Automatic welding production line for human defense door leaf

Abstract

The application provides a kind of automatic welding production line of civil air defense door leaf, which is sequentially provided with a frame group pair station, three robot welding stations and an auxiliary welding station from front to back, the frame group pair station is provided with a frame group pair platform, each of the robot welding station and the auxiliary welding station is provided with a welding work platform, tracks are provided in parallel on the left and right sides of the four welding work platforms, two sets of gantry robot systems capable of walking and positioning along the tracks are mounted on the tracks, two movable arc welding robots with downwardly freely extendable welding arms are mounted on the gantry robot systems.The production line uses various automated designs to replace manual operation and uses welding robots to complete the main welding process of the civil air defense door leaf, the layout of each station and the selection of components are reasonable, the production efficiency is high, and the product quality is stable.Furthermore, the production line can be used for automatically welding various civil air defense door leaves of different sizes, which is conducive to realizing flexible production.

Description

TECHNICAL FIELD

[0001] The present application relates to a civil air defense door manufacturing equipment, in particular to a civil air defense door automatic welding production line, and belongs to the technical field of civil air defense door production and manufacturing. BACKGROUND

[0002] The civil air defense door is an important access protection device in civil air defense engineering facilities, and the steel structure civil air defense door is composed of a civil air defense door frame and a double-opening civil air defense door leaf installed on the civil air defense door frame, wherein the civil air defense door leaf is composed of a door leaf frame, panels on both sides of the frame and accessories. At present, the welding of the civil air defense door leaf in China mostly adopts a simple manual positioning and clamping and manual welding production mode. Due to the large size and weight of the civil air defense door leaf and the large number of components required for the welding, the positioning, clamping and welding work is huge, and the proportion of manual operation is too large to easily cause the operator to be tired, resulting in low production efficiency. Moreover, the welding quality of manual welding is unstable, and it is not easy to control the welding deformation of the workpiece, which affects the product qualification rate and increases the difficulty of subsequent workpiece correction.

[0003] In order to improve the production efficiency of the civil air defense door leaf and stabilize the product quality, the present application designs a civil air defense door leaf automatic welding production line, which adopts various automatic designs to replace manual operation, and uses a welding robot to complete the main welding work of the civil air defense door leaf, so as to improve the production efficiency, stabilize and improve the product quality, improve the labor conditions of the operators, and shorten the production cycle. Moreover, the civil air defense door leaf automatic welding production line can be used for automatic welding of civil air defense door leaves of various sizes, which is beneficial to realize flexible production, reduce the production area, reduce the production cost, and ensure the balance of production. SUMMARY

[0004] The purpose of the present application is to provide a civil air defense door leaf automatic welding production line which adopts various automatic designs to replace manual operation, uses a welding robot to complete the main welding work of the civil air defense door leaf, and can be used for automatic welding of civil air defense door leaves of various sizes.

[0005] The specific technical solutions adopted by the present application are as follows:

[0006] The utility model provides an automatic welding production line of civil air defense door leaf, which is provided with a frame group matching station, three robot welding stations and an auxiliary welding station from front to back in sequence, wherein the frame group matching station is provided with a frame group matching platform, the three robot welding stations and the auxiliary welding station are each provided with a welding work platform, the frame group matching platform and the four welding work platforms are horizontally spaced apart from front to back to form a row, tracks are arranged on the left and right sides of the four welding work platforms, two gantry robot systems capable of walking and positioning along the tracks are arranged on the tracks, the gantry robot system is provided with a gantry frame, two gantry columns of the gantry frame are connected with the tracks through powered walking bases, a control box and a control platform are arranged on the sides of the gantry columns, and two arc welding robots capable of moving along the gantry beams in the longitudinal direction and having welding arms capable of freely stretching in multiple dimensions below the gantry beams are arranged on the gantry beams of the gantry frame.

[0007] The frame group matching platform is provided with a rectangular platform type base, a plurality of T-shaped grooves arranged in transverse parallel manner are formed in the surface of the base, rear positioning clamping components arranged in longitudinal direction are fixedly installed on the rear side of the surface of the base, a plurality of intermediate positioning clamping components arranged in longitudinal direction and capable of sliding in the T-shaped grooves in the whole transverse direction are installed on the middle part of the surface of the base, the number of the intermediate positioning clamping components corresponds to the number of the internal longitudinal I-beams of the civil air defense door leaf, and front positioning clamping components arranged in longitudinal direction and capable of sliding in the T-shaped grooves in the whole transverse direction are installed on the front side of the surface of the base.

[0008] The rear positioning and clamping component is provided with a longitudinal long-strip rear fixed base plate fixedly installed at the rear side of the base table top; a channel steel fixed end positioning and clamping device is fixedly installed at the left side of the rear fixed base plate, the channel steel fixed end positioning and clamping device is provided with a left rear supporting plate, the left side and the rear side of the left rear supporting plate are provided with channel steel positioning baffle plates, and a swing arm that extends above the left rear supporting plate and is provided with a downward pressure head and a manual control handle is further arranged on the left side of the left rear supporting plate; a plurality of rear channel steel positioning and clamping devices that can slide along the longitudinal direction of the plate body are installed at the middle part of the rear fixed base plate, the rear channel steel positioning and clamping device is provided with a middle rear sliding seat that is in sliding connection with the rear fixed base plate and can be locked, a middle rear supporting plate is installed on the top surface of the middle rear sliding seat, the rear side of the middle rear supporting plate is provided with a channel steel positioning baffle plate, a large pushing air cylinder with a pushing head facing rear is arranged on the front side of the middle rear supporting plate of the middle rear sliding seat, and a swing arm that extends above the middle rear supporting plate and is provided with a downward pressure head and a manual control handle is further arranged on the rear side of the middle rear supporting plate; a channel steel movable end positioning and clamping device that can slide along the longitudinal direction of the plate body is installed at the right side of the rear fixed base plate, the channel steel movable end positioning and clamping device is provided with a right rear sliding seat that is in sliding connection with the rear fixed base plate and can be locked, a right rear supporting plate is installed on the top surface of the right rear sliding seat, the rear side of the right rear supporting plate is provided with a channel steel positioning baffle plate, a swing arm that extends above the right rear supporting plate and is provided with a downward pressure head and a manual control handle is further arranged on the rear side of the right rear supporting plate, and a small pushing air cylinder with a pushing head facing left and provided with a manual control handle is arranged on the right side of the right rear supporting plate.

[0009] The intermediate positioning and clamping component is provided with a longitudinally long strip-shaped intermediate movable base plate which can slide laterally in the middle of the base mesa, the intermediate movable base plate is slidingly connected in the T-shaped groove of the base through the T-shaped slide rail on the bottom surface thereof and is positionally locked through the tension screw; a fixed positioning and clamping device is fixedly arranged at the left side of the intermediate movable base plate, the fixed positioning and clamping device is provided with a left middle supporting plate, the left side of the left middle supporting plate is provided with a channel steel positioning baffle, the left side of the left middle supporting plate is further provided with a pneumatic top surface pressing mechanism with a manual control handle which swings to above the left middle supporting plate and has a downward pressing head, the right side of the left middle supporting plate is provided with a left cylinder mounting position; a plurality of I-shaped steel positioning blocks which can slide longitudinally along the plate body are mounted at the middle of the intermediate movable base plate, the bottom of the I-shaped steel positioning block adopts a sliding seat structure which is slidingly connected with the intermediate movable base plate and can be locked, the top surface of the I-shaped steel positioning block is provided with a supporting table, the front and rear sides of the table surface of the supporting table are respectively provided with a crowbar insertion hole and an I-shaped steel positioning boss; an active positioning and clamping device which can slide longitudinally along the plate body is mounted at the right side of the intermediate movable base plate, the active positioning and clamping device is provided with a right middle sliding seat which is slidingly connected with the intermediate movable base plate and can be locked, the top surface of the right middle sliding seat is provided with a right middle supporting plate, the right side of the right middle supporting plate of the right middle sliding seat is provided with a pneumatic top surface pressing mechanism which swings to above the right middle supporting plate and has a downward pressing head, the right side of the right middle supporting plate of the right middle sliding seat is further provided with a small pushing cylinder with a left pushing head and a manual control handle, the left side of the right middle supporting plate of the right middle sliding seat is provided with a right cylinder mounting position; among all the intermediate positioning and clamping components, several left cylinder mounting positions are provided with large pushing cylinders with left pushing heads, and several right cylinder mounting positions are provided with large pushing cylinders with right pushing heads.

[0010] Further, the I-shaped steel positioning bosses on the rear side of the supporting table surface of the I-shaped steel positioning block are provided with left and right two I-shaped steel positioning bosses, the edges of the two I-shaped steel positioning bosses adjacent to each other jointly position the left and right two side edges of the transverse I-shaped steel of the civil defense door leaf frame, and the front edges of the two I-shaped steel positioning bosses position the rear side edge of the longitudinal I-shaped steel of the civil defense door leaf frame.

[0011] The front positioning and clamping component is provided with a longitudinally long strip-shaped front movable base plate which can slide laterally on the front side of the base table top, the front movable base plate is slidingly connected in a T-shaped slot of the base through a T-shaped slide rail on the bottom surface thereof and is positionally locked through a tension screw; a channel steel left front end positioning and clamping device is fixedly installed at the left side of the front movable base plate, the channel steel left front end positioning and clamping device is provided with a fixing seat, a left front supporting plate is installed on the top surface of the middle part of the fixing seat, a large pushing pneumatic cylinder with a pushing head facing forward is arranged on the rear side of the left front supporting plate, a pneumatic top surface pressing mechanism with an arm extending above the left front supporting plate and a pressing head facing downward is arranged on the front side of the left front supporting plate, and a small pushing pneumatic cylinder with a pushing head facing backward and a manual control handle is further arranged on the front side of the left front supporting plate; a front channel steel positioning and clamping device which can slide longitudinally along the plate body is installed at the middle part and the rear side of the front movable base plate respectively, the front channel steel positioning and clamping device is provided with a front sliding seat which is slidingly connected with the front movable base plate and can be locked, a front supporting plate is installed on the top surface of the middle part of the front sliding seat, a large pushing pneumatic cylinder with a pushing head facing forward is arranged on the rear side of the front supporting plate, a pneumatic top surface pressing mechanism with an arm extending above the front supporting plate and a pressing head facing downward is arranged on the front side of the front supporting plate, and a small pushing pneumatic cylinder with a pushing head facing backward and a manual control handle is further arranged on the front side of the front supporting plate.

[0012] The pneumatic top surface pressing mechanism is provided with an arm driven by a clamping pneumatic cylinder, the end of the arm is provided with a pressing head extending downward, when the pressing head of the pneumatic top surface pressing mechanism is pressed downward, the profile steel placed on the supporting plate can be clamped from the top surface. Further, the side of the pneumatic top surface pressing mechanism is further provided with an upwardly erected anti-collision baffle to prevent the pneumatic top surface pressing mechanism from being damaged when the workpiece is hoisted.

[0013] The rear side of the base is further provided with a pneumatic cylinder control module through a support, the pneumatic cylinder control module is provided with a plurality of pneumatic cylinder remote control handles arranged in a row, each pneumatic cylinder remote control handle synchronously controls a group of pneumatic elements of the platform of the frame group. Further, each of the pneumatic top surface pressing mechanisms located on the front side, the rear side, the left side and the right side of the base is provided with a pneumatic cylinder remote control handle for synchronous control, each of the large pushing pneumatic cylinders located on the front side, the rear side, the left side and the right side of the base is provided with a pneumatic cylinder remote control handle for synchronous control, and each of the small pushing pneumatic cylinders located on the front side and the right side of the base is provided with a pneumatic cylinder remote control handle for synchronous control.

[0014] Further, the track is provided with corresponding positioning members at positions corresponding to each welding station to position the stay of the gantry robot system at each welding station.

[0015] The automatic welding production line for the civil defense door leaf adopts various automatic designs to replace manual operation, and adopts a welding robot to complete the main welding process of the civil defense door leaf. The layout of each station and the selection of components are reasonable, the production efficiency is high, the product quality is stable, the labor conditions of workers are good, and the production cycle of products can be shortened. When the production line is used, the civil defense door leaf frame is first assembled and positioned and clamped at the frame assembly station, and then the whole frame is formed by manual spot welding. Then the civil defense door leaf frame is hoisted to the robot welding station to be fully welded by the gantry robot system. After the panel of the civil defense door leaf frame is laid and spot welded manually, the panel is fully welded by the gantry robot system. Then it is hoisted to the auxiliary welding station for supplementary welding of steel pipes and lock seat backing plates. The cooperation of the three robot welding stations and the two sets of gantry robot systems can ensure that the welding work of multiple civil defense door leaves is implemented simultaneously on the production line according to different stages, thereby improving the production efficiency. In addition, the frame assembly platform of the frame assembly station can adapt to the assembly of civil defense door leaf frames of various sizes by adjusting the positions of the movable parts. The arc welding robot of the gantry robot system can match the welding of civil defense door leaves of various sizes according to the set welding program. Therefore, the automatic welding production line for the civil defense door leaf can be used for automatic welding of civil defense door leaves of various sizes, which is conducive to realizing flexible production, reducing production area, reducing production cost, and ensuring production balance. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall layout and equipment structure of the automatic welding production line for the civil defense door leaf.

[0017] Figure 2 It is a schematic diagram of the overall structure of the gantry robot system.

[0018] Figure 3 It is a schematic diagram of the overall structure of the frame assembly platform.

[0019] Figure 4 It is a schematic diagram of the frame assembly platform when assembling the civil defense door leaf frame.

[0020] Figure 5 It is a schematic diagram of the rear positioning and clamping component of the frame assembly platform.

[0021] Figure 6 It is a schematic diagram of the groove steel fixed end positioning and clamping device of the rear positioning and clamping component of the frame assembly platform.

[0022] Figure 7 It is a schematic diagram of the rear groove steel positioning and clamping device of the rear positioning and clamping component of the frame assembly platform.

[0023] Figure 8Fig. 6 is a schematic view of a movable positioning and clamping device for the movable end of the channel steel of the front positioning and clamping component of the frame assembly.

[0024] Figure 9 Fig. 7 is a schematic view of the middle positioning and clamping component of the frame assembly.

[0025] Figure 10 Fig. 8 is a schematic view of a fixed positioning and clamping device for the middle positioning and clamping component of the frame assembly.

[0026] Figure 11 Fig. 9 is a schematic view of a I-beam positioning block for the middle positioning and clamping component of the frame assembly.

[0027] Figure 12 Fig. 10 is a schematic view of a movable positioning and clamping device for the middle positioning and clamping component of the frame assembly.

[0028] Figure 13 Fig. 11 is a schematic view of the front positioning and clamping component of the frame assembly.

[0029] Figure 14 Fig. 12 is a schematic view of a left front end positioning and clamping device for the front positioning and clamping component of the frame assembly.

[0030] Figure 15 Fig. 13 is a schematic view of a front channel steel positioning and clamping device for the front positioning and clamping component of the frame assembly.

[0031] Figure 16 Fig. 14 is a schematic view of the formed frame of the civil defense door leaf.

[0032] In the figure: 1-frame group to platform, 2-welding work platform, 3-track, 4-gantry robot system, 5-gantry column, 6-travel base, 7-control box, 8-operating platform, 9-gantry beam, 10-arc welding robot, 11-base, 12-T-shaped groove, 13-rear fixed base plate, 14-channel steel fixed end positioning and clamping device, 15-left rear supporting plate, 16-channel steel positioning baffle, 17-pneumatic top surface pressing mechanism, 18-rear channel steel positioning and clamping device, 19-middle rear sliding seat, 20-middle rear supporting plate, 21-large pushing cylinder, 22-channel steel movable end positioning and clamping device, 23-right rear sliding seat, 24-right rear supporting plate, 25-small pushing cylinder, 26-intermediate movable base plate, 27-fixed positioning and clamping device, 28-left middle supporting plate, 29-left cylinder mounting position, 30-I-beam positioning block, 31-supporting table, 32-I-beam positioning boss, 33-prying stick insertion hole, 34-movable positioning and clamping device, 35-right middle sliding seat, 36-right middle supporting plate, 37-right cylinder mounting position, 38-front movable base plate, 39-channel steel left front end positioning and clamping device, 40-fixed seat, 41-left front supporting plate, 42-front channel steel positioning and clamping device, 43-front sliding seat, 44-front supporting plate, 45-anti-collision baffle, 46-cylinder control module, 47-cylinder remote control handle. DETAILED DESCRIPTION

[0033] The application will be further described below with reference to the drawings. In the description of the application, the terms "front", "rear", "left", "right", "upper", "lower", "transverse", "longitudinal" are defined based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the application, and should not be regarded as a limitation on the application. Figure 1 and Figure 3 The orientation or positional relationship shown in the drawings is only for the convenience of describing the application, and should not be regarded as a limitation on the application.

[0034] As Figures 1-2As shown, the automatic welding production line for the door leaf of the civil air defense door is provided with a frame assembly positioning station, three robot welding stations and an auxiliary welding station from front to back, wherein the frame assembly positioning station is provided with a frame assembly positioning platform 1, the three robot welding stations and the auxiliary welding station are each provided with a welding work platform 2, the frame assembly positioning platform 1 and the four welding work platforms 2 are horizontally spaced apart from front to back to form a row, tracks 3 are arranged on the left and right sides of the four welding work platforms 2, and two sets of gantry robot systems 4 are arranged on the tracks 3 and can move and position along the tracks 3; the gantry robot system 4 is provided with a gantry frame, two gantry columns 5 of the gantry frame are connected with the tracks 3 through a powered walking base 6, a control box 7 and a control platform 8 are arranged on the sides of the gantry columns 5, and two arc welding robots 10 are arranged on a gantry beam 9 of the gantry frame and can move longitudinally along the gantry beam 9 and the welding arms can freely stretch in multiple dimensions below the gantry beam 9.

[0035] As shown in Figures 3-4 The frame assembly positioning platform is provided with a rectangular platform type base 11, a plurality of T-shaped grooves 12 are arranged on the top surface of the base 11 in a horizontal and parallel manner, a rear positioning and clamping component is fixedly installed on the rear side of the top surface of the base 11 in a longitudinal manner, a plurality of intermediate positioning and clamping components are installed on the middle part of the top surface of the base 11 in a longitudinal manner and can slide horizontally as a whole along the T-shaped grooves 12, the number of the intermediate positioning and clamping components corresponds to the number of the longitudinal I-beams inside the frame of the door leaf of the civil air defense door, and a front positioning and clamping component is installed on the front side of the top surface of the base 11 in a longitudinal manner and can slide horizontally as a whole along the T-shaped grooves 12.

[0036] As shown in Figures 5-8As shown, the rear positioning and clamping component is provided with a longitudinal long-strip rear fixed plate 13 fixedly installed at the rear side of the table top of the base 11. A channel steel fixed end positioning and clamping device 14 is fixedly installed at the left side of the rear fixed plate 13. The rear positioning and clamping component is provided with a left rear supporting plate 15. The left side and the rear side of the left rear supporting plate 15 are provided with channel steel positioning baffle plates 16. The left side of the left rear supporting plate 15 is further provided with a swing arm extending above the left rear supporting plate 15 and a pneumatic top surface pressing mechanism 17 with a manual control handle and a downward pressing head. A plurality of rear channel steel positioning and clamping devices 18 that can slide along the plate body in the longitudinal direction are installed at the middle part of the rear fixed plate 13. The rear channel steel positioning and clamping devices 18 are provided with middle rear sliding seats 19 that are in sliding connection with the rear fixed plate 13 and can be locked. The top surface of the middle rear sliding seat 19 is provided with a middle rear supporting plate 20. The rear side of the middle rear supporting plate 20 is provided with channel steel positioning baffle plates 16. A large pushing pneumatic cylinder 21 with a rear pushing head is arranged in front of the middle rear supporting plate 20. The rear side of the middle rear supporting plate 20 is further provided with a pneumatic top surface pressing mechanism 17 with a downward pressing head and a swing arm extending above the middle rear supporting plate 20. A channel steel movable end positioning and clamping device 22 that can slide along the plate body in the longitudinal direction is installed at the right side of the rear fixed plate 13. The channel steel movable end positioning and clamping device 22 is provided with a right rear sliding seat 23 that is in sliding connection with the rear fixed plate 13 and can be locked. The top surface of the right rear sliding seat 23 is provided with a right rear supporting plate 24. The rear side of the right rear supporting plate 24 is provided with channel steel positioning baffle plates 16. The rear side of the right rear supporting plate 24 is further provided with a pneumatic top surface pressing mechanism 17 with a downward pressing head and a swing arm extending above the right rear supporting plate 24. The right side of the right rear supporting plate 24 is provided with a small pushing pneumatic cylinder 25 with a left pushing head and a manual control handle.

[0037] As Figures 9-12As shown, the intermediate positioning and clamping component is provided with a longitudinally long strip-shaped intermediate movable base plate 26 which can slide laterally in the middle of the base 11 table top, the intermediate movable base plate 26 is slidingly connected in the T-shaped groove 12 of the base 11 through the T-shaped slide rail of its bottom surface and is positionally locked through tension screws; the left side of the intermediate movable base plate 26 is fixedly provided with a fixed positioning and clamping device 27, the fixed positioning and clamping device 27 is provided with a left middle supporting plate 28, the left side of the left middle supporting plate 28 is provided with a channel steel positioning baffle 16, the left side of the left middle supporting plate 28 is also provided with a swing arm which extends above the left middle supporting plate 28 and a pneumatic top surface pressing mechanism 17 with a manual control handle whose pressing head faces downward, the right side of the left middle supporting plate 28 is provided with a left cylinder mounting position 29; a plurality of I-shaped steel positioning blocks 30 which can slide longitudinally along the plate body are mounted in the middle of the intermediate movable base plate 26, the bottom of the I-shaped steel positioning block 30 adopts a sliding seat structure which is slidingly connected with the intermediate movable base plate 26 and can be locked, the top surface of the I-shaped steel positioning block 30 is provided with a supporting table 31, the front and rear sides of the table top of the supporting table 31 are respectively provided with a crowbar insertion hole 33 and an I-shaped steel positioning boss 32, the I-shaped steel positioning boss 32 is provided with left and right two, the edges of the adjacent sides of the two I-shaped steel positioning bosses 32 jointly position the left and right two sides of the transverse I-shaped steel of the civil defense door leaf frame, the front edges of the two I-shaped steel positioning bosses 32 position the rear side of the longitudinal I-shaped steel of the civil defense door leaf frame; an active positioning and clamping device 34 which can slide longitudinally along the plate body is mounted at the right side of the intermediate movable base plate 26, the active positioning and clamping device 34 is provided with a right middle sliding seat 35 which is slidingly connected with the intermediate movable base plate 26 and can be locked, the top surface of the right middle sliding seat 35 is provided with a right middle supporting plate 36 in the middle, the right side of the right middle supporting plate 36 is provided with a pneumatic top surface pressing mechanism 17 which extends above the right middle supporting plate 36 and whose pressing head faces downward, the right side of the right middle supporting plate 36 is also provided with a small pushing cylinder 25 whose pushing head faces left and has a manual control handle, the left side of the right middle supporting plate 36 is provided with a right cylinder mounting position 37; among all the intermediate positioning and clamping components, several left cylinder mounting positions 29 are provided with large pushing cylinders 21 whose pushing heads face left, and several right cylinder mounting positions 37 are provided with large pushing cylinders 21 whose pushing heads face right.

[0038] As Figures 13-15As shown, the front positioning and clamping component is provided with a longitudinally long strip-shaped front movable base plate 38 which can slide laterally in front of the base 11 table top, the front movable base plate 38 is slidingly connected in the T-shaped groove 12 of the base 11 through the T-shaped slide rail on the bottom surface thereof and is positionally locked through tension screws; a channel steel left front end positioning and clamping device 39 is fixedly installed at the left side of the front movable base plate 38, the channel steel left front end positioning and clamping device 39 is provided with a fixing seat 40, a left front supporting plate 41 is installed on the top surface of the middle part of the fixing seat 40, a large pushing air cylinder 21 with a pushing head facing forward is arranged on the rear side of the left front supporting plate 41 of the fixing seat 40, a pneumatic top surface pressing mechanism 17 with an arm swinging to above the left front supporting plate 41 and a pressing head facing downward is arranged on the front side of the left front supporting plate 41 of the fixing seat 40, and a small pushing air cylinder 25 with a pushing head facing backward and a manual control handle is further arranged on the front side of the left front supporting plate 41 of the fixing seat 40; a front channel steel positioning and clamping device 42 which can slide longitudinally along the plate body is installed at the middle part and the right side of the front movable base plate 38 respectively, the front channel steel positioning and clamping device 42 is provided with a front sliding seat 43 which is slidingly connected with the front movable base plate 38 and can be locked, a front supporting plate 44 is installed on the top surface of the middle part of the front sliding seat 43, a large pushing air cylinder 21 with a pushing head facing forward is arranged on the rear side of the front supporting plate 44 of the front sliding seat 43, a pneumatic top surface pressing mechanism 17 with an arm swinging to above the front supporting plate 44 and a pressing head facing downward is arranged on the front side of the front supporting plate 44 of the front sliding seat 43, and a small pushing air cylinder 25 with a pushing head facing backward and a manual control handle is further arranged on the front side of the front supporting plate 44 of the front sliding seat 43.

[0039] The pneumatic top surface pressing mechanism 17 is provided with an arm swinging driven by an air cylinder, the end of the arm is provided with a pressing head extending downward, when the pressing head of the pneumatic top surface pressing mechanism 17 is pressed downward, the profile steel placed on the supporting plate can be clamped from the top surface.

[0040] As shown in the drawings, Figures 3-4 The rear side of the base 11 is further provided with a cylinder control module 46 through a support, the cylinder control module 46 is provided with a plurality of cylinder remote control handles 47 arranged in a row, each cylinder remote control handle 47 synchronously controls a group of pneumatic elements of the frame group on the platform. Further, each pneumatic top surface pressing mechanism 17 located on the front side, the rear side, the left side and the right side of the base 11 is provided with a cylinder remote control handle 47 for synchronous control, each large pushing air cylinder 21 located on the front side, the rear side, the left side and the right side of the base 11 is provided with a cylinder remote control handle 47 for synchronous control, and each small pushing air cylinder 25 located on the front side and the right side of the base 11 is provided with a cylinder remote control handle 47 for synchronous control.

[0041] The process flow of welding the civil air defense door leaf by using the civil air defense door leaf automatic welding production line includes the following steps:

[0042] (1) In the frame set pair station, the frame set pair platform 1 is used to assemble and pair the civil defense door frame and splice it into a whole by manual spot welding. The civil defense door frame is a rectangular grid frame assembled and welded by multiple section steels, wherein the perimeter frame is spliced by two horizontal channel steels and two vertical channel steels with the opening facing inwards, and the internal grid is spliced and separated by long vertical I-beams and short horizontal I-beams, as shown in Figure 16 .

[0043] (2) The civil defense door frame is hoisted to any idle welding work platform 2 in the three robot welding stations and laid flat.

[0044] (3) The gantry robot system 4 is driven to the corresponding robot welding station along the track 3, and the arc welding robot 10 on the gantry robot system 4 performs full welding on the civil defense door frame according to the set automatic welding program.

[0045] (4) The outer panel is laid on the welding work platform 2, and the relative position of the outer panel and the civil defense door frame is determined. The fully welded civil defense door frame is hoisted to the outer panel and laid flat according to the corresponding position by manual operation.

[0046] (5) The arc welding robot 10 on the gantry robot system 4 performs welding on the inner side of the civil defense door frame and the outer panel according to the set automatic welding program.

[0047] (6) The inner panel is manually laid on the upper side of the civil defense door frame and spot welded. The embedded plate is assembled and spot welded on the upper side of the inner panel.

[0048] (7) The arc welding robot 10 on the gantry robot system 4 performs plug welding on the inner panel and the door frame hole, full welding on the joint and the perimeter of the inner panel, and welding on the embedded edge on the upper side of the inner panel.

[0049] (8) The gantry robot system 4 drives away from the robot welding station, and the civil defense door frame is turned over by manual operation of the crane on the welding work platform 2, so that the outer panel of the civil defense door frame is laid flat on the welding work platform 2 with the outer panel facing upwards.

[0050] (9) The gantry robot system 4 drives back to the original robot welding station, and the arc welding robot 10 on the gantry robot system 4 performs full welding on the joint and the perimeter of the outer panel according to the set automatic welding program.

[0051] (10) The gantry robot system 4 drives away from the robot welding station, and the civil defense door frame is hoisted to the welding work platform 2 of the auxiliary welding station and laid flat. Steel pipes and lock seat backing plates are supplemented.

[0052] In the step (1), the method for splicing the frame of the civil defense door leaf by using the frame set includes the following steps:

[0053] 1) According to the size and specification of the frame of the civil defense door leaf and the longitudinal and lateral position of the I-beams, the position of the front and middle positioning and clamping components on the base is adjusted and locked, the position of the front channel steel positioning and clamping device 42 on the front positioning and clamping component is adjusted and locked, the position of the I-beam positioning block 30 and the movable positioning and clamping device 34 on the middle positioning and clamping component is adjusted and locked, and the position of the rear channel steel positioning and clamping device 18 and the channel steel movable end positioning and clamping device 22 on the rear positioning and clamping component is adjusted and locked.

[0054] 2) The left lateral channel steel is placed, the small push cylinder 25 of the channel steel left front end positioning and clamping device 39 is first manually controlled to push backward, so that the left lateral channel steel is pushed backward and pressed on the rear channel steel positioning baffle 16, thereby achieving lateral positioning, and after positioning, the small push cylinder 25 is manually returned; then the large push cylinder 21 on the left side of the base 11 is simultaneously controlled to push leftward, so that the left lateral channel steel is pushed leftward and pressed on the left channel steel positioning baffle 16, thereby achieving longitudinal positioning.

[0055] 3) The rear longitudinal channel steel is placed, the small push cylinder 25 of the channel steel movable end positioning and clamping device 22 is first manually controlled to push leftward, so that the rear longitudinal channel steel is pushed leftward and pressed on the left channel steel positioning baffle 16, thereby achieving longitudinal positioning, and after positioning, the small push cylinder 25 is manually returned; then the large push cylinder 21 on the rear side of the base 11 is simultaneously controlled to push backward, so that the rear longitudinal channel steel is pushed backward and pressed on the rear channel steel positioning baffle 16, thereby achieving lateral positioning; the pneumatic top surface pressing mechanism 17 on the rear side of the base 11 is simultaneously controlled to press downward, thereby clamping the rear longitudinal channel steel; the pneumatic top surface pressing mechanism 17 of the channel steel fixed end positioning and clamping device 14 is simultaneously controlled to press downward, thereby clamping the rear end of the left lateral channel steel and the left end of the rear longitudinal channel steel.

[0056] 4) The first group of lateral I-beams and the first longitudinal I-beam on the rear side are placed, the small push cylinder 25 of the movable positioning and clamping device 34 is first manually controlled to push leftward, so that the longitudinal I-beam is pushed leftward and pressed on the inner side of the left lateral I-beam, thereby achieving longitudinal positioning, and after positioning, the small push cylinder 25 is manually returned; then a crowbar is inserted into the crowbar insertion hole 33 of each I-beam positioning block 30, the longitudinal I-beam is pried to move backward, so that the longitudinal I-beam is compacted with the first group of lateral I-beams, thereby achieving lateral positioning; the pneumatic top surface pressing mechanism 17 of the fixed positioning and clamping device 27 is simultaneously controlled to press downward, thereby clamping the left end of the left lateral I-beam and the first longitudinal I-beam.

[0057] 5) The subsequent lateral I-beams and longitudinal I-beams are sequentially placed and positioned and clamped from rear to front according to the method of step 4).

[0058] 6), the first side of a group of transverse I-beams and front longitudinal channel steel, first control the base 11 front side of the large push cylinder 21 while forward extension, the inner edge of the front longitudinal channel steel positioning; then control the base 11 front side of the small push cylinder 25 while back pushing, so that the front longitudinal channel steel to achieve transverse positioning, positioning is completed after manual return small push cylinder 25.

[0059] 7), the right transverse channel steel, first manual control right side of the front channel steel positioning clamping device 42 small push cylinder 25 back pushing, so that the right transverse channel steel back pressure on the rear side of the channel steel positioning baffle 16, realize transverse positioning, positioning is completed after manual return small push cylinder 25; control the base 11 right side of the large push cylinder 21 while right extension, the inner edge of the right transverse channel steel positioning; then control the base 11 right side of the small push cylinder 25 while left pushing, so that the right transverse channel steel to achieve longitudinal positioning, front longitudinal channel steel to achieve longitudinal positioning; again control the base 11 right side of the pneumatic top pressure mechanism 17 while down, while the right transverse channel steel and longitudinal I-beam right end clamping; again control the base 11 front side of the pneumatic top pressure mechanism 17 while down, the front longitudinal channel steel clamping, can complete all the positioning and clamping of the to-be-welded profile steel.

[0060] 8), in the frame group on the platform 1 positioning and clamping of the profile steel by artificial spot welding method into a whole frame.

[0061] The above examples are only typical embodiments of the present application, and are not intended to limit the present application, any modification or equivalent replacement and improvement within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A human defense door leaf automated welding production line, characterized in that, The human defense door leaf automatic welding production line is provided with a frame group matching station, three robot welding stations and an auxiliary welding station from front to back, wherein the frame group matching station is provided with a frame group matching platform, the three robot welding stations and the auxiliary welding station are each provided with a welding work platform, the frame group matching platform and the four welding work platforms are horizontally spaced apart from front to back to form a row, tracks are arranged on the left and right sides of the four welding work platforms, and two sets of gantry robot systems capable of walking and positioning along the tracks are arranged on the tracks; The frame group matching platform is provided with a rectangular platform type base, a plurality of T-shaped grooves are arranged on the surface of the base in a horizontal and parallel manner, a rear positioning and clamping component is fixedly arranged on the rear side of the base surface in a longitudinal manner, a plurality of middle positioning and clamping components are arranged on the middle part of the base surface in a longitudinal manner and can slide on the T-shaped grooves in a horizontal direction, the number of the middle positioning and clamping components corresponds to the number of the longitudinal I-beams inside the frame of the human defense door leaf, and a front positioning and clamping component is arranged on the front side of the base surface in a longitudinal manner and can slide on the T-shaped grooves in a horizontal direction; The rear positioning and clamping component is provided with a longitudinal long-strip rear fixed base plate fixedly arranged on the rear side of the base surface, a channel steel fixed end positioning and clamping device is fixedly arranged on the left side of the rear fixed base plate, the rear positioning and clamping component is provided with a left rear supporting plate, channel steel positioning stop plates are arranged on the left side and the rear side of the left rear supporting plate, and a swing arm is arranged on the left rear supporting plate and extends above the left rear supporting plate and is provided with a pneumatic top surface pressing mechanism with a downward pressing head and a manual control handle; a plurality of rear channel steel positioning and clamping devices are arranged on the middle part of the rear fixed base plate and can slide in a longitudinal direction, the rear channel steel positioning and clamping device is provided with a middle rear sliding seat which is slidingly connected with the rear fixed base plate and can be locked, a middle rear supporting plate is arranged on the top surface of the middle rear sliding seat, channel steel positioning stop plates are arranged on the rear side of the middle rear supporting plate, a large pushing cylinder with a rear pushing head is arranged on the front side of the middle rear supporting plate, and a swing arm is arranged on the rear side of the middle rear supporting plate and extends above the middle rear supporting plate and is provided with a pneumatic top surface pressing mechanism with a downward pressing head; a channel steel movable end positioning and clamping device which can slide in a longitudinal direction is arranged on the right side of the rear fixed base plate, the channel steel movable end positioning and clamping device is provided with a right rear sliding seat which is slidingly connected with the rear fixed base plate and can be locked, a right rear supporting plate is arranged on the top surface of the right rear sliding seat, channel steel positioning stop plates are arranged on the rear side of the right rear supporting plate, a swing arm is arranged on the rear side of the right rear supporting plate and extends above the right rear supporting plate and is provided with a pneumatic top surface pressing mechanism with a downward pressing head, and a small pushing cylinder with a left pushing head and a manual control handle is arranged on the right side of the right rear supporting plate; The intermediate positioning and clamping component is provided with a longitudinal long strip-shaped intermediate movable base plate which can slide in the middle part of the base mesa in the transverse direction, the intermediate movable base plate is slidably connected in the T-shaped groove of the base through the T-shaped slide rail on the bottom surface and is positionally locked through the tension screw; a fixed positioning and clamping device is fixedly arranged at the left side of the intermediate movable base plate, the fixed positioning and clamping device is provided with a left middle supporting plate, the left side of the left middle supporting plate is provided with a channel steel positioning baffle, the left side of the left middle supporting plate is further provided with a swing arm which extends above the left middle supporting plate and a pneumatic top surface pressing mechanism with a downward pressing head and a manual control handle, the right side of the left middle supporting plate is provided with a left cylinder mounting position; a plurality of I-shaped steel positioning blocks which can slide in the longitudinal direction of the plate body are arranged at the middle part of the intermediate movable base plate, the bottom part of the I-shaped steel positioning block is provided with a slide seat structure which is slidably connected with the intermediate movable base plate and can be locked, the top surface of the I-shaped steel positioning block is provided with a supporting table, the front and rear sides of the table surface of the supporting table are respectively provided with a crowbar insertion hole and an I-shaped steel positioning boss; an active positioning and clamping device which can slide in the longitudinal direction of the plate body is arranged at the right side of the intermediate movable base plate, the active positioning and clamping device is provided with a right middle slide seat which is slidably connected with the intermediate movable base plate and can be locked, the top surface of the right middle slide seat is provided with a right middle supporting plate, the right side of the right middle supporting plate is provided with a pneumatic top surface pressing mechanism which extends above the right middle supporting plate and has a downward pressing head, the right side of the right middle supporting plate is further provided with a small pushing cylinder which has a left pushing head and a manual control handle, the left side of the right middle supporting plate is provided with a right cylinder mounting position; in all the intermediate positioning and clamping components, several left cylinder mounting positions are provided with large pushing cylinders which have left pushing heads, and several right cylinder mounting positions are provided with large pushing cylinders which have right pushing heads; The front positioning and clamping component is provided with a longitudinal long strip-shaped front movable base plate which can slide in the transverse direction at the front side of the base mesa, the front movable base plate is slidably connected in the T-shaped groove of the base through the T-shaped slide rail on the bottom surface and is positionally locked through the tension screw; a channel steel left front end positioning and clamping device is fixedly arranged at the left side of the front movable base plate, the channel steel left front end positioning and clamping device is provided with a fixed seat, the middle part of the top surface of the fixed seat is provided with a left front supporting plate, the rear side of the left front supporting plate is provided with a large pushing cylinder which has a front pushing head, the front side of the left front supporting plate is provided with a pneumatic top surface pressing mechanism which extends above the left front supporting plate and has a downward pressing head, the front side of the left front supporting plate is further provided with a small pushing cylinder which has a rear pushing head and a manual control handle; a front channel steel positioning and clamping device which can slide in the longitudinal direction of the plate body is arranged at the middle part and the rear side of the front movable base plate, the front channel steel positioning and clamping device is provided with a front slide seat which is slidably connected with the front movable base plate and can be locked, the middle part of the top surface of the front slide seat is provided with a front supporting plate, the rear side of the front supporting plate is provided with a large pushing cylinder which has a front pushing head, the front side of the front supporting plate is provided with a pneumatic top surface pressing mechanism which extends above the front supporting plate and has a downward pressing head, the front side of the front supporting plate is further provided with a small pushing cylinder which has a rear pushing head and a manual control handle; The I-beam positioning block support platform has two I-beam positioning bosses on the left and right sides. The edges of the two adjacent I-beam positioning bosses are used to position the left and right sides of the horizontal I-beam of the air-raid shelter door frame, and the front edges of the two I-beam positioning bosses are used to position the rear side of the vertical I-beam of the air-raid shelter door frame.

2. The automated welding production line for the human defense door leaf according to claim 1, characterized in that, The pneumatic top surface clamping mechanism is equipped with a swing arm driven by a clamping cylinder, and the end of the swing arm is equipped with a downwardly extending pressure head.

3. The automated welding production line for the human defense door leaf according to claim 1, characterized in that, The pneumatic top surface pressing mechanism is also provided with an upward-standing anti-collision baffle on its side.

4. The automated welding production line for the human defense door leaf according to claim 1, characterized in that, The rear side of the base is also equipped with a cylinder control module via a bracket. The cylinder control module has multiple remote control handles for cylinders arranged in a row. Each remote control handle for cylinders synchronously controls a set of pneumatic components of the platform connected to the door frame assembly.

5. The automated welding production line for the human defense door leaf according to claim 4, characterized in that, Each of the pneumatic top surface pressing mechanisms located on the front, rear, left, and right sides of the base is equipped with a remote control handle for synchronous control. Each of the large push cylinders located on the front, rear, left, and right sides of the base is equipped with a remote control handle for synchronous control. Each of the small push cylinders located on the front and right sides of the base is equipped with a remote control handle for synchronous control.

6. The automated welding production line for the civil defense door leaf according to claim 1, characterized in that, The track is equipped with corresponding positioning components at the positions of each welding station.

7. A process flow for welding a civil defense door leaf using the civil defense door leaf automated welding production line according to any one of claims 1-6, characterized in that Includes the following steps: (1) At the frame assembly station, the frame assembly platform is used to assemble the air defense door frame and then manually spot weld it into a whole air defense door frame. (2) Hoist the air-raid shelter door frame to any one of the three robot welding stations and place it flat on the welding work platform; (3) Allow the gantry robot system to travel along the track to the corresponding robot welding station and fix it. The arc welding robot on the gantry robot system will perform full welding on the civil defense door frame according to the set automatic welding program. (4) Lay the outer panel on the welding work platform and determine the relative position of the outer panel and the air-raid shelter door frame. The fully welded air-raid shelter door frame is then hoisted onto the outer panel and laid flat in the corresponding position by manual operation. (5) The arc welding robot on the gantry robot system welds the inner side of the air-raid shelter door frame and the outer panel according to the set automatic welding program; (6) The inner panel is manually laid on the upper side of the air-raid shelter door frame and spot welded to fix it. The pressure plate is manually assembled and spot welded on the upper side of the inner panel. (7) The arc welding robot on the gantry robot system performs plug welding on the inner panel and the door frame hole according to the set automatic welding program, performs full welding on the joint of the inner panel and the surrounding area, and welds the inlay edge on the upper side of the inner panel. (8) Let the gantry robot system drive away from the robot welding station, and manually cooperate with the crane to turn the air defense door frame over on the welding work platform so that the outer panel of the air defense door frame is placed flat on the welding work platform with the outer panel facing up. (9) Let the gantry robot system drive back to the original robot welding station and fix it. The arc welding robot on the gantry robot system will perform full welding on the seams and all sides of the outer panel according to the set automatic welding program. (10) Let the gantry robot system drive away from the robot welding station, and hoist the door leaf to the welding work platform of the auxiliary welding station to lay it flat, and then weld the steel pipe and the lock seat gasket plate; In the step (1), the method for splicing the frame of the door leaf by using the frame group and the platform group comprises the following steps: 1) According to the size and specification of the frame of the door leaf and the longitudinal and transverse positions of the I-beams, the positions of the front positioning and clamping components and the middle positioning and clamping components on the base are adjusted and locked, the position of the front channel steel positioning and clamping device on the front positioning and clamping component is adjusted and locked, the positions of the I-beam positioning blocks and the movable positioning and clamping device on the middle positioning and clamping component are adjusted and locked, and the positions of the rear channel steel positioning and clamping device and the channel steel movable end positioning and clamping device on the rear positioning and clamping component are adjusted and locked; 2) The left transverse channel steel is placed, the small push cylinder of the channel steel left front end positioning and clamping device is first manually controlled to push backward, so that the left transverse channel steel is pushed backward and pressed on the rear channel steel positioning baffle, transverse positioning is realized, and then the small push cylinder is manually returned; then the large push cylinder on the left side of the base is simultaneously controlled to push leftward, so that the left transverse channel steel is pushed leftward and pressed on the left channel steel positioning baffle, longitudinal positioning is realized; 3) The rear longitudinal channel steel is placed, the small push cylinder of the channel steel movable end positioning and clamping device is first manually controlled to push leftward, so that the rear longitudinal channel steel is pushed leftward and pressed on the left channel steel positioning baffle, longitudinal positioning is realized, and then the small push cylinder is manually returned; then the large push cylinder on the rear side of the base is simultaneously controlled to push backward, so that the rear longitudinal channel steel is pushed backward and pressed on the rear channel steel positioning baffle, transverse positioning is realized; then the pneumatic top surface pressing mechanism on the rear side of the base is simultaneously controlled to press downward, so that the rear longitudinal channel steel is clamped; then the pneumatic top surface pressing mechanism of the channel steel fixed end positioning and clamping device is manually controlled to press downward, so that the rear end of the left transverse channel steel and the left end of the rear longitudinal channel steel are clamped; 4) The first group of rear side transverse I-beams and the first longitudinal I-beam are placed, the small push cylinder of the movable positioning and clamping device is first manually controlled to push leftward, so that the longitudinal I-beam is pushed leftward and pressed on the inner side of the left transverse channel steel, longitudinal positioning is realized, and then the small push cylinder is manually returned; then a pry bar is inserted into the pry bar insertion hole of each I-beam positioning block, the longitudinal I-beam is prised to move backward, so that the longitudinal I-beam is compacted with the first group of transverse I-beams, transverse positioning is realized, and then the pneumatic top surface pressing mechanism of the fixed positioning and clamping device is manually controlled to press downward, so that the left end of the left transverse channel steel and the first longitudinal I-beam are clamped; 5) The subsequent transverse I-beams and longitudinal I-beams are placed and positioned and clamped in sequence from rear to front according to the method of step 4); 6) The first group of front side transverse I-beams and the front longitudinal channel steel are placed, the large push cylinder on the front side of the base is first controlled to stretch out simultaneously, so that the inner side of the front longitudinal channel steel is positioned; then the small push cylinder on the front side of the base is controlled to push backward simultaneously, so that the front longitudinal channel steel is transversely positioned, and then the small push cylinder is manually returned. 7), put right transverse channel steel, first manual control right side of the front channel steel positioning clamping device small push cylinder back, make right transverse channel steel back pressure on the back side of the channel steel positioning baffle, realize transverse positioning, positioning is completed after manual return small push cylinder; Control the right side of the base big push cylinder is extended to the right at the same time, to the right transverse channel steel inner edge positioning; Then control the right side of the base small push cylinder is pushed to the left at the same time, make right transverse channel steel realize longitudinal positioning, front longitudinal channel steel realize longitudinal positioning; Again control the right side of the base pneumatic top surface pressure mechanism is pressed down at the same time, at the same time to the right transverse channel steel and longitudinal I-beam right end clamping; Again control the front side of the base pneumatic top surface pressure mechanism is pressed down at the same time, to the front longitudinal channel steel clamping, can complete all the positioning and clamping of the to-be-welded section steel; 8), in the frame group platform, the positioning and clamping of the to-be-welded section steel are connected into a whole frame by artificial spot welding.

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