A cable trench support welding operation platform based on grabbing and welding robot and a method for using the same

Abstract

The application provides a cable trench support welding operation platform based on a grabbing and welding robot, which comprises a cable trench support, a welding workbench, a pushing and pressing positioning part, a robot workbench and a material table; the cable trench support is placed on the material table, and the pushing and pressing positioning part is arranged on the welding workbench. The cable trench support welding operation platform based on the grabbing and welding robot can not only reduce the investment of construction personnel, improve the construction speed and reduce the cost, but also ensure the manufacturing quality of the cable trench support, and the manual welding is not needed, so that the harm to the construction personnel is effectively reduced. The overall system integrity is good, the whole manufacturing process of the cable trench support can be covered, and the requirement of modern construction can be met.

Description

Technical Field

[0001] This invention relates to the field of cable trench support manufacturing technology, and more specifically, to a cable trench support welding operation table based on a gripping and welding robot and its usage method. Background Technology

[0002] Cable trenches are underground conduits used for laying and replacing power or telecommunications cables. They also serve as the enclosure structure for the cables being laid, and can take various forms, such as rectangular, circular, and arched. Cables laid within cable trenches are typically secured using supports.

[0003] With the development and application of electrification and intelligent technologies, the use of cables in modern engineering construction is increasing, and the types and quantities of cables are also growing. Cable laying is inseparable from various cable supports or trays. Cable supports and trays are generally purchased as finished products and installed on-site, but some are fabricated on-site. Cable supports, in particular, are usually fabricated on-site due to their large usage. The current method still involves manual welding after material preparation. This traditional method typically involves two people working together: one to position the materials and the other to weld. This method has several drawbacks. Due to the large volume of materials used, a large amount of manpower is required to fabricate the supports, resulting in a high labor cost. Furthermore, manual construction is slow and time-consuming, affecting construction efficiency. Manual welding is also prone to defects and poor quality. In addition, the large amount of fumes produced during welding can cause harm to the human body.

[0004] Although advancements in science and technology and the application of modern equipment have led to the use of advanced equipment in construction, such as the mold for batch welding of cable trench supports (patent number CN201220275912.6), which includes a welding platform made of steel plate, characterized by steel pipe legs at the four lower corners of the welding platform and a stabilizing plate made of steel plate at the bottom of each leg; and first, second, and third grooves arranged parallel to each other along the length of the welding platform, with first positioning blocks layered on the first and second grooves and second positioning blocks near the ends of the third groove, this invention addresses the problem that batch welding of cable trench supports using fixed welding molds can only weld cable trench supports with the same spacing and cannot change the number of support layers. However, this patent is merely a positioning platform for cable trench support manufacturing; welding and other tasks still rely on manual labor, resulting in poor system integrity and failing to meet the requirements of modern construction. Summary of the Invention

[0005] The purpose of this invention is to provide a cable trench support welding operation table based on a gripping and welding robot to solve the above-mentioned problems.

[0006] To achieve the above objectives, the present invention provides a cable trench support welding operation table based on a gripping and welding robot, comprising: a cable trench support, a welding worktable, a pushing and positioning part, a robot worktable, and a material table;

[0007] The cable trench support is placed on the material platform, and the pushing and positioning part is set on the welding worktable;

[0008] The welding workbench, the robot workbench, and the material platform are arranged in a line in sequence, with the robot workbench located between the welding workbench and the material platform.

[0009] Furthermore, the cable trench support includes vertical supports and horizontal supports;

[0010] Several of the horizontal braces are welded to the vertical braces at equal intervals, and the horizontal braces are perpendicular to the vertical braces.

[0011] The welding workbench includes support legs, an upper base plate, and a lower base plate;

[0012] The upper base plate and the lower base plate are both mounted on the four support legs, and the lower base plate is located directly below the upper base plate;

[0013] The material platform includes a finished product placement platform, a vertical support placement platform, and a horizontal support placement platform that are spliced ​​together, and the finished product placement platform is located behind the vertical support placement platform and the horizontal support placement platform.

[0014] The robot workbench is equipped with a gripping robot and a welding robot at its left and right ends, respectively.

[0015] Furthermore, the pushing and positioning part includes a first vertical support placement block, a second vertical support placement block, a vertical support pushing and tightening mechanism, a mounting tile groove, a first electro-hydraulic push rod, and a horizontal support positioning and pressing device;

[0016] The first vertical support placement block and the second vertical support placement block are installed on the upper base plate and located behind the surface of the upper base plate. The mounting groove is provided on the upper base plate. The first electro-hydraulic push rod is installed in the mounting groove. The vertical support pushing mechanism is connected to the output shaft of the first electro-hydraulic push rod. The horizontal support positioning and pressing device is provided on the upper base plate and the lower base plate and located in front of the first vertical support placement block and the second vertical support placement block.

[0017] The first vertical support placement block and the second vertical support placement block are attached to each other and perpendicular to each other.

[0018] Furthermore, the vertical support pushing mechanism includes a pushing front baffle, a pushing rear baffle, and a first spring;

[0019] The back of the push-tightening back baffle is connected to the output shaft of the first electro-hydraulic push rod. One end of each of the two first springs is installed at both ends of the front of the push-tightening back baffle, and the push-tightening front baffle is installed on the other end of the two first springs.

[0020] The sides of the front and rear baffles are placed close to the second vertical support, with a stop block.

[0021] Furthermore, the cross brace positioning and clamping device includes a movable groove, a cross brace movable stop, a lower clamping stop, a clamping bolt, a nut, a positioning front baffle, a positioning rear baffle, a second spring, and a connecting rod;

[0022] The movable cross brace, the front positioning baffle, and the rear positioning baffle are all placed on the upper base plate. The moving groove is opened through the upper base plate and located below the movable cross brace, the front positioning baffle, and the rear positioning baffle. The lower clamping block is located below the upper base plate. The clamping bolt spirals from bottom to top through the lower clamping block and the movable cross brace. The nut is screwed onto the clamping bolt and located above the movable cross brace. Two second springs connect the front positioning baffle and the rear positioning baffle. One end of the connecting rod is connected to the bottom surface of the rear positioning baffle and extends downward through the moving groove.

[0023] There is a gap between the movable stop block of the cross brace and the positioning front baffle.

[0024] Furthermore, the cross brace positioning and clamping device also includes a motor, track pulleys, a vertical plate, a wire rope, and a buckle;

[0025] The motor is mounted on the lower base plate, the two upright plates are mounted on the lower base plate at the end away from the motor, one of the two track pulleys is mounted on the output shaft of the motor, and the other track pulley is rotatably mounted between the two upright plates, and the wire rope is wound around the two track pulleys;

[0026] The two track pulleys are installed at the same height;

[0027] The other end of the connecting rod is connected to the wire rope via the buckle.

[0028] Furthermore, the cross brace positioning and clamping device also includes a clamping front baffle, a clamping rear baffle, a third spring, and a second electro-hydraulic push rod;

[0029] The front clamping baffle and the rear clamping baffle are placed on the upper base plate, and the two third springs connect the front clamping baffle and the rear clamping baffle. The two second electro-hydraulic push rods are installed on the upper base plate, and the output shafts of the two second electro-hydraulic push rods are respectively connected to the two ends of the rear clamping baffle.

[0030] The clamping front baffle is positioned directly opposite the second vertical support, where a stop block is placed.

[0031] Furthermore, the pushing and positioning part also includes a rectangular groove formed on the upper base plate;

[0032] The rectangular groove fits into the first vertical support placement block and the second vertical support placement block.

[0033] Furthermore, a cable trench support welding workbench based on a gripping and welding robot also includes a central control unit;

[0034] The main control unit includes an operating console and displacement sensors;

[0035] The operating platform is located directly in front of the welding workbench, and several displacement sensors are respectively installed on the push-tightening back baffle, the positioning back baffle, and the pressing back baffle.

[0036] Furthermore, a cable trench support welding workbench based on a gripping and welding robot is used as follows:

[0037] S1, Select a production site, and fix the welding workbench, the robot workbench, the material platform and the operating platform according to the predetermined distribution position of the production site, and make the gripping robot, the welding robot, the first electro-hydraulic actuator, the second electro-hydraulic actuator and the displacement sensor reach the initial state;

[0038] S2, neatly stack the vertical supports and horizontal supports required for making the cable trench bracket on the vertical support placement platform and the horizontal support placement platform respectively;

[0039] S3, the gripping robot is operated to grip one of the vertical support materials and place it into the rectangular groove, and then the vertical support material is pressed against the first vertical support placement block by the first electro-hydraulic push rod and the vertical support pressing mechanism.

[0040] S4, adjust the distance between the cross brace movable block and the positioning front baffle through the moving groove according to the width of the cross brace material, and then operate the gripping robot to grip one of the cross brace materials and place it between the cross brace movable block and the positioning front baffle;

[0041] S5, the horizontal support is pressed against the movable stop block of the horizontal support by the motor and the positioning front baffle, so that the horizontal support is perpendicular to the vertical support. Then, the horizontal support is pressed against the vertical support and the vertical support is pressed against the second vertical support placement stop block by the two second electro-hydraulic push rods and the pressing front baffle.

[0042] S6, the welding robot is operated to weld the weld seam on the contact surface between the horizontal support and the vertical support until all the horizontal supports on the vertical support are welded, thus completing the fabrication of one cable trench bracket;

[0043] S7, release the pressure on the vertical support and all the horizontal supports, and use the gripping robot to grab the manufactured cable trench bracket and place it on the finished product placement platform, and then proceed to manufacture the next cable trench bracket.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] 1. The cable trench support welding operating table based on the gripping and welding robot adopts a split structure, which divides the large whole into small units. It is not only lightweight and flexible, easy to transport and install, but also reduces the requirements for the site. This allows the operating table to adapt to more complex construction environments and improve the fault tolerance rate.

[0046] 2. The cable trench support welding operating table based on the gripping and welding robot can quickly and accurately position and fix the vertical and horizontal supports through the push positioning part, thereby rapidly assembling the vertical and horizontal supports into the shape of the cable trench support, thus improving the efficiency and quality of cable trench support manufacturing. At the same time, the push positioning part can position and fix the horizontal and vertical supports with different spacings after adjustment, so that the operating table can manufacture cable trench supports of different specifications and models, ensuring excellent performance.

[0047] 3. The cable trench support welding operating table based on the gripping and welding robot adopts a combination of electrical control and robotics to ensure orderly operation of each part;

[0048] 4. This cable trench support welding operating table based on gripping and welding robots can not only reduce the input of construction personnel, increase construction speed, and reduce costs, but also ensure the manufacturing quality of cable trench supports. It eliminates the need for manual welding, thereby effectively reducing harm to construction personnel. The overall system has good integrity and can cover the entire manufacturing process of cable trench supports, meeting the requirements of modern construction. Attached Figure Description

[0049] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0050] Figure 1 A perspective view of the present invention is shown;

[0051] Figure 2 A top view of the invention is shown;

[0052] Figure 3 A partial perspective view of the present invention is shown;

[0053] Figure 4 A partial front sectional view of the present invention is shown;

[0054] Figure 5 A partial top view of the invention is shown;

[0055] Figure 6 A partial perspective view of the invention is shown from another angle;

[0056] Figure 7 The present invention is shown Figure 3 Enlarged view of point A;

[0057] Figure 8 The present invention is shown Figure 3 Enlarged view of point B;

[0058] Figure 9 A perspective view of the cable trench support of the present invention is shown.

[0059] In the picture

[0060] 1. Cable trench support; 11. Vertical brace; 12. Horizontal brace;

[0061] 2. Welding workbench; 21. Support legs; 22. Upper base plate; 23. Lower base plate;

[0062] 3. Pushing and positioning part; 31. First vertical support placement block; 32. Second vertical support placement block; 33. Vertical support pushing and tightening mechanism; 331. Pushing and tightening front baffle; 332. Pushing and tightening rear baffle; 333. First spring; 34. Mounting groove; 35. First electro-hydraulic push rod; 36. Horizontal support positioning and clamping device; 360. Moving groove; 361. Horizontal support movable block; 362. Lower clamping block; 363. Clamping bolt; 364. Nut; 365. Positioning front baffle; 366. Positioning rear baffle; 367. Second spring; 368. Connecting rod; 369. Motor; 370. Track pulley; 371. Vertical plate; 372. Steel wire rope; 373. Clamping front baffle; 374. Clamping rear baffle; 375. Third spring; 376. Second electro-hydraulic push rod; 38. Rectangular groove; 39. Buckle;

[0063] 4. Robot workbench; 41. Gripping robot; 42. Welding robot;

[0064] 5. Material platform; 51. Finished product placement platform; 52. Vertical support placement platform; 53. Horizontal support placement platform;

[0065] 6. Main control unit; 61. Control panel; 62. Displacement sensor. Detailed Implementation

[0066] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0067] Please see Figure 1 , Figure 1 A perspective view of the present invention is shown; please refer to [link / reference]. Figure 2 , Figure 2 A top view of the invention is shown; please refer to [link / reference]. Figure 3 , Figure 3 A partial perspective view of the invention is shown; please refer to [link / reference]. Figure 4 , Figure 4 A partial front sectional view of the invention is shown; please refer to... Figure 5 , Figure 5 A partial top view of the invention is shown; please refer to [link / reference]. Figure 6 , Figure 6 A partial perspective view of the invention from another angle is shown; please refer to [link / reference]. Figure 7 , Figure 7 The present invention is shown Figure 3 Please refer to the enlarged view at point A; Figure 8 , Figure 8 The present invention is shown Figure 3 Please refer to the enlarged view at point B; Figure 9 , Figure 9 A perspective view of the cable trench support of the present invention is shown, as follows. Figure 1-9 As shown, a cable trench support welding operation table based on a gripping and welding robot includes: a cable trench support 1, a welding worktable 2, a pushing and positioning part 3, a robot worktable 4, and a material table 5.

[0068] The cable trench support 1 is placed on the material platform 5, and the pushing and positioning part 3 is set on the welding workbench 2;

[0069] The welding workbench 2, the robot workbench 4, and the material platform 5 are arranged in a coaxial configuration, with the robot workbench 4 located between the welding workbench 2 and the material platform 5. This cable trench support welding operation platform based on a gripping and welding robot adopts a split structure, dividing the larger whole into smaller units. This not only makes it lightweight and flexible, facilitating transportation and installation, but also reduces site requirements, allowing the operation platform to adapt to more complex construction environments and improving fault tolerance. The push-positioning part 3 can quickly and accurately position and fix the vertical supports 11 and the horizontal supports 12, thereby rapidly assembling them into the shape of the cable trench support 1, thus improving the efficiency and quality of cable trench support 1 manufacturing. Simultaneously, the push-positioning... Part 3 can position and fix the horizontal supports 12 and vertical supports 11 with different spacings after adjustment, so that the operating table can manufacture cable trench supports 1 of different specifications and models, ensuring excellent performance. The cable trench support welding operating table based on gripping and welding robots adopts a combination of electrical control and robotics, so that each part operates in an orderly manner. The cable trench support welding operating table based on gripping and welding robots can not only reduce the input of construction personnel, increase construction speed, and reduce costs, but also ensure the manufacturing quality of cable trench supports 1. No manual welding is required, thereby effectively reducing the harm to construction personnel. The overall system has good integrity and can cover the entire manufacturing process of cable trench supports 1, which can meet the requirements of modern construction.

[0070] Optionally, the cable trench support 1 includes a vertical support 11 and a horizontal support 12;

[0071] A plurality of the horizontal braces 12 are welded at equal intervals to the vertical brace 11, and the plurality of the horizontal braces 12 are perpendicular to the vertical brace 11;

[0072] The welding workbench 2 includes support legs 21, an upper base plate 22, and a lower base plate 23;

[0073] The upper base plate 22 and the lower base plate 23 are both mounted on the four support legs 21, and the lower base plate 23 is located directly below the upper base plate 22, thereby dividing the welding workbench 2 into upper and lower layers, providing an installation base for some components of the pushing and positioning part 3, and ensuring that the pushing and positioning part 3 can perform its intended function.

[0074] The material platform 5 includes a finished product placement platform 51, a vertical support placement platform 52, and a horizontal support placement platform 53 that are spliced ​​together. The finished product placement platform 51 is located behind the vertical support placement platform 52 and the horizontal support placement platform 53, ensuring that the finished product placement platform 51, the vertical support placement platform 52, and the horizontal support placement platform 53 can be disassembled and quickly spliced ​​together, making the operating platform a split structure. While ensuring the installation efficiency of the operating platform, it avoids the operating platform from being too bulky. It is not only convenient for transportation and installation, but also improves flexibility. At the same time, it can adapt to more complex construction terrains and greatly improves the fault tolerance rate. After the welding workbench 2, the robot workbench 4, the material platform 5, and the control panel 61 are fixed and spliced ​​in the predetermined positions, the raw materials required to make the cable trench bracket 1, namely the vertical support 11 and the horizontal support 12, are neatly stacked on the vertical support placement platform 52 and the horizontal support placement platform 53, respectively, so that the grabbing robot 41 can grab them.

[0075] The robot workbench 4 has a gripping robot 41 and a welding robot 42 installed at its left and right ends, respectively. Industrial robots are existing multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. In order to adapt to different uses, the mechanical interface of the last axis of the industrial robot is usually a connecting flange, which can be connected to different tools and end effectors. The welding robot 42 and the gripping robot 41 are both existing special industrial robots based on industrial robots, with welding guns and fixtures respectively connected to the connecting flange.

[0076] Optionally, the pushing and positioning part 3 includes a first vertical support placement block 31, a second vertical support placement block 32, a vertical support pushing and tightening mechanism 33, a mounting tile groove 34, a first electro-hydraulic push rod 35, and a horizontal support positioning and pressing device 36;

[0077] The first vertical support placement block 31 and the second vertical support placement block 32 are installed on the upper base plate 22 and located behind the surface of the upper base plate 22. The mounting groove 34 is provided on the upper base plate 22. The first electro-hydraulic push rod 35 is installed in the mounting groove 34. The vertical support pushing mechanism 33 is connected to the output shaft of the first electro-hydraulic push rod 35. The horizontal support positioning and pressing device 36 is provided on the upper base plate 22 and the lower base plate 23 and located in front of the first vertical support placement block 31 and the second vertical support placement block 32.

[0078] The first vertical support placement block 31 and the second vertical support placement block 32 are attached to each other and perpendicular to each other. The electro-hydraulic actuator is an existing hydraulically driven manipulator that integrates mechanics, electricity, and hydraulics. It is suitable for reciprocating push-pull linear motion and can achieve automatic control. After all the preparatory work before making the cable trench bracket 1 is completed, the gripping robot 41 is operated to grab a vertical support 11 from the vertical support placement platform 52 and place it into the rectangular groove 38 in a specified direction. Then, the first electro-hydraulic actuator 35 is activated to push the vertical support pressing mechanism 33 forward, thereby pushing the vertical support 11 in the rectangular groove 38 until the vertical support 11 is pressed against the first vertical support placement block 31, thus initially completing the positioning of the vertical support 11. At the same time, it ensures that the vertical support 11 is perpendicular to the first vertical support placement block 31, laying a good foundation for the subsequent positioning with the horizontal support 12.

[0079] Optionally, the vertical support pushing mechanism 33 includes a pushing front baffle 331, a pushing rear baffle 332, and a first spring 333;

[0080] The back of the push-tightening rear baffle 332 is connected to the output shaft of the first electro-hydraulic push rod 35. One end of each of the two first springs 333 is installed at both ends of the front of the push-tightening rear baffle 332, and the push-tightening front baffle 331 is installed on the other end of the two first springs 333.

[0081] The sides of the front baffle 331 and the rear baffle 332 are close to the second vertical support placement block 32, ensuring that the rear baffle 332 is pushed by the first electro-hydraulic push rod 35, which drives the two first springs 333 and the front baffle 331 to push the vertical support 11 forward. The displacement sensor 62 installed on the rear baffle 332 is electrically connected to the first electro-hydraulic push rod 35. When the vertical support 11 is pushed to complete contact with the first vertical support placement block 31, the front baffle 331 will compress the two first springs 333 and continue to move backward under the continued push of the first electro-hydraulic push rod 35. At this time, the displacement sensor 62 receives the signal and controls the first electro-hydraulic push rod 35 to stop running, ensuring that the two first springs 333 are not completely compressed, thereby ensuring that the vertical support 11 is tightened but not locked, and that the vertical support 11 can still be moved by the force in another direction.

[0082] Optionally, the cross brace positioning and clamping device 36 includes a moving groove 360, a cross brace movable stop 361, a lower clamping stop 362, a clamping bolt 363, a nut 364, a positioning front baffle 365, a positioning rear baffle 366, a second spring 367, and a connecting rod 368.

[0083] The cross brace movable stop 361, the positioning front baffle 365, and the positioning rear baffle 366 are all placed on the upper base plate 22. The moving groove 360 ​​is opened through the upper base plate 22 and is located below the cross brace movable stop 361, the positioning front baffle 365, and the positioning rear baffle 366. The lower clamping stop 362 is located below the upper base plate 22. The clamping bolt 363 spirals from bottom to top through the lower clamping stop 362 and the cross brace movable stop 361. The nut 364 is screwed onto the clamping bolt 363 and is located above the cross brace movable stop 361. Two second springs 367 connect the positioning front baffle 365 and the positioning rear baffle 366. One end of the connecting rod 368 is connected to the bottom surface of the positioning rear baffle 366 and extends downward through the moving groove 360.

[0084] There is a gap between the movable stop block 361 of the cross brace and the positioning front baffle 365. The above components are a set and can only position and fix one cross brace 12. After the number of cross braces 12 is determined according to the actual construction situation and the cable to be laid, the number of the above components is set to the number corresponding to the cross brace 12. After the initial positioning of the vertical support 11 is completed, the position of the movable stop block 361 of the cross brace is first adjusted according to the position of the cross brace 12 to be welded on the vertical support 11. After the adjustment is completed, the clamping bolt 363 or nut 364 is rotated until the lower clamping stop block 362 is clamped on the upper base plate 22, thereby fixing the movable stop block 361 of the cross brace in the current position. Then, the positioning front baffle 365 is moved to adjust its distance from the movable stop block 361 of the cross brace to ensure that the cross brace 12 can be placed between the two. Then, the gripping robot 41 is operated to grab a cross brace 12 from the cross brace placement platform 53 and place it between the two, thus completing the initial positioning of the cross brace 12.

[0085] Optionally, the cross brace positioning and clamping device 36 further includes a motor 369, a track pulley 370, a vertical plate 371, a steel wire rope 372, and a buckle 39;

[0086] The motor 369 is mounted on the lower base plate 23, the two upright plates 371 are mounted on the lower base plate 23 at the end away from the motor 369, one of the two track pulleys 370 is mounted on the output shaft of the motor 369, and the other track pulley 370 is rotatably mounted between the two upright plates 371, and the wire rope 372 is wound around the two track pulleys 370;

[0087] The two track pulleys 370 are installed at the same height;

[0088] The other end of the connecting rod 368 is connected to the wire rope 372 via the buckle, ensuring that after the motor 369 starts, it can drive the wire rope 372 to rotate and move back and forth on the two track pulleys 370. This allows the connecting rod 368 to push the positioning back baffle 366 on the upper base plate 22 towards the cross brace 12 until the cross brace 12 is completely pressed against the cross brace movable stop 361, thus aligning the cross brace 12 perpendicular to the vertical brace 11 and ensuring the manufacturing quality of the cable trench bracket 1. The displacement sensor 62 installed on the positioning back baffle 366 is electrically connected to the motor 369. When the cross brace 12 is pushed to complete contact with the cross brace movable stop 361, under the continued drive of the motor 369, the positioning front baffle 365 will compress the two second springs 367 and continue to move backward. At this time, the displacement sensor 62 receives the signal and controls the first motor 369 to stop running, ensuring that... The two second springs 367 will be fully compressed, ensuring that the cross brace 12 is pressed and positioned correctly without being pressed too tightly, so that the cross brace 12 can still be moved by force in another direction, thus ensuring the smooth progress of subsequent positioning and fixing work. When multiple cross braces 12 need to be welded to the vertical brace 11, the distance between the movable stop block 361 of each group of cross braces and the positioning front baffle 365 is adjusted to be consistent. After all the cross braces 12 are placed, the motor 369 is started, so that all the cross braces 12 are pressed and positioned at once, which greatly reduces the amount of manual labor and effectively improves the production efficiency. The connecting rod 368 is connected to the wire rope 372 through the buckle 39, which ensures that the fixed connection between the connecting rod 368 and the wire rope 372 can be quickly canceled or restored, thereby achieving the purpose of quickly adjusting the position of the positioning back baffle 366 and ensuring production efficiency.

[0089] Optionally, the cross brace positioning and clamping device 36 further includes a clamping front baffle 373, a clamping rear baffle 374, a third spring 375, and a second electro-hydraulic push rod 376.

[0090] The front clamping baffle 373 and the rear clamping baffle 374 are placed on the upper base plate 22. Two third springs 375 connect the front clamping baffle 373 and the rear clamping baffle 374. Two second electro-hydraulic push rods 376 are installed on the upper base plate 22, and the output shafts of the two second electro-hydraulic push rods 376 are respectively connected to both ends of the rear clamping baffle 374.

[0091] The front clamping baffle 373 faces the second vertical support placement block 32. After the horizontal support 12 is aligned, the second electro-hydraulic push rod 376 is activated to push the front clamping baffle 373 and the rear clamping baffle 374 forward, thereby pushing the horizontal support 12 forward until the horizontal support 12 presses the vertical support 11 against the second vertical support placement block 32 and presses the horizontal support 12 vertically against the vertical support 11. This completes the splicing of the cable trench bracket 1. Then, the welding robot 42 is used to precisely weld all the gaps on the contact surfaces of the horizontal support 12 and the vertical support 11, thereby completing the fabrication of the cable trench bracket 1. After welding, all pushing and fixing of the vertical support 11 and the horizontal support 12 is released, and the device is then gripped by the robot. Robot 41 picks up the fabricated cable trench bracket 1 and places it onto the finished product placement platform 51. After pressing, the displacement sensor 62 installed on the back baffle 374 is electrically connected to the second electro-hydraulic push rod 376. When the vertical support 11 is pressed onto the second vertical support placement block 32 and the horizontal support 12 is pressed onto the vertical support 11, the second electro-hydraulic push rod 376 continues to push, and the front baffle 373 will compress the two third springs 375 and continue to move backward. At this time, the displacement sensor 62 receives the signal and controls the second electro-hydraulic push rod 376 to stop running, stopping the push in time to prevent the horizontal support 12 and the vertical support 11 from being crushed or the two third springs 375 from being crushed, or even the welding workbench 2 from being overturned, thus ensuring safe operation.

[0092] Optionally, the pushing and positioning part 3 further includes a rectangular groove 38 formed on the upper base plate 22;

[0093] The rectangular groove 38 fits into the first vertical support placement block 31 and the second vertical support placement block 32, ensuring that the height difference between the vertical support 11 and the surface of the upper base plate 22 can be eliminated after the vertical support 11 is placed, thereby ensuring that the horizontal support 12 can be smoothly and unobstructedly pushed into the vertical support 11.

[0094] Optionally, a cable trench support welding workbench based on a gripping and welding robot also includes a central control unit 6;

[0095] The main control unit 6 includes a control panel 61 and a displacement sensor 62;

[0096] The control panel 61 is located directly in front of the welding workbench 2. Several displacement sensors 62 are respectively installed on the push-tightening back baffle 332, the positioning back baffle 366, and the pressing back baffle 374. The first electro-hydraulic push rod 35, the motor 369, the two second electro-hydraulic push rods 376, and the several displacement sensors 62 are electrically connected to each other and then connected to the control panel 61 via cables. The control mechanisms of the gripping robot 41 and the welding robot 42 are also installed on the control panel 61, making the control panel 61 the control center of the workbench, thereby ensuring that the various parts of the workbench operate in an orderly manner and that the workbench operates in a coordinated manner.

[0097] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A welding operating table for cable trench supports based on a gripping and welding robot, characterized in that, include: Cable trench support (1), welding workbench (2), pressing and positioning part (3), robot workbench (4) and material table (5); The cable trench support (1) is placed on the material platform (5), and the pushing and positioning part (3) is set on the welding workbench (2); The welding workbench (2), the robot workbench (4), and the material table (5) are arranged in a line in sequence, and the robot workbench (4) is located between the welding workbench (2) and the material table (5); After driving the push positioning part (3), multiple sets of push positioning can be performed simultaneously in both horizontal and vertical directions to complete the positioning of all components of the cable trench bracket (1) in one go; The cable trench support (1) includes a vertical support (11) and a horizontal support (12). A plurality of the horizontal braces (12) are welded at equal intervals to the vertical brace (11), and the plurality of the horizontal braces (12) are perpendicular to the vertical brace (11). The welding workbench (2) includes support legs (21), an upper base plate (22) and a lower base plate (23); The upper base plate (22) and the lower base plate (23) are both mounted on the four support legs (21), and the lower base plate (23) is located directly below the upper base plate (22); The welding workbench (2) is suitable for assembling and placing the cable trench support (1); The material platform (5) includes a finished product placement platform (51), a vertical support placement platform (52), and a horizontal support placement platform (53) that are spliced ​​together, and the finished product placement platform (51) is located behind the vertical support placement platform (52) and the horizontal support placement platform (53). The robot workbench (4) is equipped with a gripping robot (41) and a welding robot (42) at its left and right ends, respectively; The gripping robot (41) is adapted to grip and place the vertical support (11) and several of the horizontal supports (12). The welding robot (42) is adapted to weld the gap between the vertical support (11) and the plurality of the horizontal supports (12); The push positioning part (3) includes a first vertical support placement block (31), a second vertical support placement block (32), a vertical support pushing mechanism (33), a mounting groove (34), a first electro-hydraulic push rod (35), and a cross support positioning and pressing device (36). The cross brace positioning and clamping device (36) includes a moving groove (360), a cross brace movable stop (361), a lower clamping stop (362), a clamping bolt (363), a nut (364), a positioning front baffle (365), a positioning rear baffle (366), a second spring (367), and a connecting rod (368). The movable cross brace block (361), the front positioning baffle (365), and the rear positioning baffle (366) are all placed on the upper base plate (22). The moving groove (360) is opened through the upper base plate (22) and located below the movable cross brace block (361), the front positioning baffle (365), and the rear positioning baffle (366). The lower clamping block (362) is located below the upper base plate (22). The clamping bolt (363) is located below the upper base plate (22). The upward spiral passes through the lower clamping block (362) and the horizontal support movable block (361), the nut (364) is screwed onto the clamping bolt (363) and located above the horizontal support movable block (361), the two second springs (367) connect the positioning front baffle (365) and the positioning rear baffle (366), one end of the connecting rod (368) is connected to the bottom surface of the positioning rear baffle (366) and extends downward through the moving groove (360); There is a gap between the horizontal support movable stop (361) and the positioning front baffle (365); Rotating the clamping bolt (363) upwards can cause the lower clamping block (362) to gradually move upwards, so that the cross brace movable block (361) and the lower clamping block (362) clamp the upper base plate (22).

2. The cable trench support welding operating table based on a gripping and welding robot as described in claim 1, characterized in that, The first vertical support placement block (31) and the second vertical support placement block (32) are installed on the upper base plate (22) and located behind the surface of the upper base plate (22). The mounting groove (34) is set on the upper base plate (22). The first electro-hydraulic push rod (35) is installed in the mounting groove (34). The vertical support pushing mechanism (33) is connected to the output shaft of the first electro-hydraulic push rod (35). The cross support positioning and pressing device (36) is set on the upper base plate (22) and the lower base plate (23) and located in front of the first vertical support placement block (31) and the second vertical support placement block (32). The first vertical support placement block (31) and the second vertical support placement block (32) are attached to each other and perpendicular to each other, wherein; The first electro-hydraulic actuator (35) can be driven to continuously push the vertical support (11) forward so as to press the vertical support (11) against the first vertical support placement block (31).

3. The cable trench support welding operating table based on a gripping and welding robot as described in claim 2, characterized in that, The vertical support pushing mechanism (33) includes a pushing front baffle (331), a pushing rear baffle (332), and a first spring (333). The back of the push-tightening back baffle (332) is connected to the output shaft of the first electro-hydraulic push rod (35). One end of each of the two first springs (333) is installed on both ends of the front of the push-tightening back baffle (332), and the push-tightening front baffle (331) is installed on the other end of the two first springs (333). The sides of the front baffle (331) and the rear baffle (332) are close to the second vertical support and the stop block (32).

4. The cable trench support welding operating table based on a gripping and welding robot as described in claim 3, characterized in that, The cross brace positioning and clamping device (36) also includes a motor (369), a track pulley (370), a vertical plate (371), a steel wire rope (372), and a buckle (39). The motor (369) is mounted on the lower base plate (23), and the two upright plates (371) are mounted on the lower base plate (23) at one end away from the motor (369). One of the two track pulleys (370) is mounted on the output shaft of the motor (369), and the other track pulley (370) is rotatably mounted between the two upright plates (371). The wire rope (372) is wound around the two track pulleys (370). The two track pulleys (370) are installed at the same height; The other end of the connecting rod (368) is connected to the wire rope (372) via the buckle (39); After the motor (369) is driven, the steel wire rope (372) can be rotated through the two track pulleys (370) to further drive the positioning back baffle (366) and the cross brace movable block (361) to gradually close together.

5. A cable trench support welding operating table based on a gripping and welding robot as described in claim 4, characterized in that, The cross brace positioning and clamping device (36) also includes a clamping front baffle (373), a clamping rear baffle (374), a third spring (375), and a second electro-hydraulic push rod (376). The front clamping baffle (373) and the rear clamping baffle (374) are placed on the upper base plate (22), and the two third springs (375) connect the front clamping baffle (373) and the rear clamping baffle (374). The two second electro-hydraulic push rods (376) are installed on the upper base plate (22), and the output shafts of the two second electro-hydraulic push rods (376) are respectively connected to the two ends of the rear clamping baffle (374). The front baffle (373) is directly opposite the second vertical support placement block (32).

6. A cable trench support welding operating table based on a gripping and welding robot as described in claim 5, characterized in that, The push positioning part (3) also includes a rectangular groove (38) formed on the upper base plate (22). The rectangular groove (38) fits into the first vertical support placement block (31) and the second vertical support placement block (32).

7. A cable trench support welding operating table based on a gripping and welding robot as described in claim 6, characterized in that, A cable trench support welding operation table based on a gripping and welding robot also includes a main control unit (6); The main control unit (6) includes a control panel (61) and a displacement sensor (62). The control panel (61) is located in front of the welding workbench (2), and several displacement sensors (62) are respectively installed on the push-tightening back baffle (332), the positioning back baffle (366) and the pressing back baffle (374).

8. The cable trench support welding operating table based on a gripping and welding robot as described in claim 7, wherein the method of use is as follows: S1, Select a production site, and fix the welding workbench (2), the robot workbench (4), the material platform (5) and the control panel (61) according to the predetermined distribution position of the production site, and make the gripping robot (41), the welding robot (42), the first electro-hydraulic actuator (35), the second electro-hydraulic actuator (376) and the displacement sensor (62) reach the initial state; S2, the vertical supports (11) and the horizontal supports (12) required for making the cable trench bracket (1) are neatly stacked on the vertical support placement platform (52) and the horizontal support placement platform (53), respectively; S3, the grabbing robot (41) is operated to grab a piece of the vertical support (11) material and place it into the rectangular groove (38), and then the vertical support (11) material is pressed against the first vertical support placement block (31) by the first electro-hydraulic push rod (35) and the vertical support pressing mechanism (33); S4, adjust the distance between the movable stop block (361) of the cross brace (12) and the positioning front baffle (365) through the moving groove (360) according to the width of the cross brace (12) material, and then operate the gripping robot (41) to grip one of the cross brace (12) materials and place it between the movable stop block (361) of the cross brace (12) and the positioning front baffle (365); S5, the horizontal support (12) is pressed against the horizontal support movable stop (361) by the motor (369) and the positioning front baffle (365), so that the horizontal support (12) is perpendicular to the vertical support (11). Then, the horizontal support (12) is pressed against the vertical support (11) by the two second electro-hydraulic push rods (376) and the pressing front baffle (373), and the vertical support (11) is pressed against the second vertical support placement stop (32). S6, the welding robot (42) is operated to weld the weld seam of the contact surface between the horizontal support (12) and the vertical support (11) until all the horizontal supports (12) on the vertical support (11) are welded, thus completing the production of a cable trench bracket (1); S7, release the pressure on the vertical support (11) and all the horizontal supports (12), and use the gripping robot (41) to grab the finished cable trench bracket (1) and place it on the finished product placement platform (51), and then proceed to make the next cable trench bracket (1).

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