Automatic welding machine for inner square tube of outrigger and welding method

Abstract

This invention discloses an automatic welding machine for square tubes inside outriggers, comprising a reinforcing plate welding assembly, a shaft tube welding assembly, a Y-axis module, a rotary drive device, and a square tube placement frame. The reinforcing plate welding assembly includes a first mounting frame, a first cross module, a first welding torch clamp, and a first rotating seat. The first rotating seat is equipped with a square tube limiting seat, a telescopic drive device, and two support arms for setting the reinforcing plate. The shaft tube welding assembly includes a second mounting frame, a second cross module, a C-axis rotating module, a second welding torch clamp, and a second rotating seat. The second rotating seat is equipped with a clamping mechanism for holding the shaft tube. The Y-axis module is drivenly connected to either the first or second mounting frame. The rotary drive device is drivenly connected to either the first or second rotating seat. This invention also discloses a welding method applied to this automatic welding machine for square tubes inside outriggers. The welding machine and welding method of this invention are used to automate the welding of square tubes inside outriggers, improving production efficiency.

Description

Technical Field

[0001] This invention relates to the field of welding technology, and in particular to an automatic welding machine and welding method for the inner square tube of a support leg. Background Technology

[0002] Outriggers are crucial components of many construction machines, and their quality directly impacts the safety and reliability of the machinery during operation. For example... Figure 1-3 The diagram shows the structure of the existing outrigger's inner square tube, which mainly consists of a square tube (P1), a shaft tube (P2), and two reinforcing plates (P3). These two reinforcing plates are welded to the inner wall of the square end of the square tube in a relatively opposite manner. The weld between the reinforcing plate and the square tube is a dot weld, which needs to be filled at four circular holes (a, b, c, d). The shaft tube is welded to the narrow end of the square tube, and the weld between the two is more complex, consisting of two straight lines (e, g) and two curves (f, h).

[0003] The movable outriggers described above are basically welded manually, resulting in low production efficiency, high labor intensity, and certain risks. Moreover, due to the unique assembly method and complex weld patterns of the various components of the square tube inside the outrigger, there is currently no automated welding equipment that can be directly applied to this field, nor is there any automated welding equipment that can be applied to this field with simple modifications. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, the purpose of this invention is to provide an automatic welding machine and welding method for the inner square tube of the outrigger, so as to realize the automation of welding of the inner square tube of the outrigger, improve production efficiency, reduce the labor intensity of workers, and reduce safety risks.

[0005] The automatic welding machine for the inner square tube of the outrigger of this invention is achieved using the following technical solution:

[0006] An automatic welding machine for the inner square tube of a support leg includes:

[0007] The reinforcing plate welding assembly includes a first mounting frame, on which a first cross module is mounted, and on which a first welding gun clamp is mounted. The first cross module includes a first X-axis module and a first Z-axis module. The first mounting frame also has a first rotating seat mounted on it. The first rotating seat has a square tube limiting seat, a telescopic drive device, and two support arms for setting the reinforcing plate. The telescopic drive device is used to drive the two support arms to move towards or away from each other.

[0008] The shaft tube welding assembly includes a second mounting bracket, on which a second cross module is mounted, and on which a C-axis rotating module is mounted. The second cross module includes a second X-axis module and a second Z-axis module. A second welding torch clamp is mounted on the C-axis rotating module. The second mounting bracket also has a second rotating seat coaxial with a first rotating seat, and a clamping mechanism for holding the shaft tube is mounted on the second rotating seat.

[0009] The Y-axis module is connected to the first or second mounting bracket in a transmission manner, and the driving direction is parallel to the axis of the first rotary seat.

[0010] A rotary drive device is connected in transmission to either the first or second rotary seat;

[0011] A square tube placement rack is installed on a lifting drive device and positioned between the first mounting rack and the second mounting rack.

[0012] Furthermore, both sides of the two support arms facing away from each other are provided with attitude restriction structures. The attitude restriction structures include hanging columns for mounting reinforcing plates. The direction of the hanging columns is parallel to the driving direction of the telescopic drive device.

[0013] Furthermore, the attitude limiting structure also includes a first limiting side and a second limiting side, which are parallel to each other, and the first limiting side, the hanging column and the second limiting side are arranged sequentially along the axial direction of the first rotating seat.

[0014] Furthermore, the square tube limiting seat is annular, and two support arms pass through the inside of the square tube limiting seat, so that the posture limiting structure is located on the side of the square tube limiting seat facing the clamping mechanism, and the square tube limiting seat and the two support arms are kept relatively fixed in the axial direction of the first rotating seat.

[0015] Furthermore, the square tube limiting seat is provided with four limiting parts on the side facing the clamping mechanism, which are used to limit the four sides of the square tube respectively.

[0016] Furthermore, the clamping mechanism includes two clamping arms, and each of the two clamping arms has an inner plug on its facing sides; the clamping mechanism also includes a power device, which is used to drive the two clamping arms to move towards or away from each other.

[0017] Furthermore, the second welding torch clamp includes a horizontal support arm and an inclined clamp arm, the inclined clamp arm being connected to the horizontal support arm and inclined relative to the horizontal support arm.

[0018] Furthermore, the first Z-axis module is mounted on the first X-axis module, and the first welding torch fixture is mounted on the first Z-axis module;

[0019] The second Z-axis module is mounted on the second X-axis module, and the C-axis rotation module is mounted on the second Z-axis module.

[0020] Furthermore, the first X-axis module includes an X-axis cylinder and a first X-axis guide rail; the first Z-axis module includes a first Z-axis mounting base, a Z-axis cylinder, a first Z-axis guide rail, and a first Z-axis movable base; the first Z-axis mounting base is mounted on the first X-axis guide rail and connected to the output end of the X-axis cylinder, the Z-axis cylinder and the first Z-axis guide rail are mounted on the first Z-axis mounting base, the first Z-axis movable base is mounted on the first Z-axis guide rail and connected to the output end of the Z-axis cylinder, and the first welding torch clamp is mounted on the first Z-axis movable base;

[0021] The second X-axis module includes an X-axis servo motor and a second X-axis guide rail; the second Z-axis module includes a second Z-axis mounting base, a Z-axis servo motor, a second Z-axis guide rail, and a second Z-axis movable base; the second Z-axis mounting base is mounted on the second X-axis guide rail and is drivenly connected to the output end of the X-axis servo motor, the Z-axis servo motor and the second Z-axis guide rail are mounted on the second Z-axis mounting base, the second Z-axis movable base is mounted on the second Z-axis guide rail and is drivenly connected to the output end of the Z-axis servo motor, and the second welding torch clamp is mounted on the second Z-axis movable base; the C-axis rotation module includes a C-axis servo motor, a C-axis reducer, and a transmission rod, the C-axis reducer is drivenly connected to the output end of the C-axis servo motor, the transmission rod is drivenly connected to the output end of the C-axis reducer, and the second welding torch clamp is mounted on the transmission rod.

[0022] The welding method of the present invention is implemented using the following technical solution:

[0023] A welding method, applied to the aforementioned automatic welding machine for the inner square tube of the outrigger, includes the following steps:

[0024] The square tube placement rack holds square tubes, and each of the two support arms is equipped with a reinforcing plate. The clamping mechanism clamps the shaft tube, the first welding gun clamp holds the first welding gun, and the second welding gun clamp holds the second welding gun.

[0025] The telescopic drive mechanism keeps the two support arms in a retracted state;

[0026] The lifting drive device drives the square tube placement rack to rise, causing the square tube to move to a preset height;

[0027] The Y-axis module drives the first mounting bracket, causing the square tube limiting seat to press against the square end of the square tube. Each of the two support arms carries a reinforcing plate that extends into the inside of the square tube. The Y-axis module continues to drive the first mounting bracket, causing the square tube limiting seat to move the square tube towards the shaft tube until the narrow end of the square tube engages with the shaft tube. Alternatively, the Y-axis module drives the second mounting bracket, causing the shaft tube to engage with the narrow end of the square tube. The Y-axis module continues to drive the second mounting bracket, causing the shaft tube to move the square tube towards the square tube limiting seat until the square tube limiting seat presses against the square end of the square tube, and each of the two support arms carries a reinforcing plate that extends into the inside of the square tube.

[0028] The telescopic drive device drives the two support arms to switch to the extended state, so that the two reinforcing plates are respectively attached to the two sides of the square tube with the filler holes.

[0029] The lifting drive device lowers the square tube placement rack.

[0030] The rotary drive device is activated, so that the upward-facing weld between the square tube and the shaft tube is a straight weld, or so that the upward-facing weld between the square tube and the shaft tube is a curved weld.

[0031] When a straight weld bead is set upwards between the square tube and the shaft tube, the second cross module and the C-axis rotation module are started, the position of the second welding gun is adjusted so that it is aligned with the welding start point of the straight weld bead, the second X-axis module drives the second welding gun to perform welding operations along the straight weld bead, and the second welding gun returns to its position after welding is completed.

[0032] When a curved weld bead is set upwards between the square tube and the shaft tube, the upward-facing side of the square tube is the side with filler holes. The first cross module is activated, and the position of the first welding gun is adjusted so that the first welding gun is aligned with the filler holes on the side for filler welding. After all the filler holes on the side are filled, the first welding gun returns to its position. The second cross module and the C-axis rotation module are activated, and the position of the second welding gun is adjusted so that it is aligned with the welding start point of the curved weld bead. The second Z-axis module and the C-axis rotation module drive the second welding gun to perform welding operations along the curved weld bead. After welding is completed, the second welding gun returns to its position.

[0033] After the welding between the square tube and the reinforcing plate, as well as between the square tube and the shaft tube, is completed, the lifting drive device drives the square tube placement rack to rise to receive the square tube.

[0034] The clamping mechanism releases the shaft tube;

[0035] The telescopic drive device drives the two support arms to switch to the retracted state;

[0036] The Y-axis module drives the first or second mounting bracket to return to its original position.

[0037] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0038] The automatic welding machine and welding method for the inner square tube of the outrigger provided by this invention can automatically assemble the reinforcing plate, square tube and shaft tube and realize the overall 360-degree automatic rotation to adjust the position of the filler hole, weld bead, etc., and facilitate welding operations at both ends of the square tube at the same time.

[0039] The second cross module and the C-axis rotation module facilitate the linear and curved motion of the welding gun, enabling welding operations of both straight and curved weld beads. The combination of these two welding operations can effectively match the complex weld bead patterns between the shaft tube and the square tube, thus automating the welding of the square tube and the shaft tube.

[0040] In summary, the automatic welding machine and welding method for the inner square tube of the outrigger provided by this invention can be used to automate the welding of the inner square tube of the outrigger, improve production efficiency, reduce the labor intensity of workers, and reduce safety risks. Attached Figure Description

[0041] Figure 1 Schematic diagram of the appearance of the inner square tube of the existing outrigger. Figure 1 ;

[0042] Figure 2 Schematic diagram of the appearance of the inner square tube of the existing outrigger. Figure 2 ;

[0043] Figure 3 An exploded view of the existing outrigger's inner square tube;

[0044] Figure 4 The operating principle of the automatic welding machine for the inner square tube of the outriggers according to an embodiment of the present invention. Figure 1 ;

[0045] Figure 5 The operating principle of the automatic welding machine for the inner square tube of the outriggers according to an embodiment of the present invention. Figure 2 ;

[0046] Figure 6 This is a schematic diagram of the structure of the automatic welding machine for the inner square tube of the outrigger according to an embodiment of the present invention;

[0047] Figure 7 This is a schematic diagram of the reinforcing plate welding assembly of the automatic welding machine for the inner square tube of the outrigger according to an embodiment of the present invention;

[0048] Figure 8 for Figure 7 A partially enlarged view of the reinforced plate welding assembly shown;

[0049] Figure 9 for Figure 7 A front view of the reinforced plate welding assembly shown;

[0050] Figure 10for Figure 7 The assembly structure diagram of the two support arms, telescopic drive device and first rotating seat of the reinforced plate welding assembly shown;

[0051] Figure 11 for Figure 7 A side view of the reinforced plate welding assembly shown;

[0052] Figure 12 for Figure 11 A magnified view of a portion of the image;

[0053] Figure 13 This is a schematic diagram of the shaft tube welding assembly of the automatic welding machine for the inner square tube of the outrigger according to an embodiment of the present invention. Figure 1 ;

[0054] Figure 14 This is a front view of the shaft tube welding assembly of the automatic welding machine for the inner square tube of the outrigger according to an embodiment of the present invention.

[0055] Figure 15 This is a schematic diagram of the shaft tube welding assembly of the automatic welding machine for the inner square tube of the outrigger according to an embodiment of the present invention. Figure 2 ;

[0056] Figure 16 This is a schematic diagram of the curved weld bead between the square tube and the shaft tube.

[0057] In the diagram: 100, Reinforcing plate welding assembly; 101, First mounting bracket; 102, First X-axis module; 1021, X-axis cylinder; 1022, First X-axis guide rail; 103, First Z-axis module; 1031, First Z-axis mounting base; 1032, Z-axis cylinder; 1033, First Z-axis guide rail; 1034, First Z-axis moving base; 104, First welding torch clamp; 105, First rotating base; 106, Square tube limiting base; 1061, Limiting part; 107, Telescopic drive device; 108, Support arm; 109, Hanging column; 110, First limiting edge; 111, Second limiting edge; 200, Shaft tube welding assembly; 201, Second mounting bracket; 202, Second X-axis module; 2021, X-axis servo motor; 2022, Second X-axis guide rail; 203. Second Z-axis module; 2031, Second Z-axis mounting base; 2032, Z-axis servo motor; 2033, Second Z-axis guide rail; 2034, Second Z-axis moving base; 204, C-axis rotary module; 2041, C-axis servo motor; 2042, C-axis reducer; 2043, transmission rod; 205, Second welding torch clamp; 2051, Horizontal support arm; 2052, Inclined clamping arm; 206, Second rotating base; 207, Clamping mechanism; 2071, Clamping arm; 2072, Shaft tube inner plug; 2073, Power unit; 300, Y-axis module; 301, Y-axis cylinder; 302, Y-axis guide rail; 400, Rotary drive device; 401, Workpiece rotation servo motor; 402, Workpiece rotation reducer; 500, Square tube placement rack; 501, Lifting drive device. Detailed Implementation

[0058] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0059] refer to Figures 4-15 This invention provides an automatic welding machine for the inner square tube of a support leg. The welding machine includes:

[0060] Reinforcing plate welding assembly 100, reference Figure 4-12 It includes a first mounting frame 101, on which a first cross module is mounted, and a first welding torch clamp 104 is mounted on the first cross module. The first cross module includes a first X-axis module 102 and a first Z-axis module 103. This arrangement allows the first welding torch clamp 104 to be adjusted in position along the X-axis and Z-axis. The first mounting frame 101 also has a first rotating seat 105 mounted on it. The first rotating seat 105 has a square tube limiting seat 106, a telescopic drive device 107, and two support arms 108 for setting a reinforcing plate. The telescopic drive device 107 is used to drive the two support arms 108 to move towards or away from each other.

[0061] Shaft tube welding assembly 200, reference Figure 4-6 and Figure 13-15 It includes a second mounting bracket 201, on which a second cross module is mounted. A C-axis rotating module 204 is mounted on the second cross module. The second cross module includes a second X-axis module 202 and a second Z-axis module 203, so that the position of the C-axis rotating module 204 can be adjusted along the X-axis and Z-axis. A second welding torch clamp 205 is mounted on the C-axis rotating module 204. A second rotating seat 206 coaxial with the first rotating seat 105 is also mounted on the second mounting bracket 201. A clamping mechanism 207 for clamping the shaft tube is mounted on the second rotating seat 206.

[0062] The Y-axis module 300 is connected to the first mounting bracket 101 or the second mounting bracket 201 in a transmission manner, and the driving direction is parallel to the axis of the first rotary seat 105.

[0063] The rotary drive device 400 is connected to the first rotary seat 105 or the second rotary seat 206 in a transmission connection.

[0064] The square tube placement rack 500 is installed on the lifting drive device 501 and is located between the first mounting rack 101 and the second mounting rack 201.

[0065] Specifically, in the automatic welding machine for the inner square tube of the outrigger in this embodiment of the invention, the first Z-axis module 103 is mounted on the first X-axis module 102, and the first welding torch clamp 104 is mounted on the first Z-axis module 103; the second Z-axis module 203 is mounted on the second X-axis module 202, and the C-axis rotation module 204 is mounted on the second Z-axis module 203; wherein, according to the usual definition, the C-axis rotation module 204 is used to realize the rotational motion around the Z-axis.

[0066] Specifically, in the automatic welding machine for the inner square tube of the outrigger in this embodiment of the invention, the first X-axis module 102 includes an X-axis cylinder 1021 and a first X-axis guide rail 1022; the first Z-axis module 103 includes a first Z-axis mounting base 1031, a Z-axis cylinder 1032, a first Z-axis guide rail 1033, and a first Z-axis moving base 1034; the first Z-axis mounting base 1031 is mounted on the first X-axis guide rail 1022 and connected to the output end of the X-axis cylinder 1021, the Z-axis cylinder 1032 and the first Z-axis guide rail 1033 are mounted on the first Z-axis mounting base 1031, the first Z-axis moving base 1034 is mounted on the first Z-axis guide rail 1033 and connected to the output end of the Z-axis cylinder 1032, and the first welding torch clamp 104 is mounted on the first Z-axis moving base 1034;

[0067] Specifically, in the automatic welding machine for the inner square tube of the outrigger in this embodiment of the invention, the second X-axis module 202 includes an X-axis servo motor 2021 and a second X-axis guide rail 2022; the second Z-axis module 203 includes a second Z-axis mounting base 2031, a Z-axis servo motor 2032, a second Z-axis guide rail 2033, and a second Z-axis movable base 2034; the second Z-axis mounting base 2031 is mounted on the second X-axis guide rail 2022 and is connected to the output end of the X-axis servo motor 2021 via a lead screw and nut drive; the Z-axis servo motor 2032 and the second Z-axis guide rail 2033 are mounted on the second Z-axis mounting base 2034. On 031, the second Z-axis moving seat 2034 is mounted on the second Z-axis guide rail 2033 and is driven by the output end of the Z-axis servo motor 2032 (traditional lead screw and nut). The second welding gun clamp 205 is mounted on the second Z-axis moving seat 2034. The C-axis rotating module 204 includes a C-axis servo motor 2041, a C-axis reducer 2042 and a transmission rod 2043. The C-axis reducer 2042 is driven by the output end of the C-axis servo motor 2041, and the transmission rod 2043 is driven by the output end of the C-axis reducer 2042. The second welding gun clamp 205 is mounted on the transmission rod 2043.

[0068] Specifically, in the automatic welding machine for square tubes inside the outriggers of this invention, the lifting drive device 501 is a three-axis cylinder; the Y-axis module 300 includes a Y-axis cylinder 301 and a Y-axis guide rail 302, and the first mounting bracket 101 or the second mounting bracket 201 is mounted on the Y-axis guide rail 302 and connected to the output end of the Y-axis cylinder 301; the rotation drive device 400 includes a workpiece rotation servo motor 401 and a workpiece rotation reducer 402; the telescopic drive device 107 is a telescopic cylinder whose two ends are respectively connected to the two support arms 108.

[0069] Specifically, in the automatic welding machine for the inner square tube of the outrigger in this embodiment of the invention, an industrial control computer can also be provided to coordinate the work between various functional modules and modify relevant parameters, etc. In addition, the axial direction of the first rotating seat 105 and the second rotating seat 206 refers to the direction of the rotation axis.

[0070] This invention also provides a welding method applied to the automatic welding machine for the inner square tube of the outrigger described in this invention. The welding method includes the following steps:

[0071] Step S1: The square tube placement rack 500 holds the square tube, each of the two support arms 108 is equipped with a reinforcing plate, the clamping mechanism 207 clamps the shaft tube, the first welding gun clamp 104 clamps the first welding gun, and the second welding gun clamp 205 clamps the second welding gun; wherein, the square tube, reinforcing plate, shaft tube, first welding gun, second welding gun and other functional accessories can be manually configured onto the corresponding components;

[0072] Step S2: The telescopic drive device 107 causes the two support arms 108 to be in a retracted state;

[0073] Step S3: The lifting drive device 501 drives the square tube placement rack 500 to rise, causing the square tube to move to a preset height;

[0074] Step S4: Start the Y-axis module 300 and execute step S4-1 or step S4-2;

[0075] Step S4-1: With the Y-axis module 300 and the first mounting bracket 101 in a transmission connection, the Y-axis module 300 drives the first mounting bracket 101, causing the square tube limiting seat 106 to press against the square end of the square tube, and each of the two support arms 108 carries a reinforcing plate and extends into the inside of the square tube. The Y-axis module 300 continues to drive the first mounting bracket 101, causing the square tube limiting seat 106 to move the square tube towards the direction of the shaft tube until the narrow end of the square tube is engaged with the shaft tube.

[0076] Step S4-2: With the Y-axis module 300 and the second mounting bracket 201 in a transmission connection, the Y-axis module 300 drives the second mounting bracket 201, causing the shaft tube to engage with the narrow end of the square tube. The Y-axis module 300 continues to drive the second mounting bracket 201, causing the shaft tube to move the square tube towards the square tube limiting seat 106 until the square tube limiting seat 106 abuts against the square end of the square tube, and each of the two support arms 108 carries a reinforcing plate that extends into the inside of the square tube.

[0077] Step S5: The telescopic drive device 107 drives the two support arms 108 to switch to the extended state, so that the two reinforcing plates are respectively attached to the two sides of the square tube with the filler holes (the sides here refer to the inner side of the square tube, and the filler holes are through holes that penetrate the inner and outer sides of the square tube).

[0078] Through the above steps S4-1 or S4-2 and step S5, the reinforcing plate, square tube, and shaft tube are automatically assembled together. Since the shaft tube abuts against the square tube from the narrow end and limits its movement, and the square tube limiting seat 106 abuts against the square tube from the square end, the square tube can only deviate along the axis of the shaft tube at most. At this time, because the two support arms 108 extend, the two reinforcing plates are respectively attached to the two sides of the square tube with the filler holes. The two sides of the square tube with the filler holes are exactly the two sides perpendicular to the axis of the shaft tube. Thus, when the two support arms 108 extend with the reinforcing plates, they just form a limit on the square tube in the axis of the shaft tube. Therefore, the overall structure after the reinforcing plate, square tube, and shaft tube are assembled can maintain stability in a suspended state and can achieve 360-degree automatic rotation under the drive of the rotation drive device 400.

[0079] Step S6: The lifting drive device 501 drives the square tube placement rack 500 to descend; at this time, the square tube is in a suspended state and the overall structure can rotate;

[0080] Step S7: The rotary drive device 400 is activated, causing the upward-facing weld bead between the square tube and the shaft tube to be a straight weld bead (see reference). Figure 1 and Figure 2 (represented by e and g), or, to make the upward-facing weld bead between the square tube and the shaft tube a curved weld bead (see reference). Figure 1 and Figure 2 (represented by f and h);

[0081] Step S8: When a straight weld bead is set upwards between the square tube and the shaft tube, the second cross module and the C-axis rotation module 204 are started, the position of the second welding gun is adjusted so that it is aligned with the welding start point of the straight weld bead, and the second X-axis module 202 drives the second welding gun to perform welding operations along the straight weld bead. After welding is completed, the second welding gun returns to its position.

[0082] Step S9: When a curved weld bead is set upwards between the square tube and the shaft tube, the upward-facing side of the square tube is the side with filler holes (referring to the outer side of the square tube). The first cross module is started, and the position of the first welding gun is adjusted so that the first welding gun is aligned with the filler holes on the side for filler welding. After all the filler holes on the side are filled, the first welding gun returns to its position. The second cross module and the C-axis rotation module 204 are started, and the position of the second welding gun is adjusted so that it is aligned with the welding start point of the curved weld bead. The second Z-axis module 203 and the C-axis rotation module 204 drive the second welding gun to perform welding operations along the curved weld bead. After welding is completed, the second welding gun returns to its position.

[0083] Step S10: After the welding between the square tube and the reinforcing plate, and between the square tube and the shaft tube are completed, the lifting drive device 501 drives the square tube placement rack 500 to rise to receive the square tube.

[0084] Step S11: Clamping mechanism 207 releases the shaft tube;

[0085] Step S12: The telescopic drive device 107 drives the two support arms 108 to switch to the retracted state; at this time, the support arms 108 are separated from the reinforcing plate and can be withdrawn from the square end of the square tube.

[0086] Step S13: The Y-axis module 300 drives the first mounting bracket 101 or the second mounting bracket to return to position 201.

[0087] In step S9, when the second Z-axis module 203 and the C-axis rotation module 204 drive the second welding torch to perform welding operations, the specific execution flow is as follows: (Refer to...) Figure 16Taking a curved weld bead (f) as an example, the curved weld bead (f) consists of a first weld bead (f1), a second weld bead (f2), and a third weld bead (f3). The first weld bead (f1) refers to the weld bead where the starting point of the curved weld bead (f) is located. The second weld bead (f2) is located on one side of the square tube and can be regarded as a circular arc on a plane. The first weld bead (f1) and the third weld bead (f3) are respectively connected to the two ends of the second weld bead (f2). The first weld bead (f1) and the third weld bead (f3) are three-dimensional curves in space, not circular arcs on a plane; in sequence The welding operations for the first weld bead (f1), the second weld bead (f2), and the third weld bead (f3) are performed as follows: First, the second Z-axis module 203 (performing an upward movement) and the C-axis rotation module 204 operate simultaneously, driving the second welding torch to perform welding operations along the first weld bead (f1). Then, the C-axis rotation module 204 drives the second welding torch to perform welding operations along the second weld bead (f2). Finally, the second Z-axis module 203 (performing a downward movement) and the C-axis rotation module 204 operate simultaneously, driving the second welding torch to perform welding operations along the third weld bead (f3). When the second Z-axis module 203 and the C-axis rotation module 204 move the second welding torch along the first / third weld bead, the control program uses a fitting method by dividing the first / third weld bead into multiple points.

[0088] Because the assembly method of the various components of the inner square tube of the outrigger is quite unique, how to use machines to automate the assembly of these components and maximize assembly accuracy is a key issue that needs to be studied and resolved in this field.

[0089] In the assembly of the square tube and the reinforcing plate in this embodiment of the invention, the following design can be referenced: In the welding machine of this embodiment, both sides of the two support arms 108 facing away from each other are provided with posture restriction structures. The posture restriction structures include hanging posts 109 for mounting the reinforcing plate. The setting direction of the hanging posts 109 is parallel to the driving direction of the telescopic drive device 107. The hanging posts 109 are adapted to the hanging holes (u1, u2) opened on the reinforcing plate, thereby restricting the posture of the reinforcing plate while realizing the mounting of the reinforcing plate, so that it can be tightly attached to the inner side of the square tube in an upright posture (at this time, the hanging posts 109 will also pass through the hanging holes v1 and v2 of the square tube). To improve the assembly and welding quality between the reinforcing plate and the square tube; of course, to achieve this, simply using the hanging column 109 to restrict the posture of the reinforcing plate may not be stable enough. Therefore, the posture restriction structure may also include a first restriction edge 110 and a second restriction edge 111, which are parallel to each other. The first restriction edge 110, the hanging column 109 and the second restriction edge 111 are arranged sequentially along the axial direction of the first rotating seat 105. Since the reinforcing plate is usually a trapezoidal structure accessory, the first restriction edge 110 and the second restriction edge 111 can be used to restrict the top and bottom edges of its trapezoidal structure, thus enabling the reinforcing plate to be stably in an upright posture.

[0090] Regarding the assembly between the square tube and the reinforcing plate in this embodiment of the invention, to ensure that the position where the reinforcing plate is pressed against the square tube is exactly where the filler holes (a, b or c, d) are located, the following design can be referenced: In the automatic square tube welding machine inside the leg of this embodiment of the invention, the square tube limiting seat 106 is annular, and two support arms 108 pass through the inside of the square tube limiting seat 106, so that the posture limiting structure is located on the side of the square tube limiting seat 106 facing the clamping mechanism 207, and the square tube limiting seat 106 and the two support arms 108 are kept relatively fixed in the axial direction of the first rotating seat 105; with this design, as long as The distance between the square tube limiting seat 106 and the attitude limiting structure (e.g., using the hanging column 109 as a comparison reference) is pre-configured so that it corresponds exactly to the distance from the square tube opening end to the filler hole. When the square tube limiting seat 106 abuts against the square tube opening end, the reinforcing plate enters the inner side of the square tube, and its position corresponds exactly to the position of the filler hole. Therefore, when the square tube limiting seat and the shaft tube abut against the square tube from both ends, the support arm can extend to make the reinforcing plate fit tightly against the inner wall of the square tube at the filler hole position, so that no additional alignment steps are required in the automated processing flow.

[0091] Of course, in order to make the above design adaptable to the inner square tubes of the outriggers of different sizes and specifications, the square tube limiting seat and / or support arm should be a detachable and replaceable component. Before production and processing, the appropriate component (square tube limiting seat or support arm) should be selected according to the size and specifications of the workpiece to adjust the distance.

[0092] Regarding the design of the square tube limiting seat 106, the following approach can be considered: Since the square tube limiting seat needs to hold the square end of the square tube, and the support arm 108 needs to carry the reinforcing plate into the inside of the square tube, it is very reasonable to adopt a ring structure for the square tube limiting seat. In addition, four limiting parts 1061 are provided on the side of the square tube limiting seat 106 facing the clamping mechanism 207, which are used to limit the four sides of the square tube respectively. Using these four limiting parts 1061 can make the limiting of the square tube more firm and stable, and the rotation more smooth.

[0093] Regarding the design of the clamping mechanism 207, three aspects should be considered: clamping stability, minimizing interference with the engagement between the shaft tube and the square tube, and minimizing interference with the welding between the shaft tube and the square tube. The following design can be referenced: In the automatic welding machine for the square tube inside the legs of this embodiment, the clamping mechanism 207 includes two clamping arms 2071, with shaft tube plugs 2072 provided on both sides of the two clamping arms 2071 facing each other. The clamping mechanism 207 also includes a power device 2073, which drives the two clamping arms 2071 to move towards or away from each other. The power device 2073 is a cylinder, and each of the two clamping arms 2071 is connected to a cylinder for transmission. With this configuration, when the two clamping arms 2071 move towards each other and retract, they can limit the axial movement of the shaft tube from both ends. Therefore, the next step is to consider how to limit the radial movement of the shaft tube. This is achieved by using a shaft tube inner plug 2072. The shaft tube inner plug 2072 is inserted into the inner side of the shaft tube and contacts the inner wall of the shaft tube to limit the radial movement of the shaft tube. This eliminates the need for contact with the outer wall of the shaft tube, thus minimizing interference with the engagement between the shaft tube and the square tube, as well as with the welding between the shaft tube and the square tube.

[0094] Regarding the design of the second welding torch clamp 205, please refer to the following: In the automatic welding machine for inner square tubes with outriggers according to an embodiment of the present invention, the second welding torch clamp 205 includes a horizontal support arm 2051 and an inclined clamping arm 2052. The inclined clamping arm 2052 is connected to the horizontal support arm 2051 and is inclined relative to the horizontal support arm 2051. The horizontal support arm 2051 is fixedly connected to the transmission rod 2043. This design is to enable the second welding torch clamp 205 to hold the second welding torch in an inclined position. (Refer to...) Figure 1 It can be seen that when the curved weld bead (f, g) is set upwards, the end of the shaft tube is relatively raised. If the welding torch is set vertically, the welding torch is easily blocked by the end of the shaft tube, making it impossible to perform welding operations. However, when the welding torch is in an inclined position, it can just avoid the end of the shaft tube and thus perform welding operations smoothly.

[0095] The automatic welding machine and welding method for the inner square tube of the outrigger provided by this invention can automatically assemble the reinforcing plate, square tube and shaft tube and realize the overall 360-degree automatic rotation to adjust the position of the filler hole, weld bead, etc., and facilitate welding operations at both ends of the square tube at the same time.

[0096] The second cross module and the C-axis rotation module facilitate the linear and curved motion of the welding gun, enabling both linear and curved weld bead welding operations. The combination of these two welding operations can effectively match the complex weld bead patterns between the shaft tube and the square tube, thus automating the welding of the square tube and the shaft tube.

[0097] In summary, the automatic welding machine and welding method for the inner square tube of the outrigger provided by this invention can be used to automate the welding of the inner square tube of the outrigger, improve production efficiency, reduce the labor intensity of workers, and reduce safety risks.

[0098] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. A special machine for automatic welding of inner square tube of outrigger, characterized by, include: The reinforcing plate welding assembly includes a first mounting frame, on which a first cross module is mounted, and on which a first welding gun clamp is mounted. The first cross module includes a first X-axis module and a first Z-axis module. The first mounting frame also has a first rotating seat mounted on it. The first rotating seat has a square tube limiting seat, a telescopic drive device, and two support arms for setting the reinforcing plate. The telescopic drive device is used to drive the two support arms to move towards or away from each other. The shaft tube welding assembly includes a second mounting bracket, on which a second cross module is mounted, and on which a C-axis rotating module is mounted. The second cross module includes a second X-axis module and a second Z-axis module. A second welding torch clamp is mounted on the C-axis rotating module. The second mounting bracket also has a second rotating seat coaxial with a first rotating seat, and a clamping mechanism for holding the shaft tube is mounted on the second rotating seat. The Y-axis module is connected to the first or second mounting bracket in a transmission manner, and the driving direction is parallel to the axis of the first rotary seat. A rotary drive device is connected in transmission to either the first or second rotary seat; A square tube placement rack is installed on a lifting drive device and positioned between a first mounting rack and a second mounting rack; Both sides of the two support arms facing away from each other are provided with attitude restriction structures. The attitude restriction structures include hanging columns for mounting reinforcing plates. The hanging columns are set in a direction parallel to the driving direction of the telescopic drive device.

2. The automatic leg-in-square tube welding machine according to claim 1, characterized in that, The attitude restriction structure also includes a first restriction side and a second restriction side, which are parallel to each other. The first restriction side, the hanging column, and the second restriction side are arranged sequentially along the axial direction of the first rotating seat.

3. The automatic leg-in-square tube welding machine according to claim 1, wherein The square tube limiting seat is annular, and two support arms pass through the inside of the square tube limiting seat, so that the posture limiting structure is located on the side of the square tube limiting seat facing the clamping mechanism. The square tube limiting seat and the two support arms are kept relatively fixed in the axial direction of the first rotating seat.

4. The automatic leg-in-square tube welding machine according to claim 1, wherein The square tube limiting seat has four limiting parts on the side facing the clamping mechanism, which are used to limit the four sides of the square tube respectively.

5. The automatic leg-in-square tube welding machine of claim 1, wherein, The clamping mechanism includes two clamping arms, each with an inner plug on both sides facing each other; the clamping mechanism also includes a power device for driving the two clamping arms to move towards or away from each other.

6. The automatic leg-in-square tube welding machine of claim 1, wherein, The second welding torch clamp includes a horizontal support arm and an inclined clamp arm, which is connected to the horizontal support arm and is inclined relative to the horizontal support arm.

7. The automatic welding machine for the inner square tube of the outrigger as described in claim 1, characterized in that, The first Z-axis module is mounted on the first X-axis module, and the first welding torch fixture is mounted on the first Z-axis module; The second Z-axis module is mounted on the second X-axis module, and the C-axis rotation module is mounted on the second Z-axis module.

8. The automatic welding machine for the inner square tube of the outrigger as described in claim 7, characterized in that, The first X-axis module includes an X-axis cylinder and a first X-axis guide rail; the first Z-axis module includes a first Z-axis mounting base, a Z-axis cylinder, a first Z-axis guide rail, and a first Z-axis movable base; the first Z-axis mounting base is mounted on the first X-axis guide rail and connected to the output end of the X-axis cylinder, the Z-axis cylinder and the first Z-axis guide rail are mounted on the first Z-axis mounting base, the first Z-axis movable base is mounted on the first Z-axis guide rail and connected to the output end of the Z-axis cylinder, and the first welding torch clamp is mounted on the first Z-axis movable base; The second X-axis module includes an X-axis servo motor and a second X-axis guide rail; the second Z-axis module includes a second Z-axis mounting base, a Z-axis servo motor, a second Z-axis guide rail, and a second Z-axis movable base; the second Z-axis mounting base is mounted on the second X-axis guide rail and is drivenly connected to the output end of the X-axis servo motor, the Z-axis servo motor and the second Z-axis guide rail are mounted on the second Z-axis mounting base, the second Z-axis movable base is mounted on the second Z-axis guide rail and is drivenly connected to the output end of the Z-axis servo motor, and the second welding torch clamp is mounted on the second Z-axis movable base; the C-axis rotation module includes a C-axis servo motor, a C-axis reducer, and a transmission rod, the C-axis reducer is drivenly connected to the output end of the C-axis servo motor, the transmission rod is drivenly connected to the output end of the C-axis reducer, and the second welding torch clamp is mounted on the transmission rod.

9. A welding method, characterized in that, The welding method, applied to the automatic welding machine for the inner square tube of the outrigger as described in any one of claims 1-8, includes the following steps: The square tube placement rack holds square tubes, and each of the two support arms is equipped with a reinforcing plate. The clamping mechanism clamps the shaft tube, the first welding gun clamp holds the first welding gun, and the second welding gun clamp holds the second welding gun. The telescopic drive mechanism keeps the two support arms in a retracted state; The lifting drive device drives the square tube placement rack to rise, causing the square tube to move to a preset height; The Y-axis module drives the first mounting bracket, causing the square tube limiting seat to press against the square end of the square tube. Each of the two support arms carries a reinforcing plate that extends into the inside of the square tube. The Y-axis module continues to drive the first mounting bracket, causing the square tube limiting seat to move the square tube towards the shaft tube until the narrow end of the square tube engages with the shaft tube. Alternatively, the Y-axis module drives the second mounting bracket, causing the shaft tube to engage with the narrow end of the square tube. The Y-axis module continues to drive the second mounting bracket, causing the shaft tube to move the square tube towards the square tube limiting seat until the square tube limiting seat presses against the square end of the square tube, and each of the two support arms carries a reinforcing plate that extends into the inside of the square tube. The telescopic drive device drives the two support arms to switch to the extended state, so that the two reinforcing plates are respectively attached to the two sides of the square tube with the filler holes. The lifting drive device lowers the square tube placement rack. The rotary drive device is activated, so that the upward-facing weld between the square tube and the shaft tube is a straight weld, or so that the upward-facing weld between the square tube and the shaft tube is a curved weld. When a straight weld bead is set upwards between the square tube and the shaft tube, the second cross module and the C-axis rotation module are started, the position of the second welding gun is adjusted so that it is aligned with the welding start point of the straight weld bead, the second X-axis module drives the second welding gun to perform welding operations along the straight weld bead, and the second welding gun returns to its position after welding is completed. When a curved weld bead is set upwards between the square tube and the shaft tube, the upward-facing side of the square tube is the side with filler holes. The first cross module is activated, and the position of the first welding gun is adjusted so that the first welding gun is aligned with the filler holes on the side for filler welding. After all the filler holes on the side are filled, the first welding gun returns to its position. The second cross module and the C-axis rotation module are activated, and the position of the second welding gun is adjusted so that it is aligned with the welding start point of the curved weld bead. The second Z-axis module and the C-axis rotation module drive the second welding gun to perform welding operations along the curved weld bead. After welding is completed, the second welding gun returns to its position. After the welding between the square tube and the reinforcing plate, as well as between the square tube and the shaft tube, is completed, the lifting drive device drives the square tube placement rack to rise to receive the square tube. The clamping mechanism releases the shaft tube; The telescopic drive device drives the two support arms to switch to the retracted state; The Y-axis module drives the first or second mounting bracket to return to its original position.

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