Beam and column welding robot

Abstract

A beam-column welding robot comprises a feeding part and a welding part, wherein the feeding part and the welding part are connected by a fixed beam, and the feeding part carries a workpiece, specifically comprising a plurality of steel frames distributed in a rectangular array along the front-back direction and at least four steel bars located at the four corners of the steel frame of the rectangular structure. Its beneficial effects are: the welding of a steel frame and all steel bars is completed at the same time, the loading of all steel frames is completed at one time and it is convenient to load the steel frames one by one, thereby improving the welding efficiency, the adjustment of the welding gun is realized by the servo motor numerical control, and the positions of the welding gun, steel bars and steel frames are controlled by multiple cylinders during welding, the welding point position is accurate, the movement of the steel bars along the front-back direction after welding is completed by the servo motor numerical control, the position positioning between each steel frame is accurate, and the overall quality of the welded product is guaranteed.

Description

Technical Field

[0001] The invention relates to the field of metal processing machinery, in particular to a beam-column welding robot. Background Art

[0002] Beam-column welding refers to passing steel bars through a rectangular steel frame, and then welding the steel bars to the left and right inner walls of the steel frame. The number of welded steel bars varies depending on the needs of the workpiece. The existing welding method is manual welding, which has low welding efficiency and large errors in welding position, including errors in the positions of the welding points of the steel bars and the steel frame, that is, errors between parallel steel bars, and errors in the distance between each steel frame, resulting in poor product quality. Some technologies also use a welding machine with a welding gun for welding, which requires welding each steel bar to the steel frame one by one, and still cannot solve the above-mentioned problems of low welding efficiency and large welding point errors. Summary of the invention

[0003] The purpose of the present invention is to solve the above problems and design a beam-column welding robot. The specific design scheme is:

[0004] A beam-column welding robot comprises a feeding part and a welding part, wherein the feeding part and the welding part are connected by a fixed beam, the feeding part carries a workpiece, and specifically comprises a plurality of steel frames distributed in a rectangular array along the front-rear direction and at least four steel bars located at the four corners of the steel frames of the rectangular structure, the feeding part comprises a base frame, a material rack is installed on the base frame, the material rack is connected to the base frame through a lifting component and a rotating component, and the welding part realizes welding between the steel frame and the steel bars, and its principle is to first adjust the position of the welding gun through a mechanical component, then drive the clamping arm to clamp the workpiece through a cylinder, and finally weld through the welding gun, after welding, when the clamping arm clamps the workpiece, the mechanical component is used to adjust the position of the workpiece to ensure that the next welding operation can be performed after resetting, and the specific structure is that the welding part comprises a base frame, the base frame is installed on a Z-adjustment component, the base frame is installed with a Y-adjustment component and an X-adjustment component, and the welding component is installed on the Y-adjustment component and the base frame.

[0005] The base frame includes a bottom frame, which is a rectangular metal frame placed in a horizontal direction. The bottom frame is installed on the Z-axis adjustment component. The bottom frame is used to connect with the Z-axis adjustment component and is also used to install other structures of the base frame and the X-axis adjustment component. Specifically, a vertical frame is installed above the bottom frame, and a triangular frame for reinforcement is installed between the vertical frame and the bottom frame. The vertical frame is used to provide guidance for the normal operation of the X-axis adjustment component. Two columns are provided on the front side of the vertical frame. The Y-axis adjustment component is installed on the columns. The columns are installed on the X-axis adjustment component, and the X-axis adjustment component is installed on the bottom frame. If the Z-axis adjustment component is to work normally, an installation space needs to be reserved below it, and the Z-axis adjustment component cannot carry the weight of all welded parts, so the Z-axis adjustment component is installed on the main frame. The main frame is a metal frame formed by welding metal profiles and plates. Its strength is sufficient to carry the overall welded part. At the same time, the support legs below lift it to a certain height to provide space for the installation of the Z-axis adjustment component.

[0006] The base frame includes two metal frames distributed front and back, and a lining beam is installed between the two metal frames. The structural design of the two metal frames makes the base frame have a certain thickness, which is convenient for the installation of other components. In order to further facilitate the installation of other components, a mounting plate is also installed between the two metal frames. Specifically, mounting plates are installed on the top and bottom of the base frame for installing the main shaft in the rotating component and the motor of the lifting component. Mounting plates are installed on the left and right sides of the base frame for installing the driven wheels in the lifting component. More mounting plates and lining beams can be added as needed to realize the basic functions of the lifting component and the rotating component.

[0007] Since the distance between the welding part and the feeding part is small and the multiple steel frames are distributed in the front-to-back direction, it is difficult to fill the material between the welding part and the feeding part. Therefore, a rotating assembly is designed to complete the filling of the steel frame at the front side of the feeding part, and then transfer it to between the welding part and the feeding part through the rotating assembly. Its specific structure is that the rotating assembly includes a main shaft, the axial direction of the main shaft is distributed up and down, the upper end of the main shaft is connected to the base frame bearing, and its bearing includes a deep groove ball bearing, and the middle part of the main shaft is connected to the material rack bearing through a first bearing group. Specifically, a hollow shaft is sleeved on the main shaft, and the bottom of the hollow shaft is connected to the liner flange of the material rack. The hollow shaft passes through the bearing box outside the first bearing group from bottom to top and is connected to its bearing The structural design purpose of the hollow shaft is to suspend the material rack. In the bearing box, the hollow shaft is limited in the axial direction and provided with a rotation guide by means of a thrust ball bearing, a deep groove ball bearing and a spacer sleeve. In addition, the top of the bearing box outside the first bearing group is fixedly connected to the base beam of the lifting assembly by a plurality of long bolts. The top of the base beam is also provided with a round nut to ensure axial limitation. The bottom of the main shaft is installed on the base frame through a second bearing group. Specifically, a bearing seat sleeve is installed at the bottom of the main shaft, and the bearing seat sleeve is connected to the main shaft through the second bearing group. The bearing seat sleeve is connected to the mounting plate flange at the lower part of the base frame. In the bearing seat sleeve, the main shaft is limited in the axial direction and provided with a rotation guide by means of a thrust ball bearing, a deep groove ball bearing and a spacer sleeve.

[0008] In order to ensure that the rotating assembly does not rotate randomly and cause material feeding deviation during operation, the rotating assembly also includes a limit cylinder for fixing the rotation of the main shaft, the bearing sleeve is sleeved on the main shaft and connected to the main shaft bearing, the cylinder shaft of the limit cylinder passes through the spacer sleeve of the second bearing group and is embedded in the oblong hole on the main shaft, the limit cylinder is flange-connected to the bearing seat sleeve, similarly, an oblong hole fixed to the material rack is set on the main shaft and fixed by a bayonet pin.

[0009] Due to the different specifications of the workpieces, the inner diameters of the steel frames are also different. In order to ensure that the material rack can support steel frames of various specifications, it is necessary to have a lifting function, and its function is realized by the lifting component, which includes a lifting motor, and the motor shaft of the lifting motor is connected to the input end of the reduction box, and the two output ends of the reduction box are respectively connected to the head ends of two half-axes distributed on the left and right, and the two half-axes are connected to the lining beam of the base frame through multiple bearings and bearing seats. A transmission gear set is installed at the end of the half-axle, and the transmission gear set includes a driving gear and a driven gear. A chain is connected between the driving gear and the driven gear, and the driving gear and the half The gear shaft of the driven gear is fixedly connected to the mounting plate on the side end of the base frame by a shaft key. In order to ensure the tension of the chain, an oblong through hole can be provided on the mounting plate to be connected to the base frame bolt, and a tensioning bolt threadedly connected to the mounting plate is designed on the lining beam and fixed to the lining beam by bolts. The base beam is installed on the transmission gear set, and specifically, the base beam is connected to the chain. More specifically, the chain is an oblong structure in a vertical direction, and the middle position is two vertical chains distributed front and back. The base beam is fixedly connected to one of the chains, and the other chain passes through the base beam. The material rack is installed at the bottom of the base beam through a first bearing group and a hollow shaft.

[0010] The material rack is used to carry workpieces. Due to the different specifications of the steel frame, the inner diameter of the rectangular frame structure is also different. In addition to completing the vertical adjustment through the lifting component, it is also required to have the function of left and right adjustment to ensure that it is suitable for steel frames of various specifications. At the same time, the loading and fixing of steel bars must also be considered. Since the overall equipment is heavy and the vertical height needs to be adjusted each time the material is loaded for more efficient loading, the adjustment in the vertical direction is mechanically driven, while the frequency of left and right adjustment is very low, and there is no need to overcome gravity, so a structural design that is adjusted by the through-hole is adopted. The material rack includes an upper and lower part, which are a loading rack and a lower rack.

[0011] The material rack (5) comprises two lining plates distributed up and down, and two loading racks distributed in the front-to-back direction are installed between the two lining plates, and the vertical cross-sections of the two loading racks along the left-right direction are radially distributed.

[0012] The loading rack includes an upper channel steel, on which two angle beams distributed on the left and right are installed, and the two angle beams are respectively located on the left and right sides of the lining plate, and the angle beams are installed on the upper channel steel through a mounting block, and the mounting block is a rectangular cylindrical structure, and the mounting block is sleeved on the upper channel steel, and the angle beams are welded to the outer frame side of the mounting block, and the mounting block is provided with a through hole for passing the steel bar.

[0013] The unloading rack comprises a supporting beam, and the axial direction of the supporting beam is distributed along the front and back. In order to ensure the synchronous rotation of the supporting beam and the main shaft, the main shaft is provided with a lower rotating support and a long axis limiting sleeve, and the long axis limiting sleeve ensures the synchronous rotation of the lower rotating support and the main shaft through an interference connection, and the lower rotating support is connected to the supporting beam flange to ensure its synchronous rotation with the main shaft. Lower channel steels are installed at both ends of the left and right of the supporting beam, and wire tubes are installed on the lower channel steel and the angle beam. The steel bar passes through the wire tube and the through hole on the mounting block, and then the position of the wire tube is adjusted left and right, wherein the wire tube located on the loading rack is adjusted by adjusting the position of the angle beam, and the wire tube located on the unloading rack is fixed to the lower channel steel through an adjusting block, and the adjusting block is provided with an oblong through hole, and the lower channel steel is provided with a plurality of groups of bolt holes distributed left and right. The two are connected by bolts and nuts to realize the adjustment of the adjustment block along the left and right directions. Since the welding gun located at the bottom is installed on the column, its height is fixed, so the height of the unloading rack does not need to be adjusted.

[0014] The above structure is designed for welding four steel bars. If more steel bars need to be welded, such as six or eight, the number of the loading racks needs to be increased. The specific structure is that in the loading rack, the number of the upper channel steels is at least one. When the number of the upper channel steels is multiple, the multiple upper channel steels are connected by screws, and the upper channel steel located at the top is fixedly connected to the screws.

[0015] The left and right ends of the two upper channel steels are connected by screws, wherein the upper channel steel located at the top is fixedly connected to the screw by two nuts located at the upper and lower ends of the upper channel steel, and the lower part of the screw is provided with a plurality of through holes, through which cotter pins are passed, and a wire beam is installed under the other upper channel steels, and the wire beam is welded to the upper steel channel by a rib plate, and the wire beam is sleeved on the screw and carried on the cotter pin.

[0016] According to the number of steel bars to be added, if two steel bars distributed on the left and right are not added, a set of upper channel steels is added, and the added steel bars pass through the gap between the upper channel steels and the cross beam.

[0017] Since the upper channel steel at the top needs to carry a steel frame, it is necessary to adjust the upper and lower positions through the lifting assembly, while the upper channel steel in the middle does not need to bear the weight of the entire material rack and the steel frame. When adjusting, it only needs to overcome its own weight and the weight of the steel bars passing through the wire tube, so it can be adjusted manually.

[0018] In addition to increasing the number of upper channel steels, if more steel bars are welded, more welding components need to be installed. For each additional steel bar, a corresponding welding component is added.

[0019] The transmission mechanism of the X-axis adjustment component, the Y-axis adjustment component, and the Z-axis adjustment component are the same, and they are all driven by motors. The torque of the motor is converted into a mechanical force driving in a linear direction through a lead screw. The design focus is on how to reasonably solve the positional relationship of the X-axis adjustment component, the Y-axis adjustment component, and the Z-axis adjustment component on the base frame, and adjust the positions of the four welding guns through a set of adjustment components without conflicting with each other.

[0020] The X-direction is the left-right direction defined in the present application, the X-direction adjustment assembly includes two X-direction guide rails which are parallelly distributed front and back, and are placed left and right in the axial direction, an X-direction lead screw is installed between the two X-direction guide rails, one end of the X-direction lead screw is connected to the X-direction motor shaft, and the other end is installed on the bottom frame through a bearing seat and a bearing, the X-direction motor and the X-direction guide rail are both installed on the bottom frame and are located on the front side of the column, an X-direction slider which is adapted to its model is installed on the X-direction guide rail, an X-direction female seat which is threadedly connected to the X-direction lead screw is installed on the X-direction female seat, and the top surface of the X-direction female seat and the top surface of the X-direction slider are both bolted to the bottom surface of the column,

[0021] The number of the X-direction adjustment components is two, and the vertical cross-sections of the two X-direction adjustment components along the front-back direction are mirror-imaged on the left and right, and the two uprights are respectively mounted on the two X-direction adjustment components.

[0022] A connecting plate bolted to the column is installed at the top end, a square steel is installed on the top surface of the frame, and a plurality of screw bearings are installed on the bottom surface of the connecting plate. The plurality of screw bearings are located at the front and rear pull rods of the square steel and are in contact with the square steel. The screw bearings are located at the rear of the column and provide guidance for the movement of the column in the left and right directions through the square steel.

[0023] The Y direction is the up and down direction defined in the present application, and a Y-direction adjustment component is installed on each of the two columns, and the Y-direction adjustment component includes a Y-direction motor, a Y-direction lead screw, and a Y-direction guide rail. The Y-direction motor and the Y-direction lead screw are respectively located on the left and right sides of the column and are connected through a first transmission pulley group, and the transmission pulley group includes a first driving pulley and a first driven pulley, and a first transmission belt is connected between the first driving pulley and the first driven pulley, and the first transmission belt is located above the column, and the first driving pulley and the first driven pulley are respectively connected to the Y-direction motor and the Y-direction lead screw. The Y-axis motor is not equipped with a reducer, because the adjustment range of movement along the Y-axis is large, and secondly, the deceleration can be achieved by the wheel diameter difference between the first active pulley and the first driven pulley. The Y-axis lead screw is installed on the column through a bearing seat and a bearing, and the Y-axis guide rail is bolted to the column. There are two Y-axis guide rails and they are distributed in parallel front and back. The Y-axis lead screw is located in front of the two Y-axis guide rails, and a Y-axis slider is installed on the Y-axis guide rail. A Y-axis female seat is installed on the Y-axis lead screw, and the Y-axis female seat and the Y-axis slider are both bolted to the welding assembly.

[0024] The Z direction is the front-to-back direction defined in this application, and the Z-direction adjustment assembly includes a Z-direction motor, a Z-direction lead screw, and a Z-direction guide rail. The number of the Z-direction guide rails is two and they are parallelly distributed left and right, and their axial direction is placed along the front and back. The Z-direction lead screw and the Z-direction motor are both located between the two Z-direction guide rails. The Z-direction motor, the Z-direction lead screw, and the Z-direction guide rail are all installed on the main frame. The Z-direction lead screw is installed on the main frame through a shaft seat and a bearing. The Z-direction guide rail can be welded and bolted to the main frame. A second transmission pulley group is installed between the Z-direction motor and the Z-direction lead screw. The second transmission pulley group includes a second driving pulley and a second driven pulley, the second driving pulley and the second driven pulley are respectively connected to the Z-direction motor and the Z-direction lead screw key, a second transmission belt is installed between the second driving pulley and the second driven pulley, a metal plate with an oblong through hole is provided on the main frame, which is used to be bolted to the Z-direction motor, and the tension of the second driving pulley is ensured by the oblong through hole, a Z-direction slider is installed on the Z-direction guide rail, a Z-direction female seat is threadedly connected to the Z-direction lead screw, and the Z-direction slider and the Z-direction female seat are both bolted to the bottom frame.

[0025] The X-axis motor, the Y-axis motor, and the Z-axis motor are all servo motors, which facilitates controlling the positions of their corresponding female seats through an electronic control component.

[0026] The welding assembly includes a base plate, on which a slide plate is installed through a welding slide rail, and the axial direction of the welding slide rail is distributed left and right. The base plate is also installed with a cylinder body of a first cylinder for driving the slide plate, and the slide plate is installed with a cylinder body of a second cylinder for pressing the steel frame and a cylinder body of a third cylinder for pressing the steel bars. In the welding assembly, the cylinder body of each cylinder is installed through angle steel and a rear hinge fixing frame, the cylinder shaft of the first cylinder is connected to the slide plate through a fisheye joint, and the cylinder shaft of the second cylinder is connected to the pressing plate through an axle pin and a fisheye joint. The horizontal cross-section of the pressing plate is an "L"-shaped structure, one end of which is connected to the second cylinder, and the middle part is rotatably connected to the slide plate through an axle pin and an axle seat. This structure allows the second cylinder to rotate with the middle axis. The pin is an axis driving the other end of the clamping plate to rotate. The clamping plate is a double-layer structure. The double-layer structure of the clamping plate can not only install an axle pin between it, but also leave a gap at the other end. After ensuring that it clamps the steel frame, the steel bar can also enter and exit from the gap. The cylinder shaft of the third cylinder is connected to the pressure head through a fisheye joint. The end of the slide plate is provided with a "U"-shaped groove. The pressure head is rotatably connected to the slide plate. A welding gun seat is installed on the side end of the slide plate. The cylinder body and arm of the fourth cylinder for controlling the position of the welding gun are installed on the welding gun seat. One end of the arm is connected to the welding gun seat bearing, and the other end of the arm is installed with a welding gun through a clamp. The cylinder shaft of the fourth cylinder is rotatably connected to the middle part of the arm through a fisheye joint.

[0027] The welding assembly includes a fixed welding assembly and a sliding welding assembly. The fixed welding assembly is located below the sliding welding assembly. The base plate of the fixed welding assembly is installed on the column. The base plate of the sliding welding assembly is bolted to the Y-axis mother seat through a mounting frame. This structural design can more efficiently adjust the vertical distance of the welding assembly. At the same time, since the height of the fixed welding assembly is fixed, the height of the steel bar at the bottom can also be determined. At this time, only the horizontal position of the steel bar needs to be adjusted, that is, the unloading rack does not need to adjust the height through the lifting structure. The unloading rack also bears most of the weight of the steel frame, and it is very difficult to adjust its height.

[0028] The beam-column welding robot obtained by the above technical solution of the present invention has the following beneficial effects:

[0029] The welding of a steel frame and all the steel bars is completed at the same time, and all the steel frames are loaded at one time, which makes it convenient to load the steel frames one by one, thereby improving the welding efficiency. The adjustment of the welding gun is realized by the servo motor CNC, and the positions of the welding gun, steel bars and steel frames are controlled by multiple cylinders during welding. The welding point position is accurate, and the movement of the steel bars in the front and rear directions after welding is completed by the servo motor CNC. The position positioning between each steel frame is accurate, which ensures the overall quality of the welded product. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of the beam-column welding robot of the present invention;

[0031] Figure 2 It is a structural schematic diagram of the feeding part of the present invention;

[0032] Figure 3 It is a front view structural schematic diagram of the feeding part of the present invention;

[0033] Figure 4 It is a structural schematic diagram of the welding part of the present invention;

[0034] Figure 5 It is a front view structural schematic diagram of the welding part of the present invention;

[0035] Figure 6 is a schematic structural diagram of the rotating assembly of the present invention;

[0036] Figure 7 is a structural schematic diagram of the first bearing group of the present invention;

[0037] Figure 8 is a schematic cross-sectional structure diagram of the first bearing group of the present invention;

[0038] Fig. 9 is a schematic structural diagram of the second bearing group of the present invention;

[0039] Fig.10 is a schematic cross-sectional structure diagram of the second bearing group of the present invention;

[0040] Fig.11 is a schematic structural diagram of the lifting assembly of the present invention;

[0041] Fig.12 is a schematic side view of the lifting assembly of the present invention;

[0042] Fig.13 It is a structural schematic diagram of the loading rack of the present invention;

[0043] Fig.14 It is a structural schematic diagram of the unloading rack of the present invention;

[0044] Fig.15 is a schematic diagram of the structure of the X-direction adjustment assembly of the present invention;

[0045] Fig.16 It is a structural schematic diagram of the Y-direction adjustment assembly of the present invention;

[0046] Fig.17 is a schematic structural diagram of the first transmission pulley assembly of the present invention;

[0047] Fig.18is a schematic diagram of the structure of the Z-direction adjustment assembly of the present invention;

[0048] Fig.19 is a front view structural schematic diagram of the Z-direction adjustment assembly of the present invention;

[0049] Fig. 20 is a schematic structural diagram of the second transmission pulley assembly of the present invention;

[0050] Fig.21 It is a schematic diagram of the bottom-right-front structure of the welding assembly of the present invention;

[0051] Fig. 22 It is a schematic diagram of the upper-left-front structure of the welding assembly of the present invention;

[0052] Fig.23 is a front view structural schematic diagram of the welding assembly of the present invention;

[0053] Fig.24 is a schematic structural diagram of the workpiece of the present invention;

[0054] Fig.25 It is a schematic diagram of the structure of the welding assembly of the present invention clamping a workpiece;

[0055] In the figure, 1, base frame; 1a, bottom frame; 1b, vertical frame; 1c, triangular frame; 1d, vertical column; 1e, main frame; 1f, support leg; 1g, fixed beam; 2, base frame; 2a, metal frame; 2b, lining beam; 2c, mounting plate; 2d, tension bolt; 3, rotating assembly; 3a, main shaft; 3b, first bearing group; 3c, hollow shaft; 3d, bearing box; 3e, second bearing group; 3f, bearing sleeve; 3g, oblong hole; 3h, limit cylinder; 3i, bayonet; 4, lifting assembly; 4a, base beam; 4b , lifting motor; 4c, reduction box; 4d, half shaft; 4e, driving gear; 4f, driven gear; 4g, chain; 5, material rack; 51, upper material rack; 52, lower material rack; 5a, lining plate; 5b, upper channel steel; 5c, screw; 5d, cotter pin; 5e, angle beam; 5f, mounting block; 5g, support beam; 5h, lower channel steel; 5i, wire tube; 5j, adjustment block; 5k, wire beam; 6, X-axis adjustment assembly; 6a, X-axis guide rail; 6b, X-axis lead screw; 6c, X-axis motor; 6d, X-axis slider; 6e, X-axis female seat; 6f, connecting plate; 6g, square steel; 6h, screw bearing; 7, Y-axis adjustment assembly; 7a, Y-axis motor; 7b, Y-axis lead screw; 7c, first active pulley; 7d, first driven pulley; 7e, first transmission belt; 7f, Y-axis guide rail; 7g, Y-axis slider; 7h, Y-axis female seat; 8, Z-axis adjustment assembly; 8a, Z-axis motor; 8b, Z-axis lead screw; 8c, Z-axis guide rail; 8d, second active pulley; 8e, second driven pulley; 8f, second transmission belt; 8g, Z-axis Slider; 8h, Z-axis mother seat; 9, welding assembly; 91, fixed welding assembly; 92, sliding welding assembly; 93, mounting frame; 9a, base plate; 9b, welding slide rail; 9c, slide plate; 9d, first cylinder; 9e, second cylinder; 9f, third cylinder; 9g, fourth cylinder; 9h, welding gun; 9i, angle steel; 9j, rear hinge fixing frame; 9k, clamping plate; 9l, pressure head; 9m, groove; 9n welding gun seat; 9o, lifting arm; 9p, clamp; 10, workpiece; 10a, steel frame; 10b, steel bar. DETAILED DESCRIPTION

[0056] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0057] A beam-column welding robot comprises a feeding part and a welding part, wherein the feeding part and the welding part are connected by a fixed beam 1g, the feeding part carries a workpiece 10, specifically comprising a plurality of steel frames 10a distributed in a rectangular array along the front-back direction and at least four steel bars 10b located at the four corners of the steel frame 10a of the rectangular structure, the feeding part comprises a base frame 2, a material rack 5 is mounted on the base frame 2, the material rack 5 is connected to the base frame 2 through a lifting assembly 4 and a rotating assembly 3, and the welding part realizes the connection between the steel frame 10a and the steel bar 10b The welding between them is based on the principle of first adjusting the position of the welding gun through the mechanical component, then driving the clamping arm to clamp the workpiece 10 through the cylinder, and finally welding through the welding gun. After welding, when the clamping arm clamps the workpiece, the position of the workpiece is adjusted by the mechanical component to ensure that the next welding operation can be carried out after resetting. The specific structure is that the welding part includes a base frame 1, and the base frame 1 is installed on the Z-axis adjustment component 8. The base frame 1 is installed with a Y-axis adjustment component 7 and an X-axis adjustment component 6. The welding component 9 is installed on the Y-axis adjustment component 7 and the base frame 1.

[0058] The base frame 1 includes a bottom frame 1a, which is a rectangular metal frame placed in the horizontal direction. The bottom frame 1a is installed on the Z-adjustment component 8. The bottom frame 1a is used to connect with the Z-adjustment component 8 and is also used to install other structures of the base frame 1 and the X-adjustment component 6. Specifically, a vertical frame 1b is installed above the bottom frame 1a, and a triangular frame 1c for reinforcement is installed between the vertical frame 1b and the bottom frame. The vertical frame 1b is used to provide guidance for the normal operation of the X-adjustment component 6. Two columns 1d are provided on the front side of the vertical frame 1b. The Y-adjustment component 6 is provided with a plurality of vertical columns 1d on the front side of the vertical frame 1b. Component 7 is installed on the column 1d, and the column 1d is installed on the X-axis adjustment component 6, and the X-axis adjustment component 6 is installed on the bottom frame 1a. If the Z-axis adjustment component is to work normally, installation space must be reserved below it, and the Z-axis adjustment component 8 cannot bear the weight of all welded parts, so the Z-axis adjustment component 8 is installed on the main frame 1e. The main frame 1e is a metal frame formed by welding metal profiles and plates. Its strength is sufficient to carry the entire welded part. At the same time, the support legs 1f below lift it to a certain height to provide space for the installation of the Z-axis adjustment component 8.

[0059] The base frame 2 includes two metal frames 2a distributed front and back, and a lining beam 2b is installed between the two metal frames 2a. The structural design of the two metal frames 2a makes the base frame 2 have a certain thickness, which is convenient for the installation of other components. In order to further facilitate the installation of other components, a mounting plate 2c is also installed between the two metal frames 2a. Specifically, mounting plates 2c are installed on the top and bottom of the base frame 2 for installing the main shaft in the rotating component and installing the motor of the lifting component. Mounting plates 2c are installed on the left and right sides of the base frame 2 for installing the driven wheel in the lifting component. More mounting plates and lining beams can be added as needed to realize the basic functions of the lifting component and the rotating component.

[0060] Since the distance between the welding part and the feeding part is small, and the multiple steel frames 10a are distributed in the front-to-back direction, it is difficult to fill the material between the welding part and the feeding part. Therefore, a rotating component 3 is designed, which can complete the filling of the steel frame 10a at the front side of the feeding part, and then transfer it to the space between the welding part and the feeding part through the rotating component 3. Its specific structure is that the rotating component 3 includes a main shaft 3a, and the axial direction of the main shaft 3a is distributed up and down. The upper end of the main shaft 3a is connected to the bearing of the base frame 2, and its bearing includes a deep groove ball bearing with a model of GB / T276-94. The middle part of the main shaft 3a is connected to the bearing of the material rack 5 through the first bearing group 3b. Specifically, a hollow shaft 3c is sleeved on the main shaft 3a, and the bottom of the hollow shaft 3c is flange-connected to the liner 5a of the material rack 5. The hollow shaft 3c passes through the bearing box 3d outside the first bearing group 3b from bottom to top and is connected to its bearing. The structural design purpose of the hollow shaft 3c is to suspend The material rack 5, the bearing box 3d, through the thrust ball bearing of model GB / T301, the deep groove ball bearing of model GB / T276-94 and the spacer, etc., ensure the limit of the hollow shaft 3c in the axial direction and provide rotation guidance. In addition, the top of the bearing box 3d outside the first bearing group 3b is fixedly connected with the base beam 4a of the lifting component 4 through a plurality of long bolts, and the top of the base beam 4a is also provided with a round nut to ensure axial limit. The bottom of the main shaft 3a is connected with the second bearing group 3e. Installed on the base frame 2, specifically, a bearing seat sleeve 3f is installed at the bottom of the main shaft 3a, the bearing seat sleeve 3f is connected to the main shaft 3a through the second bearing group 3e, the bearing seat sleeve 3f is flange-connected to the mounting plate 2c at the lower part of the base frame 2, and the thrust ball bearing of model GB / T301, the deep groove ball bearing of model GB / T276-94 and the spacer sleeve are used in the bearing seat sleeve 3f to ensure the limitation of the main shaft 3a in the axial direction and provide rotation guidance,

[0061] In order to ensure that the rotating component 3 does not rotate randomly and cause feeding deviation during operation, the rotating component 3 also includes a limit cylinder 3h for fixing the rotation of the main shaft 3a, the bearing sleeve 3f is sleeved on the main shaft 3a and connected to the bearing of the main shaft 3a, the cylinder shaft of the limit cylinder 3h passes through the spacer sleeve of the second bearing group 3e and is embedded in the oblong hole 3g on the main shaft 3a, the limit cylinder 3h is flange-connected to the bearing seat sleeve 3f, similarly, an oblong hole 3g fixed to the material rack 5 is set on the main shaft 3a, and is fixed by a bayonet 3i.

[0062] Due to the different specifications of the workpiece 10, the inner diameter of the steel frame 10a is also different. In order to ensure that the material rack 5 can support steel frames 10a of various specifications, it is necessary to have a lifting function, and its function is realized by the lifting component 4. The lifting component 4 includes a lifting motor 4b, and the motor shaft of the lifting motor 4b is connected to the input end of the reduction box 4c. The two output ends of the reduction box 4c are respectively connected to the head ends of two half-axes 4d distributed on the left and right. The two half-axes 4d are connected to the lining beam 2b of the base frame 2 through multiple bearings and bearing seats. A transmission gear set is installed at the end of the half-axle 4d. The transmission gear set includes a driving gear 4e and a driven gear 4f. A chain 4g is connected between the driving gear 4e and the driven gear 4f. The driving gear 4e and the driven gear 4f are connected. The shaft 4d is key connected, and the gear shaft of the driven gear 4f is fixedly connected to the mounting plate 2c at the side end of the base frame 2. In order to ensure the tension of the chain 4g, an oblong through hole can be set on the mounting plate 2c to be bolted to the base frame 2, and a tensioning bolt 2d threadedly connected to the mounting plate 2c is designed on the lining beam and fixed to the lining beam 2b by bolts. The base beam 4a is installed on the transmission gear set, specifically, the base beam 4a is connected to the chain 4g. More specifically, the chain 4g is an oblong structure in the vertical direction, and the middle position is two vertical chains distributed front and back. The base beam 4a is fixedly connected to one of the chains, and the other chain passes through the base beam 4a. The material rack 5 is installed at the bottom of the base beam 4a through the first bearing group 3b and the hollow shaft 3c.

[0063] The material rack 5 is used to carry the workpiece 10. Since the specifications of the steel frame 10a are different, the inner diameter of the rectangular frame structure is also different. In addition to completing the vertical adjustment through the lifting component 4, it is also required to have the function of left and right adjustment to ensure that it is suitable for steel frames 10a of various specifications. At the same time, the loading and fixing of the steel bars 10b must also be considered. Since the overall equipment is heavy and the vertical height needs to be adjusted each time the material is loaded for more efficient loading, the adjustment in the vertical direction is mechanically driven, while the frequency of left and right adjustment is very low, and there is no need to overcome gravity, so a structural design that is adjusted by the through-flow is adopted. The material rack 5 includes an upper and lower part, which are a loading rack 51 and a lower rack 52.

[0064] The material rack (5) comprises two lining plates 5a distributed in an upper and lower direction, and two loading racks 51 distributed in a front-to-back direction are installed between the two lining plates. The vertical cross-sections of the two loading racks 51 along the left-right direction are radially distributed.

[0065] The loading rack 51 includes an upper channel steel 5b, on which two angle beams 5e distributed on the left and right are installed. The two angle beams 5e are respectively located on the left and right sides of the lining plate 5a. The angle beams 5e are installed on the upper channel steel 5b through mounting blocks 5f. The mounting blocks 5f are rectangular cylindrical structures. The mounting blocks 5f are sleeved on the upper channel steel 5b. The angle beams 5e are welded to the outer frame side of the mounting blocks 5f. The mounting blocks 5f are provided with through holes for penetrating the steel bars 10b.

[0066] The unloading rack 52 includes a joist 5g, and the axial direction of the joist 5g is distributed along the front and back. In order to ensure the synchronous rotation of the joist 5g and the main shaft 3a, the main shaft 3a is sleeved with a lower rotation support and a long axis limit sleeve of a model including FX10-20-18. The long axis limit sleeve ensures the synchronous rotation of the lower rotation support and the main shaft 3a through an interference fit, and the lower rotation support is flange-connected with the joist 5g to ensure its synchronous rotation with the main shaft 3a. The left and right ends of the joist 5g are both installed with lower channel steels 5h, and the lower channel steels 5h and the angle beams 5e are both installed with wire pipes 5i. The steel bars 10b penetrate The wire passing tube 5i and the through hole on the mounting block 5f are adjusted to the left and right positions of the wire passing tubes. The wire passing tube 5i on the loading rack 51 is adjusted by adjusting the position of the angle beam 5e. The wire passing tube 5i on the unloading rack 52 is fixed to the lower channel steel 5h through the adjusting block 5j. The adjusting block 5j is provided with an oblong through hole. The lower channel steel 5h is provided with a plurality of groups of bolt holes distributed to the left and right. The two are connected by bolts and nuts to realize the adjustment of the adjusting block 5j in the left and right directions. Since the welding gun at the bottom is installed on the column 1d and its height is fixed, the height of the unloading rack 52 does not need to be adjusted.

[0067] The above structure is designed for welding four steel bars. If more steel bars need to be welded, such as six or eight, the number of the loading racks 51 needs to be increased. The specific structure is that in the loading rack 51, the number of the upper channel steels 5b is at least one. When the number of the upper channel steels 5b is multiple, the multiple upper channel steels 5b are connected by screws 5c, and the upper channel steel 5b located at the top is fixedly connected to the screws 5c.

[0068] The left and right ends of the two upper channel steels 5b are connected by screw rods 5c, wherein the upper channel steel 5b located at the top is fixedly connected to the screw rods 5c by two nuts located at the upper and lower ends of the upper channel steel 5b, and the lower part of the screw rods 5c is provided with a plurality of through holes, and the through holes are penetrated by cotter pins 5d, and a wire beam 5k is installed under the other upper channel steels 5b, and the wire beam 5k is welded to the upper steel channel 5b by a rib plate, and the wire beam 5k is sleeved on the screw rods 5c and carried on the cotter pins 5d,

[0069] According to the number of steel bars to be added, if two steel bars 10b distributed on the left and right are not added, a set of upper channel steels 5b is added, and the added steel bars 10b pass through the gap between the upper channel steels 5b and the wire beam 5k.

[0070] Since the upper channel steel 5b at the top needs to carry the steel frame 10a, it is necessary to adjust the upper and lower positions through the lifting assembly 4, while the upper channel steel 5b located in the middle does not need to bear the weight of the entire material rack 5 and the steel frame 10a. When adjusting, it only needs to overcome its own weight and the weight of the steel bars 10b passing through the wire tube 10i, so it can be adjusted manually.

[0071] In addition to increasing the number of upper channel steels 5b, if more steel bars 10b are welded, more welding assemblies 9 need to be installed. For each additional steel bar 10b, a corresponding welding assembly 9 is added.

[0072] The transmission mechanism of the X-axis adjustment component 6, the Y-axis adjustment component 7, and the Z-axis adjustment component 8 is the same, and they are all driven by motors. The torque of the motor is converted into a mechanical force driving in a linear direction through a lead screw. The design focus is on how to reasonably solve the positional relationship of the X-axis adjustment component 6, the Y-axis adjustment component 7, and the Z-axis adjustment component 8 on the base frame 1, and adjust the positions of the four welding guns through a set of adjustment components without conflicting with each other.

[0073] The X direction is the left and right direction defined in this application, and the X-direction adjustment component 6 includes two X-direction guide rails 6a that are distributed in parallel front and back, and the axial direction thereof is placed left and right. An X-direction lead screw 6b is installed between the two X-direction guide rails 6a, one end of the X-direction lead screw 6b is connected to the X-direction motor 6c, and the other end is installed on the bottom frame 1a through a bearing seat and a bearing, the X-direction motor 6c and the X-direction guide rail 6a are both installed on the bottom frame 1a and are located on the front side of the column 1d, an X-direction slider 6d adapted to its model is installed on the X-direction guide rail 6a, and an X-direction female seat 6e threadedly connected to it is installed on the X-direction lead screw 6b, and the top surface of the X-direction female seat 6e and the top surface of the X-direction slider 6d are both bolted to the bottom surface of the column 1d,

[0074] The number of the X-direction adjustment components 6 is two, and the vertical cross-sections of the two X-direction adjustment components 6 along the front-back direction are mirror-imaged on the left and right. The two uprights 1d are respectively mounted on the two X-direction adjustment components 6.

[0075] A connecting plate 6f bolted to the column 1d is installed at the top end, a square steel 6g is installed on the top surface of the frame 1b, and a plurality of screw bearings 6h are installed on the bottom surface of the connecting plate 6f. The plurality of screw bearings 6h are located at the front and rear pull rods of the square steel 6g and are in contact with the square steel 6g. The screw bearings 6h are located at the rear of the column 1d, and the square steel 6g is used to provide guidance for the movement of the column 1d in the left and right directions.

[0076] The Y direction is the up and down direction defined in the present application. A Y-direction adjustment assembly 7 is installed on each of the two columns 1d. The Y-direction adjustment assembly 7 includes a Y-direction motor 7a, a Y-direction lead screw 7b, and a Y-direction guide rail 7f. The Y-direction motor 7a and the Y-direction lead screw 7b are respectively located on the left and right sides of the column 1d and are connected through a first transmission pulley group. The transmission pulley group includes a first driving pulley 7c and a first driven pulley 7d. A first transmission belt 7e is connected between the first driving pulley 7c and the first driven pulley 7d. The first transmission belt 7e is located above the column 1d. The first driving pulley 7c and the first driven pulley 7d are respectively connected to the Y-direction motor 7a and the Y-direction lead screw 7b. 7b key connection, the Y-axis motor 7a is not equipped with a reducer, one reason is that the adjustment range of movement along the Y-axis is large, and the other reason is that the deceleration can be achieved through the wheel diameter difference between the first active pulley 7c and the first driven pulley 7d. The Y-axis lead screw 7b is installed on the column 1d through a bearing seat and a bearing, and the Y-axis guide rail 7f is bolted to the column 1d. The number of the Y-axis guide rails 7f is two and they are distributed in parallel front and back. The Y-axis lead screw 7b is located in front of the two Y-axis guide rails 7f. A Y-axis slider 7g is installed on the Y-axis guide rail 7f, and a Y-axis mother seat 7h is installed on the Y-axis lead screw 7b. The Y-axis mother seat 7h and the Y-axis slider 7g are both bolted to the welding assembly 9.

[0077] The Z direction is the front-to-back direction defined in this application, and the Z-direction adjustment component 8 includes a Z-direction motor 8a, a Z-direction lead screw 8b, and a Z-direction guide rail 8c. The number of the Z-direction guide rails 8c is two and they are distributed in parallel left and right, and their axial direction is placed along the front and back. The Z-direction lead screw 8b and the Z-direction motor 8a are both located between the two Z-direction guide rails 8c. The Z-direction motor 8a, the Z-direction lead screw 8b, and the Z-direction guide rail 8c are all installed on the main frame 1e. The Z-direction lead screw 8b is installed on the main frame 1e through an axle seat and a bearing. The Z-direction guide rail 8c can be welded or bolted to the main frame 1e. A second transmission pulley group is installed between the Z-direction motor 8a and the Z-direction lead screw. The second transmission pulley group includes a second active pulley 8d and a second driven pulley 8e, and the second active pulley 8d and the second driven pulley 8e are respectively connected with the Z-direction motor 8a and the Z-direction lead screw 8b by a key, and a second transmission belt 8f is installed between the second active pulley 8d and the second driven pulley 8e. A metal plate with an oblong through hole is provided on the main frame 1e, which is used for being bolted to the Z-direction motor 8a, and the tensioning of the second active pulley 8d is ensured by the oblong through hole. A Z-direction slider 8g is installed on the Z-direction guide rail 8c, and a Z-direction female seat 8h is threadedly connected to the Z-direction lead screw 8b, and the Z-direction slider 8g and the Z-direction female seat 8h are both bolted to the bottom frame 1a.

[0078] The X-axis motor 6c, the Y-axis motor 7a, and the Z-axis motor 8a are all servo motors, which can conveniently control the positions of their corresponding female seats through electronic control components.

[0079] The welding assembly 9 includes a base plate 9a, on which a slide plate 9c is installed through a welding slide rail 9b, and the axial direction of the welding slide rail 9b is distributed along the left and right sides. The base plate 9a is also installed with a cylinder body of a first cylinder 9d for driving the slide plate 9c, and the slide plate 9c is installed with a cylinder body of a second cylinder 9e for pressing the steel frame 10a and a cylinder body of a third cylinder 9f for pressing the steel bar 10b. In the welding assembly 9, the cylinder bodies of the cylinders are connected by angle steels 9i, and the models include FM The rear hinge fixing frame 9j of I40SDB is installed, the cylinder axis of the first cylinder 9d is connected to the slide plate 9c through a fisheye joint, and the cylinder axis of the second cylinder 9e is connected to the clamping plate 9k through an axle pin and a fisheye joint. The horizontal cross-section of the clamping plate 9k is an "L"-shaped structure, one end of which is connected to the second cylinder 9e, and the middle part is rotatably connected to the slide plate 9c through an axle pin and an axle seat. This structure enables the second cylinder 9e to drive the other end of the clamping plate 9k to rotate with the axle pin in the middle as the axis. The clamping plate 9k is a double-layer structure. The double-layer structure of the clamping plate 9k can not only install an axle pin between it, but also leave a notch at the other end to ensure that it clamps the steel After the frame 10a, the steel bar 10b can also enter and exit from the notch, the cylinder shaft of the third cylinder 9f is connected to the pressure head 9l through a fisheye joint, the end of the slide plate 9c is provided with a "U"-shaped groove 9m, the pressure head 9l is rotatably connected to the slide plate 9c, the side end of the slide plate 9c is installed with a welding gun seat 9n, the welding gun seat 9n is installed with a cylinder body and a boom 9o of the fourth cylinder 9g for controlling the position of the welding gun, one end of the boom 9o is connected to the welding gun seat 9n bearing, the other end of the boom 9o is installed with a welding gun 9h through a clamp 9p, the cylinder shaft of the fourth cylinder 9g is rotatably connected to the middle part of the boom 9o through a fisheye joint,

[0080] The welding assembly 9 includes a fixed welding assembly 91 and a sliding welding assembly 92. The fixed welding assembly 91 is located below the sliding welding assembly 92. The base plate 9a of the fixed welding assembly 91 is installed on the column 1d. The base plate 9a of the sliding welding assembly 92 is bolted to the Y-axis mother seat 7h through a mounting frame 93. This structural design can more efficiently adjust the vertical distance of the welding assembly. At the same time, since the height of the fixed welding assembly 91 is fixed, the height of the steel bar 10b located at the bottom can also be determined. At this time, only the horizontal position of the steel bar 10b needs to be adjusted, that is, the unloading rack 52 does not need to adjust the height through the lifting structure. The unloading rack 52 also bears most of the weight of the steel frame 10b, and it is very difficult to adjust its height.

[0081] Example 1

[0082] The steps of loading the steel frame 10a are as follows:

[0083] Step 1, start the lifting motor 4b to lower the material rack. After the material rack is lowered, the distance between the upper material rack 51 and the lower material rack 52 is smaller than the vertical height of the inner frame of the steel frame 10a, specifically, the distance between the angle beam 5e and the support beam 5g is smaller than the vertical height of the inner frame of the steel frame 10a;

[0084] Step 2: transport multiple steel frames 10a distributed front and back to the material rack 5 by a forklift or other upstream machinery. After loading, the bottom of the steel frame 10a is mounted on the support beam 5g, and the angle beam 5e is sleeved in the steel frame 10a.

[0085] Step 3: If the distance between the angle beam 5e and the joist beam 5g is significantly smaller than the vertical height of the inner frame of the steel frame 10a, the steel frame 10a will be tilted to a greater extent. At this time, the lifting motor 4b is started to increase the distance between the angle beam 5e and the joist beam 5g, so that the steel frame 10a tends to be upright;

[0086] Step 4, rotate the material rack 5, so that the loading rack 51 on one side of the steel frame 10a is rotated 180 degrees, and the unloading rack 52 is also rotated 180 degrees, and the angle steel 10a is sent between the loading part and the welding part;

[0087] Step 5, start the limit cylinder 3h, so that its cylinder shaft is embedded in the oblong hole 3g, at this time the material rack 5 can no longer rotate, and the loading step is completed;

[0088] Step 6: After the welding of the batch of steel frames 10a is completed, the cylinder axis of the limit cylinder 3h is reset, and the loading rack 51 is rotated 180°;

[0089] Step 7: If the height of the loading rack 51 is low and it is easy to get bumped, the lifting motor 4b can be started to raise the loading rack 51.

[0090] Example 2

[0091] The feeding steps of steel bar 10b:

[0092] Adjust the position of the wire tube 5i in the loading rack 51. If the distance between the steel bars 10b on both sides is close, the width difference between the left and right sides of the inner frame of the steel frame 10a is large, which will cause the welding assembly to fail to fix the steel bars. Therefore, it is necessary to adjust the position of the wire tube 5i to make it close to the left and right width of the inner frame of the steel frame 10a.

[0093] Step 1. Loosen the bolts on the upper end of the mounting block 5f;

[0094] Step 2: Move the mounting block 5f in the left-right direction, thereby adjusting the position of the wire tube 5i through the angle beam 5e;

[0095] Step 3: Tighten the bolts on the top of the mounting block 5f to complete the fixation;

[0096] Similarly, the position of the wire tube 5i in the unloading rack 52 is adjusted.

[0097] Step 4, unscrew the bolts on the through adjustment block 5j and the lower channel steel 5h;

[0098] Step 5, adjust the left and right positions of the adjustment block 5j;

[0099] Step 6, screw the bolts into the adjustment block 5j and the lower channel steel 5h;

[0100] Step 7: Fine-tune the position by adjusting the oblong through hole on the block 5j;

[0101] Step 8, tighten the bolts with nuts to complete the adjustment;

[0102] Since the loading of the steel frame 10a has not been completed at this time, the position of the wire tube 5i is relatively easy to adjust. After the adjustment is completed, the loading of the steel frame 10a needs to be completed first, and then the loading of the steel bars needs to be completed. Therefore, steps 1 to 5 in Example 1 need to be completed first.

[0103] Step 9: Pass the steel bars into the wire passing pipe 5i to complete the loading of the steel bars.

[0104] After the steel bar 10b is loaded, the distance between the left and right steel bars does not completely match the welding distance. When the welding assembly 9 fixes it, there will still be a slight deformation, but based on the toughness of the steel bar, it will not affect the welding quality.

[0105] Example 3

[0106] In Example 2, the steps of loading 4 steel bars are described. If more steel bars need to be loaded, multiple upper channel steels 5b with cross beams 5k need to be installed. The specific steps are as follows:

[0107] Complete steps 1 to 8 in Example 3;

[0108] Step 1: Fix the screw rod 5c and the upper channel steel 5b at the top with nuts;

[0109] Step 2: Take another upper channel steel 5b and put the wire beam below it on the left and right screws 5c;

[0110] Step 3, insert the split pin 5d at a suitable height; adjust the height of the cross beam 5k by the height of the split pin 5d, and finally adjust the height of the added steel bar 10b;

[0111] Step 4: lower the added upper channel steel 5b so that the wire beam 5k is mounted on the cotter pin 5d;

[0112] It is recommended that the above steps be completed before loading the steel frame 10a, because the loaded steel frame 10a will cause obstruction, making the installation of the upper channel steel 5b inconvenient. The installation should be completed at the latest after completing step 3 in Example 1.

[0113] After completing step 4, proceed to step 1 to step 5 in Example 1;

[0114] Step 5: Pass the steel bar 10b through the gap between the wire beam 5k and the upper channel steel 5b to complete the addition of the steel bar.

[0115] Since the steel bar 10b in the middle does not carry the load of the steel frame 10a, its position is very easy to adjust and does not need to be fixed, so there is no need to install the angle beam 5e and the wire tube 5i. If it is necessary to add a wire beam 5e, it is necessary to put the mounting block 5f on the upper channel steel 5b before fixing the wire beam 5k and the upper channel steel 5b with the rib plate.

[0116] If more welding is required, just repeat the above steps to add the upper channel steel 5b.

[0117] Example 4

[0118] Welding operation steps:

[0119] Step 1: Start the first cylinder 9d, and extend its cylinder shaft to push the slide plate 9c to approach the workpiece 10 in the left and right directions, specifically to make the slide plate 9c located behind the steel bar.

[0120] Step 2: The staff member takes down a steel frame 10a from the rack 5, holds the middle part of the upper frame of the steel frame 10a, moves it forward, and adjusts its position until the front side of the steel frame 10a abuts against the slide plate 9c;

[0121] Step 3, start the second cylinder 9e, and its cylinder shaft pushes the clamping plate 9k to rotate, clamping the steel frame 10a between the slide plate 9c and the clamping plate 9k, and the staff releases the steel frame 10a at this time;

[0122] Step 4, start the third cylinder 9f, and its cylinder shaft pushes the pressure head 91 to rotate, so as to press the steel bar 10b located at the groove 9m into the groove 9m and press it tightly. In this step, the steel bar 10b will produce a slight deformation;

[0123] Step 5, start the fourth cylinder 9g, and its cylinder shaft pushes the welding gun 9h to rotate along the trajectory of the boom 9o, close to the welding point where the steel frame 10a and the steel bar 10b contact;

[0124] Step 6, start the welding gun for 9 hours to complete the welding of the welding point;

[0125] Step 7, resetting the fourth cylinder 9g, but keeping the third cylinder 9f and the second cylinder 9e pressing the welded workpiece 10;

[0126] Step 8, start the Z-axis adjustment motor to pull the clamped workpiece 10 and the base frame 1 backward as a whole;

[0127] Step 9, reset the third cylinder 9f and the second cylinder 9e, release the workpiece, and reset the first cylinder 9d so that it is no longer behind the workpiece 10;

[0128] Step 10, reversely start the Z-direction adjustment motor to reset the base frame 1;

[0129] Repeat the above steps until the welding work is completed.

[0130] Example 5

[0131] Comprehensive feeding and welding process:

[0132] In combination with Embodiment 1 and Embodiment 2, the number of steel frames 10a and the length of the steel bars during loading are described in the form of examples:

[0133] If the required length of the steel bar 10b is 100cm and the required welding interval of the steel frame 10a is 10cm, then one steel bar 10b needs to be welded with 10 steel frames 10a. At this time, in step 2 of Example 1, the 10 steel frames 10a are loaded by a forklift or an upstream loading machine; in step 9 of Example 2, a steel bar with a length of 100cm is introduced.

[0134] If the number of welded steel frames 10a is small, the above-mentioned feeding method will cause frequent feeding and reduce production efficiency. In this case, multiple groups of feeding methods can be used to complete the operation.

[0135] For example, three steel frames 10a need to be welded on each steel bar 10b, and the steps in Embodiments 1, 2, and 4 are described below:

[0136] Step 1, complete the operations of steps 1-8 in Example 2;

[0137] Step 2, take 30 steel frames 10a, and complete the operations of step 1 to step 5 in embodiment 1;

[0138] Step 3, completing the operation of step 9 in embodiment 2;

[0139] Step 4, completing the operations of step 1 to step 10 in embodiment 5;

[0140] Step 5: Repeat steps 3 and 4 9 times;

[0141] Step 6, completing the operations of step 6 and step 7 in embodiment 1;

[0142] Through the above operation method, 10 workpieces can be processed by loading the steel frame 10a once and loading the steel bars 10 times, instead of loading the steel frame 10a once for each workpiece, thereby improving work efficiency.

[0143] Example 6

[0144] The X-axis adjustment component 6 adjusts the left and right position of the welding component 9. Although the welding gun 9h also needs to reciprocate in the left and right directions during the welding operation, this step is achieved by the first cylinder 9d, and the X-axis adjustment component 6 only adjusts the overall position of the welding component 9. Its driving method is not to directly drive the welding component 9, but to drive the column 1d.

[0145] The overall structure is designed as follows: the Y-axis adjustment component only adjusts the welding component 9 connected to its Y-axis mother seat 7h; the X-axis adjustment component adjusts the positions of all welding components 9 and the Y-axis adjustment component 7 located on its X-axis mother seat 6e; the Z-axis adjustment component adjusts the positions of all welding components and the X-axis adjustment components and the Y-axis adjustment components.

[0146] The design focus of the above structural design is:

[0147] 1. The Y-axis adjustment is a vertical adjustment, which needs to overcome gravity, so only the sliding welding component 91 is adjusted to avoid the motor load and energy consumption caused by adjusting too many other components;

[0148] 2. Although the heights of the left and right sliding welding assemblies 91 are synchronized, they need to be adjusted separately through two sets of Y-adjustment assemblies, instead of using a structure similar to the lifting assembly 4 for synchronous adjustment, and adjusting through one set of Y-adjustment assemblies. The reason is that in addition to the vertical adjustment, the left and right positions of the two welding assemblies need to be adjusted, and the length of the transmission structure of the synchronous adjustment design is fixed;

[0149] 3. It can be seen from steps 8 and 10 of Example 4 that during the welding operation, it is necessary to move the workpiece 10 through the Z-axis adjustment component 8 after welding is completed, so it is necessary to be able to adjust the position of each welding component 9 that clamps the workpiece 10, so it is necessary to carry the overall base frame 1.

[0150] The above technical solutions only reflect the preferred technical solutions of the technical solutions of the present invention. Some changes that may be made to certain parts thereof by technicians in this technical field all reflect the principles of the present invention and fall within the protection scope of the present invention.

Claims

1. A beam-column welding robot, comprising a loading part and a welding part, wherein the loading part carries a workpiece (10), characterized in that: The loading part comprises a base frame (2), a material frame (5) is mounted on the base frame (2), the material frame (5) is connected to the base frame (2) via a lifting assembly (4) and a rotating assembly (3), the welding part realizes welding between the steel frame (10a) and the steel bar (10b), the welding part comprises a base frame (1), the base frame (1) is mounted on a Z-axis adjustment assembly (8), a Y-axis adjustment assembly (7) and an X-axis adjustment assembly (6) are mounted on the base frame (1), a welding assembly (9) is mounted on the Y-axis adjustment assembly (7) and the base frame (1), The material rack (5) comprises an upper and lower part, namely an upper material rack (51) and a lower material rack (52). The material rack (5) comprises two lining plates (5a) arranged in an upper and lower direction, and two loading racks (51) arranged in a front-to-back direction are installed between the two lining plates. The loading rack (51) comprises an upper channel steel (5b), on which two angle beams (5e) distributed on the left and right are mounted, and the angle beams (5e) are mounted on the upper channel steel (5b) via mounting blocks (5f). The material discharging rack (52) comprises a supporting beam (5g), lower channel steels (5h) are installed at both left and right ends of the supporting beam (5g), wire passing tubes (5i) are installed on the lower channel steels (5h) and the angle beams (5e), ​​the steel bars (10b) pass through the wire passing tubes (5i) and the through holes on the mounting blocks (5f), and the wire passing tubes (5i) on the material discharging rack (52) are fixed to the lower channel steels (5h) via adjustment blocks (5j). The number of the upper channel steel (5b) is at least one. When the number of the upper channel steel (5b) is plural, the plural upper channel steels (5b) are connected by screw rods (5c), and the uppermost upper channel steel (5b) is fixedly connected to the screw rods (5c). The left and right ends of the two upper channel steels (5b) are connected by screws (5c). The welding assembly (9) comprises a base plate (9a), a slide plate (9c) is mounted on the base plate (9a), a first cylinder (9d) is also mounted on the base plate (9a), a second cylinder (9e) and a third cylinder (9f) are mounted on the slide plate (9c), a cylinder shaft of the first cylinder (9d) is connected to the slide plate (9c), a cylinder shaft of the second cylinder (9e) is connected to the pressing plate (9k), and a cylinder shaft of the third cylinder (9f) is connected to the pressing head (9l). The end of the slide plate (9c) is provided with a "U"-shaped groove (9m), the side end of the slide plate (9c) is installed with a welding gun seat (9n), the welding gun seat (9n) is installed with a fourth cylinder (9g) and a suspension arm (9o), one end of the suspension arm (9o) is connected to the bearing of the welding gun seat (9n), and the other end of the suspension arm (9o) is installed with a welding gun (9h), and the cylinder shaft of the fourth cylinder (9g) is rotatably connected to the middle part of the suspension arm (9o), The welding assembly (9) comprises a fixed welding assembly (91) and a sliding welding assembly (92); the base plate (9a) of the fixed welding assembly (91) is mounted on a column (1d), and the base plate (9a) of the sliding welding assembly (92) is connected to the Y-axis female seat (7h) via a mounting frame (93).

2. The beam-column welding robot according to claim 1, characterized in that: The base frame (1) comprises a bottom frame (1a), the bottom frame (1a) is mounted on the Z-direction adjustment component (8), specifically, a vertical frame (1b) is mounted above the bottom frame (1a), two vertical columns (1d) are arranged on the front side of the vertical frame (1b), the Y-direction adjustment component (7) is mounted on the vertical columns (1d), the vertical columns (1d) are mounted on the X-direction adjustment component (6), the X-direction adjustment component (6) is mounted on the bottom frame (1a), and therefore the Z-direction adjustment component (8) is mounted on the main frame (1e).

3. The beam-column welding robot according to claim 1, characterized in that: The base frame (2) comprises two metal frames (2a) distributed front and back, a lining beam (2b) is installed between the two metal frames (2a), and a mounting plate (2c) is also installed between the two metal frames (2a).

4. The beam-column welding robot according to claim 1, characterized in that: The rotating assembly (3) comprises a main shaft (3a), the upper end of the main shaft (3a) is connected to the bearing of the base frame (2), the middle part of the main shaft (3a) is connected to the bearing of the material rack (5) via a first bearing group (3b), and the bottom of the main shaft (3a) is mounted on the base frame (2) via a second bearing group (3e). The rotating assembly (3) further comprises a limit cylinder (3h), the cylinder shaft of the limit cylinder (3h) passing through the second bearing group (3e) and embedded in the oblong hole (3g) on ​​the main shaft (3a), and the limit cylinder (3h) is flange-connected to the bearing seat sleeve (3f).

5. The beam-column welding robot according to claim 1, characterized in that: The lifting assembly (4) comprises a lifting motor (4b), the lifting motor (4b) is connected to a reduction box (4c), the reduction box (4c) is connected to the head ends of two half shafts (4d), the ends of the half shafts (4d) are equipped with a transmission gear set, a base beam (4a) is installed on the transmission gear set, and the material rack (5) is installed at the bottom of the base beam (4a).

6. The beam-column welding robot according to claim 2, characterized in that: The X-direction adjustment assembly (6) comprises an X-direction guide rail (6a), an X-direction lead screw (6b) is installed between the two X-direction guide rails (6a), one end of the X-direction lead screw (6b) is connected to an X-direction motor (6c), the X-direction motor (6c) and the X-direction guide rail (6a) are both installed on the bottom frame (1a), an X-direction slider (6d) is installed on the X-direction guide rail (6a), an X-direction female seat (6e) is installed on the X-direction lead screw (6b), and the X-direction female seat (6e) and the X-direction slider (6d) are both connected to the bottom surface of the column (1d), The number of the X-direction adjustment components (6) is two, and the two uprights (1d) are respectively mounted on the two X-direction adjustment components (6). A connecting plate (6f) is installed on the top of the column (1d), a square steel (6g) is installed on the top surface of the vertical frame (1b), and a plurality of screw bearings (6h) are installed on the bottom surface of the connecting plate (6f). The plurality of screw bearings (6h) are located on the front and rear pull rods of the square steel (6g) and are in contact with the square steel (6g).

7. The beam-column welding robot according to claim 2, characterized in that: The Y-direction adjustment assembly (7) comprises a Y-direction motor (7a), a Y-direction lead screw (7b), and a Y-direction guide rail (7f); the Y-direction motor (7a) and the Y-direction lead screw (7b) are connected via a first transmission pulley set; a Y-direction slider (7g) is mounted on the Y-direction guide rail (7f); a Y-direction female seat (7h) is mounted on the Y-direction lead screw (7b); and the Y-direction female seat (7h) and the Y-direction slider (7g) are both connected to a welding assembly (9).

8. The beam-column welding robot according to claim 2, characterized in that: The Z-axis adjustment assembly (8) comprises a Z-axis motor (8a), a Z-axis lead screw (8b), and a Z-axis guide rail (8c); the Z-axis motor (8a), the Z-axis lead screw (8b), and the Z-axis guide rail (8c) are all mounted on the main frame (1e); a second transmission pulley set is mounted between the Z-axis motor (8a) and the Z-axis lead screw; a Z-axis slider (8g) is mounted on the Z-axis guide rail (8c); a Z-axis female seat (8h) is threadedly connected to the Z-axis lead screw (8b); and the Z-axis slider (8g) and the Z-axis female seat (8h) are both connected to the bottom frame (1a).

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