Long-stroke narrow-body automatic welding gun and automatic welding equipment for expansion joint embedded parts

Abstract

This invention discloses a long-stroke, narrow-body automatic welding torch and an automatic welding equipment for expansion joint embedded parts, belonging to the field of automatic welding technology. The automatic welding torch includes a long, narrow housing, a drive mechanism, a transmission mechanism, a welding torch execution component, and a position detection component. These components are arranged side-by-side along the width of the housing, achieving a narrow body and long stroke design. Combined with an insulation structure and precise position detection, it ensures operational safety and positioning accuracy. The welding equipment includes a welding device, an automatic feeding mechanism, a discharging component, and a stud feeding mechanism. The welding device is equipped with at least two of the aforementioned automatic welding torches. The feeding, stud feeding, and discharging mechanisms respectively achieve stable transport of the embedded parts by their own weight, isolated lifting of individual studs, and automatic unloading of finished products. This invention achieves fully automated operation, enabling simultaneous stud picking and time-sharing welding with multiple torches. It solves the problems of low efficiency, poor quality, and material jamming / deviation associated with traditional equipment, improving welding efficiency and product consistency, and is suitable for large-scale mass production.

Description

Technical Field

[0001] This invention relates to the field of automatic welding technology, and in particular to an automatic welding gun with a long stroke and a narrow body, and an automatic welding equipment for expansion joint embedded parts. Background Technology

[0002] Ground expansion joint embedded parts are precast components that are embedded in concrete before the pouring of large-area floor slabs in industrial plants, warehouses, etc. Their main function is to guide and control the shrinkage and expansion of concrete, automatically forming regular expansion joints, protecting the concrete edges of the expansion joints from damage by vehicles, reducing the bumpy feeling of wheels passing over them, and improving performance. To ensure that the embedded part is firmly embedded in the concrete and does not shift, several T-shaped studs need to be welded to the long strip steel plate that forms its main body. Currently, this is done manually. Manual welding has many drawbacks, such as uneven stud placement, welding misalignment, low production efficiency, and poor product consistency, making it difficult to meet the needs of large-scale mass production.

[0003] Existing automated welding equipment is mostly equipped with conventional wide-body welding torches. The torch body occupies a large width, and due to the limitation of the equipment frame, it is impossible to arrange multiple welding torches side by side in a limited space. Moreover, the on-site power supply capacity is usually insufficient to support multiple welding torches welding simultaneously. Traditional equipment cannot achieve a multi-torch synchronous nail removal and time-sharing welding operation mode, and can only operate with a single torch per machine, which limits the improvement of production efficiency. At the same time, conventional welding torches have a short stroke, which cannot adapt to the large stroke nail removal and welding requirements of different sized embedded parts.

[0004] In addition, the existing equipment mostly adopts a rigid linear push structure for feeding and conveying, which is prone to jamming and deviation of the embedded parts. The nail feeding mechanism relies solely on the material discharge clamp to naturally arrange the nails. The nails are tightly fitted together, and the clamping margin of the welding gun chuck is small, resulting in low nail picking and positioning accuracy, which easily leads to nail jamming and nail falling off. The above defects result in low automation of the overall equipment and discontinuous process connection, which seriously restricts the improvement of quality and efficiency of welding processing of expansion joint embedded parts. Summary of the Invention

[0005] To overcome the shortcomings and defects of the prior art, this invention provides a long-stroke narrow-body welding torch and an automatic welding device for expansion joint embedded parts. This invention is achieved through the following solution: A long-stroke, narrow-body automatic welding torch includes an elongated housing, a drive mechanism, a transmission mechanism, a welding torch actuation component, and a position detection component; the transmission mechanism, the welding torch actuation component, and the position detection component are arranged side by side in the receiving cavity of the housing along the width direction of the housing. The transmission mechanism includes a driving member and a driven member. The driving member is arranged axially in the housing cavity, and the driving mechanism extends into the housing cavity and is connected to the driving member in a transmission manner. The position detection component is used to detect the axial movement position of the welding torch actuator to realize the stroke control of the welding torch actuator; the position detection component is disposed on the side of the accommodating cavity away from the transmission mechanism; The welding torch execution assembly is disposed between the transmission mechanism and the position detection assembly. The welding torch execution assembly includes a conductive component and an execution unit. The execution unit is arranged along the axial direction of the housing, and its upper end is insulated from the driven component of the transmission mechanism. The conductive component is electrically connected to the execution unit. The welding torch execution assembly can move up and down along the axial direction of the housing under the drive of the transmission mechanism, and its lower end can extend from the bottom of the housing to perform nail picking and / or welding operations.

[0006] By adopting the above technical solution, a narrow-body integrated layout of the automatic welding torch is achieved, making its overall width small, its structure compact and integrated. The long stroke design can meet the needs of large-stroke welding and nail removal. The narrow-body design allows multiple welding torches to be installed within a limited area, ensuring the welding quality of embedded parts and improving the welding efficiency of the automatic welding equipment. Multiple position detection sensors and induction plates are used in conjunction to achieve real-time position detection, precise stroke control, and high welding positioning accuracy. The insulation isolation between the transmission components and the welding torch execution components meets the design requirements for electrical safety.

[0007] As an improvement of the present invention, the transmission mechanism further includes a guide rail disposed axially within the accommodating cavity along the housing; the driving member is a lead screw, and the driven member includes a lead screw flange nut sleeved on the lead screw and a slide seat sleeved on the outer periphery of the lead screw flange nut; the slide seat is slidably engaged with the guide rail, so that the slide seat slides up and down along the guide rail; The execution unit includes a gun shaft and a stud chuck; the upper end of the gun shaft is fixed to the side of the slide block away from the lead screw, and the stud chuck is fixed to the lower end of the gun shaft; the conductive component is an L-shaped copper busbar, and the lower end of the copper busbar is fixedly connected to the gun shaft above the stud chuck. The position detection component includes a sensing rod coaxially inserted inside the gun shaft and capable of axial floating, a plurality of position sensors spaced along the axial direction of the housing on the side of the welding gun execution component away from the lead screw, and a sensing plate disposed on the upper part of the execution unit.

[0008] The above technical solution ensures smoother transmission, higher guiding accuracy, and no deviation during long-stroke operation by coordinating the lead screw with the lead screw flange nut, slide base, and guide rail. The gun shaft and slide base are insulated and fixedly connected, providing good transmission rigidity, fast lifting response, and good synchronization. The use of L-shaped copper busbars makes the overall layout compact, with a short conductive path, and is suitable for narrow structures without occupying lateral space. The sensing rod is set inside the gun shaft, and together with the sensing plate and position sensor, it can accurately detect the axial stroke point, making positioning and stroke control more precise and reliable.

[0009] As an improvement of the present invention, the upper end of the gun shaft is fixed to the slide seat by a gun shaft mounting seat; an epoxy sleeve is sleeved on the gun shaft, and the epoxy sleeve is disposed between the gun shaft mounting seat and the copper busbar; The position sensor includes an origin detection sensor disposed on the lower surface of the top of the housing, and a first position sensor and a second position sensor disposed axially along the housing on the side of the actuator away from the lead screw; the sensing plate includes an origin sensing plate and a spindle sensing plate; the origin sensing plate is disposed on the top of the gun shaft mounting base and cooperates with the origin detection sensor; the mounting part at one end of the spindle sensing plate is fixed to the top of the sensing rod, and the sensing part at the other end bypasses the copper busbar and cooperates with the first position sensor and the second position sensor.

[0010] The above technical solution ensures high rigidity and good coaxiality between the gun shaft and the slide base, resulting in smoother movement. The epoxy sleeve effectively provides insulation and isolation, enhancing electrical safety and welding stability. The layout of the induction plate and sensor avoids the copper busbar, adapting to the compact internal space of the narrow body, ensuring that conductive and moving parts do not interfere with each other. The structural layout is ingenious and reasonable.

[0011] As an improvement of the present invention, the drive mechanism includes a motor and a coupling. The rotating shaft of the motor extends from the top of the housing into the receiving cavity and is fixed to the upper end of the lead screw through the coupling. The motor drives the lead screw to move the welding torch actuator along the axial long stroke.

[0012] By adopting the above technical solution, the motor is placed outside the housing, making the internal space of the housing larger and providing conditions for long stroke; the motor is directly connected to the lead screw via a coupling, which ensures high coaxiality of transmission, smooth operation, direct and efficient power transmission, and can stably drive the welding torch actuator to achieve long stroke and precise axial movement.

[0013] An automatic welding device for expansion joint embedded parts includes a welding device, an automatic feeding mechanism, a discharging component, and a nail feeding mechanism; the welding device includes a frame, a welding platform disposed on the frame, and at least two of the above-mentioned automatic welding guns spaced apart in the left-right direction at the upper end of the frame.

[0014] By adopting the above technical solution, multiple long-stroke narrow-body automatic welding guns can be installed within a limited working area through staggered placement, enabling multiple welding guns to be in place simultaneously and weld in a time-sharing mode. Combined with automatic feeding, nail feeding, and unloading components, the entire process of pre-embedded parts feeding, nail feeding, welding, and unloading is fully automated. The narrow-body welding guns are arranged compactly and do not interfere with each other, ensuring that the spacing between the studs welded on the pre-embedded parts is moderate and uniform, effectively improving welding efficiency and product consistency, and reducing manual labor intensity.

[0015] As an improvement of the present invention, the welding platform is provided with two parallel limiting bosses along the left-right direction, and a welding guide groove adapted to the width of the embedded part is formed between the two limiting bosses; the automatic feeding mechanism includes a receiving component, a feeding component, and a conveying component; the feeding component includes a feeding frame and a robotic arm, the feeding frame is provided on one side of the welding platform along the extension direction of the welding guide groove; the robotic arm is slidably disposed on one side of the feeding frame; the receiving component includes a receiving frame and a pushing cylinder provided on the receiving frame, the receiving frame is arranged parallel to the side of the feeding frame away from the robotic arm; the conveying component is disposed between the receiving frame and the feeding frame.

[0016] By adopting the above technical solution, welding guide grooves adapted to the embedded parts are formed by two limiting bosses, which can accurately limit and guide the embedded parts to ensure that the welding position is regular and consistent. The automatic feeding mechanism integrates receiving, feeding and conveying components, uses a robotic arm to realize the transfer of workpieces, and works in an orderly manner with the pusher cylinder. All mechanisms work together to realize the automatic receiving, conveying and accurate feeding of the expansion joint embedded parts to the welding station. The positioning is reliable, the feeding process is smooth, the degree of automation is high, and the feeding efficiency and welding processing accuracy are effectively improved.

[0017] As an improvement of the present invention, the conveying assembly includes a guide rod and a receiving wheel. The guide rod is arranged parallel to the feeding frame and the receiving frame, and the receiving wheel is sleeved on the guide rod. The receiving frame is set at a higher height than the feeding frame. Multiple sets of conveying rollers are arranged at intervals between the receiving frame and the receiving wheel. The axial direction of the second set of conveying rollers is parallel to the length direction of the receiving frame, and they are inclined from high to low from the receiving frame to the receiving wheel. Multiple sets of third sets of conveying rollers are arranged at intervals between the feeding frame and the receiving wheel. The axial direction of the third set of conveying rollers is parallel to the length direction of the feeding frame, and they are inclined from high to low from the receiving wheel to the feeding frame. The outer peripheral edge of the receiving wheel is recessed inward to form a receiving groove for receiving embedded parts.

[0018] By adopting the above technical solution, a transfer structure is formed by the guide rod and the receiving wheel. The outer circumference of the receiving wheel is recessed to form a receiving groove, which can stably receive and transfer the embedded parts. Two sets of inclined conveying rollers form a sloping conveying path with different heights, allowing the embedded parts to roll down smoothly by their own weight, achieving automatic feeding and transfer without additional drive. The overall conveying structure is smoothly connected and has good limiting and guiding properties, avoiding deviation and jamming of the embedded parts during the conveying process. The conveying is stable and reliable, further improving the continuity and operational stability of the automated feeding of the equipment.

[0019] As an improvement of the present invention, the welding platform is provided with a welding protection device and a clamping mechanism; the welding protection device includes a plurality of cylinders one located on the front side of the two limiting bosses and a plurality of cylinders two located on the rear side; the output end of the cylinder one is provided with a protective cover front half shell, and the output end of the cylinder two is provided with a protective cover rear half shell, the protective cover front half shell and the protective cover rear half shell can be engaged above the welding guide groove; the clamping mechanism includes a clamping block drive motor, a rotating block and a clamping block, the clamping block drive motor is fixed to the side of the two limiting bosses, one end of the rotating block is fixedly connected to the output shaft of the clamping block drive motor, and the other end is fixed to the clamping block, the clamping mechanism and the cylinders two are arranged alternately.

[0020] By adopting the above technical solution, cylinders one and two drive the front and rear halves of the protective cover to open and close, forming a sealed protective space above the welding station. The clamping mechanism uses a motor to drive a rotating block to rotate and press down, which can reliably clamp and position the embedded parts in the welding guide groove, preventing the workpiece from shifting or warping during welding. Moreover, the clamping mechanism and cylinder two are arranged in an alternating manner, with a reasonable layout that does not interfere with each other's movements, taking into account both the stable clamping of the workpiece and the welding safety protection, thereby improving the welding quality and operational safety.

[0021] As an improvement of the present invention, the discharge assembly includes a feeding frame and a discharge rack; the discharge rack is located on the side of the welding platform away from the automatic feeding mechanism along the extension direction of the welding guide groove; a second pushing cylinder is provided on one side of the discharge rack, the feeding frame is located on the side of the discharge rack away from the second pushing cylinder, and is inclined from high to low from the end near the discharge rack to the direction away from the discharge rack; the discharge rack is also provided with a discharge detection sensor, after the discharge detection sensor detects that the welded embedded part has completely entered the discharge rack, the second pushing cylinder pushes the embedded part from the discharge rack to the feeding frame.

[0022] The above technical solution uses a material discharge detection sensor to sense the position of the pre-embedded parts after welding in real time, achieving precise signal triggering. The second pusher cylinder automatically pushes the pre-embedded parts to the inclined unloading frame, where they slide down under their own weight for discharge, eliminating the need for additional conveying power. The overall structure is reasonably laid out, enabling automatic detection, automatic pushing, and automatic unloading of the welded workpiece. The discharge process is smooth and continuous, with a high degree of automation, requiring no manual intervention and effectively improving the overall machine operation efficiency and production continuity.

[0023] As an improvement of the present invention, the nail feeding mechanism includes a discharge clamp and a nail separating assembly. The nail separating assembly includes a nail separating device and a nail ejector. The nail ejector is vertically disposed directly below the end of the discharge clamp, and the bottom end of the nail ejector is provided with a nail ejector cylinder capable of driving the nail ejector to move vertically up and down. The nail separating device is horizontally disposed to the side of the end of the discharge clamp, and a nail separating cylinder is provided on the side away from the discharge clamp. The nail separating cylinder can drive the nail separating device to feed and insert into the gap between the first and second studs at the end of the discharge clamp, so as to separate the first stud.

[0024] The above technical solution utilizes a nail-separating cylinder to drive the nail separator into the nail gap, achieving physical isolation of the first nail. A nail-lifting cylinder then drives the nail-lifting device to rise and fall vertically, smoothly ejecting the separated first nail for feeding. This achieves automatic nail separation with more clamping allowance. The overall structure is precisely matched, nail separation is reliable, and the nail feeding rhythm is stable, effectively preventing nail jamming. The welding torch grips the nails more accurately and reliably. It is compatible with continuous nail removal operations using an automatic welding torch, ensuring continuous and stable operation of the entire welding process.

[0025] The beneficial effects of this invention are as follows: 1. The automatic welding torch of this invention has a compact and reasonable overall structure layout, with a small body width and high integration. Multiple welding torches can be installed side by side within a limited working area to meet the needs of multiple welding torches being in place at the same time and then welding in stages. While ensuring that the spacing between the studs welded on the embedded parts is moderate and uniform, it effectively improves welding efficiency and product consistency.

[0026] 2. The equipment achieves fully automated operation of the entire process, including automatic feeding, automatic conveying, automatic nail feeding, automatic clamping and welding, and automatic inspection and discharge. It has a high degree of automation, which greatly reduces manual intervention, reduces labor intensity, and effectively improves the welding efficiency, welding point uniformity and finished product consistency of expansion joint embedded parts. The equipment is stable and reliable in operation, has a compact structure and small footprint, and is suitable for large-scale mass production. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the automatic welding equipment for expansion joint embedded parts of the present invention; Figure 2 This is a top-view perspective of the automatic welding equipment for expansion joint embedded parts of the present invention. Figure 3 for Figure 2 A magnified view of a portion of point A (welding device); Figure 4 for Figure 3 A magnified view of a portion of the welding platform; Figure 5 This is a schematic diagram of the overall structure of the long-stroke narrow-body automatic welding torch of the present invention; Figure 6This is a schematic diagram of the internal structure of the automatic welding gun of the present invention in the state without a shell; Figure 7 for Figure 6 A magnified view of a portion of point D; Figure 8 This is a perspective view of the internal structure of the automatic welding gun of the present invention in the form of a shell-less state; Figure 9 for Figure 8 A magnified view of a portion of point E in the middle; Figure 10 This is an overall axial sectional view of the automatic welding gun of the present invention; Figure 11 A schematic diagram of the shell structure after removing one side shell; Figure 12 for Figure 2 A top-view enlarged schematic diagram of section B (automatic feeding mechanism); Figure 13 for Figure 2 A magnified view of a portion of point C (discharge assembly); Figure 14 This is a left view of the automatic welding equipment for expansion joint embedded parts of the present invention; Figure 15 This is a partially enlarged schematic diagram of the nail feeding mechanism.

[0028] In the diagram: 1. Welding device; 11. Frame; 111. First slide rail; 112. Second slide rail; 113. Connecting roller; 12. Automatic welding torch; 1201. Side shell; 1202. Side cover; 1203. Epoxy sleeve; 1204. Stud chuck; 1205. Copper busbar; 1207. Motor cover; 1208. Control plug; 1209 1210. Hexagonal nut; 1211. Connecting screw; 1212. Welding torch body; 1213. Lead screw; 1214. Motor; 1215. Coupling; 1216. Slide table; 1217. Welding torch shaft; 1218. Welding torch shaft mounting base; 1219. Sensor mounting strip; 1220. Sensing rod; 1221. Spindle sensing plate; 1222. Insulating sleeve; 1222. Sensing rod fixing pin; 1223. Insulating screw; 1224. Insulating bakelite; 1225. Lead screw flange nut; 1226. Lower plate; 1227. Origin sensing element; 1228. Origin detection sensor; 1229. First position sensor; 1230. Second position sensor; 1231. Sensing mounting bracket; 1233. Lower insulating plate; 1234. Upper insulating plate; 1235. Guide rail; 1236. Through hole one; 1237. Through hole two; 1238. Through hole three; 13. Welding platform; 131. Limiting boss; 1310. Welding guide groove; 132. Cylinder one; 133. Cylinder two; 134. Front half of protective cover; 135. 136. Rear half of the protective cover; 137. First arc-shaped connecting seat; 138. Second arc-shaped connecting seat; 139. Clamping block drive motor; 140. Rotating block; 16. Clamping block; 2. Welding torch protective cover; 2. Automatic feeding mechanism; 21. Receiving assembly; 211. Receiving rack; 212. Pushing cylinder one; 213. Sensor two; 214. Conveying roller group two; 215. Guide rod; 216. Receiving wheel; 2160. Receiving groove; 217. Motor two; 218. Sensor three; 22. Feeding assembly; 2 21. Feeding rack; 222. Conveyor roller group one; 223. Sensor one; 224. Robotic arm; 225. Conveyor roller group three; 3. Discharge assembly; 31. Unloading frame; 32. Discharge rack; 321. Limiting stop; 33. Pushing cylinder two; 34. Discharge detection sensor; 4. Nail feeding mechanism; 41. Support frame; 42. Storage bin; 43. Discharge clamp; 44. Nail separator; 45. Top nailer; 46. Nail separator cylinder; 47. Top nail cylinder; 48. Stud detection sensor; 100. Embedded part. Detailed Implementation

[0029] To better understand the present invention, it will be further described below with reference to the accompanying drawings. It should be noted that the following embodiments are provided to aid in understanding the present invention, but do not constitute a limitation thereof.

[0030] In the description of this application, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear", "upper part", "lower part", "top", "bottom", "upper end", "lower end", etc., indicate the orientation or positional relationship based on the orientation shown in the accompanying drawings or the orientation of the object in the use state. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0031] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0032] In this application, unless otherwise expressly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0033] An automatic welding device for expansion joint embedded parts includes a welding device 1, an automatic feeding mechanism 2, a discharging component 3, and a nail feeding mechanism 4.

[0034] The welding device includes a frame 11, an automatic welding torch 12, and a welding platform 13; the welding platform 13 is fixed on the frame 11, the automatic welding torch 12 is mounted on the upper end of the frame 11, and a welding torch protective cover 16 is provided around the upper periphery of the frame 11.

[0035] The welding platform 13 is equipped with a welding protection device and a clamping mechanism; the welding platform 13 is provided with two parallel and spaced limiting bosses 131 along the left and right directions, and the distance between the two limiting bosses 131 is adapted to the width of the embedded part 100, thereby forming a welding guide groove 1310 between the two limiting bosses 131, which allows the embedded part 100 to pass smoothly.

[0036] The welding protection device includes multiple cylinders 132 arranged at intervals on the left and right sides in front of the two limiting bosses 131, and a front half shell 134 of the protective cover located at the output end of the cylinders 132. The output end of the cylinders 132 faces the limiting bosses 131 and is provided with a first arc-shaped connecting seat 136. The front half shell 134 of the protective cover is fixed to the rear end of the first arc-shaped connecting seat 136. The welding protection device also includes multiple cylinders 133 arranged at intervals on the left and right sides behind the two limiting bosses 131, and a rear half shell 135 of the protective cover located at the output end of the cylinders 133. The cylinders 133 are arranged in a one-to-one correspondence with the cylinders 132. The output end of the cylinders 133 also faces the limiting bosses 131 and is provided with a second arc-shaped connecting seat 137. The rear half shell 135 of the protective cover is fixed to the front end of the second arc-shaped connecting seat 137. The bottoms of the front half shell 134 and the rear half shell 135 of the protective cover are adapted to the surface of the welding platform 13. During the welding operation, cylinder 132 and cylinder 2133 synchronously drive the front half shell 134 and the rear half shell 135 of the protective cover to move closer to the welding guide groove 1310 and finally align and splice them into an integrated protective cover directly above the welding guide groove 1310, thereby achieving isolation and protection of the welding area.

[0037] The clamping mechanism includes a clamping block drive motor 138, a rotating block 139, and a clamping block 140. The clamping block drive motor 138 is fixed to the rear side of two limiting bosses 131 via a motor mounting base. The output shaft of the clamping block drive motor 138 is vertically upward. The rotating block 139 is positioned above the clamping block drive motor 138, with one end fixedly connected to the output shaft of the clamping block drive motor 138 and the bottom of the other end fixedly connected to the clamping block 140. The length of the rotating block 139 matches the horizontal distance from the output shaft of the clamping block drive motor 138 to the center of the welding guide groove 1310.

[0038] When the sensor detects that the embedded part 100 has been fed into the welding guide groove 1310 and arrived at the welding station, the clamping block drive motor 138 starts, driving the rotating block 139 to rotate back towards the welding guide groove 1310, causing the clamping block 140 to rotate directly above the welding guide groove 1310. Subsequently, the output shaft of the clamping block drive motor 138 moves downward, driving the clamping block 140 to press down synchronously, clamping and positioning the embedded part 100. This effectively prevents the embedded part 100 from shifting or tilting during welding, ensuring that the welded studs are arranged in a regular straight line in the middle of the embedded part 100. After welding is completed, the output shaft of the clamping block drive motor 138 moves upward and then reverses, driving the clamping block 140 to reset and disengage from the embedded part 100, completing the feeding and positioning process.

[0039] Preferably, the clamping mechanism is provided in multiple sets and is arranged in an alternating manner with the cylinder 133. That is, the clamping block drive motor 138 of the clamping mechanism is located in the gap between two adjacent sets of cylinders 133, so that the clamping block 140 will not interfere with the movement of the welding gun when clamping the embedded part 100.

[0040] In another embodiment, the clamping mechanism can also be set on the front side of the two limiting bosses 131, with the clamping block drive motor 138 and cylinder 132 arranged alternately; or the clamping mechanism can be arranged on both the front and rear sides of the limiting bosses 131, with the clamping block drive motor 138 arranged alternately with cylinder 132 and cylinder 2133 respectively, as long as the clamping block 140 can reliably clamp the embedded part 100 and does not interfere with the welding torch welding operation.

[0041] like Figure 3 As shown, the upper left and right ends of the frame 11 are respectively fixed with first slide rails 111 extending in the front-back direction. A second slide rail 112 extending in the left-right direction is mounted between the two first slide rails 111, and the left and right ends of the second slide rail 112 are respectively slidably engaged with the corresponding first slide rails 111. A connecting roller 113 parallel to the second slide rail 112 is provided on the rear side of the two first slide rails 111. Through the synchronous linkage of the connecting roller 113, the left and right ends of the second slide rail 112 can be synchronously slid back and forth on the first slide rails 111 to achieve smooth guidance. The automatic welding torch 12 is fixedly mounted on the front side of the second slide rail 112 through the welding torch mounting base, and can be adjusted laterally along with the second slide rail 112.

[0042] In existing technologies, conventional welding torches suffer from drawbacks such as large torch width and short stroke. Due to their structural limitations, only a single welding torch can be installed within a limited welding area, making it difficult to meet the efficiency requirements of large-scale welding operations in factories and unsuitable for large-scale production scenarios. Furthermore, the limited on-site power supply capacity cannot support simultaneous welding with multiple torches. To increase production capacity without increasing the power load, a multi-torch synchronous nail removal and time-sharing welding operation mode is suitable. This mode requires multiple welding torches to be positioned synchronously and then welded sequentially at different times. If traditional wide-body welding torches are used, the large width of the torch itself will inevitably result in a large spacing and sparse arrangement of the studs on the embedded parts 100, severely affecting the quality and performance of the welded product. To address this, the present invention specifically designs a long-stroke narrow-body automatic welding torch 12. By arranging at least two of these long-stroke narrow-body automatic welding torches 12 at intervals along the length of the second slide rail 112, multiple welding torches can be compactly arranged within a limited area. This enables simultaneous nail picking by multiple torches, reduces the spacing between studs, and ensures uniform and orderly arrangement. At the same time, it is compatible with time-sharing welding processes, avoids the limitation of insufficient power capacity, effectively broadens the applicability of the equipment, significantly improves welding efficiency and positioning welding accuracy, and meets the requirements of large-scale production in factories.

[0043] The long-stroke narrow-body automatic welding torch 12 includes a long strip-shaped housing, a drive mechanism, a transmission mechanism, a welding torch execution component, and a position detection component.

[0044] The elongated shell is formed by the welding torch body 1211, side shells 1201, and side covers 1202. The side shells 1201 are located on the front and rear sides of the welding torch body 1211, and the side covers 1202 are arranged opposite to the welding torch body 1211. Together, the three form an elongated cavity with openings at the top and bottom. An upper insulating plate 1234 is provided at the upper opening of the cavity, and a lower insulating plate 1233 is provided at the lower opening.

[0045] The transmission mechanism, welding torch actuation assembly, and position detection assembly are arranged side by side in the housing cavity along the width direction of the housing.

[0046] The transmission mechanism includes a driving member and a driven member. The driving member is arranged axially within the housing cavity, and the drive mechanism extends into the housing cavity and is connected to the driving member for transmission. In this embodiment, the driving member of the transmission mechanism is a lead screw 1212 arranged axially within the housing cavity near the welding torch body 1211. The driven member includes a lead screw flange nut 1225 sleeved on the lead screw 1212 and a slide seat 1215 sleeved on the outer periphery of the lead screw flange nut 1225. The transmission mechanism also includes a guide rail 1235 arranged axially within the housing cavity, between the welding torch body 1211 and the lead screw 1212. The slide seat 1215 is slidably engaged with the guide rail 1235, and the side of the slide seat 1215 away from the guide rail 1235 is connected to the welding torch actuation assembly.

[0047] The drive mechanism includes a motor 1213 and a coupling 1214. A through hole 1236 is provided at one end of the upper insulating plate 1234 near the welding torch body 1211. The coupling 1214 is located below the through hole 1236. The rotating shaft of the motor 1213 passes through the through hole 1236 and is connected to the upper end of the lead screw 1212 via the coupling 1214. With this configuration, the lead screw 1212 rotates forward / reverse under the drive of the motor 1213. At this time, the lead screw flange nut 1225 moves upward / down accordingly, thereby synchronously driving the slide table 1215 and the welding torch actuator to move upward / down as well.

[0048] Furthermore, the motor 1213 body is provided with a motor cover 1207, and the top of the motor cover 1207 is provided with a control plug 1208 as a main terminal.

[0049] The welding torch execution assembly is located between the transmission mechanism and the position detection assembly. The welding torch execution assembly includes a conductive component and an execution unit. The execution unit is arranged along the axial direction of the housing, and its upper end is insulated from the driven component of the transmission mechanism. The conductive component is electrically connected to the execution unit. Under the drive of the transmission mechanism, the welding torch execution assembly can move up and down along the axial direction of the housing, and its lower end can extend from the bottom of the housing to perform nail picking and / or welding operations.

[0050] The actuation unit of the welding torch actuation assembly includes a torch shaft 1216, a stud chuck 1204, and an epoxy sleeve 1203. The upper end of the torch shaft 1216 is smooth, and the lower end is threaded. An insulating bakelite 1224 is provided on the side of the slide base 1215 away from the lead screw 1212. The upper end of the torch shaft 1216 is fixed to the torch shaft mounting base 1217. The torch shaft mounting base 1217 and the insulating bakelite 1224 are fixedly connected by insulating screws 1223, so that the upper end of the torch shaft 1216 is insulated from the side of the slide base 1215 away from the lead screw 1212.

[0051] The epoxy sleeve 1203 is a cylindrical design with an open top and an internal thread at the center of its bottom wall. The epoxy sleeve 1203 is fitted onto the gun shaft 1216 with its opening facing upwards and is threadedly fixed to the gun shaft 1216. The stud chuck 1204 has an internal thread at its top and a chamfered clamping part at its lower end for holding the stud. The stud chuck 1204 is threadedly fixed to the lower end of the gun shaft 1216. The chamfered clamping part of the stud chuck 1204 provides a clamping force greater than the weight of the stud itself, ensuring that the stud will not fall out. The angled design of the clamping part further ensures that the stud will not fall out during removal and also facilitates the smooth removal of the stud chuck 1204 from the stud after welding. The conductive component is an L-shaped copper busbar 1205. The upper insulating plate 1234 has a through hole 1237 at the end furthest from the welding torch body 1211. The upper end of the copper busbar 1205 extends through the through hole 1237 and is positioned outside the receiving cavity. The lower end is fitted onto the torch shaft 1216 and fixed between the epoxy sleeve 1203 and the stud chuck 1204 by connecting screws 1210 and hexagonal nuts 1209. The lower insulating plate 1233 has a through hole 1238 at the end furthest from the welding torch body 1211. The through hole 1238 allows the lower end of the welding torch actuator to extend outside the receiving cavity for stud removal and welding operations.

[0052] The position detection component is used to detect the axial movement position of the welding torch actuator to achieve stroke control of the welding torch actuator; the position detection component is located on the side of the accommodating cavity away from the transmission mechanism.

[0053] The position detection assembly includes a sensing rod 1219 that is coaxially inserted inside the gun shaft 1216 and can float axially, a plurality of position sensors that are spaced apart along the axial direction of the housing on the side of the welding gun execution assembly away from the lead screw 1212, and a sensing plate disposed on the upper part of the execution unit.

[0054] A through hole is provided in the middle of the gun shaft 1216 along its axial direction. The sensing rod 1219 is coaxially disposed inside the gun shaft 1216, with its upper end extending out of the top of the gun shaft 1216. The upper end of the gun shaft mounting base 1217 has a longitudinally arranged oblong hole (not shown). One end of the sensing rod fixing pin 1222 is fixed to the sensing rod 1219, and the other end is inserted into the oblong hole and can move up and down within the oblong hole. With the above configuration, the sensing rod 1219 can float axially relative to the gun shaft 1216, and its lower end can extend out of the stud chuck 1204. Its upper end cooperates with the position sensor to detect whether a welding stud is clamped on the stud chuck 1204.

[0055] The position sensors include an origin detection sensor 1228, and a first position sensor 1229 and a second position sensor 1230 spaced axially along the housing on the side of the welding torch actuator assembly away from the lead screw 1212. A sensing mounting bracket 1231 is provided on the lower surface of the upper insulating plate 1234, and an origin detection sensor 1228 that cooperates with the origin sensing plate 1227 is provided on one side of the sensing mounting bracket 1231. A sensor mounting strip 1218 is provided axially between the copper busbar 1205 and the side cover 1202 along the welding torch body 1211, and the first position sensor 1229 and the second position sensor 1230 are longitudinally spaced inside the sensor mounting strip 1218.

[0056] The sensing element includes a home point sensing element 1227 and a spindle sensing element 1220. An insulating sleeve 1221 is fitted over the top of the sensing rod 1219 extending beyond the top of the gun shaft 1216. The spindle sensing element 1220 is U-shaped, with one end fixed to the outer periphery of the insulating sleeve 1221 as a connecting part, and the other end, serving as the sensing part, bypassing the copper busbar 1205 and suspended between the position sensor and the copper busbar 1205, cooperating with the first position sensor 1229 and the second position sensor 1230. The home point sensing element 1227 is longitudinally positioned at the top of the gun shaft mounting base 1217, and its top is higher than that of the spindle sensing element 1220.

[0057] The automatic welding torch 12 also includes a buffer reset mechanism, which comprises a buffer spring and a reset spring. The buffer spring is sleeved on the lower end of the lead screw 1212, with its upper end abutting against the lead screw flange nut 1225 and its lower end abutting against the lower plate 1226. The buffer spring absorbs the impact of the welding torch contacting the workpiece, preventing hard collisions in the transmission mechanism. The reset spring is sleeved on the lower end of the sensing rod 1219, located inside the stud chuck 1204, with its upper end abutting against the lower surface of the top of the stud chuck 1204. When a welding stud is clamped in the clamping part at the lower end of the stud chuck 1204, the sensing rod 1219 is lifted by the stud, and the reset spring is compressed. After welding is completed, the stud chuck 1204 is pulled out from the stud, and under the action of the reset spring, the sensing rod 1219 and the stud chuck 1204 return to their initial extended positions, ready for the next stud removal.

[0058] The working principle of an automatic welding gun is as follows: The position where the origin sensing plate 1227 and the origin detection sensor 1228 overlap in the longitudinal height is the origin position of the welding gun.

[0059] When the welding torch performs the nail-removing action, the motor 1213 rotates forward, driving the slide 1215 and the torch shaft 1216 downward via the lead screw 1212. The main shaft sensing plate 1220 moves downward synchronously with the torch shaft 1216. When the nail chuck 1204 clamps the nail, the nail presses against the sensing rod 1219, causing the sensing rod 1219 to rise. The main shaft sensing plate 1220 also rises synchronously. When the main shaft sensing plate 1220 reaches the detection position of the second position sensor 1230, the second position sensor 1230 is triggered and sends a positioning signal. After the controller confirms that the nail clamping is complete, it controls the motor 1213 to reverse, driving the welding torch execution assembly to reset upward.

[0060] During the reset process, the first position sensor 1229 detects the spindle sensing plate 1220 to reconfirm whether the stud chuck 1204 carries a stud. When the welding torch execution assembly returns to the origin position, the origin sensing plate 1227 triggers the origin detection sensor 1228, and the first position sensor 1229 simultaneously detects a stud presence signal, the controller determines that the welding torch is in standby welding state.

[0061] During welding, the controller moves the welding torch to the welding station and drives the motor 1213 to move the welding torch actuator downwards according to a preset stroke, so that the stud contacts the workpiece. Then, the motor 1213 drives the torch shaft 1216 to rise to a set height, and at the same time, the welding current is turned on to ignite the arc and begin welding. After welding is completed, the motor 1213 continues to rotate, driving the stud chuck 1204 to move upwards, so that the chuck can smoothly disengage from the welded stud.

[0062] During this process, the buffer reset mechanism can absorb the impact generated when the welding torch contacts the workpiece, avoiding hard collisions between the transmission mechanism and the housing, and between the welding execution component and the workpiece, thereby protecting the motor 1213, the transmission components and the welding torch execution component, and improving operational reliability.

[0063] The long-stroke narrow-body welding torch provided by this invention integrates the transmission mechanism, welding torch execution component, buffer reset mechanism and position detection component into a long strip-shaped housing. By reasonably optimizing the layout of sensors such as lead screw, guide rail, copper busbar and sensing rod, the overall width of the welding torch body is greatly reduced while ensuring high current conduction and strong insulation safety, thus realizing the design of narrow body and long stroke. Meanwhile, the built-in buffer spring and return spring prevent hard collisions, protect transmission components such as the lead screw and motor, improve the service life and operational stability of the equipment, and ensure the accuracy of detection and the reliability of reset. The automatic welding gun 12 provided by this invention has the advantages of long stroke and narrow integrated gun body design (the gun body width can be ≤80mm). When this welding gun is applied to the automatic welding equipment for expansion joint embedded parts described in this application, it can realize the arrangement of multiple welding guns within a limited welding area to adapt to the multi-gun synchronous nail picking and time-sharing operation mode of automated welding production line. It can weld more studs per unit length of expansion joint embedded parts, and make the studs evenly and neatly arranged, effectively improving the welding efficiency and operation accuracy of expansion joint embedded parts.

[0064] The automatic feeding mechanism 2 includes a receiving component 21, a feeding component 22, and a conveying component.

[0065] The feeding assembly 22 includes a feeding rack 221, which is located on the right side of the welding platform 13 along the extension direction of the welding guide groove 1310. That is, the length direction of the feeding assembly 22 is consistent with the extension direction of the welding guide groove 1310, and the feeding rack 221 is located adjacent to the right end of the welding guide groove 1310. The upper surface of the feeding rack 221 is provided with multiple sets of conveying roller groups 222, and the axial direction of each conveying roller group 222 is perpendicular to the length direction of the feeding rack 221, so that its conveying direction is consistent with the length direction of the feeding rack 221. The feeding rack 221 is provided with a sensor 223 for detecting whether there is a pre-embedded part 100 on the conveying roller group 222. A robotic arm 224 that can slide along its length direction is also provided on one side of the feeding rack 221. The robotic arm 224 is used to push the pre-embedded part 100 on the conveying roller group 222 forward along the welding guide groove 1310 to the welding station according to a preset pushing length.

[0066] The receiving assembly 21 includes a receiving frame 211, which is located on the side of the feeding frame 221 away from the robotic arm 224 and is parallel to the feeding frame 221. The height of the receiving frame 211 is higher than that of the feeding frame 221. A pushing cylinder 212 is provided on the side of the receiving frame 211 away from the feeding frame 221. A sensor 213 is provided on the receiving frame 211 to detect whether there is a pre-embedded part 100 on the receiving frame 211.

[0067] The conveying assembly is located between the receiving rack 211 and the feeding rack 221. The conveying assembly includes a guide rod 215 and a receiving wheel 216. The guide rod 215 is arranged parallel between the feeding rack 221 and the receiving rack 211. The guide rod 215 is connected to the output shaft of the second motor 217. The receiving wheel 216 is coaxially sleeved on the guide rod 215. In this embodiment, at least two receiving wheels 216 are provided to ensure smoother reception and transfer of the embedded parts.

[0068] The receiving frame 211 is set at a higher height than the feeding frame 221. Multiple sets of conveying roller groups 214 are arranged at intervals between the receiving frame 211 and the receiving roller 216. The axial direction of the conveying roller group 214 is parallel to the length direction of the receiving frame 211, and it is inclined from high to low from the receiving frame 211 to the feeding frame 221, so as to convey the embedded part 100 from the receiving frame 211 to the feeding frame 221.

[0069] Multiple sets of conveyor roller groups 225 are spaced apart between the feeding frame 221 and the receiving roller 216. The multiple sets of conveyor roller groups 225 are spaced apart along the length direction of the feeding frame 221. The axial direction of the conveyor roller groups 225 is consistent with the length direction of the feeding frame, and they are inclined from high to low from the receiving roller 216 toward the feeding frame 221. One end is connected to the receiving roller 216, and the other end extends to one side of the feeding frame 221, so that the embedded part 100 can be conveyed to the conveyor roller 222 of the feeding frame 221 via the conveyor roller groups 225.

[0070] The receiving wheel 216 has a receiving groove 2160 and a sensor 218 for detecting whether there is an embedded part 100 in the receiving groove 2160. The receiving groove 2160 is formed by extending from the outer peripheral edge of the receiving wheel 216 towards the center. It is a semi-open groove with the groove opening facing outward, which makes it easy for the embedded part 100 to enter from the outside and be stably accommodated in the groove.

[0071] Working principle of automatic feeding mechanism 2: After the embedded part 100 is conveyed to the receiving rack 211, the sensor 213 detects that there is material and sends a signal to control the pusher cylinder 212 to move. The push rod at the output end of the pusher cylinder 212 pushes the embedded part 100 onto the conveyor roller group 214. Under the guidance and conveying of the conveyor roller group 214, the embedded part 100 is conveyed to the receiving roller 216.

[0072] When sensor 218 detects that there is no embedded part 100 in the receiving groove 2160, it sends a signal to control motor 217 to drive guide rod 215 and receiving wheel 216 to rotate forward at a preset angle, so that the opening of receiving groove 2160 faces the end of conveying roller group 214 and connects with it, so that the embedded part 100 falls smoothly into receiving groove 2160.

[0073] When sensor 218 detects that there is a pre-embedded part 100 in the receiving groove 2160, it sends a signal to control motor 217 to rotate in the opposite direction at a preset angle, so that the pre-embedded part 100 is transferred with receiving wheel 216 to the top of conveying roller group 225. At this time, the pre-embedded part 100 is kept in the receiving groove 2160.

[0074] When sensor 223 detects that there is no embedded part 100 on the first set of conveyor rollers 222 of the feed rack 221, it sends a signal and controls motor 217 to continue to rotate in the reverse direction, so that the opening of the receiving groove 2160 tilts downward, the embedded part 100 is removed from the receiving groove 2160 and falls onto the third set of conveyor rollers 225, and is tilted and guided by the third set of conveyor rollers 225 to the first set of conveyor rollers 222 of the feed rack 221.

[0075] After sensor 223 detects that there is a pre-embedded part 100 on the conveyor roller assembly 222, it sends a signal to control the robotic arm 224 to push the pre-embedded part 100 along the welding guide groove 1310 to the welding station according to the preset stroke.

[0076] The discharge assembly 3 includes a feeding frame 31 and a discharge rack 32. The discharge rack 32 is positioned on the left side of the welding platform 13 along the extension direction of the welding guide groove 1310, ensuring that the length direction of the discharge rack 32 is consistent with the extension direction of the welding guide groove 1310. The discharge rack 32 is adjacent to the left end of the welding guide groove 1310, allowing the welded embedded part to smoothly enter the discharge rack 32. On the same side of the discharge rack 32, a second pushing cylinder 33 and a limiting stop 321 are simultaneously arranged. At least two second pushing cylinders 33 are provided, spaced apart along the length direction of the discharge rack 32. The limiting stop 321 is correspondingly positioned between two adjacent second pushing cylinders 33. A discharge detection sensor 34 is provided at the end of the discharge rack 32 furthest from the welding platform 13, used to detect whether the welded embedded part 100 has completely entered the discharge rack 32, i.e., whether the discharge is in place.

[0077] The unloading frame 31 is located on the side of the discharge frame 32 away from the pusher cylinder 33, and extends from the end near the discharge frame 32 to the end away from the discharge frame 32 in an inclined manner from high to low. When the discharge detection sensor 34 detects that the welded embedded part 100 has completely entered the discharge frame 32, it sends a signal and controls the pusher cylinder 33 to move, pushing the welded embedded part 100 out of the discharge frame 32 and allowing it to slide down and be transported to the unloading frame 31.

[0078] like Figure 1 As shown, the nail feeding mechanism 4 includes a support frame 41, a storage bin 42, and a nail conveying assembly; the storage bin 42 and the nail conveying assembly are arranged in a one-to-one correspondence with the automatic welding gun 12; the storage bin 42 is mounted on the support frame 41, and the nails are stored in the storage bin 42; the nail conveying assembly includes a vibratory feeder, a conveying track, and a discharge clamp 43. After the nails in the storage bin 42 are sorted by the vibratory feeder, they are conveyed one by one to the discharge clamp 43 along the conveying track. The discharge clamp 43 is located below the first slide rail 111, between the storage bin 42 and the welding platform 13; one end of the discharge clamp 43 is connected to the conveying track of the storage bin 42, and the other end extends to the side of the welding platform 13 adjacent to the storage bin 42, and the whole is inclined from the storage bin 42 to the welding platform 13 from high to low.

[0079] The existing stud feeding assembly is a conventional design. After the studs are fed to the discharge clamp, the stud heads are closely packed together with little exposed clamping margin, resulting in inconvenient clamping, low alignment accuracy, and poor work efficiency when the welding torch stud chuck picks up the studs. To overcome these shortcomings, this invention adds a stud-separating component to the feeding mechanism, achieving individual stud isolation and positioning, facilitating the welding torch stud chuck to quickly, accurately, and stably complete the stud picking operation.

[0080] The pin-separating assembly includes a pin-separating device 44 and a pin-ejecting device 45. The pin-ejecting device 45 is vertically positioned directly below the end of the discharge clamp 43, with its bottom end fixedly connected to the power output end of the pin-ejecting cylinder 47, and its top end correspondingly supported at the bottom of the first stud at the end of the discharge clamp 43. The pin-ejecting cylinder 47 can drive the pin-ejecting device 45 to perform vertical lifting and lowering movements, lifting the first stud at the end of the discharge clamp 43 upwards, thus reserving sufficient clamping space and operating stroke for the welding gun to remove the stud.

[0081] To ensure that the jacking device 45 ejects only a single stud at a time, the splitting device 44 is arranged laterally to the side of the end of the discharge clamp 43, and its installation height is lower than that of the discharge clamp 43. The rear end of the splitting device 44 is connected to the splitting cylinder 46, and the front end is provided with a conical end, which is directly opposite the gap between the first and second studs at the end of the discharge clamp 43. The splitting cylinder 46 can drive the splitting device 44 to feed, so that the conical end at the front end is inserted between the first and second studs, realizing physical isolation between the front and rear studs, leaving only the first stud in the lifting operation area of ​​the jacking device 45, ensuring that the jacking device 45 ejects only a single stud in a single operation.

[0082] A stud detection sensor 48 is provided at the end of the discharge clamp 43. When the stud detection sensor 48 senses that a stud is in place at the end of the discharge clamp 43, it sends a signal. The system first controls the stud-separating cylinder 46 to move, pushing the conical end of the stud separator 44 into the stud gap to complete the stud separation. Then, it controls the top stud cylinder 47 to extend, driving the top stud separator 45 to push the first stud after separation upward, so that the stud chuck of the welding torch can reliably pick up the stud.

[0083] Working principle of automatic welding equipment for expansion joint embedded parts: The embedded part 100 is first conveyed to the receiving assembly, and then pushed by the first pusher cylinder 212 to the second conveyor roller 214 to the side of the receiving roller 216. After being transferred by the receiving roller 216, it is then conveyed by the third conveyor roller 225 to the first conveyor roller 222 of the feeding rack 221. The robotic arm 224 steadily pushes the embedded part 100 along the welding guide groove 1310 of the welding platform 13 to the designated welding station according to the preset stroke. The limiting boss 131 constrains the embedded part 100 to ensure that the conveying is not deviated and the positioning is accurate.

[0084] After the sensor detects that the embedded part 100 is in place, the clamping mechanism automatically starts to firmly press the embedded part 100 onto the welding station to prevent welding deformation and displacement; at the same time, the front and rear cylinders synchronously drive the protective cover to close, forming a closed welding protection zone to achieve isolation and protection of the welding area.

[0085] The feeding mechanism delivers studs to the discharge clamp 43 in an orderly manner through the storage bucket and vibratory feeder. The stud-separating component first physically isolates the first stud, and the top stud component lifts the stud to give it more clamping margin. This, combined with the long-stroke narrow-body automatic welding torch, enables multiple torches to pick up studs simultaneously.

[0086] After multiple narrow-body welding guns are in place simultaneously, they are welded sequentially according to the time-sharing welding mode. After welding is completed, the clamping mechanism and protective cover are reset simultaneously, and the robotic arm continues to push the embedded part 100 forward so that it enters the discharge assembly. After the discharge sensor detects that it is in place, the pusher cylinder pushes the finished product out and it automatically slides down the inclined unloading frame to complete the entire welding process.

[0087] The automatic welding equipment for expansion joint embedded parts provided by this invention can realize unmanned operation of the entire process of "feeding-transferring-positioning-welding-discharging", and can well balance welding efficiency and finished product quality, adapting to the needs of large-scale and mass production in factories.

[0088] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Variations, modifications and substitutions made by those skilled in the art to the above embodiments within the scope of the present invention are still covered by the protection scope of the present invention.

Claims

1. A long travel narrow body automatic welding gun, characterized by: The automatic welding torch (12) includes a long strip-shaped housing, a drive mechanism, a transmission mechanism, a welding torch execution component, and a position detection component; the transmission mechanism, the welding torch execution component, and the position detection component are arranged side by side in the receiving cavity of the housing along the width direction of the housing; The transmission mechanism includes a driving member and a driven member. The driving member is arranged axially in the housing cavity, and the driving mechanism extends into the housing cavity and is connected to the driving member in a transmission manner. The position detection component is used to detect the axial movement position of the welding torch actuator to realize the stroke control of the welding torch actuator; the position detection component is disposed on the side of the accommodating cavity away from the transmission mechanism; The welding torch execution assembly is disposed between the transmission mechanism and the position detection assembly. The welding torch execution assembly includes a conductive component and an execution unit. The execution unit is arranged along the axial direction of the housing, and its upper end is insulated from the driven component of the transmission mechanism. The conductive component is electrically connected to the execution unit. The welding torch execution assembly can move up and down along the axial direction of the housing under the drive of the transmission mechanism, and its lower end can extend from the bottom of the housing to perform nail picking and / or welding operations.

2. The automatic welding gun of claim 1, wherein: The transmission mechanism further includes a guide rail (1235) arranged axially within the accommodating cavity along the housing; the driving component is a lead screw (1212), and the driven component includes a lead screw flange nut (1225) sleeved on the lead screw (1212) and a slide seat (1215) sleeved on the outer periphery of the lead screw flange nut (1225); the slide seat (1215) is slidably engaged with the guide rail (1235) to allow the slide seat (1215) to slide up and down along the guide rail (1235); The execution unit includes a gun shaft (1216) and a stud chuck (1204); the upper end of the gun shaft (1216) is fixed to the side of the slide base (1215) away from the lead screw (1212), and the stud chuck (1204) is fixed to the lower end of the gun shaft (1216); the conductive component is an L-shaped copper busbar (1205), and the lower end of the copper busbar (1205) is fixedly connected to the gun shaft (1216) above the stud chuck (1204); The position detection component includes a sensing rod (1219) coaxially inserted inside the gun shaft (1216) and axially floating, a plurality of position sensors spaced along the axial direction of the housing on the side of the welding gun execution component away from the lead screw (1212), and a sensing plate disposed on the upper part of the execution unit.

3. The automatic welding gun of claim 2, wherein: The upper end of the gun shaft (1216) is fixed to the slide base (1215) by the gun shaft mounting seat (1217); an epoxy sleeve (1203) is sleeved on the gun shaft (1216), and the epoxy sleeve (1203) is disposed between the gun shaft mounting seat (1217) and the copper busbar (1205); The position sensor includes an origin detection sensor (1228) disposed on the lower surface of the top of the housing, and a first position sensor (1229) and a second position sensor (1230) disposed axially along the side of the actuator away from the lead screw (1212); the sensing plate includes an origin sensing plate (1227) and a spindle sensing plate (1220); the origin sensing plate (1227) is disposed on the top of the gun shaft mounting base (1217) and cooperates with the origin detection sensor (1228); the mounting part of one end of the spindle sensing plate (1220) is fixed to the top of the sensing rod (1219), and the sensing part of the other end bypasses the copper busbar (1205) and cooperates with the first position sensor (1229) and the second position sensor (1230).

4. The automatic welding gun according to claims 1-3, characterized in that: The drive mechanism includes a motor (1213) and a coupling (1214). The rotating shaft of the motor (1213) extends from the top of the housing into the accommodating cavity and is fixed to the upper end of the lead screw (1212) through the coupling (1214). The motor drives the lead screw (1212) to move the welding torch actuator along the axial long stroke.

5. An expansion joint pre-embedded automatic welding equipment characterized in that: It includes a welding device (1), an automatic feeding mechanism (2), a discharging assembly (3), and a nail feeding mechanism (4); the welding device includes a frame (11), a welding platform (13) disposed on the frame (11), and at least two automatic welding guns (12) as described in any one of claims 1-4 are disposed at intervals along the left and right directions at the upper end of the frame (11).

6. The automatic welding apparatus according to claim 5, characterized by: The welding platform (13) is provided with two parallel limiting bosses (131) along the left and right directions, and a welding guide groove (1310) adapted to the width of the embedded part is formed between the two limiting bosses (131). The automatic feeding mechanism (2) includes a receiving component (21), a feeding component (22), and a conveying component; the feeding component (22) includes a feeding rack (221) and a robotic arm (224), the feeding rack (221) is located on one side of the welding platform (13) along the extension direction of the welding guide groove (1310); the robotic arm (224) is slidably located on one side of the feeding rack (221); the receiving component (21) includes a receiving rack (211) and a pusher cylinder (212) located on the receiving rack (211), the receiving rack (211) is arranged parallel to the side of the feeding rack (221) away from the robotic arm (224); the conveying component is located between the receiving rack (211) and the feeding rack (221).

7. The automatic welding apparatus according to claim 6, characterized by: The conveying assembly includes a guide rod (215) and a receiving wheel (216). The guide rod (215) is arranged parallel between the feeding frame (221) and the receiving frame (211), and the receiving wheel (216) is sleeved on the guide rod (215). The receiving frame (211) is set at a height higher than the feeding frame (221), and multiple sets of conveying roller groups (214) are spaced apart between the receiving frame (211) and the receiving wheel (216). The axial direction of the conveying roller group (214) is parallel to the length of the receiving frame (211). The feed rack (221) and the receiving wheel (216) are arranged in parallel directions and are inclined from high to low. Multiple sets of conveying roller groups (225) are arranged at intervals between the feed rack (221) and the receiving wheel (216). The axial direction of the conveying roller group (225) is parallel to the length direction of the feed rack (221) and is inclined from high to low from the receiving wheel (216) to the feed rack (221). The outer peripheral edge of the receiving wheel (216) is recessed inward to form a receiving groove (2160) for receiving embedded parts.

8. The automatic welding apparatus of claim 5, wherein: The welding platform (13) is equipped with a welding protection device and a clamping mechanism; the welding protection device includes several cylinders (132) located on the front side of the two limiting bosses (131) and several cylinders (133) located on the rear side; the output end of the cylinders (132) is provided with a front half shell (134) of the protective cover, and the output end of the cylinders (133) is provided with a rear half shell (135) of the protective cover, and the front half shell (134) and the rear half shell (135) of the protective cover can... The clamping mechanism is able to align above the welding guide groove (1310); the clamping mechanism includes a clamping block drive motor (138), a rotating block (139) and a clamping block (140). The clamping block drive motor (138) is fixed to the side of the two limiting bosses (131). One end of the rotating block (139) is fixed to the output shaft of the clamping block drive motor (138), and the other end is fixed to the clamping block (140). The clamping mechanism is staggered with the cylinder (133).

9. The automatic welding equipment according to claim 5, characterized in that: The discharge assembly (3) includes a feeding frame (31) and a discharge rack (32); the discharge rack (32) is located on the side of the welding platform (13) away from the automatic feeding mechanism (2) along the extension direction of the welding guide groove (1310); a pusher cylinder (33) is provided on one side of the discharge rack (32), and the feeding frame (31) is located on the side of the discharge rack (32) away from the pusher cylinder (33), and is inclined from high to low from the end close to the discharge rack (32) to the direction away from the discharge rack (32); the discharge rack (32) is also provided with a discharge detection sensor (34), and after the discharge detection sensor (34) detects that the welded embedded part has completely entered the discharge rack (32), the pusher cylinder (33) pushes the embedded part from the discharge rack (32) to the feeding frame (31).

10. The automatic welding equipment according to claim 5, characterized in that: The nail feeding mechanism (4) includes a discharge clamp (43) and a nail splitting assembly. The nail splitting assembly includes a nail splitter (44) and a nail pusher (45). The nail pusher (45) is vertically positioned directly below the end of the discharge clamp (43). The bottom end of the nail pusher (45) is provided with a nail pusher cylinder (47) that can drive the nail pusher (45) to rise and fall vertically. The nail splitter (44) is horizontally positioned on the side of the end of the discharge clamp (43), and a nail splitting cylinder (46) is provided on the side away from the discharge clamp (43). The nail splitting cylinder (46) can drive the nail splitter (44) to feed and insert into the gap between the first and second studs at the end of the discharge clamp (43) to separate the first stud.

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