Displacement welding platform for iron tower welding parts

Abstract

The invention discloses an iron tower welding part displacement welding platform, and belongs to the technical field of welding equipment.The iron tower welding part displacement welding platform comprises a welding robot and a displacement adjusting mechanism which are arranged in adjacent positions, and a supporting mechanism used for supporting and placing an iron tower base is fixedly installed at the top of the displacement adjusting mechanism; an automatic positioning and clamping mechanism used for clamping an iron tower base is installed in the supporting mechanism, a rotary material changing platform is arranged on one side of the displacement adjusting mechanism, and an automatic lifting cantilever is further installed at the position, close to the front end, of the top of the rotary material changing platform. The automatic lifting cantilever is rotationally connected with an electromagnetic attraction suspension mechanism. According to the welding platform, the automatic positioning and clamping mechanism and the follow-up pre-adjusting mechanism are designed, so that the welding platform can automatically complete positioning and calibration and stable clamping and fixing of a welding part, manpower and material resources are saved, and meanwhile the subsequent welding precision and welding quality are guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of welding equipment, and particularly relates to a position-changing welding platform for tower welding parts. Background Art

[0002] The position-changing welding platform for tower welding parts is a special welding auxiliary equipment designed for large, heavy, and complex-shaped welding parts in the welding of large steel structures such as power transmission towers and communication towers. Its core function is to safely, efficiently, and accurately change the spatial position and attitude of the workpiece, so that the weld seam is always in the most ideal (usually flat welding or fillet welding) position for welding, thereby significantly improving the welding quality and efficiency.

[0003] The tower base is a key part of the tower structure, usually made of steel plate material, and is also the most common tower welding part. It is used to support the tower and ensure its stability. At present, the welding of the tower base is carried out by a welding robot in cooperation with a position-changing welding platform for automatic welding of the pre-spot-welded base. Although the welding process has been automated, there are still some problems. Since the base is made of steel plate material as a whole and is heavy in quality, currently, operators use a small crane to lift it and place it on the top of the welding platform. After welding, the crane is also used to lift it off the platform. At the same time, when the tower base is lifted onto the top of the welding platform, it needs to be manually adjusted in position and locked and fixed with a positioning tooling to ensure the stability and welding accuracy of subsequent welding. However, this operation method is not only time-consuming and laborious, but also greatly affects the overall welding efficiency and is not conducive to the continuous processing of large quantities of products. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the above-mentioned disadvantages of the prior art and provide a position-changing welding platform for tower welding parts.

[0005] The technical solution adopted to solve the above technical problem is: a position-changing welding platform for tower welding parts, including a welding robot and a position-changing adjustment mechanism arranged adjacent to each other, and a support mechanism for supporting and placing the tower base is fixedly installed on the top of the position-changing adjustment mechanism; An automatic positioning clamping mechanism for clamping the tower base is installed inside the support mechanism, and a plurality of follow-up pre-adjustment mechanisms for adjusting the position of the tower base before clamping are fixedly installed on the automatic positioning clamping mechanism; A rotary material-changing platform is arranged on one side of the position-changing adjustment mechanism for alternately feeding and discharging the tower base during the processing, and an automatic lifting cantilever is also installed at a position near the front end of the top of the rotary material-changing platform; An electromagnetic suction suspension mechanism is rotatably connected to the automatic lifting cantilever, which is used for magnetic adsorption and fixation of the tower base, and cooperates with the automatic lifting cantilever to complete the automatic loading and unloading of the tower base between the support mechanism and the rotary material changing platform.

[0006] Further, the position and angle adjustment mechanism includes a fixed frame, a rotating seat is rotatably connected to the fixed frame, a first servo motor for driving the rotating seat to rotate is installed at one end of the fixed frame, a second servo motor is further installed at the bottom of the rotating seat, and the top end of the output shaft of the second servo motor is fixedly connected with a rotating disc.

[0007] Through the above technical solution, the position and angle adjustment mechanism is mainly used for adjusting the position and angle of the tower base during the welding process. Specifically, during operation, the first servo motor can drive the rotating seat to freely adjust various angles in the X-axis direction. At the same time, the second servo motor can also drive the rotating disc to freely adjust various angles in the Y-axis or Z-axis direction, and cooperate with the welding path programming of the welding robot, so that automatic welding can be carried out according to the set welding program, without manual intervention throughout the process. In addition, it should be noted that the welding robot is an existing mature technology, and its specific programming principle and working principle will not be elaborated in detail here.

[0008] Further, the support mechanism includes a fixed disc fixedly installed on the top of the position and angle adjustment mechanism. A plurality of support blocks are fixedly connected to the peripheral side of the top of the fixed disc. The top of the plurality of support blocks is fixedly installed with a support platform, and a plurality of rectangular grooves are provided on the peripheral side of the support platform.

[0009] Through the above technical solution, the support mechanism mainly serves as a support structure, and the support platform on its top is used to place the tower base. At the same time, the automatic positioning and clamping mechanism also relies on it as an installation structure. During the welding process, the automatic positioning and clamping mechanism can firmly fix the tower base on the support platform, so as to cooperate with the position and angle adjustment mechanism and the welding robot to quickly complete the welding work.

[0010] Further, the automatic positioning and clamping mechanism includes multiple groups of bearing seats fixedly installed on the peripheral side of the bottom of the support platform. A ball screw is rotatably connected between each group of bearing seats. A ball nut seat is installed on the ball screw. The top of the ball nut seat is fixedly connected with a positioning clamp seat for fixing the corners of the tower base. The inner end of each ball screw is fixedly installed with a transmission bevel gear. A third servo motor is fixedly installed at the center of the top of the fixed disc, and the top end of the output shaft of the third servo motor is fixedly connected with a driving bevel gear meshing with the multiple transmission bevel gears.

[0011] Through the above technical solution, the automatic positioning and clamping mechanism is mainly used for quickly clamping and fixing the tower base, and ensuring the stability of the tower base during the welding process, without deviation and shaking. Specifically, when the tower base is placed on the top of the support platform, the third servo motor starts to work, drives the driving bevel gear to rotate through its output shaft. When the driving bevel gear rotates, it will synchronously drive a plurality of transmission bevel gears to rotate. Furthermore, it can drive the corresponding ball nut seat to move synchronously through the ball screw fixed to it. During the synchronous movement of the plurality of ball nut seats, they can drive the corresponding positioning clamp seats to clamp towards the center of the support platform or expand towards the outside. During the clamping process, in cooperation with the pre-adjustment of the position of the tower base by multiple groups of follow-up pre-adjustment mechanisms, the locking and fixing of each corner of the tower base can be quickly fixed by using a plurality of positioning clamp seats, so that the tower base can be stably fixed on the support platform.

[0012] Further, each group of the bearing seats is located directly below the corresponding rectangular groove, and the plurality of ball nut seats are respectively slidably limited within the corresponding rectangular grooves.

[0013] Through the above technical solution, under the limiting action of the rectangular groove and the bearing seat, it can be ensured that the corresponding ball nut seat and the positioning clamp seat can move along a fixed track, thus ensuring the overall clamping accuracy and clamping efficiency.

[0014] Further, the follow-up pre-adjustment mechanism includes a connecting seat fixed to the outside of the positioning clamp seat. A connecting card slot matching the positioning clamp seat is opened on the inner side of the connecting seat. Round holes are opened at both ends of the connecting seat. Fixed rods are slidably connected within the two round holes. One end of the fixed rod close to the tower base is fixedly connected with a positioning clamp block, and the other end is threadedly connected with a fixing nut. A spring ring is also sleeved on the outer wall of the fixed rod close to the positioning clamp block.

[0015] Through the above technical solution, the follow-up pre-adjustment mechanism is mainly used for the pre-adjustment of the clamping position of the tower base. After the tower base is automatically hoisted by the electromagnetic suction suspension mechanism and placed on the top of the support platform, there will be a small deviation in its actual position and angle. Therefore, during the process of clamping and fixing the tower base by the automatic positioning and clamping mechanism, the fixed rod slidably installed on the connecting seat and the positioning clamp block will contact the tower base under the elastic thrust of the spring ring. As the positioning clamp seat continues to approach, the positioning clamp block in contact with and pressing against the tower base will further compress the spring ring. During the continuous compression of the spring ring, its reverse thrust will also act on the positioning clamp block, thereby pushing the tower base to move during this process. Under the action of multiple groups of positioning clamp blocks advancing simultaneously from multiple directions, the position of the tower base can be adjusted to a proper state, so that multiple positioning clamp seats can accurately lock with the corresponding corners of the tower base in the subsequent process. It should be noted that the follow-up pre-adjustment mechanism can not only play a role in pre-adjusting and positioning, but also, after the tower base is clamped and fixed, under the reverse thrust of multiple spring rings, it can also play an auxiliary fixing and limiting role on the bottom of the tower base, thereby ensuring the stability of the tower base during the welding process.

[0016] Further, the rotary material-changing platform includes a support base, on which a gear rotary platform and a driving gear are respectively rotatably connected. A fourth servo motor for driving the driving gear to rotate is installed on the top of the support base. A plurality of positioning angle seats for assisting in positioning the position of the tower base are further provided on the top of the gear rotary platform.

[0017] Through the above technical solution, the rotary material-changing platform is mainly used for the auxiliary transposition of the tower base during the loading and unloading process. During specific operation, the fourth servo motor can drive the gear rotary platform engaged with it to rotate through the driving gear, so as to realize the adjustment of the position of the tower base on the gear rotary platform, thereby forming a compact material supply and unloading system. In addition, a plurality of positioning angle seats are further provided on the top of the gear rotary platform. During the loading process, after aligning one corner of the tower base with the card slot of the positioning angle seat at a fixed angle, the accurate positioning of the tower base can be realized, which is convenient for subsequent accurate hoisting.

[0018] Further, the upper part of the gear rotary platform is a disc structure, and the lower part is a tooth groove structure on the circumferential side, and the gear rotary platform meshes with the driving gear.

[0019] Furthermore, the automatic lifting cantilever includes a first rotating bracket and a second rotating bracket fixed to the top of the rotary charging platform. A rotating arm is rotatably connected to the first rotating bracket. A main cantilever is fixedly connected to the top of the rear end of the rotating arm. A positioning ring is installed at the rear end of the main cantilever. A first hydraulic cylinder is rotatably connected to the second rotating bracket. A third rotating bracket is also fixedly connected to the rotating arm. The end of the piston rod of the first hydraulic cylinder is rotatably connected to the third rotating bracket.

[0020] Through the above technical solution, when the automatic lifting cantilever is working, the first hydraulic cylinder can drive the rotating arm to rotate with the first rotating bracket as the fulcrum through the telescopic movement of the piston rod. During the rotation process, it can drive the electromagnetic suction suspension mechanism on the main cantilever to rotate synchronously, and further drive the tower base adsorbed and fixed on the electromagnetic suction suspension mechanism to reciprocate for loading and unloading between the support mechanism and the rotary charging platform.

[0021] Furthermore, the electromagnetic suction suspension mechanism includes a suspension seat rotatably connected to the main cantilever. A second hydraulic cylinder is fixedly installed at the bottom of the suspension seat. The bottom end of the piston rod of the second hydraulic cylinder is fixedly connected to an installation body. Electromagnetic suction components are installed on two adjacent surfaces of the installation body. A wiring component for connecting the wires of the two electromagnetic suction components is installed inside the installation body.

[0022] Through the above technical solution, since the mass of the tower base is relatively heavy, the upper structure is complex, and it is not conducive to clamping with a simple mechanical structure, the installation body and the electromagnetic suction components are designed. The shape of the installation body can be designed to be similar to the shape of the upper structure of the tower base, and only need to make the electromagnetic suction components on two adjacent surfaces fit the upper structure of the tower base. During the loading process, first, the automatic lifting cantilever drives the entire electromagnetic suction suspension mechanism to rotate to a suitable position above the tower base. Then, the piston rod of the second hydraulic cylinder drives the installation body to move downward. When the installation body descends to the specified height, the wiring component is powered on to work. At this time, the two electromagnetic suction components will instantaneously generate strong magnetic suction force, so that the tower base can be firmly adsorbed and fixed. After the fixation is completed, the piston rod of the second hydraulic cylinder contracts and resets. At this time, the automatic lifting cantilever lifts and hoists it above the support platform. Then, the piston rod of the second hydraulic cylinder extends downward until the bottom surface of the tower base fits the upper surface of the support platform. At this time, the wiring component is powered off, the two electromagnetic suction components stop working, and separate from the tower base, thus completing the automatic hoisting and loading process. The unloading process runs in the opposite direction to the above process and will not be elaborated here.

[0023] The beneficial effects of the present invention are as follows: (1) By designing a rotary material-changing platform, an automatic lifting cantilever, and an electromagnetic suction suspension mechanism, the present invention can replace manual labor to complete the automatic loading and unloading operations of welded parts, which is not only more time-saving and labor-saving, but also reduces the safety hazards existing in the manual hoisting process, and greatly improves the work efficiency; (2) By designing an automatic welding platform without manual intervention, the overall welding efficiency is not only improved, but also conducive to the continuous processing of large quantities of products; (3) By designing an automatic positioning and clamping mechanism and a follow-up pre-adjustment mechanism, the welding platform can automatically complete the positioning and calibration of welded parts and stable clamping and fixing, saving both manpower and material resources, and ensuring the subsequent welding accuracy and welding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is the first perspective structural diagram of the working state of the present invention; Figure 2 is the second perspective structural diagram of the working state of the present invention; Figure 3 is the front view of the working state of the present invention; Figure 4 is the structural schematic diagram of the working state of the welding robot of the present invention; Figure 5 is the structural schematic diagram of the position-changing and adjusting mechanism of the present invention; Figure 6 is the first perspective structural schematic diagram of the support mechanism of the present invention; Figure 7 is the second perspective structural schematic diagram of the support mechanism of the present invention; Figure 8 is the structural schematic diagram of the automatic positioning and clamping mechanism of the present invention; Figure 9 is Figure 8 the partial enlarged view at A in Figure 10 is the installation structural schematic diagram of the follow-up pre-adjustment mechanism of the present invention; Figure 11 is the front view of the support mechanism of the present invention; Figure 12 Figure 11 the sectional view taken along the line A-A in Figure 13 is the structural schematic diagram of the follow-up pre-adjustment mechanism of the present invention; Figure 14 is the structural schematic diagram of the rotary material-changing platform and the automatic lifting cantilever of the present invention; Figure 15 is the front view of the automatic lifting cantilever of the present invention; Figure 16 is the transmission structural schematic diagram of the rotary material-changing platform of the present invention; Figure 17 is a schematic structural view of the electromagnetic suction suspension mechanism of the present invention from the first perspective; Figure 18 is a schematic structural view of the electromagnetic suction suspension mechanism of the present invention from the second perspective.

[0025] Reference numerals: 1, welding robot; 2, displacement adjustment mechanism; 201, fixed frame; 202, rotating seat; 203, first servo motor; 204, second servo motor; 205, rotating disk; 3, support mechanism; 301, fixed disk; 302, support block; 303, support platform; 304, rectangular groove; 4, automatic positioning clamping mechanism; 401, bearing seat; 402, ball screw; 403, ball nut seat; 404, positioning clamp seat; 405, transmission bevel gear; 406, third servo motor; 407, driving bevel gear; 5, follow-up pre-adjustment mechanism; 501, connecting seat; 502, connecting card slot; 503, round hole; 504, fixing rod; 505, positioning clamp block; 506, fixing nut; 507, spring ring; 6, rotary material changing platform; 601, support base; 602, gear rotating platform; 603, driving gear; 604, fourth servo motor; 605, positioning angle seat; 7, automatic lifting cantilever; 701, first rotating bracket; 702, rotating arm; 703, main cantilever; 704, positioning ring; 705, second rotating bracket; 706, first hydraulic cylinder; 707, third rotating bracket; 8, electromagnetic suction suspension mechanism; 801, suspension seat; 802, second hydraulic cylinder; 803, mounting body; 804, electromagnetic suction component; 805, wiring component; 9, iron tower base. Specific embodiments

[0026] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0027] As Figures 1-18As shown in the figure, a position-changing welding platform for a tower welding part in this embodiment includes a welding robot 1 and a position-changing adjustment mechanism 2 arranged at adjacent positions. The position-changing adjustment mechanism 2 includes a fixed frame 201. A rotating seat 202 is rotatably connected to the fixed frame 201. A first servo motor 203 for driving the rotating seat 202 to rotate is installed at one end of the fixed frame 201. A second servo motor 204 is also installed at the bottom of the rotating seat 202. The top end of the output shaft of the second servo motor 204 is fixedly connected to a rotating disk 205. The position-changing adjustment mechanism 2 is mainly used to adjust the position and angle of the tower base 9 during the welding process. Specifically, during operation, the first servo motor 203 can drive the rotating seat 202 to freely adjust at various angles in the X-axis direction. At the same time, the second servo motor 204 can also drive the rotating disk 205 to freely adjust at various angles in the Y-axis or Z-axis direction, cooperating with the welding path programming of the welding robot 1, so that automatic welding can be carried out according to the set welding program without manual intervention throughout the process. In addition, it should be noted that the welding robot 1 belongs to the existing mature technology, and its specific programming principle and working principle will not be elaborated in detail here.

[0028] Regarding the support mechanism 3, refer to Figures 1-12 , a support mechanism 3 for supporting and placing the tower base 9 is fixedly installed at the top of the position-changing adjustment mechanism 2; the support mechanism 3 includes a fixed disk 301 fixedly installed at the top of the position-changing adjustment mechanism 2. A plurality of support blocks 302 are fixedly connected to the peripheral side of the top of the fixed disk 301. A support platform 303 is fixedly installed at the top of the plurality of support blocks 302. And a plurality of rectangular grooves 304 are formed in the peripheral side of the support platform 303. The support mechanism 3 mainly serves as a support structure, and the support platform 303 at its top is used to place the tower base 9. At the same time, the automatic positioning and clamping mechanism 4 also relies on it as an installation structure. During the welding process, the automatic positioning and clamping mechanism 4 can firmly fix the tower base 9 on the support platform 303, so as to cooperate with the position-changing adjustment mechanism 2 and the welding robot 1 to quickly complete the welding work.

[0029] Regarding the automatic positioning and clamping mechanism 4, refer to Figures 7-12, an automatic positioning and clamping mechanism 4 for clamping the tower base 9 is installed inside the support mechanism 3. The automatic positioning and clamping mechanism 4 includes multiple groups of bearing seats 401 fixedly installed on the peripheral side of the bottom of the support platform 303. A ball screw 402 is rotatably connected between each group of bearing seats 401. A ball nut seat 403 is installed on the ball screw 402. The top of the ball nut seat 403 is fixedly connected with a positioning clamp seat 404 for fixing the corners of the tower base 9. The inner end of each ball screw 402 is fixedly installed with a transmission bevel gear 405. A third servo motor 406 is fixedly installed at the center of the top of the fixed disk 301. The top of the output shaft of the third servo motor 406 is fixedly connected with a driving bevel gear 407 meshing with multiple transmission bevel gears 405. The automatic positioning and clamping mechanism 4 is mainly used for quickly clamping and fixing the tower base 9 and ensuring the stability of the tower base 9 during the welding process without deviation and shaking. Specifically, when the tower base 9 is placed on the top of the support platform 303, the third servo motor 406 starts to work, drives the driving bevel gear 407 to rotate through its output shaft. When the driving bevel gear 407 rotates, it will synchronously drive multiple transmission bevel gears 405 to rotate, and then drive the corresponding ball nut seats 403 to move synchronously through the fixed ball screws 402. During the synchronous movement of multiple ball nut seats 403, they can drive the corresponding positioning clamp seats 404 to clamp towards the center of the support platform 303 (clamping process) or spread outwards (unloading process). During the clamping process, with the pre-adjustment of the position of the tower base 9 by multiple groups of follow-up pre-adjustment mechanisms 5, the locking and fixing of each corner of the tower base 9 can be quickly fixed by multiple positioning clamp seats 404, so that the tower base 9 can be stably fixed on the support platform 303.

[0030] In this embodiment, further, each group of bearing seats 401 is located directly below the corresponding rectangular groove 304, and multiple ball nut seats 403 are respectively slidably limited in the corresponding rectangular grooves 304. Under the limiting action of the rectangular grooves 304 and the bearing seats 401, it can be ensured that the corresponding ball nut seats 403 and positioning clamp seats 404 can move along a fixed track, thus ensuring the overall clamping accuracy and clamping efficiency.

[0031] Regarding the follow-up pre-adjustment mechanism 5, refer to Figures 10-13, there are also multiple groups of follow-up pre-adjustment mechanisms 5 for adjusting the position of the tower base 9 before clamping fixed on the automatic positioning and clamping mechanism 4; the follow-up pre-adjustment mechanism 5 includes a connecting seat 501 fixed to the outside of the positioning clamp seat 404. A connecting card slot 502 matching the positioning clamp seat 404 is provided on the inner side of the connecting seat 501. Round holes 503 are provided at both ends of the connecting seat 501. Fixed rods 504 are slidably connected in both round holes 503. One end of the fixed rod 504 close to the tower base 9 is fixedly connected with a positioning clamp block 505, and the other end is threadedly connected with a fixing nut 506. A spring ring 507 is also sleeved on the outer wall of the fixed rod 504 close to the positioning clamp block 505. The follow-up pre-adjustment mechanism 5 is mainly used for pre-adjusting the clamping position of the tower base 9. When the tower base 9 is automatically hoisted by the electromagnetic suction suspension mechanism 8 and placed on the top of the support platform 303, there will be a small deviation in its actual position and angle. Therefore, during the process of clamping and fixing the tower base 9 by the automatic positioning and clamping mechanism 4, the fixed rod 504 and the positioning clamp block 505 slidably installed on the connecting seat 501, under the elastic thrust of the spring ring 507, the positioning clamp block 505 will contact the tower base 9. As the positioning clamp seat 404 continues to approach, the positioning clamp block 505 in contact with and pressing against the tower base 9 will further squeeze the spring ring 507. During the continuous squeezing of the spring ring 507, its reverse thrust will also act on the positioning clamp block 505, and then push the tower base 9 to move during this process. Under the action of multiple positioning clamp blocks 505 pushing simultaneously from multiple directions, the position of the tower base 9 can be adjusted to a suitable state, so that multiple positioning clamp seats 404 can accurately lock with the corresponding corners of the tower base 9 in the subsequent process. It should be noted that the follow-up pre-adjustment mechanism 5 can not only play a role in pre-adjusting and positioning, but also, after the tower base 9 is clamped and fixed, under the reverse thrust of multiple spring rings 507, it can also play an auxiliary fixing and limiting role on the bottom of the tower base 9, so as to ensure the stability of the tower base 9 during the welding process.

[0032] Regarding the rotary charging platform 6, refer to Figures 14-16, on one side of the displacement adjustment mechanism 2, there is a rotary material changing platform 6, which is used for the alternating feeding and discharging of the tower base 9 during the processing. The rotary material changing platform 6 includes a support base 601. On the support base 601, a gear rotary platform 602 and a driving gear 603 are respectively rotatably connected. At the top of the support base 601, a fourth servo motor 604 for driving the driving gear 603 to rotate is installed. On the top of the gear rotary platform 602, there are also a plurality of positioning angle seats 605 for assisting in positioning the position of the tower base 9. The rotary material changing platform 6 is mainly used for the auxiliary position change of the tower base 9 during the loading and unloading process. Specifically during work, the fourth servo motor 604 can drive the gear rotary platform 602 engaged with it to rotate through the driving gear 603, so as to realize the adjustment of the position of the tower base 9 on the gear rotary platform 602, thereby forming a compact material supply and discharging system.

[0033] In a further embodiment of the present invention, there are also a plurality of positioning angle seats 605 on the top of the gear rotary platform 602. During the feeding process, after aligning one corner of the tower base 9 with the slot of the positioning angle seat 605 at a fixed angle, the precise positioning of the tower base 9 can be realized, which can facilitate subsequent precise hoisting.

[0034] In a further embodiment of the present invention, the upper part of the gear rotary platform 602 is a disc structure, and the lower part of the circumference is a tooth groove structure, and the gear rotary platform 602 and the driving gear 603 are meshed with each other.

[0035] Regarding the automatic lifting cantilever 7, refer to Figures 14-16 , at a position near the front end of the top of the rotary material changing platform 6, an automatic lifting cantilever 7 is also installed; the automatic lifting cantilever 7 includes a first rotating bracket 701 and a second rotating bracket 705 fixed to the top of the rotary material changing platform 6. A rotating arm 702 is rotatably connected to the first rotating bracket 701. At the top of the rear end of the rotating arm 702, a main cantilever 703 is fixedly connected. A positioning ring 704 is installed at the rear end of the main cantilever 703. A first hydraulic cylinder 706 is rotatably connected to the second rotating bracket 705. A third rotating bracket 707 is also fixedly connected to the rotating arm 702. The end of the piston rod of the first hydraulic cylinder 706 is rotatably connected to the third rotating bracket 707. When the automatic lifting cantilever 7 is working, the first hydraulic cylinder 706 can drive the rotating arm 702 to rotate with the first rotating bracket 701 as the fulcrum through the telescopic movement of the piston rod. During its rotation process, it can drive the electromagnetic suction suspension mechanism 8 on the main cantilever 703 to rotate synchronously, and further drive the tower base 9 adsorbed and fixed on the electromagnetic suction suspension mechanism 8 to reciprocate for loading and unloading between the support mechanism 3 and the rotary material changing platform 6.

[0036] Regarding the electromagnetic suction suspension mechanism 8, refer to Figures 14-18, an electromagnetic suction suspension mechanism 8 is rotatably connected to the automatic lifting cantilever 7, which is used for magnetic adsorption and fixation of the tower base 9, and cooperates with the automatic lifting cantilever 7 to complete the automatic loading and unloading of the tower base 9 between the support mechanism 3 and the rotary charging platform 6. The electromagnetic suction suspension mechanism 8 includes a suspension seat 801 rotatably connected to the main cantilever 703. A second hydraulic cylinder 802 is fixedly installed at the bottom of the suspension seat 801. The bottom end of the piston rod of the second hydraulic cylinder 802 is fixedly connected to an installation body 803. Electromagnetic suction components 804 are installed on two adjacent surfaces of the installation body 803. A wiring component 805 for connecting the wire leads of the two electromagnetic suction components 804 is installed inside the installation body 803. Since the mass of the tower base 9 is relatively heavy and the upper structure is complex and not conducive to clamping by a simple mechanical structure, the installation body 803 and the electromagnetic suction components 804 are designed. The shape of the installation body 803 can be designed to be similar to the shape of the upper structure of the tower base 9, as long as the electromagnetic suction components 804 on two adjacent surfaces can fit with the upper structure of the tower base 9. During the loading process, first, the automatic lifting cantilever 7 drives the entire electromagnetic suction suspension mechanism 8 to rotate to a suitable position above the tower base 9, and then the piston rod of the second hydraulic cylinder 802 drives the installation body 803 to move downward. When the installation body 803 descends to the specified height, the wiring component 805 is powered on and works. At this time, the two electromagnetic suction components 804 will instantaneously generate a strong magnetic suction force, so that the tower base 9 can be firmly adsorbed and fixed. After the fixation is completed, the piston rod of the second hydraulic cylinder 802 retracts and resets. At this time, the automatic lifting cantilever 7 lifts and hoists it above the support platform 303, and then the piston rod of the second hydraulic cylinder 802 extends downward until the bottom surface of the tower base 9 is in contact with the upper surface of the support platform 303. At this time, the wiring component 805 is powered off, the two electromagnetic suction components 804 stop working, and are separated from the tower base 9, thus completing the automatic hoisting and loading process. The unloading process runs in the opposite direction to the above process and will not be elaborated here.

[0037] The working principle of this embodiment is as follows. During operation, the tower base 9 after spot welding is placed at the specified loading position on the rotary charging platform 6 by manual or robotic arm. When the tower base 9 to be processed rotates to the loading and unloading position, the automatic lifting cantilever 7 drives the entire electromagnetic suction suspension mechanism 8 to rotate to a suitable position above the tower base 9, and then the two electromagnetic suction components 804 on the electromagnetic suction suspension mechanism 8 adsorb and fix the tower base 9; Then, the automatic lifting cantilever 7 lifts and hoists it above the support platform 303, and then the piston rod of the second hydraulic cylinder 802 extends downward until the bottom surface of the tower base 9 is in contact with the upper surface of the support platform 303. At this time, the wiring component 805 is powered off, the two electromagnetic suction components 804 stop working, complete the separation from the tower base 9, and reset; At this time, the automatic positioning and clamping mechanism 4 and the follow-up pre-adjustment mechanism 5 start to work. First, the follow-up pre-adjustment mechanism 5 adjusts the position of the tower base 9 to a proper state, and then a plurality of positioning clamp seats 404 complete the locking and fixing of the corresponding corners of the tower base 9. During welding, the position-changing and adjusting mechanism 2 drives the tower base 9 to make free adjustments at various angles, cooperating with the welding path programming of the welding robot 1, so that automatic welding can be carried out according to the set welding program. After welding is completed, the tower base 9 is hoisted onto the rotary material-changing platform 6 by the automatic lifting cantilever 7 and the electromagnetic suction suspension mechanism 8.

[0038] The above is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention.

Claims

1. A position-changing welding platform for a steel tower welded part, comprising a welding robot (1) and a position-changing adjustment mechanism (2) arranged at adjacent positions, characterized in that: At the top of the displacement adjustment mechanism (2), a support mechanism (3) for supporting and placing the tower base (9) is fixedly installed. An automatic positioning and clamping mechanism (4) for clamping the tower base (9) is installed inside the support mechanism (3), and a plurality of follow-up pre-adjustment mechanisms (5) for adjusting the position of the tower base (9) before clamping are fixedly installed on the automatic positioning and clamping mechanism (4). A rotary material changing platform (6) is arranged on one side of the displacement adjustment mechanism (2) for alternately feeding and discharging the tower base (9) during the processing. An automatic lifting cantilever (7) is also installed at a position near the front end of the top of the rotary material changing platform (6). An electromagnetic suction suspension mechanism (8) is rotatably connected to the automatic lifting cantilever (7) for magnetically fixing the tower base (9) and cooperating with the automatic lifting cantilever (7) to complete the automatic loading and unloading of the tower base (9) between the support mechanism (3) and the rotary material changing platform (6).

2. The position-changing welding platform for the iron tower welding part according to claim 1, wherein, The displacement adjustment mechanism (2) includes a fixed frame (201). A rotating seat (202) is rotatably connected to the fixed frame (201). A first servo motor (203) for driving the rotating seat (202) to rotate is installed at one end of the fixed frame (201). A second servo motor (204) is also installed at the bottom of the rotating seat (202), and the top end of the output shaft of the second servo motor (204) is fixedly connected to a rotating disc (205).

3. The position-changing welding platform for the iron tower welding part according to claim 1, wherein, The support mechanism (3) includes a fixed disc (301) fixedly installed at the top of the displacement adjustment mechanism (2). A plurality of support blocks (302) are fixedly connected to the periphery of the top of the fixed disc (301). A support platform (303) is fixedly installed at the top of the plurality of support blocks (302), and a plurality of rectangular grooves (304) are formed in the periphery of the support platform (303).

4. The variable-position welding platform for tower welding parts according to claim 3, characterized in that The automatic positioning and clamping mechanism (4) includes a plurality of groups of bearing seats (401) fixedly installed at the periphery of the bottom of the support platform (303). A ball screw (402) is rotatably connected between each group of bearing seats (401). A ball nut seat (403) is installed on the ball screw (402). The top of the ball nut seat (403) is fixedly connected to a positioning clamp seat (404) for fixing the corners of the tower base (9). A transmission bevel gear (405) is fixedly installed at the inner end of each ball screw (402). A third servo motor (406) is fixedly installed at the center of the top of the fixed disc (301), and the top of the output shaft of the third servo motor (406) is fixedly connected to a driving bevel gear (407) that meshes with the plurality of transmission bevel gears (405).

5. The variable-position welding platform for the iron tower welding part according to claim 4, characterized in that Each group of bearing seats (401) is located directly below the corresponding rectangular groove (304), and the plurality of ball nut seats (403) are respectively slidably limited within the corresponding rectangular grooves (304).

6. The variable-position welding platform for tower welding parts according to claim 4, characterized in that, The follow-up pre-adjustment mechanism (5) includes a connection seat (501) fixed to the outside of the positioning clamp seat (404). A connection card slot (502) matching the positioning clamp seat (404) is provided inside the connection seat (501). Round holes (503) are provided at both ends of the connection seat (501). Fixed rods (504) are slidably connected in the two round holes (503). A positioning clamp block (505) is fixedly connected to one end of the fixed rod (504) close to the tower base (9), and a fixing nut (506) is threadedly connected to the other end thereof. A spring ring (507) is also sleeved on the outer wall of the fixed rod (504) close to the positioning clamp block (505).

7. The variable-position welding platform for tower welding parts according to claim 1, characterized in that, The rotary material-changing platform (6) includes a support base (601). A gear rotary platform (602) and a driving gear (603) are respectively rotatably connected to the support base (601). A fourth servo motor (604) for driving the driving gear (603) to rotate is installed on the top of the support base (601). A plurality of positioning angle seats (605) for assisting in positioning the position of the tower base (9) are further provided on the top of the gear rotary platform (602).

8. The variable-position welding platform for iron tower welded parts according to claim 7, wherein The upper part of the gear rotary platform (602) is of a disc structure, and the lower part of the circumference is of a tooth groove structure, and the gear rotary platform (602) meshes with the driving gear (603).

9. The variable-position welding platform for tower welding parts according to claim 1, characterized in that, The automatic lifting cantilever (7) includes a first rotating bracket (701) and a second rotating bracket (705) fixed to the top of the rotary material-changing platform (6). A rotating arm (702) is rotatably connected to the first rotating bracket (701). A main cantilever (703) is fixedly connected to the top of the rear end of the rotating arm (702). A positioning ring (704) is installed at the rear end of the main cantilever (703). A first hydraulic cylinder (706) is rotatably connected to the second rotating bracket (705). A third rotating bracket (707) is also fixedly connected to the rotating arm (702). The end of the piston rod of the first hydraulic cylinder (706) is rotatably connected to the third rotating bracket (707).

10. The position-changing welding platform for the iron tower welding part according to claim 9, wherein, The electromagnetic suction suspension mechanism (8) includes a suspension seat (801) rotatably connected to the main cantilever (703). A second hydraulic cylinder (802) is fixedly installed at the bottom of the suspension seat (801). The bottom end of the piston rod of the second hydraulic cylinder (802) is fixedly connected to an installation body (803). Electromagnetic suction components (804) are installed on two adjacent surfaces of the installation body (803). A wiring component (805) for connecting the conducting wires of the two electromagnetic suction components (804) is installed inside the installation body (803).

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