A feeding gripper for a tower crane standard section assembly workpiece and a feeding system

Abstract

This invention discloses a loading gripper for assemblies of a tower crane standard section. The tower crane standard section includes a main rotor and straight web members, diagonal web members, railings, and curved plates disposed between the main rotor. The loading gripper includes a gripper frame and multiple gripping mechanisms disposed below the gripper frame for gripping the straight web members, diagonal web members, railings, and curved plates, respectively. The positions of the gripping mechanisms match the positions of the straight web members, diagonal web members, railings, and curved plates between the main rotor. This invention also provides a loading system for assemblies of a tower crane standard section. The loading gripper and loading system of this invention can simultaneously grip and load straight web members, diagonal web members, curved plates, and railings, and transport these workpieces to the main rotor of a welding positioner for automatic assembly and welding, improving the welding quality, precision, and consistency of the product.

Description

Technical Field

[0001] This invention belongs to the field of tower cranes, and particularly relates to an assembly device for a standard section of a tower crane. Background Technology

[0002] Tower crane standard sections are mainly assembled and welded from the main rotor and other small components (straight web members, diagonal web members, railings, and curved plates). Circular main rotor standard sections (circular standard sections) are gradually becoming the mainstream in the future market due to their lower drag coefficient and more uniform stress distribution compared to square main rotor standard sections during high-altitude operations. However, since circular standard sections are mainly constructed by welding cylindrical main rotors, cylindrical straight web members, cylindrical diagonal web members, and cylindrical railings, and these components have numerous saddle-shaped intersection lines during assembly, existing square standard section welding robot production lines cannot achieve automated welding of circular standard sections. Therefore, a welding robot production line suitable for the automated welding of circular standard sections is needed.

[0003] In a welding robot production line for automated welding of circular standard sections, ensuring the accuracy of the loading position of workpieces such as straight web members, diagonal web members, railings, and bent plates during assembly, and ensuring precise loading and matching with the main rotating rod, is a technical challenge that needs to be addressed before welding. Currently, the accuracy of workpiece position is mainly ensured through manual placement, rotation, and manual marking. This method is slow, inefficient, and prone to misalignment and other issues, failing to meet the requirements for precise loading. Furthermore, it involves high labor intensity, impacting welding production efficiency and product quality. Summary of the Invention

[0004] The technical problem to be solved by this invention is to overcome the deficiencies and defects mentioned in the background art above, and to provide a loading gripper and loading system for standard tower crane sections that have high loading accuracy and high production efficiency. To solve the above technical problem, the technical solution proposed by this invention is as follows:

[0005] A loading gripper for a standard tower crane section comprising a workpiece, the standard tower crane section including a main swivel and straight web members, diagonal web members, railings, and curved plates disposed between the main swivel. The loading gripper includes a gripper frame and multiple gripping mechanisms disposed below the gripper frame for gripping the straight web members, diagonal web members, railings, and curved plates, respectively. The positions of the gripping mechanisms match the positions of the straight web members, diagonal web members, railings, and curved plates between the main swivel.

[0006] Preferably, in the above-mentioned feeding gripper, the gripper mechanism includes a straight web bar gripper assembly for gripping the straight web bar, an oblique web bar gripper assembly for gripping the oblique web bar, a railing gripper assembly for gripping the railing, and a curved plate gripper assembly for gripping the curved plate; the straight web bar gripper assembly is provided in two pairs, the oblique web bar gripper assembly is provided in two pairs, the railing gripper assembly is provided in one pair, and the curved plate gripper assembly is provided in one pair.

[0007] In the aforementioned feeding grippers, preferably, the straight-web bar gripper assembly, the inclined-web bar gripper assembly, and the railing gripper assembly all include grippers, gripper mounting plates, and gripper driving devices for driving the grippers to clamp or loosen. The gripper driving device is mounted below the gripper frame via the gripper mounting plate. The grippers are connected to the gripper driving device. The grippers are arranged in pairs, and the inner groove of the grippers includes multiple arc segments with different radii.

[0008] In the aforementioned feeding gripper, preferably, the curved plate gripper assembly includes a clamping plate, a clamping plate mounting plate, and a clamping plate driving device for clamping or releasing the clamping plate. The clamping plates are arranged in pairs, with one clamping plate fixed to the lower part of the gripper frame via a clamping plate mounting plate, and the other clamping plate connected to the clamping plate driving device, which is fixed to the lower part of the gripper frame via a clamping plate mounting plate.

[0009] As a general technical concept, the present invention also provides a loading system for the components of a tower crane standard section, including a loading robot, assembly fixtures for fixing the placement positions of the straight web members, diagonal web members, railings and curved plates, and the aforementioned loading gripper.

[0010] Preferably, the above-mentioned feeding system further includes a gripper placement bracket for placing the feeding gripper. The gripper placement bracket includes a bracket base and a support frame. The support frame is inclined on the bracket base. The gripper frame is provided with a plurality of gripper frame positioning slots. The support frame is provided with gripper frame positioning pins that match the gripper frame positioning slots. The support frame is provided with a plurality of blocking fixtures for preventing the feeding gripper from sliding down.

[0011] In the above-mentioned feeding system, preferably, the gripper frame is provided with a gripper end quick-change device, the feeding robot is provided with a robot end quick-change device that matches the gripper end quick-change device, and the bearing frame is provided with a rotatable quick-change device protective fixture.

[0012] In the aforementioned feeding system, preferably, the assembly fixture includes a fixture table and a positioning mechanism disposed on the fixture table for positioning the straight web member, oblique web member, railing, and curved plate. The positioning mechanism is positioned to match the positions of the straight web member, oblique web member, railing, and curved plate between the main rotating rod. The positioning mechanism includes an oblique web member-curved plate positioning assembly, an oblique web member-straight web member positioning assembly, an oblique web member-straight web member-oblique web member positioning assembly, a curved plate positioning assembly, a pair of straight web member positioning assemblies, and a pair of railing positioning assemblies. The plate positioning assembly is disposed opposite to the curved plate positioning assembly and is located on one side of the tooling table. The diagonal brace-straight brace positioning assembly is disposed opposite to one of the straight brace positioning assemblies and is located on the other side of the tooling table. The diagonal brace-straight brace-diagonal brace positioning assembly is disposed opposite to one of the straight brace positioning assemblies and is located in the middle of the tooling table. A pair of railing positioning assemblies are respectively disposed between the diagonal brace-curved plate positioning assembly and the straight brace positioning assembly, and between the curved plate positioning assembly and the diagonal brace-straight brace-diagonal brace positioning assembly.

[0013] In the above-mentioned feeding system, preferably, the inclined web bar-bend plate positioning assembly includes a first contour block for matching the intersection line of the ends of the inclined web bar and the bend plate, and a first driving device for driving the first contour block to move. The first contour block is detachably connected to the first driving device. The first contour block includes a plurality of first sub-blocks, and the surface shapes of the first sub-blocks are different to match different models of inclined web bars and bend plates.

[0014] The oblique web bar-straight web bar positioning assembly includes a second contour block for matching the intersection line of the ends of the oblique web bar and the straight web bar, and a second driving device for moving the second contour block. The second contour block is detachably connected to the second driving device. The second contour block includes a plurality of second sub-blocks, and the surface shapes of the second sub-blocks are different to match different models of oblique web bars and straight web bars.

[0015] The oblique web member-straight web member-oblique web member positioning assembly includes a third contour block for matching the intersection line of the ends of the oblique web member and the straight web member, and a third rotating seat disposed below the third contour block; the third contour block includes a plurality of third sub-blocks, the surface shapes of the third sub-blocks being different to match different models of oblique web members and straight web members;

[0016] The bending plate positioning assembly includes a fourth fixing block for fixing one end of the bending plate and a fourth driving device for moving the fourth fixing block.

[0017] The straight web member positioning assembly includes a fifth fixing block for fixing one end of the straight web member and a fifth driving device for moving the fifth fixing block.

[0018] The railing positioning assembly includes a sixth fixing block for fixing one end of the railing and a sixth driving device for moving the sixth fixing block.

[0019] In the above-mentioned feeding system, preferably, a bending plate changing positioning mechanism for positioning the middle part of bending plates of different models is further provided between the inclined web rod-bending plate positioning assembly and the bending plate positioning assembly; the bending plate changing positioning mechanism includes a bending plate support plate and a seventh driving device for driving the bending plate support plate to move up and down.

[0020] The inclined web member-straight web member-inclined web member positioning assembly and the inclined web member-bend plate positioning assembly, as well as the inclined web member-straight web member-inclined web member positioning assembly and the inclined web member-straight web member positioning assembly, are all provided with inclined web member shape-changing positioning mechanisms for positioning the middle part of inclined web members of different models; the inclined web member shape-changing positioning mechanism includes a first connecting plate and an eighth driving device for driving the first connecting plate to move and change position, and the first connecting plate is provided with a plurality of inclined web member shape-changing positioning grooves for matching different models of inclined web members;

[0021] A first straight web bar changing and positioning mechanism for positioning the middle part of different types of straight web bars is provided between the inclined web bar-straight web bar positioning assembly and the straight web bar positioning assembly; the first straight web bar changing and positioning mechanism includes a second connecting plate and a ninth driving device for driving the second connecting plate to move and change position, and the second connecting plate is provided with a plurality of first straight web bar changing and positioning grooves for matching different types of straight web bars;

[0022] A second straight web bar repositioning mechanism for positioning the middle part of straight web bars of different models is provided between the oblique web bar-straight web bar-oblique web bar positioning assembly and the straight web bar positioning assembly; the second straight web bar repositioning mechanism includes a third connecting plate and a tenth driving device for driving the third connecting plate to move up and down, the third connecting plate is provided with a second straight web bar repositioning groove for matching straight web bars of different models, and the inner groove of the second straight web bar repositioning groove includes multiple arc segments with different radii;

[0023] A railing shape-changing positioning mechanism for positioning the middle part of railings of different models is provided between the railing positioning assembly and the diagonal brace; the railing shape-changing positioning mechanism includes a fourth connecting plate, the fourth connecting plate is provided with a railing shape-changing positioning groove for matching railings of different models, and the inner groove of the railing shape-changing positioning groove includes multiple arc segments with different radii.

[0024] Compared with the prior art, the advantages of the present invention are as follows:

[0025] The material handling gripper and material handling system for the components of the tower crane standard section of this invention can simultaneously grasp and load straight web members, diagonal web members, curved plates, and railings, and transport these workpieces to the main rotating rod of the welding positioner to complete automatic assembly and welding. This is used to improve the production efficiency of the robotic automatic welding production line for tower crane standard sections, reduce safety problems caused by human error, save labor and reduce the labor intensity of workers, and improve the welding quality, precision and consistency of products. It is especially suitable for welding robot production lines for automatic welding of circular standard sections. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the structure of a standard tower crane section in this invention.

[0028] Figure 2 This is a schematic diagram of the feeding gripper in Embodiment 1 of the present invention.

[0029] Figure 3 This is a schematic diagram of the straight web bar gripper assembly in Embodiment 1 of the present invention.

[0030] Figure 4 This is a schematic diagram of the structure of the inclined web bar gripper assembly after it has gripped the inclined web bar in Embodiment 1 of the present invention.

[0031] Figure 5 This is a schematic diagram of the curved plate gripper assembly in Embodiment 1 of the present invention.

[0032] Figure 6 This is a schematic diagram of the structure after the feeding gripper and the gripper placement bracket are combined in Embodiment 1 of the present invention.

[0033] Figure 7 This is a schematic diagram of the gripper placement bracket in Embodiment 1 of the present invention.

[0034] Figure 8 This is a schematic diagram of the assembly tooling for the standard tower crane section components in Embodiment 1 of the present invention.

[0035] Figure 9 This is a schematic diagram of the tooling table in the assembly tooling of the standard tower crane section components in Embodiment 1 of the present invention.

[0036] Figure 10 This is a schematic diagram of the diagonal web member-bend plate positioning assembly in the assembly tooling of the standard tower crane section components in Embodiment 1 of the present invention.

[0037] Figure 11 This is a schematic diagram of the diagonal web member-straight web member positioning assembly in the assembly tooling of the standard tower crane section components in Embodiment 1 of the present invention.

[0038] Figure 12 This is a schematic diagram of the diagonal web member-straight web member-diagonal web member positioning assembly in the assembly tooling of the standard tower crane section components in Embodiment 1 of the present invention.

[0039] Figure 13 This is a schematic diagram of the bending plate positioning assembly in the assembly tooling of the standard tower crane section components in Embodiment 1 of the present invention.

[0040] Figure 14 This is a schematic diagram of the straight web rod positioning assembly in the assembly tooling of the standard tower crane section components in Embodiment 1 of the present invention.

[0041] Figure 15 This is a schematic diagram of the railing positioning assembly in the assembly tooling of the standard tower crane section components in Embodiment 1 of the present invention.

[0042] Figure 16 This is a schematic diagram of the bending plate shaping and positioning mechanism in the assembly tooling of the standard tower crane section components in Embodiment 1 of the present invention.

[0043] Figure 17 This is a schematic diagram of the inclined web member shape-changing and positioning mechanism in the assembly tooling of the standard section of the tower crane in Embodiment 1 of the present invention.

[0044] Figure 18 This is a schematic diagram of the structure of the first straight web member shape-changing and positioning mechanism in the assembly tooling of the standard tower crane section components in Embodiment 1 of the present invention.

[0045] Figure 19 This is a schematic diagram of the second straight web member shape-changing and positioning mechanism in the assembly tooling of the standard tower crane section components in Embodiment 1 of the present invention.

[0046] Figure 20 This is a schematic diagram of the structure of the second straight web rod changing and positioning groove in the second straight web rod changing and positioning mechanism in Embodiment 1 of the present invention.

[0047] Figure 21 This is a schematic diagram of the railing shape-changing and positioning mechanism in the assembly tooling of the standard tower crane section components in Embodiment 1 of the present invention.

[0048] Figure 22 This is a schematic diagram of the welding clamping fixture for the components of the standard tower crane section in Embodiment 2 of the present invention.

[0049] Figure 23This is a schematic diagram of the installation frame of the tower crane standard section components in Embodiment 2 of the present invention.

[0050] Figure 24 This is a schematic diagram of the auxiliary support clamping fixture in Embodiment 2 of the present invention.

[0051] Figure 25 This is a schematic diagram of the automatic clamping and centering component in Embodiment 2 of the present invention.

[0052] Figure 26 This is a schematic diagram of the automatic extension assembly in Embodiment 2 of the present invention.

[0053] Figure 27 This is a schematic diagram of the welding method in Embodiment 2 of the present invention.

[0054] Legend:

[0055] 1000. Main spiral bar; 1001. Straight web bar; 1002. Diagonal web bar; 1003. Railing; 1004. Curved plate;

[0056] 301. Tooling table; 302. Diagonal brace-bend plate positioning assembly; 3021. First contour block; 3022. First drive device; 303. Diagonal brace-straight brace positioning assembly; 3031. Second contour block; 3032. Second drive device; 304. Diagonal brace-straight brace-diagonal brace positioning assembly; 3041. Third contour block; 3042. Third rotating seat; 305. Bend plate positioning assembly; 3051. Fourth fixing block; 3052. Fourth drive device; 306. Straight brace positioning assembly; 3061. Fifth fixing block; 3062. Fifth drive device; 307. Railing positioning assembly; 3071. Sixth fixing block; 3072. Sixth drive device; 30 8. Bending plate changing and positioning mechanism; 3081. Bending plate support plate; 3082. Seventh drive device; 309. Inclined web member changing and positioning mechanism; 3091. First connecting plate; 3092. Eighth drive device; 3093. Inclined web member changing and positioning groove; 310. First straight web member changing and positioning mechanism; 3101. Second connecting plate; 3102. Ninth drive device; 3103. First straight web member changing and positioning groove; 311. Second straight web member changing and positioning mechanism; 3111. Third connecting plate; 3112. Tenth drive device; 3113. Second straight web member changing and positioning groove; 312. Railing changing and positioning mechanism; 3121. Fourth connecting plate; 3122. Railing changing and positioning groove;

[0057] 401. Gripper frame; 4011. Gripper frame positioning slot; 4012. Gripper end quick-change device; 402. Straight bar gripper assembly; 403. Diagonal bar gripper assembly; 404. Guardrail gripper assembly; 405. Curved plate gripper assembly; 406. Gripper; 407. Gripper mounting plate; 408. Gripper drive device; 409. Clamping plate; 410. Clamping plate mounting plate; 411. Clamping plate drive device; 412. Gripper placement bracket; 4121. Bracket base; 4122. Bearing frame; 4123. Gripper frame positioning pin; 4124. Blocking fixture; 4125. Quick-change device protective fixture;

[0058] 501. Positioner; 502. Mounting frame; 503. Main rotating rod positioning and clamping mechanism; 5031. Automatic clamping and centering assembly; 50311. Clamping jaw; 50312. Clamping jaw and chuck protective cover; 50313. Clamping jaw mounting base; 50314. Changing clamping jaw; 5032. Automatic extension assembly; 50321. Guide column head; 50322. Guide column; 50323. Guide column cover; 50324. Guide column mounting base; 5 0325. Top extension cylinder; 504. Loading avoidance drive assembly; 5041. Avoidance cylinder; 5042. Cylinder connector; 5043. Loading avoidance guide rail; 505. Auxiliary support clamping fixture; 5051. Mounting beam; 5052. Straight web rod support clamping assembly; 5053. Diagonal web rod support clamping assembly; 5055. Bend plate support clamping assembly; 5056. Shape changing guide rail assembly; 5057. Shape changing drive source. Detailed Implementation

[0059] To facilitate understanding of the present invention, the present invention will be described more fully and in detail below with reference to the accompanying drawings and preferred embodiments, but the scope of protection of the present invention is not limited to the following specific embodiments.

[0060] Unless otherwise defined, all technical terms used herein have the same meaning as commonly understood by those skilled in the art. The technical terms used herein are for the purpose of describing particular embodiments only and are not intended to limit the scope of the invention.

[0061] Unless otherwise specified, all raw materials, reagents, instruments and equipment used in this invention can be purchased from the market or prepared by existing methods.

[0062] Example 1:

[0063] like Figure 1As shown, this is a standard section of a circular tower crane in this embodiment, including at least two main spiral rods 1000. Straight web members 1001 are provided between the male joints and in the middle of the two main spiral rods 1000. A bent plate 1004 is provided between the female joints of the two main spiral rods 1000. Additionally, two diagonal web members 1002 are provided between the two main spiral rods 1000, and two railings 1003 are provided between one diagonal web member 1002 and the two main spiral rods 1000. To achieve automatic welding of the standard section of the circular tower crane, it is necessary to ensure the accurate placement of the straight web members 1001, diagonal web members 1002, railings 1003, and bent plate 1004, and to precisely load them to match the main spiral rods 1000.

[0064] In one embodiment, a standard section of a circular tower crane includes four main spiral rods 1000.

[0065] In some embodiments, a standard section of a circular tower crane includes n main spiral rods 1000, where n is a value ranging from (2, 3, 4, ..., n).

[0066] It should be noted that the number of main rotating rod 1000, straight web rod 1001, oblique web rod 1002 and bending plate 1004 is not limited to the examples above, and any increase or decrease in the number of main rotating rod 1000, straight web rod 1001, oblique web rod 1002 and bending plate 1004 is within the scope of this invention.

[0067] like Figure 2 As shown, the loading gripper for the standard tower crane section in this embodiment can simultaneously load the straight web member 1001, the diagonal web member 1002, the railing 1003, and the curved plate 1004. The loading gripper includes a gripper frame 401 (which can be formed by connecting octagonal steel longitudinal beams and octagonal steel transverse beams) and multiple gripping mechanisms located below the gripper frame 401 for gripping the straight web member 1001, the diagonal web member 1002, the railing 1003, and the curved plate 1004. The positions of the gripping mechanisms match the positions of the straight web member 1001, the diagonal web member 1002, the railing 1003, and the curved plate 1004 between the main rotating rod 1000.

[0068] Specifically, the gripping mechanism includes a straight web bar gripper assembly 402 for gripping the straight web bar 1001, an oblique web bar gripper assembly 403 for gripping the diagonal web bar 1002, a railing gripper assembly 404 for gripping the railing 1003, and a curved plate gripper assembly 405 for gripping the curved plate 1004. There are two pairs of straight web bar gripper assemblies 402 (one pair for each straight web bar 1001), two pairs of oblique web bar gripper assemblies 403 (one pair for each oblique web bar 1002), one pair of railing gripper assemblies 404 (one railing gripper assembly 404 for each railing 1003), and one pair of curved plate gripper assemblies 405 (one pair for each curved plate 1004). The installation positions of each gripper assembly can be referenced. Figure 2 .

[0069] like Figure 3 , Figure 4 As shown, in this embodiment, the straight-web bar gripper assembly 402, the inclined-web bar gripper assembly 403, and the railing gripper assembly 404 all include grippers 406, gripper mounting plates 407, and gripper driving devices 408 for driving the grippers 406 to clamp or loosen. The gripper driving device 408 is mounted below the gripper frame 401 via the gripper mounting plates 407. The grippers 406 are connected to the gripper driving device 408. The grippers 406 are arranged in pairs, and the inner groove of the grippers 406 includes multiple arc segments with different radii to match different models of straight-web bars 1001, inclined-web bars 1002, and railings 1003 (the specific structure can be similar to the subsequent second straight-web bar shape-changing positioning groove 3113). The aforementioned gripper driving device 408 can adopt a conventional driving method, such as using a cylinder, where the extension and retraction of the cylinder drives the grippers 406 to loosen or clamp. Of course, other driving methods can also be used, and this embodiment is not limited to any particular method. The gripper 406 features a multi-segment curved surface design, accommodating various small components (straight bar 1001, inclined bar 1002, railing 1003, and curved plate 1004), allowing for selection based on specific needs. The straight bar gripper assembly 402, inclined bar gripper assembly 403, and railing gripper assembly 404 have similar structures; the shape and installation position of the gripper mounting plate 407 can be changed according to different installation locations.

[0070] like Figure 5 As shown, in this embodiment, the curved plate gripper assembly 405 includes a clamping plate 409, a clamping plate mounting plate 410, and a clamping plate driving device 411 for clamping or releasing the clamping plate 409. The clamping plates 409 are arranged in pairs. One clamping plate 409 is fixed to the lower part of the gripper frame 401 via a clamping plate mounting plate 410, and the other clamping plate 409 is connected to the clamping plate driving device 411. The clamping plate driving device 411 is fixed to the lower part of the gripper frame 401 via a clamping plate mounting plate 410. The clamping plate driving device 411 can be a cylinder.

[0071] To better facilitate the loading of components assembling standard tower crane sections, such as... Figure 6 As shown, this embodiment also provides a loading system for the components of a tower crane standard section, including a loading robot, assembly fixtures for fixing the placement positions of the straight web member 1001, the inclined web member 1002, the railing 1003 and the curved plate 1004, and the aforementioned loading gripper.

[0072] like Figure 7 As shown, the feeding system also includes a gripper placement bracket 412 for placing the feeding gripper. The gripper placement bracket 412 includes a bracket base 4121 and a support frame 4122. The support frame 4122 is inclined on the bracket base 4121. The gripper frame 401 is provided with a plurality of gripper frame positioning slots 4011. The support frame 4122 is provided with gripper frame positioning pins 4123 that match the gripper frame positioning slots 4011. The support frame 4122 is provided with a plurality of blocking fixtures 4124 for preventing the feeding gripper from sliding down.

[0073] like Figure 2 , Figure 7 As shown, the gripper frame 401 is equipped with a gripper end quick-change device 4012, the loading robot is equipped with a robot end quick-change device that matches the gripper end quick-change device 4012, and the bearing frame 4122 is equipped with a rotatable quick-change device protective fixture 4125.

[0074] The main function of the gripper placement bracket 412 is to store the loading gripper and accurately position it to ensure the precise assembly of the straight web bar 1001, diagonal web bar 1002, railing 1003, and curved plate 1004 with the main rotating rod 1000. In addition, the gripper placement bracket 412 also protects the quick-change interface device on the loading gripper, preventing dust, welding spatter, and other debris from entering the quick-change device, thereby preventing air and electrical faults in the quick-change device.

[0075] The feeding system in this embodiment can be used as follows: The positions of the straight web bar 1001, inclined web bar 1002, railing 1003, and curved plate 1004 are accurately positioned (the assembly fixture in subsequent embodiments can be used). The quick-change device protective fixture 4125 is rotated 90° clockwise to open. After the feeding robot and the gripper quick-change device 4012 are properly coordinated via a solenoid valve, the feeding robot moves the feeding gripper onto the small part assembly fixture. After alignment, the clamping parts of the straight web bar gripper assembly 402, inclined web bar gripper assembly 403, railing gripper assembly 404, and curved plate gripper assembly 405 are all opened. The feeding robot moves downward to complete the overall gripping of the small part (the curved plate gripper assembly 405 grips the curved plate 1004; the railing gripper assembly 4004...). 04. The railing 1003 is clamped; the inclined web bar gripper assembly 403 clamps the inclined web bar 1002; the straight web bar gripper assembly 402 clamps the straight web bar 1001. After all the small parts are clamped and gripped, the loading robot moves with the loading gripper to the program-set position. After assembling with the main rotating rod 1000, the welding robot spots welds the workpiece. Then, all the grippers or clamps on the loading gripper are opened, and the loading robot moves the loading gripper to the gripper placement bracket 412. It separates from the loading gripper through the quick-change device. The quick-change device on the gripper placement bracket 412 protects the fixture 4125 and rotates counterclockwise by 90° to achieve sealed protection of the quick-change device 4012 at the gripper end. The loading robot can then move to other places to perform other tasks set in the program.

[0076] The feeding system in this embodiment can simultaneously clamp seven workpieces, improving production efficiency and relative accuracy. Simultaneously, it can simultaneously grip and feed straight web members 1001, inclined web members 1002, railings 1003, and curved plates 1004, and transport these workpieces to the main rotating rod 1000 of the welding positioner for automatic assembly and welding. This improves the production efficiency of the robotic automatic welding production line for circular standard sections, reduces safety issues caused by human error, saves labor and reduces worker workload, and enhances the welding quality, accuracy, and consistency of products.

[0077] This embodiment also provides a preferred structural tooling, such as... Figure 8 , Figure 9 As shown, the assembly fixture for the standard tower crane section components in this embodiment includes a fixture table 301 and a positioning mechanism provided on the fixture table 301 for positioning the straight web member 1001, the diagonal web member 1002, the railing 1003, and the curved plate 1004. The positioning mechanism is positioned to match the positions of the straight web member 1001, the diagonal web member 1002, the railing 1003, and the curved plate 1004 between the main rotating rod 1000.

[0078] Specifically, in this embodiment, the positioning mechanism includes a diagonal brace-bent plate positioning assembly 302, a diagonal brace-straight brace positioning assembly 303, a diagonal brace-straight brace-diagonal brace positioning assembly 304, a bent plate positioning assembly 305, a pair of straight brace positioning assemblies 306, and a pair of railing positioning assemblies 307. The diagonal brace-bent plate positioning assembly 302 and the bent plate positioning assembly 305 are arranged opposite each other and are located on one side of the tooling table 301 (for positioning the bent plate 1004). The diagonal brace-straight brace positioning assembly 303 and one straight brace positioning assembly 306 are arranged opposite each other. On the other side of the tooling table 301 (for positioning one straight web member 1001), a diagonal web member-straight web member-diagonal web member positioning assembly 304 is positioned opposite to a straight web member positioning assembly 306 and located in the middle of the tooling table 301 (for positioning another straight web member 1001). A pair of railing positioning assemblies 307 are respectively positioned between the diagonal web member-bend plate positioning assembly 302 and the straight web member positioning assembly 306, and between the bend plate positioning assembly 305 and the diagonal web member-straight web member-diagonal web member positioning assembly 304 (for positioning two railings 1003 respectively). The two diagonal web members 1002 are respectively located between the diagonal web member-straight web member-diagonal web member positioning assembly 304 and the diagonal web member-bend plate positioning assembly 302, and between the diagonal web member-straight web member-diagonal web member positioning assembly 304 and the diagonal web member-straight web member positioning assembly 303.

[0079] like Figure 10 As shown, the diagonal brace-bend plate positioning assembly 302 includes a first contour block 3021 for matching the intersection line of the ends of the diagonal brace 1002 and the bend plate 1004, and a first driving device 3022 (which can be a cylinder + guide rail structure) for moving the first contour block 3021. The first contour block 3021 is detachably connected to the first driving device 3022. Optionally, the first contour block 3021 includes multiple first sub-blocks with different surface shapes to match different models of diagonal braces 1002 and bend plates 1004. For example, in this embodiment, there are two different models of circular tower crane standard sections, so there are also two different models of diagonal braces 1002 and bend plates 1004. In this case, there can be two first sub-blocks, corresponding to the two different models of diagonal braces 1002 and bend plates 1004 respectively. When replacement is required, the first sub-blocks can be directly disassembled and replaced.

[0080] like Figure 11As shown, the diagonal web member-straight web member positioning assembly 303 includes a second contour block 3031 for matching the intersection line of the ends of the diagonal web member 1002 and the straight web member 1001, and a second drive device 3032 (which can be a cylinder + guide rail structure) for moving the second contour block 3031. The second contour block 3031 is detachably connected to the second drive device 3032. Optionally, the second contour block 3031 includes multiple first sub-blocks, with different surface shapes to match different models of diagonal web members 1002 and straight web members 1001. For example, in this embodiment, there are two different models of circular tower crane standard sections, so there are also two different models of diagonal web members 1002 and straight web members 1001. In this case, there can be two second sub-blocks, corresponding to the two different models of diagonal web members 1002 and straight web members 1001 respectively. When replacement is required, the second sub-blocks can be directly disassembled and replaced.

[0081] like Figure 12 As shown, the diagonal web member-straight web member-diagonal web member positioning assembly 304 includes a third contour block 3041 for matching the intersection line of the ends of the diagonal web member 1002 and the straight web member 1001, and a third rotating seat 3042 (which can be manually or automatically controlled to rotate) located below the third contour block 3041. Optionally, the third contour block 3041 includes multiple third sub-blocks with different surface shapes to match different models of diagonal web members 1002 and straight web members 1001. For example, in this embodiment, there are two different models of circular tower crane standard sections, so there are also two different models of diagonal web members 1002 and straight web members 1001. In this case, there can be two third sub-blocks, corresponding to the two different models of diagonal web members 1002 and straight web members 1001 respectively. When replacement is required, the third sub-blocks can be directly disassembled and replaced.

[0082] like Figure 13 As shown, the bending plate positioning assembly 305 includes a fourth fixing block 3051 for fixing one end of the bending plate 1004 and a fourth driving device 3052 (which may be a driving cylinder) for moving the fourth fixing block 3051. By fixing one end of the bending plate 1004 with the fourth fixing block 3051 and fixing the other end of the bending plate 1004 with the first contour block 3021, the bending plate 1004 can be fixed.

[0083] like Figure 14As shown, the straight web member positioning assembly 306 includes a fifth fixing block 3061 for fixing one end of the straight web member 1001 and a fifth driving device 3062 (which may be a driving cylinder) for moving the fifth fixing block 3061. One straight web member 1001 can be fixed by fixing one end of the straight web member 1001 with the fifth fixing block 3061 and fixing the other end of the straight web member 1001 with the second contour block 3031. Another straight web member 1001 can be fixed by fixing one end of the straight web member 1001 with the fifth fixing block 3061 and fixing the other end of the straight web member 1001 with the third contour block 3041.

[0084] like Figure 15 As shown, the railing positioning assembly 307 includes a sixth fixing block 3071 for fixing one end of the railing 1003 and a sixth driving device 3072 (which may be a driving cylinder) for moving the sixth fixing block 3071. The railing 1003 is fixed by the sixth fixing block 3071, and its other end is secured to the diagonal brace 1002, thus achieving a fixed railing 1003.

[0085] like Figure 16 As shown, a bending plate changing and positioning mechanism 308 for positioning the middle part of bending plates 1004 of different models is also provided between the diagonal brace-bending plate positioning assembly 302 and the bending plate positioning assembly 305. The bending plate changing and positioning mechanism 308 includes a bending plate support plate 3081 and a seventh drive device 3082 (which can be a drive cylinder) for driving the bending plate support plate 3081 to move up and down. By adjusting the bending plate changing and positioning mechanism 308, it is possible to match different models of circular tower crane standard sections. For example, when a different type of bending plate 1004 is replaced with a different model of bending plate 1004, the up and down position of the bending plate support plate 3081 can be changed by the seventh drive device 3082.

[0086] like Figure 17As shown, a diagonal brace-straight brace-diagonal brace positioning assembly 304 and a diagonal brace-bend plate positioning assembly 302, as well as a diagonal brace-straight brace-diagonal brace positioning assembly 304 and a diagonal brace-straight brace positioning assembly 303, are provided with a diagonal brace changing positioning mechanism 309 for positioning the middle part of different models of diagonal braces 1002. The diagonal brace changing positioning mechanism 309 includes a first connecting plate 3091 and an eighth driving device 3092 (which can be a cylinder + guide rail structure) for moving and changing the position of the first connecting plate 3091. The first connecting plate 3091 is provided with a plurality of diagonal brace changing positioning grooves 3093 for matching different models of diagonal braces 1002. The diagonal brace changing and positioning mechanism 309 can be used to match different models of standard sections for circular tower cranes. For example, when replacing the diagonal brace 1002, the position of the first connecting plate 3091 can be changed via the eighth drive device 3092 to alter the size and position of the diagonal brace changing and positioning groove 3093 located below the diagonal brace 1002, thus accommodating different diagonal braces 1002. The size of the groove opening of the aforementioned diagonal brace changing and positioning groove 3093 can be changed according to the size of the diagonal brace 1002. Figure 11 Only two models of the diagonal web rod changing positioning groove 3093 are shown.

[0087] like Figure 18 As shown, a first straight web member transformation and positioning mechanism 310 for positioning the middle part of different types of straight web members 1001 is provided between the inclined web member-straight web member positioning assembly 303 and the straight web member positioning assembly 306. The first straight web member transformation and positioning mechanism 310 includes a second connecting plate 3101 and a ninth driving device 3102 (which can be a cylinder + guide rail structure) for moving and changing the position of the second connecting plate 3101. The second connecting plate 3101 is provided with multiple first straight web member transformation and positioning slots 3103 for matching different types of straight web members 1001. Through the first straight web member transformation and positioning mechanism 310, it is possible to match different types of circular tower crane standard sections. For example, when replacing the straight web member 1001, the position of the second connecting plate 3101 can be changed by the ninth driving device 3102 to change the size and position of the first straight web member transformation and positioning slots 3103 below the straight web member 1001 to match different straight web members 1001. The size of the groove opening of the first straight-web rod shaping and positioning groove 3103 can be changed according to the size of the straight-web rod 1001. Figure 12 Only two models of the first straight web rod changing positioning groove 3103 are shown.

[0088] like Figure 19As shown, a second straight web member transformation and positioning mechanism 311 for positioning the middle part of straight web members 1001 of different models is provided between the diagonal web member-straight web member-diagonal web member positioning assembly 304 and the straight web member positioning assembly 306. The second straight web member transformation and positioning mechanism 311 includes a third connecting plate 3111 and a tenth driving device 3112 (which can be a driving cylinder) for driving the third connecting plate 3111 to move up and down. The third connecting plate 3111 is provided with a second straight web member transformation and positioning groove 3113 for matching different models of straight web members 1001. The inner groove of the second straight web member transformation and positioning groove 3113 includes multiple arc segments with different radii. In this embodiment, when the model of the standard section of the circular tower crane changes, the position of the straight web member 1001 in the middle position can also be kept unchanged. At this time, it is only necessary to adjust the size of the groove of the second straight web member transformation and positioning groove 3113 located below the straight web member 1001 to meet the different models of straight web members 1001. At this point, the structure of the second straight web rod changing and positioning mechanism 311 can be simplified by only changing the size of the slot opening of the second straight web rod changing and positioning groove 3113. For example, for two types of straight web rods 1001, the following can be adopted: Figure 20 The second straight web rod changing positioning groove 3113 shown can be composed of two arc segments with different radii. If necessary, the height can be adjusted by the tenth drive device 3112.

[0089] like Figure 21 As shown, a railing-changing positioning mechanism 312 for positioning the middle part of railings 1003 of different models is provided between the railing positioning assembly 307 and the diagonal brace 1002. The railing-changing positioning mechanism 312 includes a fourth connecting plate 3121, on which a railing-changing positioning groove 3122 for matching different models of railings 1003 is provided. The inner groove of the railing-changing positioning groove 3122 includes multiple arc segments with different radii. The railing-changing positioning groove 3122 can also adopt a structural form similar to that of the second straight brace positioning groove 3113.

[0090] The assembly fixture in this embodiment mainly consists of a fixture table 301 and a positioning mechanism. The positioning components and overall structure are designed based on the saddle-shaped assembly relationship between the inclined web member 1002, the straight web member 1001, the curved plate 1004, and the main chord member 1000. The relative relationships between workpieces are achieved through the interaction of a drive device (such as a cylinder + guide rail) and contour blocks / fixed blocks. The usage is as follows: The handling robot first uses a parts gripper (which may be equipped with a standard quick-change interface) to pick up workpieces such as the straight web member 1001, the inclined web member 1002, the curved plate 1004, and the railing 1003 from the material trailer and place them onto the overall assembly fixture. Overall loading and positioning process: The position of the inclined web member-straight web member-inclined web member positioning assembly 304 is fixed. The robot places the two inclined web members 1002 into position using the loading fixture. The inclined web member-bend plate positioning assembly 302 extends to clamp the inclined web members 1002, and the inclined web member-straight web member positioning assembly 303 extends to clamp the inclined web members 1002, thus achieving the positioning of the two inclined web members 1002. At this time, the positions of the inclined web member-bend plate positioning assembly 302 and the inclined web member-straight web member positioning assembly 303 are fixed. The robot places the two straight web members 1001 into position using the loading fixture. The straight web member positioning assembly 306 extends to clamp the straight web members 1001, thus achieving the positioning of the two straight web members 1001. At this time, the position of the straight web member positioning assembly 306 is fixed. The robot uses a loading fixture to place two railings 1003 into position. The railing positioning component 307 then extends and clamps the railings 1003, thus achieving positioning of the two railings 1003. At this point, the position of the railing positioning component 307 is fixed. Similarly, the robot uses a loading fixture to place a curved plate 1004 into position. The curved plate positioning component 305 extends and clamps the curved plate 1004, thus achieving positioning of the curved plate 1004. At this point, the position of the curved plate positioning component 305 is fixed. Through this process, precise and rapid positioning of each component can be achieved.

[0091] During use, the first contour block 3021, the second contour block 3031, and the third contour block 3041 can be replaced with sub-blocks to adapt to different product models. Simultaneously, the curved plate changing positioning mechanism 308, the inclined web rod changing positioning mechanism 309, the first straight web rod changing positioning mechanism 310, the second straight web rod changing positioning mechanism 311, and the railing changing positioning mechanism 312 can also have their components replaced or their positions adjusted to suit the positioning work of different product models.

[0092] The assembly tooling for the standard tower crane section components of this invention can achieve high-precision assembly and positioning of the straight web members 1001, diagonal web members 1002, railings 1003, and curved plates 1004. Positioning is achieved by using the matching relationship with the main chord member 1000, resulting in high positioning accuracy and small error. While improving positioning accuracy, it can also reduce manual operation and alleviate manual assembly and handling.

[0093] Example 2:

[0094] This embodiment utilizes the feeding system from Embodiment 1 for feeding materials during welding. The welding system can employ the following combination of welding clamping fixtures and a welding robot (which can be existing conventional equipment):

[0095] like Figure 22 and Figure 23 As shown, the welding clamping fixture includes a tower crane standard section comprising a main rotating rod 1000 and straight web members 1001, diagonal web members 1002, railings 1003, and curved plates 1004 disposed between the main rotating rods 1000. The welding fixture includes a positioner 501 and a mounting frame 502 disposed on the positioner 501. The mounting frame 502 is provided with a main rotating rod positioning and clamping mechanism 503 for positioning and clamping the main rotating rod 1000 and a loading and avoiding drive assembly 504 for driving the main rotating rod positioning and clamping mechanism 503 to slide along the surface of the mounting frame 502. The loading and avoiding drive assembly 504 is disposed between the main rotating rod positioning and clamping mechanism 503 and the mounting frame 502 (the loading and avoiding drive assembly 504 may not be provided between some main rotating rod positioning and clamping mechanisms 503 and the mounting frame 502).

[0096] like Figure 24 As shown in this embodiment, an auxiliary support clamping fixture 505 is also provided between the mounting frames 502 for temporary positioning and fixing of the straight web member 1001, the inclined web member 1002 and the curved plate 1004.

[0097] Specifically, in this embodiment, the auxiliary support clamping fixture 505 includes a mounting beam 5051, a straight web member support clamping assembly 5052, a diagonal web member support clamping assembly 5053, and a curved plate support clamping assembly 5055. The mounting beam 5051 is disposed between the mounting frames 502. The straight web member support clamping assembly 5052, the diagonal web member support clamping assembly 5053, and the curved plate support clamping assembly 5055 are mounted on the mounting beam 5051 via a shape-changing guide rail assembly 5056. The shape-changing guide rail assembly 5056 is provided with a shape-changing drive source 5057 for driving the shape-changing guide rail assembly 5056 to slide. The aforementioned straight web member support clamping assembly 5052, diagonal web member support clamping assembly 5053, and curved plate support clamping assembly 5055 can all be in the form of a cylinder + pressure plate. The cylinder can selectively be a swing-angle cylinder.

[0098] In this embodiment, only one auxiliary support clamping fixture 505 needs to be provided for auxiliary positioning on one side of the circular standard section. This is because during spot welding, the positions of the straight web member 1001, the inclined web member 1002, the railing 1003, and the curved plate 1004 on the first two sides can be fixed by the loading gripper before welding, and then the loading gripper can be removed. After the material is loaded onto one of the last two sides by the loading grabber, the straight web member 1001, the diagonal web member 1002, the railing 1003, and the curved plate 1004 can only be spot-welded to the main rotating rod 1000 on one side before the loading grabber needs to be moved. If the straight web member 1001, the diagonal web member 1002, the railing 1003, and the curved plate 1004 are all spot-welded to the main rotating rods 1000 on both sides, then due to the existence of the saddle-shaped intersection line, the straight web member 1001, the diagonal web member 1002, the railing 1003, and the curved plate 1004 on the last side cannot be accurately loaded between the main rotating rods 1000. Therefore, one main rotating rod 1000 needs to slide to facilitate the loading of the last side. At this time, the straight web member 1001, the diagonal web member 1002, the railing 1003, and the curved plate 1004 can only be spot-welded to the main rotating rod 1000 on one side. At this point, the straight web bar 1001, the inclined web bar 1002 and the bent plate 1004, which are spot-welded and fixed on one side, can be positioned and clamped with the help of the auxiliary support clamping fixture 505. After the last side is loaded, the position of the main rotating rod 1000 is returned to the center, and the third side is spot-welded and fixed completely. Finally, the fourth side is spot-welded and fixed.

[0099] In this embodiment, the shape-changing guide rail assembly 5056 and the shape-changing drive source 5057 can adjust the distance between the straight web bar support clamping assembly 5052, the inclined web bar support clamping assembly 5053 and the curved plate support clamping assembly 5055 to suit different models of straight web bars 1001, inclined web bars 1002 and curved plates 1004 and main rotating rods 1000.

[0100] In this embodiment, the main rotating rod positioning and clamping mechanism 503 includes a pair of oppositely arranged automatic clamping and centering components 5031 and automatic lifting components 5032. The automatic clamping and centering components 5031 and automatic lifting components 5032 are respectively disposed on the inner surfaces of a pair of oppositely arranged mounting frames 502, and are respectively used to cooperate with the two ends of the main rotating rod 1000 to fix the main rotating rod 1000. The loading clearance drive component 504 is disposed between the automatic clamping and centering components 5031 and the mounting frame 502 or between the automatic lifting component 5032 and the mounting frame 502 (when there is a loading clearance drive component 504 between the main rotating rod positioning and clamping mechanism 503 and the mounting frame 502, there is a loading clearance drive component 504 between the automatic clamping and centering components 5031 and the mounting frame 502 and between the automatic lifting component 5032 and the mounting frame 502).

[0101] like Figure 25As shown, in this embodiment, the automatic clamping and centering component 5031 includes a jaw 50311, a jaw chuck protective cover 50312, and a jaw mounting base 50313. The jaw 50311 is movably disposed within the jaw chuck protective cover 50312, which is mounted on the jaw mounting base 50313. The jaw mounting base 50313 is mounted on the mounting frame 502 (when fixed) or, via the feeding avoidance drive component 504, on the mounting frame 502 (when slidable). The jaw chuck protective cover 50312 also includes a changing jaw 50314 for supporting the main rotating rod 1000. The end of the changing jaw 50314 is a detachable structure. By changing the end of the changing jaw 50314, positioning of different models of main rotating rods 1000 can be achieved.

[0102] like Figure 26 As shown, in this embodiment, the automatic jacking assembly 5032 includes a guide post head 50321, a guide post 50322, a guide post cover 50323, a guide post mounting base 50324, and a jacking cylinder 50325. The guide post head 50321 is located at one end of the guide post 50322, and the other end of the guide post 50322 is slidably located in the guide post mounting base 50324 and connected to the jacking cylinder 50325. The guide post cover 50323 is located outside the guide post 50322. The guide post mounting base 50324 is located on the mounting frame 502 (when fixed) or on the mounting frame 502 via the feeding avoidance drive assembly 504 (when slidable).

[0103] In this embodiment, the truss claw moves the two positioned main chord members 1000 together between the automatic clamping and centering assembly 5031 and the automatic extension assembly 5032. The male end of the main chord member 1000 is aligned with the automatic clamping and centering assembly 5031, and the female end of the main chord member 1000 is aligned with the automatic extension assembly 5032. First, the claw 50311 clamps the male end of the main chord member 1000. At this time, the extension cylinder 50325 drives the guide column 50322 and the guide column head 50321 to push the female end of the main chord member 1000. After the stroke is completed, the claw 50311 clamps again and centers, thus realizing the positioning and clamping of the main chord member 1000.

[0104] like Figure 25 , Figure 26 As shown, in this embodiment, the loading avoidance drive assembly 504 includes an avoidance cylinder 5041, a cylinder connector 5042, and a loading avoidance guide rail 5043. The avoidance cylinder 5041 is connected to the loading avoidance guide rail 5043 through the cylinder connector 5042, and drives the loading avoidance guide rail 5043 to slide, thereby driving the main rotating rod positioning and clamping mechanism 503 to slide. The aforementioned loading avoidance guide rail 5043 can be connected to the claw mounting base 50313 or the guide post mounting base 50324 to drive the automatic clamping and centering assembly 5031 or the automatic extension assembly 5032 to slide.

[0105] In this embodiment, due to the numerous saddle-shaped intersection lines between the components of the circular standard section and the main rotating rod 1000, if the main rotating rod positioning and clamping mechanism 503 remains fixed during the assembly of the straight web member 1001, oblique web member 1002, railing 1003, and curved plate 1004 with the main rotating rod 1000, the assembly of these components cannot be properly achieved. In this embodiment, by setting up a loading avoidance drive component 504 and optimizing its placement, it is easier to avoid obstacles during loading, thus facilitating loading. The specific optimization method is as follows: There are four main rotating rods 1000, which are fixed by four main rotating rod positioning and clamping mechanisms 503 (i.e., four pairs of automatic clamping and centering components 5031 and automatic extension components 5032). One main rotating rod positioning and clamping mechanism 503 is fixed on the mounting frame 502. There is a feeding avoidance drive component 504 between the three main rotating rod positioning and clamping mechanisms 503 and the mounting frame 502 (both between the automatic clamping and centering components 5031 and the mounting frame 502 and between the automatic extension components 5032 and the mounting frame 502). The feeding avoidance drive component 504 is slidably set on the mounting frame 502. Two main rotating rod positioning and clamping mechanisms 503 are driven to slide horizontally or vertically through the feeding avoidance drive component 504, and the other main rotating rod positioning and clamping mechanism 503 is driven to slide tilted through the feeding avoidance drive component 504. During setup, the fixed main rotor positioning and clamping mechanism 503 and the tiltable and sliding main rotor positioning and clamping mechanism 503 can be arranged adjacent to each other to facilitate subsequent automated welding.

[0106] The welding method for the above welding system may include the following steps:

[0107] S1: Use assembly fixtures to fix the placement positions of straight web members 1001, inclined web members 1002, railings 1003 and curved plates 1004; fix the main rotating rod 1000 between the mounting frames 502 through the main rotating rod positioning and clamping mechanism 503;

[0108] S2: Using a loading gripper, the straight web member 1001, the inclined web member 1002, the railing 1003, and the curved plate 1004 are picked up from the assembly fixture, their positions are kept fixed, and they are sent to the pair of main rotating rods 1000 between the mounting frames 502. When installing the straight web member 1001, the inclined web member 1002, the railing 1003, and the curved plate 1004, at least one pair of main rotating rod positioning and clamping mechanisms 503 slide under the action of the loading avoidance drive assembly 504 so that the straight web member 1001, the inclined web member 1002, the railing 1003, and the curved plate 1004 are installed in place.

[0109] S3: Use a welding robot to spot weld the straight web bar 1001, the inclined web bar 1002, the railing 1003 and the curved plate 1004 to a pair of main rotating bars 1000, and then remove the loading gripper to complete the spot welding of one side.

[0110] S4: The positioner 501 rotates, which drives the mounting frame 502 to rotate. Repeat steps S2-S3 to complete the spot welding on the other side.

[0111] S5: Repeat step S4 to complete spot welding on all sides;

[0112] S6: Use a welding robot to complete the subsequent full welding work, that is, complete the welding.

[0113] like Figure 27 As shown, to better understand the above solution, this embodiment also provides a more detailed welding method, including the following steps:

[0114] S1: Use assembly fixtures to fix the positions of straight web members 1001, inclined web members 1002, railings 1003, and curved plates 1004; fix the main rotating rods 1000 to the mounting frames 502 using the main rotating rod positioning and clamping mechanism 503; the position diagram of the four main rotating rods 1000 corresponds to... Figure 27 ( Figure 27 As shown in ①②③④ in (a), the sides in front of the four main rotating rods 1000 are surface 1, surface 2, surface 3 and surface 4 respectively. Among them, the main rotating rod 1000 at position ① can slide to the right, the main rotating rod 1000 at position ② remains fixed, the main rotating rod 1000 at position ③ can slide outward at a 45-degree angle, and the main rotating rod 1000 at position ④ can slide upward.

[0115] S2: Welding side 1, using the loading gripper to grab the straight web member 1001, diagonal web member 1002, railing 1003 and curved plate 1004 from the assembly fixture, keeping their positions fixed and sending them between the main rotating rod 1000 at position ① and the main rotating rod 1000 at position ②. When installing the straight web member 1001, diagonal web member 1002, railing 1003 and curved plate 1004, the main rotating rod 1000 at position ① slides to the right to make way so that the straight web member 1001, diagonal web member 1002, railing 1003 and curved plate 1004 are installed in place;

[0116] S3: Use a welding robot to spot weld the straight web bar 1001, the inclined web bar 1002, the railing 1003 and the curved plate 1004 to the main rotating bar 1000 at position ① and the main rotating bar 1000 at position ②. Weld both sides, then remove the loading gripper to complete the spot welding on one side.

[0117] S4: Weld both sides, rotate the positioner 90 degrees (position as follows) Figure 27In step (b), the loading gripper picks up the straight web member 1001, the inclined web member 1002, the railing 1003, and the curved plate 1004 from the assembly fixture, keeps them in a fixed position, and sends them between the main rotating rod 1000 at position ① and the main rotating rod 1000 at position ④. When installing the straight web member 1001, the inclined web member 1002, the railing 1003, and the curved plate 1004, the main rotating rod 1000 at position ④ slides to the right to make way so that the straight web member 1001, the inclined web member 1002, the railing 1003, and the curved plate 1004 are installed in place.

[0118] S5: Use a welding robot to spot weld the straight web bar 1001, the inclined web bar 1002, the railing 1003 and the curved plate 1004 to the main rotating bar 1000 at position ① and the main rotating bar 1000 at position ④. Weld both sides, then remove the loading gripper to complete the spot welding on both sides.

[0119] S7: Weld 3 sides, then rotate the positioner 90 degrees (position as follows) Figure 27 In step (c), the loading gripper picks up the straight web member 1001, the inclined web member 1002, the railing 1003, and the curved plate 1004 from the assembly fixture, keeps them in a fixed position, and sends them between the main rotating rod 1000 at position ③ and the main rotating rod 1000 at position ④. When installing the straight web member 1001, the inclined web member 1002, the railing 1003, and the curved plate 1004, the main rotating rod 1000 at position ③ tilts downward and slides to make way for the straight web member 1001, the inclined web member 1002, the railing 1003, and the curved plate 1004 to be installed in place.

[0120] S8: Use a welding robot to spot weld the straight web member 1001, the inclined web member 1002, the railing 1003, and the curved plate 1004 between the main rotating rod 1000 at position ③ and the main rotating rod 1000 at position ④. Only the side of the main rotating rod 1000 closer to position ④ is welded, and the side of the main rotating rod 1000 closer to position ③ is not welded. Use the auxiliary support clamping fixture 505 to fix the straight web member 1001, the inclined web member 1002, and the curved plate 1004, and then remove the loading gripper to complete half of the spot welding on the three sides.

[0121] S9: Weld all four sides, then rotate the positioner 90 degrees (position as follows) Figure 27 (d) (Auxiliary support clamping fixture 505 rotates synchronously), using the feeding gripper to grab the straight web bar 1001, inclined web bar 1002, railing 1003 and curved plate 1004 from the assembly fixture, keep their positions fixed and send them between the main rotating rod 1000 at position ③ and the main rotating rod 1000 at position ①. When installing the straight web bar 1001, inclined web bar 1002, railing 1003 and curved plate 1004, the main rotating rod 1000 at position ③ tilts downward and slides to make way so that the straight web bar 1001, inclined web bar 1002, railing 1003 and curved plate 1004 are installed in place;

[0122] S10: Use a welding robot to spot weld the straight web bar 1001, the inclined web bar 1002, the railing 1003 and the curved plate 1004 to the main rotating bar 1000 at position ③ and the main rotating bar 1000 at position ①. Weld both sides, then remove the loading gripper to complete the spot welding on all four sides.

[0123] S11: Weld 3 sides, then rotate the positioner back 90 degrees (position as follows). Figure 27 In the middle (c)), a welding robot is used to perform spot welding on one side of the main rotating rod 1000 near position ③ on the three sides, thus completing the spot welding of all three sides;

[0124] S12: Use a welding robot to complete the subsequent full welding work. If necessary, manual welding can be used for additional welding to complete the welding.

[0125] The welding method described in this embodiment is for illustrative purposes only, and the welding sequence can be replaced according to actual conditions.

Claims

1. A loading system for workpieces composed of standard tower crane sections, characterized in that, It includes a loading robot, assembly tooling for fixing the placement of straight web members (1001), diagonal web members (1002), railings (1003) and curved plates (1004), and a loading gripper for the workpiece composed of tower crane standard sections; The tower crane standard section includes a main spiral rod (1000) and straight web members (1001), diagonal web members (1002), railings (1003), and curved plates (1004) disposed between the main spiral rod (1000). The loading gripper includes a gripper frame (401) and multiple gripper mechanisms disposed below the gripper frame (401) for gripping the straight web members (1001), diagonal web members (1002), railings (1003), and curved plates (1004), respectively. The positions of the gripper mechanisms match the positions of the straight web members (1001), diagonal web members (1002), railings (1003), and curved plates (1004) between the main spiral rod (1000). The gripper mechanism includes a straight bar gripper assembly (402) for gripping the straight bar (1001), an oblique bar gripper assembly (403) for gripping the oblique bar (1002), a railing gripper assembly (404) for gripping the railing (1003), and a curved plate gripper assembly (405) for gripping the curved plate (1004); the straight bar gripper assembly (402) is provided in two pairs, the oblique bar gripper assembly (403) is provided in two pairs, the railing gripper assembly (404) is provided in one pair, and the curved plate gripper assembly (405) is provided in one pair; It also includes a gripper placement bracket (412) for placing the feeding gripper. The gripper placement bracket (412) includes a bracket base (4121) and a support frame (4122). The support frame (4122) is inclined on the bracket base (4121). The gripper frame (401) is provided with a plurality of gripper frame positioning slots (4011). The support frame (4122) is provided with gripper frame positioning pins (4123) that match the gripper frame positioning slots (4011). The support frame (4122) is provided with a plurality of blocking fixtures (4124) for preventing the feeding gripper from sliding down. The assembly tooling includes a tooling table (301) and a positioning mechanism disposed on the tooling table (301) for positioning the straight web member (1001), the diagonal web member (1002), the railing (1003), and the curved plate (1004). The positioning mechanism is positioned to match the positions of the straight web member (1001), the diagonal web member (1002), the railing (1003), and the curved plate (1004) between the main rotating rod (1000). The positioning mechanism includes a diagonal web member-curved plate positioning assembly (302), a diagonal web member-straight web member positioning assembly (303), a diagonal web member-straight web member-diagonal web member positioning assembly (304), a curved plate positioning assembly (305), a pair of straight web member positioning assemblies (306), and a pair of railing positioning assemblies (307). The inclined web bar-bend plate positioning assembly (302) is disposed opposite to the bend plate positioning assembly (305) and located on one side of the tooling table (301). The inclined web bar-straight web bar positioning assembly (303) is disposed opposite to one of the straight web bar positioning assemblies (306) and located on the other side of the tooling table (301). The inclined web bar-straight web bar-inclined web bar positioning assembly (304) is disposed opposite to one of the straight web bar positioning assemblies (306) and located in the middle of the tooling table (301). A pair of railing positioning assemblies (307) are respectively disposed between the inclined web bar-bend plate positioning assembly (302) and the straight web bar positioning assembly (306) and between the bend plate positioning assembly (305) and the inclined web bar-straight web bar-inclined web bar positioning assembly (304).

2. The feeding system according to claim 1, characterized in that, The straight bar gripper assembly (402), the inclined bar gripper assembly (403), and the railing gripper assembly (404) all include a gripper (406), a gripper mounting plate (407), and a gripper driving device (408) for driving the gripper (406) to clamp or release. The gripper driving device (408) is mounted on the gripper frame (401) below the gripper through the gripper mounting plate (407). The gripper (406) is connected to the gripper driving device (408). The grippers (406) are arranged in pairs, and the inner groove of the gripper (406) includes multiple arc segments with different radii.

3. The feeding system according to claim 1 or 2, characterized in that, The bending plate gripper assembly (405) includes a clamping plate (409), a clamping plate mounting plate (410), and a clamping plate driving device (411) for driving the clamping plate (409) to clamp or loosen. The clamping plates (409) are arranged in pairs. One clamping plate (409) is fixed to the lower part of the gripper frame (401) through a clamping plate mounting plate (410), and the other clamping plate (409) is connected to the clamping plate driving device (411). The clamping plate driving device (411) is fixed to the lower part of the gripper frame (401) through a clamping plate mounting plate (410).

4. The feeding system according to claim 1, characterized in that, The gripper frame (401) is provided with a gripper end quick-change device (4012), the loading robot is provided with a robot end quick-change device that matches the gripper end quick-change device (4012), and the bearing frame (4122) is provided with a rotatable quick-change device protective fixture (4125).

5. The feeding system according to claim 1, characterized in that, The diagonal brace-bend plate positioning assembly (302) includes a first contour block (3021) for matching the intersection line of the ends of the diagonal brace (1002) and the bend plate (1004), and a first drive device (3022) for moving the first contour block (3021). The first contour block (3021) is detachably connected to the first drive device (3022). The first contour block (3021) includes a plurality of first sub-blocks, and the surface shapes of the first sub-blocks are different to match different models of diagonal braces (1002) and bend plates (1004). The oblique web bar-straight web bar positioning assembly (303) includes a second contour block (3031) for matching the intersection line of the ends of the oblique web bar (1002) and the straight web bar (1001), and a second drive device (3032) for driving the second contour block (3031) to move. The second contour block (3031) is detachably connected to the second drive device (3032). The second contour block (3031) includes a plurality of second sub-blocks, and the surface shapes of the second sub-blocks are different to match different models of oblique web bars (1002) and straight web bars (1001). The oblique web member-straight web member-oblique web member positioning assembly (304) includes a third contour block (3041) for matching the intersection line of the ends of the oblique web member (1002) and the straight web member (1001), and a third rotating seat (3042) disposed below the third contour block (3041); the third contour block (3041) includes a plurality of third sub-blocks, the surface shapes of which are different to match different models of oblique web members (1002) and straight web members (1001). The bending plate positioning assembly (305) includes a fourth fixing block (3051) for fixing one end of the bending plate (1004) and a fourth driving device (3052) for driving the fourth fixing block (3051) to move. The straight web member positioning assembly (306) includes a fifth fixing block (3061) for fixing one end of the straight web member (1001) and a fifth driving device (3062) for driving the fifth fixing block (3061) to move. The railing positioning assembly (307) includes a sixth fixing block (3071) for fixing one end of the railing (1003) and a sixth driving device (3072) for moving the sixth fixing block (3071).

6. The feeding system according to claim 1, characterized in that, Between the diagonal brace-bend plate positioning assembly (302) and the bend plate positioning assembly (305), a bend plate changing positioning mechanism (308) for positioning the middle part of different types of bend plates (1004) is also provided; the bend plate changing positioning mechanism (308) includes a bend plate support plate (3081) and a seventh driving device (3082) for driving the bend plate support plate (3081) to move up and down. The inclined web bar-straight web bar-inclined web bar positioning assembly (304) and the inclined web bar-bend plate positioning assembly (302), as well as the inclined web bar-straight web bar-inclined web bar positioning assembly (304) and the inclined web bar-straight web bar positioning assembly (303), are provided with inclined web bar changing positioning mechanisms (309) for positioning the middle part of different types of inclined web bars (1002); the inclined web bar changing positioning mechanism (309) includes a first connecting plate (3091) and an eighth driving device (3092) for driving the first connecting plate (3091) to move and change position, and the first connecting plate (3091) is provided with a plurality of inclined web bar changing positioning grooves (3093) for matching different types of inclined web bars (1002). A first straight web bar repositioning mechanism (310) for positioning the middle part of different types of straight web bars (1001) is provided between the inclined web bar-straight web bar positioning assembly (303) and the straight web bar positioning assembly (306); the first straight web bar repositioning mechanism (310) includes a second connecting plate (3101) and a ninth driving device (3102) for driving the second connecting plate (3101) to move and change position, and the second connecting plate (3101) is provided with a plurality of first straight web bar repositioning grooves (3103) for matching different types of straight web bars (1001). A second straight web rod changing positioning mechanism (311) for positioning the middle part of straight web rods (1001) of different models is provided between the oblique web rod-straight web rod-oblique web rod positioning assembly (304) and the straight web rod positioning assembly (306); the second straight web rod changing positioning mechanism (311) includes a third connecting plate (3111) and a tenth driving device (3112) for driving the third connecting plate (3111) to move up and down, the third connecting plate (3111) is provided with a second straight web rod changing positioning groove (3113) for matching straight web rods (1001) of different models, and the inner groove of the second straight web rod changing positioning groove (3113) includes multiple arc segments with different radii; A railing shape-changing positioning mechanism (312) for positioning the middle part of railings (1003) of different models is provided between the railing positioning assembly (307) and the inclined web bar (1002); the railing shape-changing positioning mechanism (312) includes a fourth connecting plate (3121), and the fourth connecting plate (3121) is provided with a railing shape-changing positioning groove (3122) for matching railings (1003) of different models, and the inner groove of the railing shape-changing positioning groove (3122) includes multiple arc segments with different radii.

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