a complete annular welding seam; in order to further reduce the welding deformation, the welding guns 251 may be oppositely arranged, that is, the welding guns 251 of each set of welding gun device 25 may also be oppositely arranged in two along the radial direction of the steel pipe workpiece 6, that is, as shown in fig. 13, the two welding guns 251 cooperate with the steel pipe rotation driving device 23 to control the steel pipe workpiece 6 to rotate in the circumferential direction for half a circumference to realize one-time welding forming of a complete annular welding seam;

the automatic welding electric control device comprises an automatic welding controller, a steel pipe radial clamping and positioning control loop, a steel pipe rotation driving control loop, a sealing plate or conical head pushing control loop and a welding control loop, wherein the automatic welding controller is electrically connected with a radial clamping telescopic control part 2222, a telescopic sliding driving part I231, a steel pipe locking mechanism, a steel pipe rotation driving motor 232, a telescopic sliding driving part II 241, a welding gun telescopic control mechanism and a welding gun 251 respectively.

The sealing plate or conical head supply unit 3 is arranged at a set position in the range around the automatic welding unit 2, as shown in fig. 2, the sealing plate or conical head supply unit 3 is arranged in front of the automatic welding unit 2, and the sealing plate or conical head supply unit 3 comprises a sealing plate or conical head supply bracket 31, a sealing plate or conical head workpiece grabbing and stacking mechanical arm 32, a sealing plate or conical head workpiece grabbing and stacking mechanical arm 33 and a sealing plate or conical head supply electric control device;

the sealing plate or conical head supply bracket 31 is arranged in a sealing plate or conical head setting on-line working area in the working range of the sealing plate or conical head workpiece grabbing and stacking mechanical arm 32, the interior of the sealing plate or conical head supply bracket 31 is of a multilayer structure, a plurality of sealing plate or conical head workpiece stacking stations are distributed in each layer of plane, and the sealing plate or conical head workpieces 7 are regularly positioned and stacked on the sealing plate or conical head workpiece stacking stations;

a seal plate or conical head workpiece grabbing and stacking mechanical arm 33 is arranged on the tail section of the seal plate or conical head workpiece grabbing and stacking mechanical arm 32, and the seal plate or conical head workpiece grabbing and stacking mechanical arm 32 at least comprises an X coordinate driving assembly capable of controlling the seal plate or conical head workpiece grabbing and stacking mechanical arm 33 to move along the left-right direction coordinate, a Y coordinate driving assembly capable of controlling the seal plate or conical head workpiece grabbing and stacking mechanical arm 33 to move along the front-back direction coordinate, and a Z coordinate driving assembly capable of controlling the seal plate or conical head workpiece grabbing and stacking mechanical arm 33 to move along the vertical direction up-down coordinate; as shown in fig. 9, the sealing plate or conical head workpiece grabbing and stacking manipulator 33 may adopt a suction cup structure for sucking and grabbing the inner surface or the outer surface of the sealing plate or conical head workpiece 7 under negative pressure, or may adopt a clamping and grabbing manipulator structure for clamping and grabbing the outer periphery of the sealing plate or conical head workpiece 7; as mentioned above, the closing plate or conical head workpiece grabbing and stacking mechanical arm 32 also preferably adopts a gantry mechanical arm structure, so that the closing plate or conical head workpiece grabbing and stacking mechanical arms 33 at two ends of the steel pipe workpiece 6 can share the same gantry mechanical arm;

the sealing plate or conical head supply electric control device comprises a sealing plate or conical head supply controller and a sealing plate or conical head grabbing and stacking loop, and the sealing plate or conical head supply controller is respectively electrically connected with the sealing plate or conical head workpiece grabbing and stacking mechanical arm 32 and the sealing plate or conical head workpiece grabbing and stacking mechanical arm 33.

The position of the automatic bolt imbedding unit 4 corresponding to the sealing plate or the conical head pushing device 24 is arranged at the left end and/or the right end of the welding working platform 21, as shown in fig. 10, the automatic bolt imbedding unit 4 comprises a bolt supply bracket 41, a bolt grabbing and stacking mechanical arm 42, a bolt grabbing and stacking mechanical arm 43 and an automatic bolt imbedding electric control device;

the bolt supply bracket 41 is arranged in a set bolt grabbing working area in the working range of the bolt grabbing and stacking mechanical arm 42, a plurality of bolt stacking stations are uniformly distributed on the bolt supply bracket 41, and bolts are neatly positioned and stacked on the bolt stacking stations;

the tail section of the bolt grabbing and stacking mechanical arm 42 is provided with a bolt grabbing and stacking mechanical arm 43, and the bolt grabbing and stacking mechanical arm 42 at least comprises an X coordinate driving assembly capable of controlling the bolt grabbing and stacking mechanical arm 43 to move along the left-right direction coordinate, a Y coordinate driving assembly capable of controlling the bolt grabbing and stacking mechanical arm 43 to move along the front-back direction coordinate and a Z coordinate driving assembly capable of controlling the bolt grabbing and stacking mechanical arm 43 to move along the vertical direction up-down coordinate; the bolt grabbing and stacking manipulator 43 can adopt a sucker structure for sucking grabbing bolts under negative pressure and can also adopt a clamping and grabbing manipulator structure for clamping grabbing bolts, so that bolts can be conveniently placed in the steel pipe workpiece 6 and cannot be placed due to the fact that the bolt grabbing and stacking manipulator 43 is large in size, a material guide groove plate is arranged on the bolt grabbing and stacking manipulator 43 and corresponds to the end portion of the steel pipe workpiece 6, the material guide groove plate can be directly obliquely arranged on the bolt grabbing and stacking manipulator 43, when the material guide groove plate penetrates into the steel pipe workpiece 6, the bolt grabbing and stacking manipulator 43 loosens the bolts, and the bolts can automatically slide into the steel pipe workpiece 6 through self gravity; because two bolts need to be placed into the steel pipe workpiece 6, and because the length of the bolts is usually greater than the inner diameter of the steel pipe workpiece 6, the bolts usually cannot be turned inside the steel pipe workpiece 6, so when placing the two bolts into the steel pipe workpiece 6, it is necessary to ensure that the threaded ends of the two bolts face the left and right ends of the steel pipe workpiece 6, that is, the two bolts can be placed in a back-to-back paired arrangement manner or a side-by-side paired arrangement manner with opposite directions, therefore, under the condition that the bolts in the bolt supply bracket 41 are both placed neatly in the above two manners, a bolt grabbing and stacking manipulator 43 can grab a pair of bolts at a time and directly place the pair of bolts into the steel pipe workpiece 6 through a material guide groove plate, but on the one hand, the positioning and placing requirements for the bolts in the bolt supply bracket 41 are high, on the other hand, if the bolt supply bracket 41 adopts a multilayer structure, a larger size is set and the grabbing and stacking efficiency is gradually lower due to the fact that the bolt grabbing and stacking mechanical arm 42 needs to have a sufficient stroke size, so that a mode of handing over and placing two mechanical arms as shown in fig. 10 can be adopted, namely, one mechanical arm is responsible for grabbing bolts and placing the bolts on the material guide groove plate, the other mechanical arm is responsible for grabbing the material guide groove plate and placing the bolts on the material guide groove plate into the steel pipe workpiece 6, as shown in fig. 11, a B coordinate rotation assembly capable of rotating along a Y coordinate axis can be added to a mechanical arm responsible for placing the mechanical arm, namely, after the material guide groove plate is penetrated into the steel pipe workpiece 6 by the mechanical arm, the B coordinate rotation assembly is controlled to enable the material guide groove plate to incline for a set angle, and the bolts can automatically slide into the steel pipe workpiece 6 through self gravity; as mentioned above, the bolt grabbing and stacking mechanical arm 42 preferably adopts a gantry mechanical arm structure;

the automatic bolt placing electric control device comprises an automatic bolt placing controller and a bolt grabbing and stacking loop, and the automatic bolt placing controller is electrically connected with the bolt grabbing and stacking mechanical arm 42 and the bolt grabbing and stacking mechanical arm 43 respectively.

The centralized electric control unit comprises a central controller, a counting circuit, a workpiece up-down control circuit and an automatic welding control circuit, wherein the central controller is respectively electrically connected with a steel pipe up-down controller of the steel pipe up-down control unit 1, an automatic welding controller of the automatic welding unit 2, a sealing plate or a conical head supply controller of the sealing plate or conical head supply unit 3 and a bolt automatic embedding controller of the bolt automatic embedding unit 4.

The working process of the automatic welding production system of the net rack connecting rod is as follows:

a) steel pipe threading: a steel pipe workpiece bracket 11 which neatly stacks a standard length steel pipe workpiece 6 which is cut off by the upper sizing cutting process is transported to a set coordinate position in the steel pipe upper line working area by a forklift or an AGV carrier transport vehicle and is positioned, an unloaded steel pipe workpiece bracket 11 is transported to a set coordinate position in the steel pipe lower line working area by the forklift or the AGV carrier transport vehicle and is positioned, a closing plate or a cone head supply bracket 31 which neatly stacks a closing plate or a cone head workpiece 7 is transported to a set coordinate position in the closing plate or the cone head upper line working area by the forklift or the AGV carrier transport vehicle and is positioned, a bolt supply bracket 41 which neatly stacks a bolt is transported to a set coordinate position in the bolt grasping working area by the forklift or the AGV carrier transport vehicle and is positioned, then a central controller sends a command to start a counting loop and a workpiece up-down control loop, the steel pipe upper line unit 1 starts to work, the steel pipe up-and-down line controller sends an instruction to control the steel pipe up-and-down line grabbing and stacking mechanical arm 12 to act, the steel pipe up-and-down line grabbing and stacking mechanical arm 13 moves to a set coordinate position right above the first steel pipe workpiece 6 according to the feedback of a distance sensor of the steel pipe up-and-down line grabbing and stacking mechanical arm 13, then the steel pipe up-and-down line controller controls the loading mechanical finger control mechanism 132 to act to enable the loading mechanical finger 131 to penetrate into a central hole in the end part of the first steel pipe workpiece 6 and clamp two end faces of the first steel pipe workpiece 6 through the positioning clamping face, and the grabbing of the first steel pipe workpiece 6 is completed; then the steel pipe up and down line controller controls the steel pipe up and down line grabbing and stacking mechanical arm 12 to act, the steel pipe up and down line grabbing and stacking mechanical arm 13 which grabs the first steel pipe workpiece 6 moves to the set coordinate position corresponding to the clamping geometric central shaft of the radial clamping and positioning part 2221 right above the welding working platform 21 according to the feedback of the distance sensor of the steel pipe up and down line grabbing and stacking mechanical arm 13, then the central controller sends out an instruction to enable the automatic welding controller of the automatic welding unit 2 to control the telescopic sliding driving part I231 to act to carry out the clamping and positioning action of the radial clamping and positioning part 2221, after the first steel pipe workpiece 6 is stably clamped and positioned, the central controller sends out an instruction to enable the steel pipe up and down line controller to control the supporting mechanical finger control mechanism 132 to reset to carry out the action to complete the stacking of the first steel pipe workpiece 6, and the steel pipe up and down line grabbing and stacking mechanical arm, Finishing the on-line work of the first steel pipe workpiece 6;

b) automatic welding: the central controller sends an instruction to start an automatic welding control loop, as shown in fig. 6, the automatic welding controller firstly controls the telescopic sliding driving part I231 to act to enable the steel pipe locking mechanism to be sleeved on a first steel pipe workpiece 6, then controls the steel pipe locking mechanism to act to lock the first steel pipe workpiece 6, and when the steel pipe rotation driving motor 232 adopts a hollow motor mode, the telescopic sliding driving part I231 acts to enable the steel pipe locking mechanism to be sleeved on the first steel pipe workpiece 6 from the end part of the first steel pipe workpiece 6; when the automatic welding controller controls the telescopic sliding driving part I231 to act, the central controller sends an instruction to control the bolt automatic placing controller to enable the bolt grabbing and placing mechanical arm 42 to drive the bolt grabbing and placing mechanical arm 43 to move in a coordinate mode to grab bolts in the bolt supply bracket 41 in sequence, after two bolts which are arranged in pairs in opposite directions are grabbed by the bolt grabbing and placing mechanical arm 43, the bolt automatic placing controller controls the bolt grabbing and placing mechanical arm 42 to drive the bolt grabbing and placing mechanical arm 43 to move in a coordinate mode, so that the material guide groove plate penetrates into a set coordinate position in the end portion of the steel pipe workpiece 6, the bolt grabbing and placing mechanical arm 43 loosens the bolts, and the bolts slide into the steel pipe workpiece 6 through self gravity; after the bolts are automatically placed in the controller to control the bolt grabbing and stacking mechanical arm 42 to reset, the central controller sends a command to control the sealing plate or conical head supply controller to enable the sealing plate or conical head workpiece grabbing and stacking mechanical arm 32 to drive the sealing plate or conical head workpiece grabbing and stacking mechanical arm 33 to move in coordinates to sequentially grab the sealing plate or conical head workpiece 7 in the sealing plate or conical head supply bracket 31, after the two sealing plates or conical head workpieces 7 are respectively grabbed by the two sealing plate or conical head workpiece grabbing and stacking mechanical arms 33, the sealing plate or conical head supply controller controls the sealing plate or conical head workpiece grabbing and stacking mechanical arm 32 to drive the sealing plate or conical head workpiece grabbing and stacking mechanical arm 33 to move in coordinates to enable the two sealing plates or conical head workpieces 7 to be respectively positioned and attached to set coordinate positions on two end faces of the first steel pipe workpiece 6; after the automatic welding controller controls the action of the telescopic sliding driving part II 241 to adjust the sealing plate or conical head pushing device 24 to a set distance according to the standard length of the steel pipe workpiece 6, the automatic welding controller controls the synchronous action of the two pushing mechanisms 242 to make the two pushing parts 243 respectively position and bear the sealing plate or conical head workpiece 7 grabbed by the sealing plate or conical head workpiece grabbing and stacking manipulator 33, the sealing plate or conical head workpiece 7 is stably positioned and abutted against the end part of the first steel pipe workpiece 6, the sealing plate or conical head workpiece grabbing and stacking manipulator 33 and the sealing plate or conical head workpiece grabbing and stacking manipulator 32 sequentially reset to complete the supply of the first set of sealing plate or conical head workpiece 7; the automatic welding controller synchronously controls the welding gun telescopic control mechanisms of the two sets of welding gun devices 25 to act so that the welding guns 251 respectively move to the set welding coordinate positions, the automatic welding controller synchronously controls the welding guns 251 of the two sets of welding gun devices 25 to perform wire feeding and arc striking actions, simultaneously, the automatic welding controller controls the steel pipe rotation driving motor 232 to start and drives the first steel pipe workpiece 6 to rotate according to the set rotating speed through the steel pipe locking mechanism, the pushing mechanism 242 is driven to rotate along with the first steel pipe workpiece 6 in the rotating process, the clamping rollers 2223 are driven to rotate, welding of the sealing plate or the conical head workpiece 7 and the steel pipe workpiece 6 is completed after the first steel pipe workpiece 6 rotates to the set angle, and the automatic welding controller sequentially controls the welding gun telescopic control mechanism, the pushing mechanism 242, the steel pipe locking mechanism and the telescopic sliding driving component I231 to reset after the steel pipe rotation driving motor 232 is closed, completing the automatic welding of the first steel pipe workpiece 6;

c) and (3) off-line production of finished products: the central controller sends an instruction to control the steel pipe up-and-down line unit 1 to start working again, the steel pipe up-and-down line controller controls the steel pipe up-and-down line grabbing and stacking mechanical arm 12 to act, enables the steel pipe up-and-down line grabbing and stacking mechanical arm 13 to move to a coordinate position right above the first welded steel pipe workpiece 6 according to the feedback of a distance sensor of the steel pipe up-and-down line grabbing and stacking mechanical arm 13, then controls the steel pipe up-and-down line controller to act to enable the supporting mechanical finger 131 to penetrate into a center hole of the end part of the first welded steel pipe workpiece 6 or a center hole of the conical head workpiece 7, clamps the end surface of the first welded steel pipe workpiece 6 through the positioning clamping surface, and finishes grabbing the first welded steel pipe workpiece 6; after the central controller sends out an instruction to enable the automatic welding controller of the automatic welding unit 2 to control the telescopic sliding driving part I231 to reset, the steel pipe up-and-down line controller controls the steel pipe up-and-down line grabbing and stacking mechanical arm 12 to move, the steel pipe up-and-down line grabbing and stacking mechanical arm 13 grabbing the first welded steel pipe workpiece 6 moves to a set coordinate position in the empty steel pipe workpiece bracket 11 according to the feedback of the distance sensor of the steel pipe up-and-down line grabbing and stacking mechanical arm 13, and the carrying mechanical finger control mechanism 132 resets to complete the stacking of the first welded steel pipe workpiece 6.

By analogy, the steel pipe workpieces 6 are grabbed one by one to be on-line for automatic welding, the welded steel pipe workpieces 6 are grabbed one by one to be off-line for stacking, and automatic production is realized.

In order to further increase the steel pipe about the line snatch the accuracy that the mechanical hand 13 location snatched steel pipe work piece 6, as the utility model discloses a further improvement scheme, the steel pipe about the line snatch still is equipped with the mode identification sensor on the mechanical hand 13 of putting things in good order, and the line control ware is connected on mode identification sensor and the steel pipe. When the unwelded steel pipe workpieces 6 are grabbed, after the steel pipe up-and-down line controller sends out instructions to control the steel pipe up-and-down line grabbing and stacking mechanical arm 12 to act and to move the steel pipe up-and-down line grabbing and stacking mechanical arm 13 to a set coordinate position right above the steel pipe workpieces 6 according to the feedback of the distance sensor of the steel pipe up-and-down line grabbing and stacking mechanical arm 13, the steel pipe up-and-down line grabbing and stacking manipulator 13 is over against the end face of the steel pipe workpiece 6, the steel pipe up-and-down line controller compares the end face position information of the steel pipe workpiece 6 fed back by the mode identification sensor with the end face position information of the built-in standard steel pipe workpiece 6 and calculates the offset, then the steel pipe up-down line controller adjusts the position of the steel pipe up-down line grabbing and stacking manipulator 13 according to the calculated offset, so that the loading mechanical finger 131 is accurately sent into the steel pipe workpiece 6 for positioning and grabbing; when a steel pipe workpiece 6 welded with a sealing plate or a conical head workpiece 7 is grabbed, a steel pipe upper and lower line controller compares the position information of the sealing plate or the conical head workpiece 7 at the end part of the steel pipe workpiece 6 fed back by a mode identification sensor with the position information of a built-in standard sealing plate or conical head workpiece 7 and calculates an offset, and then the steel pipe upper and lower line controller adjusts the position of a steel pipe upper and lower line grabbing and stacking manipulator 13 according to the calculated offset, so that the supporting mechanical finger 131 is accurately fed into the central hole of the sealing plate or conical head workpiece 7 for positioning and grabbing.

Usually because of machining error's reason, steel pipe workpiece 6's cutting length size often is less than standard steel pipe workpiece 6's length size, carries out real-time measurement in order to realize the length size to unwelded steel pipe workpiece 6 to follow-up welding shrouding or conical head work piece 7, and then further guarantees to weld off-the-shelf quality, as the utility model discloses a further improvement scheme is equipped with pressure sensor on the terminal surface that holds in the palm the big footpath section of location centre gripping that carries mechanical finger 131 corresponds steel pipe workpiece 6, and pressure sensor is connected with the lower line controller electricity of steel pipe. When grabbing operation is carried out on a steel pipe workpiece 6 which is not welded, when the carrying mechanical fingers 131 of the two steel pipe upper and lower line grabbing and stacking manipulators 13 synchronously extend out to clamp the steel pipe workpiece 6, when a clamping signal is fed back by a pressure sensor, a steel pipe upper and lower line controller compares the distance between the end faces of the large-diameter sections of the two positioning and clamping parts with the length of the built-in standard steel pipe workpiece 6 and records and outputs the result to a central controller, then the steel pipe upper and lower line grabbing and stacking manipulator 12 is controlled by the steel pipe upper and lower line grabbing and stacking manipulator 12 to move the coordinates of the steel pipe upper and lower line grabbing and stacking manipulator 13 grabbing the steel pipe workpiece 6 to a set coordinate position which is right above the welding working platform 21 and corresponds to the clamping geometric central axis of the radial clamping and positioning part 2221, and the length median line of the steel pipe workpiece 6 along the left and right directions and the median line between the two, the center parting line of the actual steel pipe workpiece 6 and the center parting line of the standard steel pipe workpiece 6 are controlled to be arranged in a collinear mode, the central controller can control the welding distance between the end faces of the sealing plate or the conical head workpiece 7 and the steel pipe workpiece 6 through the sealing plate or the conical head pushing device 24 when the sealing plate or the conical head workpiece 7 is subsequently welded, and therefore the overall length size of a welded product can be guaranteed.

In order to further improve the efficiency and reasonably utilize the waiting welding time of the steel pipe up-and-down line grabbing and stacking mechanical arm 12 and the steel pipe up-and-down line grabbing and stacking mechanical arm 13, a plurality of sets of automatic welding units 2 are arranged in the working range of the steel pipe up-and-down line grabbing and stacking mechanical arm 12, a steel pipe workpiece carrier 26 is further arranged on the welding working platform 21 of each set of automatic welding unit 2, each steel pipe workpiece carrier 26 comprises a carrier surface, and the height dimension of the carrier geometric center of the carrier surface is smaller than that of the clamping geometric center of the radial clamping and positioning part 2221. The steel pipe up-and-down line grabbing and stacking manipulator 13 can stack the steel pipe workpieces 6 on the steel pipe workpiece carrier 26 of one automatic welding unit 2, so that the steel pipe workpieces 6 can be continuously grabbed and stacked on the steel pipe workpiece carriers 26 of other automatic welding units 2, and accordingly, the idle time is utilized, and the efficiency is improved; since the height dimension of the supporting geometric center of the supporting surface of the steel pipe workpiece supporting frame 26 is smaller than the height dimension of the clamping geometric center of the radial clamping positioning member 2221, the clamping and positioning actions of the radial clamping positioning member 2221 on the steel pipe workpiece 6 are not affected.

In order to realize product tracing and code printing on welded steel pipe workpieces 6, the automatic welding production system for the net rack connecting rod further comprises an automatic laser code printing unit 5, as shown in fig. 2, the position of the automatic laser code printing unit 5 corresponding to the sealing plate or the conical head pushing device 24 is arranged at the left side and/or the right side of the welding working platform 21, and the automatic laser code printing unit 5 comprises a laser code printing head support frame, a laser code printing head telescopic control mechanism and a laser code printing electric control device which are arranged in a coordinate control telescopic manner; the laser code printing head is arranged on the laser code printing head support frame through a laser code printing head telescopic control mechanism; the laser code printing electric control device comprises a laser code printing controller and a laser code printing control loop, wherein the laser code printing controller is respectively electrically connected with the laser code printing head and the laser code printing head telescopic control mechanism, and the laser code printing controller is electrically connected with a central controller of the centralized electric control unit. The automatic laser coding unit 5 can be independently arranged on the ground, namely the laser coding head support frame is of a floor type structure, and the automatic laser coding unit 5 can also be directly arranged on the sealing plate or the machine body of the conical head pushing device 24, namely the laser coding head support frame is fixedly arranged on the sealing plate or the machine body of the conical head pushing device 24; the accurate coordinate positioning and code printing of the laser code printing head can be realized by controlling the action of the telescopic control mechanism of the laser code printing head through coordinates. After the automatic welding of the steel pipe workpiece 6 is completed, the central controller can send an instruction to control the laser coding controller to move the coordinates of the laser coding head to the position of the end face of the sealing plate or the conical head workpiece 7 on the steel pipe workpiece 6 for coding. For longer code printing numbers, after printing one number, the steel pipe workpiece 6 can be controlled to rotate in a stepping mode for setting an angle, and then the next number is printed.

When the sealing plate or conical head workpiece grabbing and stacking manipulator 33 grabs the sealing plate or conical head workpiece 7 positioned in the sealing plate or conical head supply bracket 31, in order to avoid the interference of the movement of the sealing plate or conical head workpiece grabbing and stacking manipulator 33, as a further improvement of the present invention, as shown in fig. 7, the sealing plate or conical head supply bracket 31 includes an auxiliary transfer bracket 311 and a drawer-type workpiece holding bracket 312; the drawer type workpiece holding frame 312 is provided with a plurality of translation guide mechanisms II 3121 which are uniformly distributed and spaced from bottom to top and are horizontally arranged along the front-back direction or the left-right direction, the translation guide mechanisms II 3121 can adopt a guide groove structure or other guide structures such as a guide rail structure, a plurality of workpiece stacking trays 3122 which are arranged in a matching way with the translation guide mechanisms II 3121 are arranged on the translation guide mechanisms through a roller wheel in a matching way to form a drawer type structure, the front end of the translation guide mechanism II 3121 is provided with a fixed limiting structure which can limit the workpiece stacking trays 3122 to slide out, the fixed limiting structure can adopt a fixed limiting block structure, a limiting plate structure and other structures, the rear end of the translation guide mechanism II 3121 is provided with a movable limiting structure which can limit the workpiece stacking trays 3122 to slide out, in order to realize that a driving power device is not arranged on the drawer type workpiece holding frame 312 so as to avoid the driving power device from being, the movable limiting structure can adopt a movable limiting structure which ejects a limiting wedge through a spring, can also adopt a movable limiting structure which controls the swing of a swing rod through an ejector rod to realize the lifting of a limiting wedge plate and other mechanical structures, and the workpiece stacking tray 3122 is also provided with a lap joint connecting part 3123; the auxiliary transfer rack 311 is fixedly arranged at a set position in a line working area of a sealing plate or a conical head, a translation guide mechanism I3111 which can be horizontally butted with the translation guide mechanism II 3121 is arranged at a position corresponding to the translation guide mechanism II 3121 on the auxiliary transfer rack 311, the translation guide mechanism I3111 and the translation guide mechanism II 3121 are arranged in the same structure and size, a workpiece stacking tray translation control mechanism 3112 which is horizontally arranged in a front-back or left-right telescopic manner is further arranged at a position corresponding to each layer of the translation guide mechanism I3111 on the auxiliary transfer rack 311, as shown in FIG. 8, the workpiece stacking tray translation control mechanism 3112 comprises a translation driving part and an overlapping buckle part 3113 which is matched with the overlapping connecting part 3123, the translation driving part can adopt a hydraulic telescopic control structure comprising a hydraulic cylinder, or can adopt a chain transmission structure comprising a transmission chain or other transmission structures such as an electric spiral rod structure, the translation driving component is electrically connected with a sealing plate or a conical head supply controller of the sealing plate or the conical head supply electric control device. After the drawer type workpiece containing frame 312 with the sealing plate or the conical head workpiece 7 orderly stacked is carried by a forklift or an AGV to a set coordinate position in an upper line working area of the sealing plate or the conical head and a translation guide mechanism II 3121 is in front-back butt joint with a translation guide mechanism I3111, the sealing plate or the conical head supply controller controls the translation control mechanism 3112 of the workpiece stacking tray positioned on the first layer to act so that a translation driving part drives an overlap buckle part 3113 to extend forwards to a set distance, after the overlap buckle part 3113 is connected with the overlap connection part 3123, the sealing plate or the conical head supply controller controls the translation control mechanism 3112 of the workpiece stacking tray positioned on the first layer to reset, the workpiece stacking tray 3122 positioned on the first layer crosses a movable limiting structure of the translation guide mechanism II 3121 and moves onto an auxiliary transfer frame 311 to be drawn out along with the overlap buckle part 3113, and the sealing plate or the conical head workpiece grabbing and stacking manipulator 33 can stack the sealing plate or the conical head workpiece stacking tray 3122 positioned on the first layer Sequentially grabbing the conical head workpieces 7; after the sealing plate or the conical head workpiece 7 on the workpiece stacking tray 3122 on the first floor is completely grabbed, the sealing plate or the conical head supply controller controls the workpiece stacking tray translation control mechanism 3112 on the first floor to act to push the workpiece stacking tray 3122 on the first floor into the drawer-type workpiece holding rack 312, and after the lap joint buckle part 3113 of the workpiece stacking tray translation control mechanism 3112 on the first floor is separated from the lap joint part 3123 of the workpiece stacking tray 3122 on the first floor and is reset, the sealing plate or the conical head supply controller controls the workpiece stacking tray translation control mechanism 3112 on the second floor to act to pull the workpiece stacking tray 3122 on the second floor into the auxiliary transfer rack 311 for continuous grabbing; and the rest is repeated until all the layers of the workpiece stacking trays 3122 of the drawer-type workpiece holding frame 312 are completely grabbed.

For example, the workpiece stacking tray translation control mechanism 3112 is prevented from causing motion interference in the process that the sealing plate or the conical head workpiece grabbing and stacking manipulator 33 grabs the sealing plate or the conical head workpiece 7, the translation guide mechanisms 3121 are symmetrically arranged on the inner wall of the vertical surface of the drawer type workpiece containing frame 312 along the left-right direction, and the workpiece stacking tray translation control mechanism 3112 is symmetrically arranged on the translation guide mechanism i 3111 along the left-right direction.

The translation driving part of the workpiece stacking tray translation control mechanism 3112 may be a hydraulic telescopic control structure including a hydraulic cylinder, or a chain transmission structure including a transmission chain, and the former needs to additionally consider the stroke problem of the hydraulic cylinder, i.e., the auxiliary transfer rack 311 needs to additionally reserve a telescopic stroke space of the hydraulic cylinder in the front-back or left-right direction, and the latter can avoid the problem, so the latter preferably has a chain transmission structure, i.e., the translation driving part of the workpiece stacking tray translation control mechanism 3112 is a chain transmission structure, as shown in fig. 8, the translation driving part includes a transmission chain wheel and a transmission chain, the overlapping connection part 3123 is an overlapping column structure fixedly disposed on the workpiece stacking tray 3122, and the overlapping buckle 3113 is a bidirectional claw structure disposed on the transmission chain. But two-way jack catch structure follows upper drive chain and can realize pulling work piece stacking tray 3122 in the overlap joint post structure when moving backward, can realize promoting the work piece stacking tray 3122 when two-way jack catch structure follows upper drive chain and moves forward, put the tray 3122 with the work piece and push away the drawer type work piece and hold the back on the frame 312, along with the continuation of upper drive chain moves forward, two-way jack catch structure can overturn and break away from the overlap joint post structure, realize that the work piece stacks the separation of tray translation control mechanism 3112 and work piece stacking tray 3122.

Claims (5)

1. A steel pipe up-and-down line unit of a net rack connecting rod automatic welding production system is characterized in that a steel pipe up-and-down line unit (1) is arranged at a set position in the peripheral range of an automatic welding unit (2), and the steel pipe up-and-down line unit (1) comprises a steel pipe workpiece bracket (11), a steel pipe up-and-down line grabbing and stacking mechanical arm (12) and a steel pipe up-and-down line electric control device;

the steel pipe workpiece brackets (11) with at least two numbers are respectively arranged in a set steel pipe online working area and a set steel pipe offline working area in the working range of the steel pipe online and offline grabbing and stacking mechanical arm (12);

the tail section of the steel pipe upper and lower line grabbing and stacking mechanical arm (12) is provided with a steel pipe upper and lower line grabbing and stacking mechanical arm (13), the steel pipe upper and lower line grabbing and stacking mechanical arm (12) at least comprises an X coordinate driving assembly capable of controlling the steel pipe upper and lower line grabbing and stacking mechanical arm (13) to move along the left and right directions, a Y coordinate driving assembly capable of controlling the steel pipe upper and lower line grabbing and stacking mechanical arm (13) to move along the front and rear directions and a Z coordinate driving assembly capable of controlling the steel pipe upper and lower line grabbing and stacking mechanical arm (13) to move along the vertical direction, two ends of the steel pipe upper and lower line grabbing and stacking mechanical arm (13) corresponding to a steel pipe workpiece (6) are oppositely arranged into two pieces, the bottom of the steel pipe upper and lower line grabbing and stacking mechanical arm (13) is provided with a supporting mechanical finger (131) and a supporting mechanical finger control mechanism (132) extending out along the left and right directions, and positioning clamping, a distance sensor and a mode recognition sensor are also arranged on the steel pipe up-and-down line grabbing and stacking manipulator (13);

the steel pipe up-and-down line electric control device comprises a steel pipe up-and-down line controller, the steel pipe up-and-down line controller is electrically connected with a coordinate driving assembly of a steel pipe up-and-down line grabbing and stacking mechanical arm (12), a distance sensor of a steel pipe up-and-down line grabbing and stacking mechanical arm (13), a mode recognition sensor and a supporting mechanical finger control mechanism (132), and the steel pipe up-and-down line controller is electrically connected with a central controller of a centralized electric control unit of the automatic welding production system for the net rack connecting rod.

2. The steel pipe feeding and discharging unit of the rack connecting rod automatic welding production system according to claim 1, wherein a pressure sensor is provided on an end surface of the positioning and clamping surface of the carrying mechanical finger (131) corresponding to the steel pipe workpiece (6), and the pressure sensor is electrically connected with the steel pipe feeding and discharging controller.

3. The steel pipe feeding and discharging unit of the rack connecting rod automatic welding production system according to claim 1 or 2, wherein the carrying mechanical finger (131) is a straight pin structure, a positioning and clamping large-diameter section is arranged in the middle of the straight pin structure, a positioning and clamping surface is an end surface of the positioning and clamping large-diameter section facing the steel pipe workpiece (6), and the carrying mechanical finger control mechanism (132) is a telescopic control mechanism capable of controlling the carrying mechanical finger (131) of the straight pin structure to axially extend and retract.

4. The steel tube feeding and discharging unit of the automatic welding production system of the rack connecting rod according to claim 1 or 2, wherein the supporting mechanical finger (131) is a hook-shaped swing arm structure with the top hinged to the tail section of the steel tube feeding and discharging grabbing and stacking mechanical arm (12), the positioning and clamping surface is arranged in the middle of a hook of the hook-shaped swing arm structure, and the supporting mechanical finger control mechanism (132) is a swing control mechanism capable of controlling the supporting mechanical finger (131) of the hook-shaped swing arm structure to swing along the hinge point of the supporting mechanical finger.

5. The steel pipe feeding and discharging unit of the rack connecting rod automatic welding production system according to claim 1 or 2, wherein the steel pipe feeding and discharging grabbing and stacking mechanical arm (12) is of a gantry mechanical arm structure, and the same gantry mechanical arm is shared by two steel pipe feeding and discharging grabbing and stacking mechanical arms (13).

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