Main chord step welding system

Abstract

The application discloses a main chord step welding system, which comprises a main chord positioning device, a carrying device, a welding device and a step positioning device. The main chord positioning device is used for positioning and supporting a main chord. The carrying device is used for carrying a step to a preset clamping position. The welding device is used for welding the step positioned on the main chord. The step positioning device comprises a lifting device, a radial clamping mechanism and an axial pushing mechanism arranged on the lifting device. The radial clamping mechanism is used for clamping the step positioned on the preset clamping position along the radial direction of the main chord. The axial pushing mechanism is used for pushing the step on the radial clamping mechanism along the axial direction of the main chord. The lifting device is used for driving the step to perform lifting movement towards the main chord, so that automatic positioning and automatic welding of the step are realized. Compared with the step positioning mode of marking and visual positioning in the prior art, the positioning precision stability is obviously improved, the machining efficiency is improved, and the labor intensity is reduced.

Description

Technical Field

[0001] This invention belongs to the field of standard section welding production technology, and particularly relates to a main chord step welding system. Background Technology

[0002] Steps are crucial components for the self-lifting mechanism of tower cranes. The dimensional accuracy of the steps directly affects the safety of the entire self-lifting process, allowing no room for error. Currently, steps are typically positioned and welded onto the main chord using manual marking and hand-held spot welding. The specific process involves: first, transferring the main chord with its male and female joints welded to a V-frame, and then axially and radially positioning the main chord. Next, axial positioning lines for the steps are marked on the main chord. The steps are then manually moved onto the main chord, axially positioned by the marked lines and radially positioned by visual inspection. Finally, spot welding is performed manually on both sides of the steps. This method, relying on marking and visual positioning, heavily depends on the operator, making it difficult to guarantee the stability of positioning accuracy. Summary of the Invention

[0003] To address the aforementioned defects or deficiencies, this invention provides a main chord step welding system, aiming to solve the technical problem of difficulty in ensuring the stability of positioning accuracy caused by the use of scribing and visual positioning steps.

[0004] To achieve the above objectives, the present invention provides a main chord step welding system, wherein the main chord step welding system includes a main chord positioning device, a conveying device, a welding device, and a step positioning device; the main chord positioning device is used to position and support the main chord; the conveying device is used to convey the step to a preset clamping position; the welding device is used to weld the step positioned on the main chord; the step positioning device includes a lifting device and a radial clamping mechanism and an axial pushing mechanism disposed on the lifting device, the radial clamping mechanism is used to clamp the step located at the preset clamping position along the radial direction of the main chord, the axial pushing mechanism is used to push the step on the radial clamping mechanism along the axial direction of the main chord, and the lifting device is used to drive the step to move up and down toward the main chord.

[0005] In this embodiment of the invention, the driving end of the lifting device is provided with a mounting plate. The radial clamping mechanism and the axial pushing mechanism are spaced apart on the mounting plate along the axial direction of the main chord. The axial pushing mechanism includes a pushing drive and an axial positioning member. The pushing drive is provided on the mounting plate, and the telescopic end of the pushing drive is arranged towards the radial clamping mechanism. The axial positioning member is provided at the telescopic end of the pushing drive. The pushing drive is used to drive the telescopic end to extend, so as to drive the axial positioning member to abut against the step surface of the step and push the step.

[0006] In this embodiment of the invention, the radial clamping mechanism includes a clamping drive member, a clamping drive block, and a clamping adjustment block. The clamping drive member and the clamping adjustment block are arranged on the mounting plate at a radial distance from each other along the main chord. The telescopic end of the clamping drive member is arranged towards the clamping adjustment block. The clamping drive block is located at the telescopic end of the clamping drive member. The clamping drive member is used to drive the telescopic end to extend, so as to drive the clamping drive block to press the step onto the clamping adjustment block.

[0007] In this embodiment of the invention, the number of axial positioning components is at least two, and the length dimensions of the at least two axial positioning components are set to be different. The telescopic end of the push drive component can be selected to detachably install one of the axial positioning components.

[0008] And / or, the number of clamping adjustment blocks is at least two, the thickness of the at least two clamping adjustment blocks is set to be different, and the mounting plate can select one of the clamping adjustment blocks for detachable installation.

[0009] In this embodiment of the invention, the main chord step welding system further includes a welding gantry frame, which is arranged parallel to the main chord on the main chord positioning device, and the welding device is movable along the length direction of the welding gantry frame.

[0010] In this embodiment of the invention, the number of step positioning devices is at least two, and the lifting devices of the at least two step positioning devices are arranged sequentially at intervals along the length direction on the inner side of the welding gantry, while the welding equipment is movably arranged on the outer side of the welding gantry.

[0011] In this embodiment of the invention, the main chord step welding system further includes a transport gantry frame, which is arranged parallel to the main chord on the main chord positioning device. The transport gantry frame and the welding gantry frame are respectively arranged on opposite sides of the main chord, and the transport device is movable along the length direction of the transport gantry frame.

[0012] In this embodiment of the invention, the main chord step welding system further includes a step feeding device, which includes a feeding line and a step rack. The feeding line is reciprocating and is guided by a conveying device at one end. The step rack is placed on the feeding line and used to place the steps.

[0013] In an embodiment of the present invention, the step rack includes a frame body disposed on the feeding line and a step box disposed on the frame body. One end of the step box is open, and a guide channel is formed on the inner side of the step box to guide the step into and out of the step box from the open.

[0014] In this embodiment of the invention, the main chord positioning device includes a centering clamping device and a weld identification device. The centering clamping device includes a centering clamping seat, a rotating mechanism disposed on the centering clamping seat, and a clamping mechanism disposed on the rotating mechanism. The clamping mechanism is used to center and clamp the end of the main chord. The weld identification device is disposed on the centering clamping seat and is used to determine the position of the weld on the main chord, so as to control the rotating mechanism to rotate according to the position of the weld.

[0015] Through the above technical solution, the main chord step welding system provided in this embodiment of the invention has the following beneficial effects:

[0016] When using the aforementioned main chord step welding system, which includes a main chord positioning device, a transport device, a welding device, and a step positioning device, the main chord can be first transferred to the main chord positioning device for positioning and support. Then, the transport device is controlled to transport the step to the preset clamping position. Next, the radial clamping mechanism of the step positioning device is controlled to clamp the step located at the preset clamping position along the radial direction of the main chord to achieve radial positioning of the step. In addition, the axial pushing mechanism is controlled to push the step on the radial clamping mechanism along the axial direction of the main chord to achieve axial positioning of the step. After positioning, the lifting device drives the step to move up and down towards the main chord until the step is close to the main chord. Finally, the welding device is controlled to complete the welding of the step on the main chord, thereby realizing automatic positioning and automatic welding of the step. Compared with the existing technology that uses scribing and visual positioning of the step, this significantly improves the stability of positioning accuracy, increases processing efficiency, and reduces labor intensity.

[0017] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. Those skilled in the art can obtain other drawings based on the structures shown in these drawings without any inventive effort. In the drawings:

[0019] Figure 1 This is a schematic diagram of the main chord step welding system according to an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of the structure of the welding equipment and the step positioning equipment installed on the welding gantry according to an embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of the structure of a step positioning device according to an embodiment of the present invention;

[0022] Figure 4 This is a partial structural schematic diagram of a step positioning device according to an embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram of the structure of a step feeding device according to an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of the step box structure in one embodiment of the present invention;

[0025] Figure 7 This is a schematic diagram of the centering clamping device in one embodiment of the present invention.

[0026] Explanation of reference numerals in the attached figures

[0027] 100 Main chord positioning device; 110 Centering and clamping device

[0028] 111 Centering clamping seat 112 Rotating mechanism

[0029] 113 Clamping mechanism 120 Centering and clamping line body

[0030] 200 Handling Equipment 201 Handling Gantry Frame

[0031] 300 Welding equipment; 301 Welding gantry.

[0032] 400 Step positioning device; 410 Lifting device

[0033] 411 Fixed frame 412 Lifting frame

[0034] 413 Lifting drive component 414 Mounting plate

[0035] 420 Radial clamping mechanism; 421 Clamping drive element

[0036] 422 Clamping drive block; 423 Clamping adjustment block

[0037] 430 Axial pushing mechanism 431 Pushing drive component

[0038] 432 Axial positioning component 433 First baffle

[0039] 434 Adapter Plate 500 Step Feeding Equipment

[0040] 510 Feeding line body; 520 Stepped material rack

[0041] 530 Step box, 531 Base plate

[0042] 532 End plate 533 First side plate

[0043] 534 First support bar 535 Second side plate

[0044] 536 Second support bar 537 Inner extension plate

[0045] 538 Third support bar 539 Guide channel

[0046] 600 steps 700 main chord Detailed Implementation

[0047] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0048] The main chord step welding system of the present invention will now be described with reference to the accompanying drawings.

[0049] like Figure 1 and Figure 3 As shown, the present invention provides a main chord step welding system, wherein the main chord step welding system includes:

[0050] Main chord positioning device 100, used to position and support main chord 700;

[0051] The handling device 200 is used to move the step 600 to the preset clamping position;

[0052] Welding equipment 300 is used to weld the step 600 positioned on the main chord 700;

[0053] The step positioning device 400 includes a lifting device 410 and a radial clamping mechanism 420 and an axial pushing mechanism 430 disposed on the lifting device 410. The radial clamping mechanism 420 is used to clamp the step 600 located at a preset clamping position along the radial direction of the main chord 700. The axial pushing mechanism 430 is used to push the step 600 on the radial clamping mechanism 420 along the axial direction of the main chord 700. The lifting device 410 is used to drive the step 600 to move up and down toward the main chord 700.

[0054] When using the aforementioned main chord step welding system, since it includes a main chord positioning device 100, a transport device 200, a welding device 300, and a step positioning device 400, the main chord 700 can first be transferred to the main chord positioning device 100 for positioning and support. Then, the transport device 200 is controlled to transport the step 600 to the preset clamping position. Next, the radial clamping mechanism 420 of the step positioning device 400 is controlled to clamp the step 600 located at the preset clamping position radially along the main chord 700, thereby achieving radial positioning of the step 600. Furthermore, the axial pushing mechanism 430 is controlled to move along the main chord 700... The axial push of the radial clamping mechanism 420 on the step 600 is used to position the step 600 axially. After positioning, the lifting device 410 drives the step 600 to move up and down toward the main chord 700 until the step 600 is close to the main chord 700. Finally, the welding device 300 is controlled to complete the welding of the step 600 on the main chord 700, thereby realizing the automatic positioning and welding of the step 600. Compared with the existing technology of using scribing and visual positioning of the step 600, the stability of positioning accuracy is significantly improved, the processing efficiency is increased, and the labor intensity is reduced.

[0055] See Figure 3 and Figure 4 In this embodiment of the invention, the driving end of the lifting device 410 is provided with a mounting plate 414. The radial clamping mechanism 420 and the axial pushing mechanism 430 are spaced apart on the mounting plate 414 along the axial direction of the main chord 700. That is, the mounting references of the radial clamping mechanism 420 and the axial pushing mechanism 430 are the same. The axial pushing mechanism 430 includes a pushing drive member 431 and an axial positioning member 432. The pushing drive member 431 is provided on the mounting plate 414, and the telescopic end of the pushing drive member 431 is provided towards the radial clamping mechanism 420. The axial positioning member 432 is provided at the telescopic end of the pushing drive member 431. The pushing drive member 431 is used to drive the telescopic end to extend, so as to drive the axial positioning member 432 to abut against the step surface of the step 600 and push the step 600. An axial positioning component 432 is connected to the telescopic end of the pushing drive component 431 so that the pushing force application surface is set opposite to the step surface of the step 600 on the radial clamping mechanism 420, ensuring that the axial pushing mechanism 430 and the step 600 achieve stable contact.

[0056] Specifically, the pushing drive 431 can be a double-rod cylinder, and a transition plate 434 is provided on the first baffle 433 facing the radial clamping mechanism 420. An axial positioning member 432 is provided on the side of the transition plate 434 away from the double-rod cylinder, and the axial positioning member 432 is located at the position where the transition plate 434 extends out of the first baffle 433, so as to be opposite to the step surface of the step 600. In addition, the axial positioning member 432 can be block-shaped or rod-shaped.

[0057] Furthermore, the lifting device 410 can be erected above the main chord 700 via a frame. The lifting device 410 includes a fixed frame 411, a lifting frame 412, and a lifting drive component 413. The fixed frame 411 can be mounted on the welded gantry frame 301. The lifting frame 412 is mounted on the fixed frame 411 via a slider structure. The lifting drive component 413 is mounted on the fixed frame 411, with the driving end of the lifting drive component 413 facing downward and connected to the lifting frame 412. The mounting plate 414 is located at the lower end of the lifting frame 412 and forms an mounting reference surface for mounting the radial clamping mechanism 420 and the axial pushing mechanism 430.

[0058] Please see again Figure 3 and Figure 4 In this embodiment of the invention, the radial clamping mechanism 420 includes a clamping drive member 421, a clamping drive block 422, and a clamping adjustment block 423. The clamping drive member 421 and the clamping adjustment block 423 are radially spaced relative to each other on the mounting plate 414 along the main chord 700, with the telescopic end of the clamping drive member 421 facing the clamping adjustment block 423. The clamping drive block 422 is located at the telescopic end of the clamping drive member 421. The clamping drive member 421 is used to drive the telescopic end to extend, thereby causing the clamping drive block 422 to press the step 600 against the clamping adjustment block 423. That is, the clamping adjustment block 423 of the radial clamping mechanism 420 can stop and limit the step 600 from one side of the step 600, and the clamping drive member 421 located on the other side of the step 600 can drive the clamping drive block 422 to move towards the clamping adjustment block 423 until the step 600 is automatically clamped. Specifically, the clamping drive 421 can also be a double-rod cylinder, and the double-rod cylinder is connected to the clamping drive block 422 on the second baffle that is set toward the clamping adjustment block 423.

[0059] More specifically, the conveying device 200 can deliver the step 600 from below the radial clamping mechanism 420 to between the clamping drive block 422 and the clamping adjustment block 423. Of course, the present invention is not limited to this. Alternatively, the lifting device 410 can drive the radial clamping mechanism 420 to move up and down until the radial clamping mechanism 420 moves to the point where the step 600 on the conveying device 200 extends between the clamping drive block 422 and the clamping adjustment block 423.

[0060] In this embodiment of the invention, the number of axial positioning members 432 can be at least two, and the length dimensions of the at least two axial positioning members 432 are set to be different. The telescopic end of the push drive member 431 can be detachably installed on one of the axial positioning members 432. And / or, the number of clamping adjustment blocks 423 is at least two, and the thickness dimensions of the at least two clamping adjustment blocks 423 are set to be different. The mounting plate 414 can be detachably installed on one of the clamping adjustment blocks 423. It can be understood that when axially positioning steps 600 of different length dimensions are performed, axial positioning members 432 of different length dimensions need to be matched. When radially positioning steps 600 of different thickness dimensions are performed, clamping adjustment blocks 423 of different thickness dimensions need to be matched. By setting axial positioning members 432 of different length dimensions and clamping adjustment blocks 423 of different thickness dimensions, and setting the installation method of both axial positioning members 432 and clamping adjustment blocks 423 to be detachable, the need for automatic positioning of steps 600 of different lengths and thicknesses can be met, thereby improving versatility. Specifically, the axial positioning component 432 and the adapter plate 434 are detachably connected by threaded parts. The mounting plate 414 is provided with a vertical plate, and the clamping adjustment block 423 is detachably provided on the side of the vertical plate facing the clamping drive block 422 by threaded parts.

[0061] like Figure 1 and Figure 2 As shown, in this embodiment of the invention, the main chord step welding system further includes a welding gantry 301. The welding gantry 301 is arranged parallel to the main chord 700 on the main chord positioning device 100, and the welding device 300 is movably arranged along the length direction of the welding gantry 301. Movably mounting the welding device 300 on the welding gantry 301 determines the direction of movement of the welding device 300, facilitating control of the welding device 300. Specifically, the welding device 300 can be configured as a welding robot with multi-segment robotic arms.

[0062] In this embodiment of the invention, the number of step positioning devices 400 can be at least two. The lifting devices 410 of the at least two step positioning devices 400 are sequentially spaced along the length direction on the inner side of the welding gantry 301, and the welding equipment 300 is movably disposed on the outer side of the welding gantry 301. That is, both the step positioning devices 400 and the welding equipment 300 can be disposed on the welding gantry 301 and separated inside and outside. In this way, the step positioning devices 400 will not interfere with the movement of the welding equipment 300, so that the welding equipment 300 can move to the position corresponding to each step positioning device 400 to weld the step 600 on each step positioning device 400. Specifically, at least two steps 600 need to be welded on the main chord 700. At least two step positioning devices 400 can respectively and one-to-one position the at least two steps 600 on the main chord 700. Preferably, the number of step positioning devices 400 is four. The lifting devices 410 of the four step positioning devices 400 are arranged sequentially and spaced apart along the length direction on the inner side of the welding gantry 301. The number of welding devices 300 can be two. That is, when four steps 600 need to be welded on the main chord 700, each welding device 300 is responsible for welding two steps 600 respectively to improve welding efficiency.

[0063] like Figure 1 As shown, in this embodiment of the invention, the main chord step welding system further includes a transport gantry 201. The transport gantry 201 is arranged parallel to the main chord 700 on the main chord positioning device 100, and the transport gantry 201 and the welding gantry 301 are respectively arranged on opposite sides of the main chord 700. The transport device 200 is movably arranged along the length direction of the transport gantry 201. By movably arranging the transport device 200 on the transport gantry 201, the direction of movement of the transport device 200 is determined, which facilitates the control of the transport device 200. Furthermore, the transport device 200 can be configured as a transport robot with a multi-segment robotic arm. Additionally, to achieve the positioning welding of at least two steps 600 on the main chord 700, the number of transport devices 200 can be set to two, with the two transport devices 200 arranged alternately along the length direction of the transport gantry 201.

[0064] See Figure 1 and Figure 5In this embodiment of the invention, the main chord step welding system further includes a step feeding device 500. The step feeding device 500 includes a feeding line 510 and a step rack 520. The feeding line 510 is reciprocating and one end is guided to the conveying device 200. The step rack 520 is mounted on the feeding line 510 and used to place the steps 600. By adding the feeding line 510, the steps 600 manufactured at a remote location can be transferred to the conveying device 200 without manual intervention. Specifically, the feeding line 510 first moves the step rack 520 to the end away from the conveying device 200, which is the production area of ​​the steps 600. After all the steps 600 are placed on the step rack 520, the feeding line 510 then moves the step rack 520 to the end closer to the conveying device 200, so that the conveying device 200 can pick up the materials. Meanwhile, the number of step feeding devices 500 can be the same as the number of conveying devices 200. Preferably, there can be two step feeding devices 500 and two conveying devices 200. The two step feeding devices 500 are arranged in parallel, and the two conveying devices 200 take materials from the two step feeding devices 500 one by one.

[0065] like Figure 5 and Figure 6 As shown, in this embodiment of the invention, the step rack 520 includes a frame body disposed on the feeding line 510 and a step box 530 disposed on the frame body. One end of the step box 530 is open, and a guide channel 539 is formed on the inner side of the step box 530 to guide the steps 600 into and out of the step box 530 from the open. The opening and guide channel 539 on the step box 530 can realize the orderly placement and removal of multiple steps 600. Specifically, during placement, after the step 600 is aligned with the guide channel 539 at the opening, it is pushed into the step box 530; during removal, the handling device 200 clamps the outermost step 600 and drives the step 600 to move towards the opening in the guide channel 539 until the step 600 is completely removed from the step box 530.

[0066] In this embodiment of the invention, the step box 530 includes a base plate 531, an end plate 532, a first side plate 533, a second side plate 535, and an inner extension plate 537. The first side plate 533 and the second side plate 535 are respectively disposed at opposite ends of the base plate 531 and are spaced apart from each other. The end plate 532 is disposed on the base plate 531 and connects the first ends of the first side plate 533 and the second side plate 535. The second ends of the first side plate 533 and the second side plate 535 are open. The upper end of the first side plate 533 is provided with a first support strip 534. The height of the second side plate 535 is lower than the height of the first side plate 533, and the upper end of the second side plate 535 is provided with a second support strip 536. The inner extension plate 537 is disposed on the base plate 531 and is located between the first side plate 533 and the second side plate 535. Between 5, the inner extension plate 537 is spaced apart from the second side plate 535 and is set lower than the second side plate 535. The upper end of the inner extension plate 537 is provided with a third support bar 538. The first support bar 534 can support the end of the step 600 away from the step surface, and the third support bar 538 can support the end of the step 600 with the step surface. The step surface of the step 600 can be snapped onto the second support bar 536. That is, a guide channel 539 is formed between the second side plate 535 and the inner extension plate 537. When the handling equipment 200 picks up the step 600, it can first rotate the step 600 around the axis of the second support bar 536 so that the end of the step 600 away from the step surface moves away from the first support bar 534, and then drive the step 600 to move. This configuration ensures that one end of the step 600 is located outside the step box 530, while the end of the step 600 with the step surface is located inside the guide channel 539 of the step box 530. This not only guides the step 600 when it is picked up or put down, but also prevents the step 600 from tilting and getting stuck inside the step box 530 due to unbalanced force applied during the picking process by the handling equipment 200.

[0067] Specifically, the step box 530 is inclined upward along the end plate 532 toward the opening, so that the handling equipment 200 can pick up the material in an inclined upward direction, which makes the guidance smoother than horizontal picking.

[0068] See Figure 1 and Figure 7In this embodiment of the invention, the main chord positioning device 100 includes a centering clamping device 110 and a weld identification device. The centering clamping device 110 includes a centering clamping seat 111, a rotating mechanism 112 disposed on the centering clamping seat 111, and a clamping mechanism 113 disposed on the rotating mechanism 112. The clamping mechanism 113 is used to center and clamp the end of the main chord 700. The weld identification device is disposed on the centering clamping seat 111 and is used to determine the weld position on the main chord 700 so as to control the rotating mechanism 112 to rotate according to the weld position, thereby avoiding the weld position on the main chord 700 when positioning the step 600. Specifically, the crane can hoist the main chord 700, after the male and female joints have been welded, to a position where it is aligned with the clamping mechanism 113. The clamping mechanism 113 clamps the end of the main chord 700. The rotating mechanism 112 first drives the clamping mechanism 113 to rotate so that the weld identification device can determine the position of the weld. After the weld identification device determines the position of the weld, the rotating mechanism 112 is then controlled to rotate the weld of the main chord 700 to a position that avoids the step positioning device 400.

[0069] Furthermore, since the welding of step 600 is generally performed with the main chord 700 facing upwards, the rotating mechanism 112 can rotate the weld to a downward-facing position, thus avoiding a 180° angle between the weld position and the welding position of step 600. In addition, in this invention, the weld identification device is preferably used to determine the position of the high-frequency weld, and the weld identification device can be configured as an image recognition device. The image recognition device can acquire an image of the main chord 700, and after recognizing and analyzing the image of the main chord 700, the position of the high-frequency weld can be determined.

[0070] In this embodiment of the invention, the main chord positioning device 100 includes a centering clamping line 120. The number of centering clamping lines 120 can be one or two, and the number of centering clamping devices 110 is two. When the number of centering clamping lines 120 is one, the centering clamping seats 111 of the two centering clamping devices 110 are respectively disposed at both ends of the centering clamping line 120. When the number of centering clamping lines 120 is two, the two centering clamping devices 110 are respectively disposed on the two centering clamping lines 120, and the clamping mechanisms 113 of the two centering clamping devices 110 are arranged facing each other to clamp the two ends of the main chord 700 respectively.

[0071] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0072] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0073] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0074] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A main chord step welding system, characterized in that, The main chord step welding system includes: Main chord positioning device (100) is used to position and support the main chord (700). A conveying device (200) is used to move the step (600) to a preset clamping position; Welding equipment (300) for welding the steps (600) positioned on the main chord (700); The step positioning device (400) includes a lifting device (410) and a radial clamping mechanism (420) and an axial pushing mechanism (430) disposed on the lifting device (410). The radial clamping mechanism (420) is used to clamp the step (600) located at the preset clamping position along the radial direction of the main chord (700). The axial pushing mechanism (430) is used to push the step (600) on the radial clamping mechanism (420) along the axial direction of the main chord (700). The lifting device (410) is used to drive the step (600) to move up and down toward the main chord (700).

2. The main chord step welding system according to claim 1, characterized in that, The lifting device (410) has a mounting plate (414) at its driving end. The radial clamping mechanism (420) and the axial pushing mechanism (430) are spaced apart on the mounting plate (414) along the axial direction of the main chord (700). The axial pushing mechanism (430) includes a pushing drive (431) and an axial positioning member (432). The pushing drive (431) is located on the mounting plate (414), and the telescopic end of the pushing drive (431) is oriented toward the radial clamping mechanism (420). The axial positioning member (432) is located at the telescopic end of the pushing drive (431). The pushing drive (431) is used to drive the telescopic end to extend, so as to drive the axial positioning member (432) to abut against the step surface of the step (600) and push the step (600).

3. The main chord step welding system according to claim 2, characterized in that, The radial clamping mechanism (420) includes a clamping drive (421), a clamping drive block (422), and a clamping adjustment block (423). The clamping drive (421) and the clamping adjustment block (423) are arranged on the mounting plate (414) at a radial distance from each other along the main chord (700). The telescopic end of the clamping drive (421) is arranged toward the clamping adjustment block (423). The clamping drive block (422) is located at the telescopic end of the clamping drive (421). The clamping drive (421) is used to drive the telescopic end to extend, so that the clamping drive block (422) can press the step (600) onto the clamping adjustment block (423).

4. The main chord step welding system according to claim 3, characterized in that, The number of the axial positioning components (432) is at least two, and the length of the at least two axial positioning components (432) is set to be different. The telescopic end of the push drive component (431) selects one of the axial positioning components (432) for disassembly and installation. And / or, the number of the clamping adjustment blocks (423) is at least two, the thickness of the at least two clamping adjustment blocks (423) is set to be different, and the mounting plate (414) selects one of the clamping adjustment blocks (423) for disassembly and installation.

5. The main chord step welding system according to claim 1, characterized in that, The main chord step welding system also includes a welding gantry (301), which is arranged in parallel with the main chord (700) on the main chord positioning device (100), and the welding device (300) is movable along the length direction of the welding gantry (301).

6. The main chord step welding system according to claim 5, characterized in that, The number of the step positioning devices (400) is at least two, and the lifting devices (410) of the at least two step positioning devices (400) are arranged sequentially at intervals along the length direction on the inner side of the welding gantry (301), and the welding equipment (300) is movably arranged on the outer side of the welding gantry (301).

7. The main chord step welding system according to claim 6, characterized in that, The main chord step welding system also includes a transport gantry (201), which is arranged in parallel with the main chord (700) on the main chord positioning device (100). The transport gantry (201) and the welding gantry (301) are respectively arranged on opposite sides of the main chord (700). The transport device (200) is movable along the length direction of the transport gantry (201).

8. The main chord step welding system according to any one of claims 1 to 7, characterized in that, The main chord step welding system also includes a step feeding device (500), which includes a feeding line (510) and a step rack (520). The feeding line (510) is reciprocating and one end is guided to the handling device (200). The step rack (520) is located on the feeding line (510) and is used to place the steps (600).

9. The main chord step welding system according to claim 8, characterized in that, The step rack (520) includes a frame body disposed on the feeding line body (510) and a step box (530) disposed on the frame body. One end of the step box (530) is open, and a guide channel (539) is formed on the inner side of the step box (530) for guiding the step (600) to enter and exit the step box (530) from the open.

10. The main chord step welding system according to any one of claims 1 to 7, characterized in that, The main chord positioning device (100) includes a centering clamping device (110) and a weld identification device. The centering clamping device (110) includes a centering clamping seat (111), a rotating mechanism (112) disposed on the centering clamping seat (111), and a clamping mechanism (113) disposed on the rotating mechanism (112). The clamping mechanism (113) is used to center and clamp the end of the main chord (700). The weld identification device is disposed on the centering clamping seat (111) and is used to determine the weld position on the main chord (700) so as to control the rotating mechanism (112) to rotate according to the weld position.

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