CN210937591U - Automatic welding unit of automatic welding production system for net rack connecting rod - Google Patents

Abstract

The utility model discloses an automatic welding unit of a net rack connecting rod automatic welding production system, which can realize accurate axial positioning of a steel pipe workpiece through a steel pipe radial clamping and positioning device, can realize accurate coordinate grabbing of a bolt and placing the bolt into the end part of the steel pipe workpiece before welding through a bolt grabbing and stacking mechanical arm and a bolt grabbing and stacking mechanical arm, can realize accurate coaxial coordinate positioning of a closing plate or a conical head workpiece at the welding end part of the steel pipe workpiece through a closing plate or a conical head pushing device, can realize one-time welding forming of a complete annular welding seam by controlling the circumferential rotation of the steel pipe workpiece through the cooperation of a steel pipe rotary driving device and a welding gun device, has higher automation degree, can avoid the defect of manual operation, can ensure the uniformity of the welding seam on the premise of ensuring the coaxiality of a through hole of the closing plate or the conical head and a steel pipe body, the automatic welding production system is particularly suitable for the net rack connecting rod.

Description

Automatic welding unit of automatic welding production system for net rack connecting rod

Technical Field

The utility model relates to an automatic welding production system's automatic weld unit specifically is an automatic weld unit of production system suitable for carry out automatic weld 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

Problem to above-mentioned prior art exists, the utility model provides a rack connecting rod automatic weld production system's automatic weld unit, degree of automation is higher, can guarantee the homogeneity of welding seam under the prerequisite of the through-hole of guaranteeing shrouding or conical head and steel pipe body axiality, specially adapted rack connecting rod automatic weld production system.

In order to achieve the purpose, the automatic welding unit of the automatic welding production system for the net rack connecting rod comprises a welding working platform, a steel pipe radial clamping and positioning device, a steel pipe rotation driving device, a sealing plate or conical head pushing device, a welding gun device and an automatic welding electric control device;

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

the steel pipe radial clamping and positioning devices are at least symmetrically arranged in a left-right mode and comprise a support base arranged on the welding working platform and a radial clamping and positioning mechanism arranged on the support base, the radial clamping and positioning mechanism comprises a radial clamping and positioning component and a radial clamping and stretching control component which are arranged in an opposite mode, the radial clamping and positioning component comprises a clamping surface, a plurality of clamping rollers which are arranged in a rolling mode are uniformly distributed on the clamping surface, rolling central axes of the clamping rollers are arranged in the left-right direction, and the radial clamping and positioning component can be closed in a clamping state and can clamp a cylindrical surface structure through the clamping rollers on the clamping surface; the telescopic end of the radial clamping telescopic control component is connected with the radial clamping positioning component in an installing way, and the machine body end is connected with the supporting base in an installing way;

the steel pipe rotation driving device is integrally installed on the welding working platform in a sliding fit mode through a telescopic sliding driving part I and comprises a steel pipe locking mechanism used for locking a steel pipe workpiece and a steel pipe rotation driving motor used for controlling the steel pipe locking mechanism to rotate;

the sealing plate or conical head pushing devices are oppositely arranged in two sets from left to right, the two sets of sealing plates or conical head pushing devices are installed on the welding working platform, each sealing plate or conical head pushing device comprises a pushing mechanism which is telescopically arranged along the left-right direction in coordinate control and a pushing component which is coaxially installed at the end part of the telescopic end of the pushing mechanism, the pushing mechanisms are installed on the machine body of the sealing plate or conical head pushing device in a rolling fit mode, and the geometric central axis of each pushing component and the clamping geometric central axis of the radial clamping positioning component are coaxially arranged;

the welding gun devices are arranged in a left-right opposite mode and comprise welding gun support frames, welding guns and welding gun telescopic control mechanisms which are arranged in a coordinate control telescopic mode, the welding guns are installed on the welding gun support frames through the welding gun telescopic control mechanisms, and welding wires penetrate into the welding guns through welding wire feeding mechanisms;

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 respectively and electrically connected with a radial clamping telescopic control part, a telescopic sliding driving part I, a steel pipe locking mechanism, a steel pipe rotation driving motor, a welding gun telescopic control mechanism and a welding gun; the automatic welding controller is electrically connected with a central controller of a centralized electric control unit of the automatic welding production system of the net rack connecting rod.

As the utility model discloses a further improvement scheme, automatic weld unit is set up for many sets in the working range that the arm was put things in good order to line snatch about the steel pipe, still is equipped with steel pipe work piece on every set of automatic weld unit's the weldment work platform and holds in the palm the carrier frame, and steel pipe work piece holds in the palm the carrier frame including holding in the palm the face, and hold in the palm the height dimension that holds in the palm the geometric center that holds in the palm the face carries the geometric center is less than the.

As the utility model discloses an optimal scheme, the opposition sets up around radial centre gripping positioning element's the clamping face, and radial centre gripping positioning element slides the cooperation along the fore-and-aft direction and installs on supporting the base, and radial centre gripping positioning element's clamping face is V-arrangement face structure.

As an embodiment of the utility model, steel pipe rotary driving motor of steel pipe rotary driving device is the cavity motor, and steel pipe rotary driving device's steel pipe locking mechanism is the numerical control chuck structure with the coaxial setting of the centre gripping geometric centre axis of radial centre gripping positioning component, and the coaxial fixed mounting of numerical control chuck structure is in the cavity rotor cover of cavity motor, and flexible drive part that slides I sets up about along the direction is flexible.

As another embodiment of the utility model, steel pipe rotary driving device is a body structure with the radial centre gripping positioner of steel pipe, and steel pipe rotary driving device's steel pipe locking mechanism is the radial centre gripping positioner's of the radial centre gripping positioner of steel pipe positioning mechanism, and steel pipe rotary driving motor passes through transmission structural connection with the centre gripping roller.

As a further improvement of the utility model, one set of at least shrouding or conical head pusher are installed on the weldment work platform through the flexible drive part that slides II along controlling the direction cooperation of sliding in two sets of shrouding or conical head pusher, and flexible drive part that slides II is connected with automatic weld electrically controlled device's automatic weld controller electricity.

As an embodiment of the present invention, the number of welding guns of each welding gun device is one.

As another embodiment of the present invention, the welding guns of each welding gun device are arranged in two opposite positions along the radial direction of the steel pipe workpiece.

As an embodiment of the present invention, the pushing component is a conical tip structure for concentrically positioning and pushing against a sealing plate or a conical head workpiece.

As the utility model discloses a another kind of embodiment, the propelling movement part is that the centre gripping that is used for the centre gripping to snatch shrouding or conical head work piece snatchs the manipulator structure, and the propelling movement part includes that at least individual centre gripping machinery that sets up along its circumference equipartition indicates and sets up at the inside centre gripping machinery of propelling movement mechanism indicates to open and close control mechanism.

Compared with the prior art, the automatic welding unit of the automatic welding production system for the net rack connecting rod adopts a microcomputer control unit, and can realize full-automatic operation; the accurate axial positioning of a steel pipe workpiece can be realized through a steel pipe radial clamping and positioning device, the accurate coordinate grabbing and juxtaposing of bolts which are opposite in direction and are arranged in pairs can be realized and are placed in the end part of the steel pipe workpiece before welding through a bolt grabbing and juxtaposing mechanical arm and a bolt grabbing and juxtaposing mechanical arm, the accurate coaxial coordinate positioning of the blanking plate or the conical head workpiece at the welding end part of the steel pipe workpiece can be realized through a blanking plate or a conical head pushing device, through the matching operation of a steel pipe rotation driving device and a welding gun device, the one-time welding forming of a complete annular welding seam can be realized by controlling the circumferential rotation of the steel pipe workpiece by one welding gun matching with the steel pipe rotation driving device, or the one-time welding forming of the complete annular welding seam can be realized by controlling the circumferential rotation of the steel pipe workpiece by two welding guns matching with, the uniformity of welding seams can be guaranteed on the premise that the coaxiality of the through holes of the sealing plates or the conical heads and the steel pipe body is guaranteed, and the automatic welding production system is particularly suitable for 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 a steel pipe up-and-down line grabbing and stacking manipulator of the automatic welding production system for rack connecting rods;

fig. 4 is a schematic three-dimensional structure of the present invention;

FIG. 5 is a schematic structural view of the steel pipe radial clamping and positioning device of the present invention;

FIG. 6 is a schematic structural view of the steel pipe rotation driving device of the present invention;

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 view of the welding gun of each welding gun device according to the present invention;

fig. 13 is a schematic structural view of each set of welding gun device of the present invention using 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 left-right symmetry in two sets, 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 closed 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 cooperate with the sealing plate or conical head workpiece grabbing and stacking manipulator 33 to adopt a clamping and grabbing manipulator structure for clamping and grabbing the sealing plate or conical head workpiece 7, when the pushing component 243 adopts the clamping and grabbing manipulator structure, the welding gap between the end surfaces of the sealing plate or conical head workpiece 7 and the steel pipe workpiece 6 can be conveniently adjusted, when the clamping and grabbing manipulator structure is adopted, the pushing component 243 comprises at least 3 clamping mechanical fingers uniformly distributed along the circumferential direction of the pushing component and a clamping mechanical finger opening and closing control mechanism arranged inside the pushing mechanism 242, the clamping mechanical finger opening and closing control mechanism can be connected with the clamping mechanical finger in a manner of conical surface control structure arranged along the left-right direction and control the opening and closing of the clamping mechanical finger in a manner of matched conical surface movement, and the clamping mechanical finger opening and closing control mechanism can also be connected with the clamping mechanical finger opening and closing through a connecting rod control structure arranged along the left, The opening and closing of the clamping mechanical fingers are controlled in a connecting rod pulling mode, and the pushing component 243 can also be matched with a sealing plate or a conical head workpiece grabbing and stacking manipulator 33 to adopt a conical tip structure for concentric positioning and abutting against a steel pipe workpiece 6 with standard length; the pushing mechanism 242 and the telescopic sliding driving part II 241 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 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 rotary 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 and the clamping rollers 2223 are driven to rotate in the rotating process of the first steel pipe workpiece 6, 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 mechanisms, the pushing mechanism 242, the steel pipe locking mechanism, the welding gun telescopic control mechanism, the welding gun, The telescopic sliding driving part I231 performs resetting action to finish 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 raise the efficiency, the lower line snatchs about the rational utilization steel pipe and puts in good order arm 12 and the steel pipe and snatch the waiting weld time who puts in good order manipulator 13, as the utility model discloses a further improvement scheme, automatic weld unit 2 sets up for many sets in the working range that the line snatchs about the steel pipe and puts in good order arm 12, still is equipped with steel pipe work piece on every set of automatic weld unit 2's the weldment work platform 21 and holds in the palm the carrier frame 26 including holding in the palm the face, and the height dimension that holds in the palm the geometric centre that holds in the palm of holding in the palm the face carries the height dimension that the geometric centre is less than radial centre gripping locating 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.

In order to avoid the interference of the movements of the sealing plate or conical head workpiece grabbing and stacking robot 33 when the sealing plate or conical head workpiece grabbing and stacking robot 33 grabs the sealing plate or conical head workpiece 7 located in the sealing plate or conical head supply bracket 31, as shown in fig. 7, the sealing plate or conical head supply bracket 31 includes an auxiliary transfer frame 311 and a drawer-type workpiece holding frame 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 plates or the conical head workpieces 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 plates or the conical heads and a translation guide mechanism II 3121 is in front-back butt joint with a translation guide mechanism I3111, the sealing plates or the conical heads supply controller controls the translation control mechanism 3112 of the workpiece stacking tray positioned on the first layer to move so that the translation driving part drives the lap joint buckle part 3113 to extend forwards to a set distance, after the lap joint buckle part 3113 is connected with the lap joint connecting part 3123, the sealing plates or the conical heads 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 the auxiliary transfer frame 311 along with the lap joint buckle part 3113 to be drawn out, and the sealing plates or the conical head workpiece grabbing and stacking manipulator 33 can stack the sealing plates 3112 positioned on the workpiece stacking tray 3122 positioned on the first layer to be drawn out Or the conical head workpieces 7 are sequentially grabbed; 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 workpiece stacking trays 3122 of the drawer-type workpiece holding rack 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 (10)

1. An automatic welding unit of a net rack connecting rod automatic welding production system is characterized in that the automatic welding unit (2) comprises a welding working platform (21), a steel pipe radial clamping and positioning device (22), a steel pipe rotation driving device (23), a sealing plate or conical head pushing device (24), a welding gun device (25) and an automatic welding electric control device;

the welding working platform (21) is a long platform structure which is arranged along the left and right directions in the length direction;

the steel pipe radial clamping and positioning devices (22) are at least arranged in a bilateral symmetry mode, the steel pipe radial clamping and positioning devices (22) comprise supporting bases (221) arranged on the welding working platform (21) and radial clamping and positioning mechanisms (222) arranged on the supporting bases (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 arranged in an opposite mode, each radial clamping and positioning component (2221) comprises a clamping surface, a plurality of clamping rollers (2223) arranged in a rolling mode are uniformly distributed on the 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 closed in a clamping state and clamp a cylindrical surface structure through the clamping rollers (2223) on the clamping surface; the telescopic end of the radial clamping telescopic control component (2222) is connected with the radial clamping positioning component (2221) in an installing way, and the machine body end is connected with the support base (221) in an installing way;

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 I (231), and the steel pipe rotation driving device (23) comprises a steel pipe locking mechanism used for locking a steel pipe workpiece (6) and a steel pipe rotation driving motor (232) used for controlling the steel pipe locking mechanism to rotate;

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), each sealing plate or conical head pushing device (24) comprises a pushing mechanism (242) which is in coordinate control stretching arrangement along the left and right direction and a pushing component (243) which is coaxially installed at the end part of the stretching end of the pushing mechanism (242), the pushing mechanisms (242) are installed on the machine body of the sealing plate or conical head pushing devices (24) in a rolling fit mode, and the geometric central axis of each pushing component (243) and the clamping geometric central axis of the radial clamping positioning component (2221) are coaxially arranged;

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 guns (251) are installed on the welding gun support frames through the welding gun telescopic control mechanisms, and welding wires penetrate into the welding guns (251) through the welding wire feeding mechanisms;

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 respectively electrically connected with a radial clamping telescopic control component (2222), a telescopic sliding driving component I (231), a steel pipe locking mechanism, a steel pipe rotation driving motor (232), a welding gun telescopic control mechanism and a welding gun (251), and the automatic welding controller is electrically connected with a central controller of a centralized electric control unit of the automatic welding production system of the net rack connecting rod.

2. The automatic welding unit of the automatic welding production system of the net rack connecting rod according to claim 1, wherein the automatic welding unit (2) is provided with a plurality of sets of automatic welding units in the working range of the steel pipe up-and-down line grabbing and stacking mechanical arms (12), a steel pipe workpiece carrier (26) is further arranged on the welding working platform (21) of each set of automatic welding unit (2), the 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 positioning part (2221).

3. The automatic welding unit of the rack connecting rod automatic welding production system according to the claim 1 or 2, characterized in that the clamping surfaces of the radial clamping and positioning components (2221) are arranged in a front-back opposite manner, the radial clamping and positioning components (2221) are installed on the supporting base (221) in a sliding fit manner along the front-back direction, and the clamping surfaces of the radial clamping and positioning components (2221) are of a V-shaped surface structure.

4. The automatic welding unit of the automatic welding production system of the rack connecting rod according to claim 1 or 2, wherein the steel pipe rotation driving motor (232) of the steel pipe rotation driving device (23) is a hollow motor, the steel pipe locking mechanism of the steel pipe rotation driving device (23) is a numerical control chuck structure coaxially arranged with the clamping geometric central axis of the radial clamping positioning component (2221), the numerical control chuck structure is coaxially and fixedly installed in a hollow rotor sleeve of the hollow motor, and the telescopic sliding driving component i (231) is telescopically arranged along the left-right direction.

5. The automatic welding unit of the automatic welding production system of the net rack connecting rod according to claim 1 or 2, wherein the steel pipe rotation driving device (23) and the steel pipe radial clamping and positioning device (22) are of an integral structure, the steel pipe locking mechanism of the steel pipe rotation driving device (23) is the radial clamping and positioning mechanism (222) of the steel pipe radial clamping and positioning device (22), and the steel pipe rotation driving motor (232) is connected with the clamping rollers (2223) through a transmission structure.

6. The automatic welding unit of the automatic welding production system of the net rack connecting rod according to claim 1 or 2, wherein at least one set of the sealing plate or the conical head pushing device (24) of the two sets of the sealing plate or the conical head pushing device (24) is arranged 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), and the telescopic sliding driving part II (241) is electrically connected with an automatic welding controller of an automatic welding electric control device.

7. The automatic welding unit of the rack link automatic welding production system according to claim 1 or 2, wherein the welding guns (251) of each set of welding gun device (25) are provided as one.

8. The automatic welding unit of the rack link automatic welding production system according to claim 1 or 2, wherein the welding guns (251) of each set of welding gun device (25) are disposed oppositely in two in the radial direction of the steel pipe workpiece (6).

9. The automated welding unit of rack link automated welding production system of claim 1 or 2, characterized in that the pushing member (243) is a cone apex structure for concentric positioning against the closing plate or cone head workpiece (7).

10. The automatic welding unit of the automatic welding production system of the net rack connecting rod according to the claim 1 or 2, characterized in that the pushing component (243) is a clamping and grabbing manipulator structure for clamping and grabbing the closing plate or the conical head workpiece (7), and the pushing component (243) comprises at least 3 clamping mechanical fingers uniformly distributed along the circumference and a clamping mechanical finger opening and closing control mechanism arranged inside the pushing mechanism (242).

Images