Automatic welding production line for tower crane standard section

Abstract

The application discloses an automatic welding production line for a tower crane standard section, comprising a workpiece pre-positioning device, a workpiece positioning device, a welding device, a feeding robot and a main rotating rod feeding-welded piece discharging device. The automatic welding production line has the advantages of less manual participation, high welding efficiency, high matching precision between the constituent workpieces, high welding precision, good welding quality, good welding stability and low production cost, and is favorable for being widely applied to the automatic welding of the circular tower crane standard section.

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, step plates, curved plates, etc.). Circular main rotor standard sections (circular standard sections) are gradually becoming the mainstream in the future market because they have a 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, there are numerous saddle-shaped intersection lines during the assembly of these components. Existing robotic welding production lines for square standard sections cannot achieve automated welding of circular standard sections. Currently, manual welding is mostly used to connect the straight web members, diagonal web members, railings, step plates, and main rotor.

[0003] Manual welding requires manual loading, positioning, rotation, and marking to ensure accurate workpiece placement, resulting in low welding precision and stability. Furthermore, it suffers from low efficiency and high labor costs. Therefore, there is an urgent need for robotic production lines capable of automating the welding of circular standard sections to improve efficiency, reduce labor costs, and enhance welding quality. Summary of the Invention

[0004] The technical problem to be solved by this invention is to overcome the shortcomings and defects mentioned in the background art above, and to provide an automated welding production line for standard tower crane sections that features low labor costs, high welding efficiency, and high welding quality. To solve the above technical problem, the technical solution proposed by this invention is as follows:

[0005] An automated welding production line for a tower crane standard section, wherein the tower crane standard section includes a main spiral rod, straight web members, diagonal web members, railings, curved plates, and step plates, and the automated welding production line includes:

[0006] The workpiece pre-positioning device includes a delivery vehicle system for positioning and delivering the straight web bar, inclined web bar, railing, curved plate and step plate, and a positioning temporary placement table for positioning and temporarily placing the main rotating bar.

[0007] The workpiece positioning device includes a set of assembly fixtures for fixing the positions of the straight web members, inclined web members, railings and curved plates, a loading gripper for gripping the fixed positions of the straight web members, inclined web members, railings and curved plates from the set of assembly fixtures, and a loading clamping fixture for positioning the step plate.

[0008] Welding apparatus: includes a welding robot and a welding clamping fixture for clamping and positioning the main rotating rod, wherein the welding robot is located near the welding clamping fixture;

[0009] Loading robot: used to deliver the loading gripper and the loading clamping fixture to the welding clamping fixture;

[0010] Main rotating rod loading-welded part unloading device: used to grab the main rotating rod from the positioning temporary platform and load it onto the welding clamping fixture, and to unload the welded parts in the welding clamping fixture.

[0011] In the aforementioned automatic welding production line, preferably, the assembly fixture includes a fixture table and a positioning mechanism disposed on the fixture table for positioning the straight web member, the inclined web member, the railing, and the bent plate. The positioning mechanism is positioned to match the positions of the straight web member, the inclined web member, the railing, and the bent plate between the main rotating rod.

[0012] In the aforementioned automated welding production line, preferably, the positioning mechanism includes a diagonal brace-bent plate positioning assembly, a diagonal brace-straight brace positioning assembly, a diagonal brace-straight brace-diagonal brace positioning assembly, a bent plate positioning assembly, a pair of straight brace positioning assemblies, and a pair of railing positioning assemblies. The diagonal brace-bent plate positioning assembly is disposed opposite to the bent plate positioning assembly and 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 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 located in the middle of the tooling table. The pair of railing positioning assemblies are respectively disposed between the diagonal brace-bent plate positioning assembly and the straight brace positioning assembly, and between the bent plate positioning assembly and the diagonal brace-straight brace-diagonal brace positioning assembly.

[0013] In the aforementioned automatic welding production line, preferably, the feeding gripper includes a gripper frame and multiple gripper mechanisms disposed below the gripper frame for gripping the straight web member, the inclined web member, the railing, and the curved plate, respectively. The positions of the gripper mechanisms match the positions of the straight web member, the inclined web member, the railing, and the curved plate between the main rotating rod.

[0014] In the aforementioned automated welding production line, preferably, the gripper mechanism includes a straight web member gripper assembly for gripping the straight web member, an oblique web member gripper assembly for gripping the oblique web member, a railing gripper assembly for gripping the railing, and a curved plate gripper assembly for gripping the curved plate; the straight web member gripper assembly is provided in two pairs, the oblique web member 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.

[0015] In the aforementioned automatic welding production line, preferably, the feeding and clamping fixture includes a step plate mounting base plate and a step plate mounting slide plate. The step plate mounting base plate is provided with a step plate ejection mechanism for driving the step plate mounting slide plate to slide on the step plate mounting base plate. The step plate mounting slide plate is provided with a horizontal positioning mechanism for limiting the movement of the step plate in the horizontal direction and a vertical positioning mechanism for limiting the movement of the step plate in the vertical direction.

[0016] In the aforementioned automatic welding production line, preferably, the step plate is provided with a step plate through hole; the horizontal positioning mechanism includes a step plate fixing and limiting component, a step plate horizontal moving limiting component, and a step plate vertical moving limiting component for cooperating with the step plate through hole, wherein the step plate fixing and limiting component and the step plate horizontal moving limiting component are arranged opposite to each other.

[0017] In the above-mentioned automatic welding production line, preferably, the step plate fixing and limiting component includes a step plate fixing block, the step plate fixing block is fixedly mounted on the step plate mounting slide, and the step plate fixing block is provided with a detachable and removable step plate adjusting block.

[0018] The step plate horizontal movement limiting component includes a step plate movable block, a first movable push rod, and a step plate movable block driving device. The step plate movable block driving device is disposed on the step plate mounting plate. The step plate movable block driving device is connected to the step plate movable block through the first movable push rod and drives the step plate movable block to move horizontally back and forth.

[0019] The vertical movement limiting assembly of the step plate includes a step plate movable pin, a second movable push rod, and a step plate movable pin driving device. The step plate movable pin driving device is located below the step plate mounting plate. The step plate movable pin driving device is connected to the step plate movable pin through the second movable push rod and drives the step plate movable pin to move up and down reciprocally in the step plate through hole.

[0020] In the aforementioned automatic welding production line, preferably, the vertical positioning mechanism includes a step plate movable arm, a third movable push rod, and a step plate movable arm drive device. The step plate movable arm drive device is located below the step plate mounting plate. The step plate movable arm drive device is connected to the step plate movable arm through the third movable push rod, and drives the step plate movable arm to move downward to press against the step plate surface or move upward to move away from the step plate surface.

[0021] In the aforementioned automatic welding production line, preferably, the step plate ejection mechanism includes an ejection block, a fourth movable push rod, and an ejection block drive device. The ejection block drive device is disposed on the step plate mounting base plate. The step plate mounting slide plate is provided with an ejection slot. The ejection block is engaged in the ejection slot. The ejection block drive device is connected to the ejection block through the fourth movable push rod and drives the step plate mounting slide plate to slide on the step plate mounting base plate.

[0022] In the above-mentioned automatic welding production line, preferably, the welding clamping fixture includes a positioner and a mounting frame disposed on the positioner. The mounting frame is provided with a main rotary rod positioning and clamping mechanism for positioning and clamping the main rotary rod and a feeding avoidance drive assembly for driving the main rotary rod positioning and clamping mechanism to slide along the surface of the mounting frame. The feeding avoidance drive assembly is disposed between the main rotary rod positioning and clamping mechanism and the mounting frame.

[0023] In the aforementioned automated welding production line, preferably, an auxiliary support clamping fixture is further provided between the mounting frames for temporary positioning and fixing of the straight web members, diagonal web members, and curved plates; the auxiliary support clamping fixture includes a mounting beam, a straight web member support clamping assembly, a diagonal web member support clamping assembly, and a curved plate support clamping assembly. The mounting beam is located between the mounting frames, and the straight web member support clamping assembly, diagonal web member support clamping assembly, and curved plate support clamping assembly are mounted on the mounting beam via a shape-changing guide rail assembly. The shape-changing guide rail assembly is provided with a shape-changing drive source for driving the shape-changing guide rail assembly to slide.

[0024] In the aforementioned automatic welding production line, preferably, the main rotating rod positioning and clamping mechanism includes a pair of oppositely arranged automatic clamping and centering components and an automatic lifting component. The automatic clamping and centering components and the automatic lifting component are respectively disposed on the inner surfaces of the pair of oppositely arranged mounting frames, and are respectively used to cooperate with the two ends of the main rotating rod to fix the main rotating rod. The feeding avoidance drive component is disposed between the automatic clamping and centering components and the mounting frame or between the automatic lifting component and the mounting frame.

[0025] In the aforementioned automatic welding production line, preferably, the automatic clamping and centering assembly includes a jaw, a jaw chuck protective cover, and a jaw mounting base. The jaw is movably disposed within the jaw chuck protective cover, the jaw chuck protective cover is disposed on the jaw mounting base, and the jaw mounting base is disposed on the mounting frame or disposed on the mounting frame via the feeding avoidance drive assembly. The jaw chuck protective cover also includes a shape-changing jaw for supporting the main rotating rod, and the end of the shape-changing jaw is a detachable structure.

[0026] In the aforementioned automatic welding production line, preferably, the automatic top extension assembly includes a guide column head, a guide column, a guide column cover, a guide column mounting base, and a top extension cylinder. The guide column head is located at one end of the guide column, and the other end of the guide column is slidably located in the guide column mounting base and connected to the top extension cylinder. The guide column cover is located outside the guide column. The guide column mounting base is located on the mounting frame or is located on the mounting frame via the feeding avoidance drive assembly.

[0027] In the aforementioned automatic welding production line, preferably, the feeding avoidance drive assembly includes an avoidance cylinder, a cylinder connector, and a feeding avoidance guide rail. The avoidance cylinder is connected to the feeding avoidance guide rail through the cylinder connector and drives the feeding avoidance guide rail to slide, thereby driving the main rotary rod positioning and clamping mechanism to slide.

[0028] In the aforementioned automatic welding production line, preferably, there are four main rotating rods, which are fixed by four main rotating rod positioning and clamping mechanisms. One main rotating rod positioning and clamping mechanism is fixed on the mounting frame. A feeding avoidance drive assembly is provided between the three main rotating rod positioning and clamping mechanisms and the mounting frame, and is slidably mounted on the mounting frame by the feeding avoidance drive assembly. Two of the main rotating rod positioning and clamping mechanisms are driven to slide horizontally or vertically by the feeding avoidance drive assembly, and the other main rotating rod positioning and clamping mechanism is driven to slide tilted by the feeding avoidance drive assembly.

[0029] In the aforementioned automated welding production line, preferably, the delivery vehicle system includes a mobile trailer and a material unloading and positioning mechanism for positioning the mobile trailer during unloading. The mobile trailer is equipped with component positioning fixtures for positioning the standard section components of the tower crane. The component positioning fixtures include a diagonal web member positioning fixture, a straight web member positioning fixture, and a bent plate positioning fixture. The diagonal web member positioning fixture, the straight web member positioning fixture, and the bent plate positioning fixture are respectively equipped with diagonal web member contour blocks, straight web member contour blocks, and bent plate contour blocks for matching the intersection lines of the ends of the diagonal web member, the straight web member, and the bent plate.

[0030] In the aforementioned automatic welding production line, preferably, the unloading positioning mechanism includes a trailer positioning fixture located on the mobile trailer and a ground positioning fixture located on the ground at the unloading point; the trailer positioning fixture includes a positioning V-shaped block located at one end of the mobile trailer and a trailer positioning pin located at the other end of the mobile trailer, and the ground positioning fixture includes a ground fixing plate, one end of the ground fixing plate having an upwardly protruding positioning V-shaped groove that matches the positioning V-shaped block, and the other end of the ground fixing plate having a ground positioning hole that matches the trailer positioning pin.

[0031] This invention utilizes the design principles of standard pallet carriers to propose a tower crane standard section component delivery vehicle system. This system stores small workpieces such as straight web members, diagonal web members, curved plates, steps, and railings required for standard section pairs. Through the combined design and arrangement of the storage fixtures, each mobile trailer can hold the materials required for a corresponding standard section pair. The positioning fixtures on the mobile trailers are positioned based on the intersection line characteristics and shape of the workpieces, achieving precise positioning of each small workpiece such as straight web members, diagonal web members, and railings. The mobile trailers are equipped with casters for manual material transfer. Positioning fixtures at the front and rear of the mobile trailers ensure their fixation and accurate positioning on the ground, facilitating automatic robotic loading of workpieces such as straight web members, diagonal web members, curved plates, steps, and railings. This high-precision automatic loading of these small workpieces is particularly suitable for delivering components with numerous saddle-shaped intersection lines in circular standard sections.

[0032] In the aforementioned automatic welding production line, preferably, the main rotor loading-welded part unloading device includes a frame and a pair of loading and unloading grippers. The pair of loading and unloading grippers are respectively used to grab the main rotor from the positioning temporary table and load it onto the welding clamping fixture and to unload the welded part from the welding clamping fixture. The loading and unloading grippers are mounted on the frame via a moving component for driving the loading and unloading grippers to move on the frame.

[0033] In the aforementioned automated welding production line, preferably, the loading and unloading gripper includes a frame, a hook assembly, and a drive assembly for moving the hook assembly. The hook assembly and the drive assembly are mounted on the frame, and the hook assembly includes a hook for hooking the welded parts of the tower crane standard section.

[0034] Preferably, the aforementioned automated welding production line further includes a clamping assembly for moving downwards and pressing against the welded component of the tower crane standard section. More preferably, multiple clamping assemblies are provided, and the multiple clamping assemblies are evenly distributed on the frame; each clamping assembly includes a clamping block and a clamping cylinder for driving the clamping block downwards, the clamping cylinder is disposed on the frame, the clamping block is connected to the clamping cylinder, and the shape of the lower surface of the clamping block matches the surface shape of the main rotating rod of the welded component of the tower crane standard section.

[0035] In this invention, the frame can be a square frame, with clamping components at each of the four corners. The downward pressure of the clamping components facilitates their engagement with the hook, ensuring the standard tower crane section welded parts are stably mounted on the hook, preventing unauthorized movement and accidental falls. The clamping block moves downward under the drive of the clamping cylinder. The shape of the clamping block can match the surface shape of the main rotating rod of the standard tower crane section welded parts. For example, if the main rotating rod is circular, the lower surface of the clamping block is an arc shape, allowing it to fit tightly against the surface of the lower rotating rod, ensuring a secure clamping effect.

[0036] In the aforementioned automated welding production line, preferably, the hook assembly further includes a hook rotating mechanism for rotating under the drive of the drive assembly. The hook rotating mechanism is rotatably mounted on the frame, and the hook is fixed to the hook rotating mechanism. The drive assembly is connected to the hook rotating mechanism. The hook rotating mechanism can be mounted on the frame via a movable shaft and can rotate under the drive of the drive transmission arm, facilitating adjustment of the hook position to meet sampling and placement requirements. More preferably, a pair of hook rotating mechanisms are provided, located on a pair of sides of the frame, with each hook rotating mechanism having a pair of hooks. This arrangement is equivalent to having hook rotating mechanisms on both sides of a square frame, with each hook rotating mechanism equipped with a hook rotating cylinder. With a pair of hooks on each hook rotating mechanism, which can be located on both sides of the hook rotating mechanism, four hooks are used to lift a standard tower crane section welded component, resulting in higher stability and safety.

[0037] In the aforementioned automated welding production line, preferably, the drive assembly includes a hook rotary cylinder and a drive transmission arm for rotating under the drive of the hook rotary cylinder. The hook rotary cylinder is connected to the drive transmission arm, and the drive transmission arm is connected to the hook assembly. Driven by the hook rotary cylinder, the top of the drive transmission arm receives an outward thrust, causing the drive transmission arm to rotate and thus rotating the hook assembly. Similarly, when the hook rotary cylinder retracts, the drive transmission arm rotates in the opposite direction, causing the hook assembly to rotate in the opposite direction. By rotating the hook in different directions, the position of the hook can be adjusted to meet the requirements of hook sampling and placement.

[0038] In the aforementioned automated welding production line, preferably, the frame is provided with a hook positioning and protection device for fixing the position of the hook assembly. More preferably, the drive transmission arm is provided with a locking hole, and the hook positioning and protection device includes a locking shaft and a locking cylinder for driving the locking shaft to move into the locking hole. The hook positioning and protection device can keep the hook in a fixed position, lock the hook, and prevent it from rotating, which helps improve safety when lifting standard sections of tower crane welded parts. In a specific embodiment, a pair of fixed seats can be set on the frame, the drive transmission arm is clamped between the pair of fixed seats, the locking cylinder is installed on the fixed seats, and the position of the locking hole is controlled. When it is necessary to fix the position of the hook, the locking cylinder pushes the locking shaft outward, causing it to enter the locking hole. At this time, the drive transmission arm is fixed and cannot move, and the position of the hook is fixed. When it is necessary to change the position of the hook, the locking cylinder drives the locking shaft to disengage from the locking hole. At this time, the drive transmission arm can rotate under the drive of the hook rotation cylinder and drive the hook to rotate.

[0039] In the aforementioned automated welding production line, preferably, the hook is equipped with a buffer. The presence of the buffer provides a certain degree of cushioning during the welding of standard sections of the tower crane, reducing rigid collisions between the machines.

[0040] In the aforementioned automated welding production line, preferably, the moving component includes a first movable component, a second movable component, and a third movable component. The first movable component is slidably mounted on the frame along the X-axis, the second movable component is slidably mounted on the first movable component along the Y-axis, and the third movable component is slidably mounted on the second movable component along the Z-axis. The third movable component is connected to the frame of the unloading gripper. In this invention, the structural forms of the first, second, and third movable components are not limited. For example, the first movable component can be a frame mounted on the frame via a slide rail; the second movable component can also be a frame mounted on the first movable component via a slide rail; the third movable component can be a vertical shaft mounted on the second movable component via a slide rail. The lower end of the third movable component can be fixedly connected to the frame of the unloading gripper via a flange or other connecting parts. The driving force for the movement of the first, second, and third movable components is also not limited, for example, it can originate from a cylinder drive.

[0041] The loading and unloading device of this invention is mainly used for the automated welding of welding production lines for standard tower crane sections (such as circular standard sections). It facilitates the automatic unloading of the welded standard tower crane sections after welding, eliminating the need for manual operation and realizing automation in the assembly process. This not only saves labor but also reduces the risk of accidental injury and death, ensuring high safety, greatly improving production efficiency, and reducing labor costs.

[0042] The hook of this invention is compatible with the unloading of various products and does not require manual tooling changes.

[0043] The working principle and operation of the unloading device for the standard section welded parts of the tower crane of the present invention are as follows:

[0044] The unloading device for standard tower crane welded sections is used to handle and grab these sections. It combines a unloading gripper with a moving assembly. The moving assembly can be driven by hydraulic, pneumatic, and electrical devices to perform independent movements such as lifting, extending, and translating of the gripper. This allows the gripper to complete movements or combined movements in the X, Y, and Z axes to achieve specified actions, changing the position and orientation of the grasped object to achieve automatic unloading. The gripper can be used to unload two different products, and a V-shaped hook ensures the concentric position of the two cylindrical parts of the workpiece.

[0045] In practical use, the first and second movable parts move the unloading gripper to the welded section of the tower crane standard section to be unloaded. The hook rotation cylinder extends, driving the drive transmission arm to rotate, which in turn drives the hook rotation mechanism. At this time, the hook rotates inward, and the third movable part descends. After descending to the gripping position, the hook rotation cylinder retracts. Through the drive transmission arm and the hook rotation mechanism, the hook rotates outward and is positioned below the welded section of the tower crane standard section, allowing it to be hooked. The hook positioning protection device then extends and locks the hook's position, preventing... The hook rotation is stopped, the clamping cylinder pushes out the clamping block and moves it downward to the welded part of the tower crane standard section and clamps it. At this time, the welded part of the tower crane standard section is clamped. The positioner releases the workpiece, the third movable part rises, and is adjusted to a suitable unloading position by the first and second movable parts. The third movable part descends, and after the welded part of the tower crane standard section is placed stably, the hook positioning protection device retracts, the clamping cylinder drives the clamping block to retract, and the hook rotation cylinder pushes out, causing the hook to rotate and disengage from the welded part of the tower crane standard section. The unloading of the welded part of the tower crane standard section is completed.

[0046] The unloading gripper of the unloading device for the standard tower crane section welded parts of this invention can adopt a modular design, which facilitates disassembly and replacement. Furthermore, the unloading gripper has a compact structure, thereby reducing interference with the standard tower crane section welded parts.

[0047] Compared with the prior art, the advantages of the present invention are as follows:

[0048] The automated welding production line for standard tower crane sections of this invention utilizes a workpiece pre-positioning device to temporarily position the main rotor, straight web members, diagonal web members, railings, curved plates, and step plates. A workpiece positioning device ensures accurate placement of these components. A loading robot precisely loads the straight web members, diagonal web members, railings, curved plates, and step plates to the welding clamping fixture for pairing with the main rotor. After welding, the welded parts are unloaded via a main rotor loading-welded part unloading device. This automated welding production line minimizes manual intervention, achieves high welding efficiency, high pairing accuracy between workpiece components, high welding precision, good welding quality, good welding stability, and low production costs, making it widely applicable to the automated welding of standard sections for circular tower cranes. Attached Figure Description

[0049] 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.

[0050] Figure 1 This is a schematic diagram of the structure of the present invention.

[0051] Figure 2 This is a schematic diagram of the automatic welding production line for the standard section of the tower crane of the present invention.

[0052] Figure 3 This is a schematic diagram of the assembly tooling of the present invention.

[0053] Figure 4 This is a schematic diagram of the tooling table in the assembly tooling of the present invention.

[0054] Figure 5 This is a schematic diagram of the diagonal web bar-bend plate positioning assembly in the assembly tooling of the present invention.

[0055] Figure 6 This is a schematic diagram of the oblique web bar-straight web bar positioning assembly in the assembly tooling of the present invention.

[0056] Figure 7 This is a schematic diagram of the diagonal web bar-straight web bar-diagonal web bar positioning assembly in the assembly tooling of the present invention.

[0057] Figure 8 This is a schematic diagram of the bending plate positioning assembly in the assembly tooling of the present invention.

[0058] Figure 9 This is a schematic diagram of the straight web rod positioning assembly in the assembly tooling of the present invention.

[0059] Figure 10 This is a schematic diagram of the railing positioning component in the assembly tooling of the present invention.

[0060] Figure 11 This is a schematic diagram of the bending plate shaping and positioning mechanism in the assembly tooling of the present invention.

[0061] Figure 12 This is a schematic diagram of the oblique web rod changing and positioning mechanism in the assembly tooling of the present invention.

[0062] Figure 13 This is a schematic diagram of the structure of the first straight web rod shape-changing and positioning mechanism in the assembly tooling of the present invention.

[0063] Figure 14 This is a schematic diagram of the second straight web rod changing and positioning mechanism in the assembly tooling of the present invention.

[0064] Figure 15 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 of the present invention.

[0065] Figure 16 This is a schematic diagram of the railing shape-changing and positioning mechanism in the assembly tooling of the present invention.

[0066] Figure 17 This is a schematic diagram of the feeding gripper of the present invention.

[0067] Figure 18 This is a schematic diagram of the straight bar gripper assembly of the present invention.

[0068] Figure 19 This is a schematic diagram of the structure of the inclined web bar gripper assembly of the present invention after gripping the inclined web bar.

[0069] Figure 20 This is a structural schematic diagram of the curved plate gripper assembly of the present invention.

[0070] Figure 21 This is a schematic diagram of the structure of the feeding gripper and gripper placement bracket of the present invention.

[0071] Figure 22 This is a schematic diagram of the gripper placement bracket of the present invention.

[0072] Figure 23 This is a schematic diagram of the structure of the step plate in this invention.

[0073] Figure 24 This is a schematic diagram of the feeding and clamping fixture in this invention.

[0074] Figure 25 This is a schematic diagram of the structure of the loading and clamping fixture in this invention, with the outer shell omitted.

[0075] Figure 26 This is a structural schematic diagram of the omitted portion of the outer shell of the loading and clamping fixture in this invention, taken from another angle.

[0076] Figure 27 This is a schematic diagram of the structure of the support bracket for mounting the step plate in this invention.

[0077] Figure 28 This is a schematic diagram of the structure of the step plate mounting bracket and the feeding clamping fixture combination in this invention (step plate has been installed).

[0078] Figure 29 This is a schematic diagram of the structure of the lower support bracket for mounting the step plate in this invention.

[0079] Figure 30 This is a schematic diagram of the structure of the combination of the lower support bracket for mounting the step plate, the upper support bracket for mounting the step plate, and the feeding clamping fixture in this invention (step plates have been installed).

[0080] Figure 31 This is a schematic diagram of the welding clamping fixture of the present invention.

[0081] Figure 32 This is a schematic diagram of the installation frame of the present invention.

[0082] Figure 33 This is a schematic diagram of the auxiliary support clamping fixture of the present invention.

[0083] Figure 34 This is a schematic diagram of the automatic clamping and centering component of the present invention.

[0084] Figure 35 This is a schematic diagram of the automatic extension assembly of the present invention.

[0085] Figure 36 This is a schematic diagram of the welding method of the present invention.

[0086] Figure 37 This is a schematic diagram of the overall structure of the delivery vehicle system of the present invention.

[0087] Figure 38 for Figure 37 Top view.

[0088] Figure 39 This is a schematic diagram of the diagonal brace positioning fixture in the delivery vehicle system of the present invention (the diagonal brace positioning ring is not shown).

[0089] Figure 40 for Figure 39 The structural diagram is omitted after omitting the diagonal web sleeve.

[0090] Figure 41This is a schematic diagram of the straight web rod positioning fixture in the delivery vehicle system of the present invention (the straight web rod positioning ring is not shown).

[0091] Figure 42 for Figure 41 The structural diagram is omitted after omitting the diagonal web sleeve.

[0092] Figure 43 This is a schematic diagram of the bending plate positioning fixture in the delivery vehicle system of the present invention.

[0093] Figure 44 for Figure 43 Side view.

[0094] Figure 45 for Figure 43 A schematic diagram of the connection between the middle bending plate and the bending plate contour block.

[0095] Figure 46 for Figure 45 A magnified view of part A in the image.

[0096] Figure 47 This is a schematic diagram of the structure of the mobile trailer in the delivery vehicle system of the present invention.

[0097] Figure 48 This is a schematic diagram of the ground positioning fixture in the delivery vehicle system of the present invention.

[0098] Figure 49 for Figure 48 Side view.

[0099] Figure 50 This is a schematic diagram of the loading and unloading device of the present invention.

[0100] Figure 51 for Figure 50 The front view.

[0101] Figure 52 for Figure 50 Side view.

[0102] Figure 53 for Figure 50 A magnified view of part B in the image.

[0103] Figure 54 This is a schematic diagram of the loading and unloading gripper of the present invention.

[0104] Figure 55 for Figure 54 Top view.

[0105] Figure 56 for Figure 54 Sectional view of the BB plane.

[0106] Figure 57This is a schematic diagram of the structure of the loading and unloading device of the present invention after material is picked up.

[0107] Figure 58 This is a schematic diagram of another structure of the loading and unloading device of the present invention.

[0108] Legend:

[0109] 1000, Main spiral rod; 1001, Straight web rod; 1002, Diagonal web rod; 1003, Railing; 1004, Curved plate; 1005, Step plate; 10051, Step plate through hole;

[0110] 1. Mobile trailer; 11. Handrail; 12. Caster set; 2. Diagonal brace positioning fixture; 21. Diagonal brace profile block; 22. Diagonal brace positioning sleeve; 23. Diagonal brace positioning ring; 3. Straight brace positioning fixture; 31. Straight brace profile block; 32. Straight brace positioning sleeve; 33. Straight brace positioning ring; 4. Bent plate positioning fixture; 41. Bent plate profile block; 42. Bent plate base; 43. Bent plate groove inner fixing seat; 44. Bent plate groove outer... Fixed base; 441, curved plate positioning block; 5, step positioning fixture; 51, step positioning fixture mounting plate; 52, step positioning groove; 53, step positioning post; 6, railing positioning fixture; 61, first railing slot; 62, second railing slot; 7, trailer positioning fixture; 71, positioning V-block; 72, trailer positioning pin; 8, ground positioning fixture; 81, ground fixing plate; 811, ground positioning hole; 82, positioning V-groove;

[0111] 101. Frame; 102. Hook assembly; 1021. Hook; 10211. Buffer; 1022. Hook rotation mechanism; 103. Drive assembly; 1031. Hook rotation cylinder; 1032. Drive transmission arm; 104. Clamping assembly; 1041. Clamping block; 1042. Clamping cylinder; 105. Hook positioning protection device; 1051. Locking hole; 1052. Locking shaft; 1053. Locking cylinder; 106. Frame; 107. Moving assembly; 1071. First moving part; 1072. Second moving part; 1073. Third moving part;

[0112] 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;

[0113] 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;

[0114] 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 bar support clamping assembly; 5053. Diagonal web bar support clamping assembly; 5055. Bend plate support clamping assembly; 5056. Shape changing guide rail assembly; 5057. Shape changing drive source;

[0115] 601. Step tread mounting base plate; 602. Step tread mounting slide plate; 6021. Push-out slot; 6022. Step tread support platform; 6023. Adjusting shim; 603. Step tread push-out mechanism; 6031. Push-out block; 6032. Fourth movable push rod; 6033. Push-out block drive device; 604. Step tread fixing and limiting assembly; 6041. Step tread fixing block; 6042. Step tread adjusting block; 605. Step tread horizontal movement limiting assembly; 6051. Step tread movable block; 6052. First movable push rod; 6053. Step tread movable block drive device 606. Vertical movement limit assembly for step plate; 6061. Movable pin for step plate; 6062. Second movable push rod; 6063. Drive device for movable pin of step plate; 607. Vertical positioning mechanism; 6071. Movable arm of step plate; 6072. Third movable push rod; 6073. Drive device for movable arm of step plate; 608. Step plate slide rail assembly; 609. Upper bracket for step plate mounting; 6091. Quick-change device at the end of step plate bracket; 610. Lower bracket for step plate mounting; 6101. Protective fixture for quick-change device at the end of step plate bracket; 611. Positioning pin of mounting bracket. Detailed Implementation

[0116] 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.

[0117] 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.

[0118] 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.

[0119] Example:

[0120] like Figure 1 As 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. Two railings 1003 are provided between one diagonal web member 1002 and the two main spiral rods 1000. A step plate 1005 is provided in the upper middle part of each main spiral rod 1000. To achieve automatic welding of the standard section of the circular tower crane, it is necessary to ensure the precise feeding of the step plates 1005 to match the main spiral rods 1000.

[0121] In one embodiment, a standard section of a circular tower crane includes four main spiral rods 1000.

[0122] 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).

[0123] 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.

[0124] like Figure 2 As shown, the automated welding production line for standard tower crane sections in this embodiment includes:

[0125] The workpiece pre-positioning device includes a delivery vehicle system for positioning and delivering the straight web bar 1001, the inclined web bar 1002, the railing 1003, the curved plate 1004 and the step plate 1005, and a positioning temporary placement table for positioning and temporarily placing the main rotating bar 1000.

[0126] The workpiece positioning device includes: an assembly fixture for fixing the positions of the straight web member 1001, the inclined web member 1002, the railing 1003, and the curved plate 1004; a loading gripper for gripping the fixed positions of the straight web member 1001, the inclined web member 1002, the railing 1003, and the curved plate 1004 from the assembly fixture; and a loading clamping fixture for positioning the step plate 1005.

[0127] Welding equipment: includes a welding robot and a welding clamping fixture for clamping and positioning the main rotating rod 1000, with the welding robot located near the welding clamping fixture;

[0128] Loading robot: Used to deliver the loading gripper and loading clamping fixture to the welding clamping fixture;

[0129] Main rotating rod loading-welded part unloading device: used to grab the main rotating rod 1000 from the positioning temporary table and load it into the welding clamping fixture, and to unload the welded parts in the welding clamping fixture.

[0130] In this embodiment, a manual welding repair area can also be set up. When the welding point of the welding robot needs to be repaired, manual welding can be used to ensure the connection strength.

[0131] In this embodiment, the automatic welding production line for standard tower crane sections features a dual-station welding device to meet the material output cycle requirements. Each welding device is equipped with a loading robot and a workpiece positioning device. The main rotating rod loading-welded part unloading device can be positioned entirely above the welding device, loading robot, and workpiece positioning device. A positioning temporary platform can be placed on one side of the welding device.

[0132] like Figure 3 , Figure 4 As shown, the assembly tooling of this embodiment includes a tooling table 301 and a positioning mechanism disposed on the tooling table 301 for positioning the straight web member 1001, the inclined 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 inclined web member 1002, the railing 1003 and the curved plate 1004 between the main rotating rod 1000.

[0133] 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.

[0134] like Figure 5 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.

[0135] like Figure 6As 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.

[0136] like Figure 7 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.

[0137] like Figure 8 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.

[0138] like Figure 9As 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.

[0139] like Figure 10 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.

[0140] like Figure 11 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.

[0141] like Figure 12As 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 12 Only two models of the diagonal web rod changing positioning groove 3093 are shown.

[0142] like Figure 13 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 13 Only two models of the first straight web rod changing positioning groove 3103 are shown.

[0143] like Figure 14As 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 15 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.

[0144] like Figure 16 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.

[0145] 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.

[0146] 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.

[0147] The assembly fixture in this embodiment can achieve high-precision assembly and positioning of the straight web member 1001, the inclined web member 1002, the railing 1003, and the curved plate 1004. It adopts the matching relationship with the main chord member 1000 for positioning, which has high positioning accuracy and small error. While improving positioning accuracy, it can also reduce manual operation and reduce manual assembly and handling.

[0148] In this embodiment, the positioning temporary stage can be a temporary stage, which is provided with a rotating fixture for positioning the main rotating rod 1000, so as to facilitate the temporary positioning of the main rotating rod 1000.

[0149] like Figure 17 As shown, the feeding gripper of this embodiment can simultaneously feed the straight web member 1001, the inclined web member 1002, the railing 1003, and the curved plate 1004. The feeding 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 inclined web member 1002, the railing 1003, and the curved plate 1004, respectively. The positions of the gripping mechanisms match the positions of the straight web member 1001, the inclined web member 1002, the railing 1003, and the curved plate 1004 between the main rotating rod 1000.

[0150] 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 17 .

[0151] like Figure 18 , Figure 19As 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.

[0152] like Figure 20 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.

[0153] To better facilitate the loading of components assembling standard tower crane sections, such as... Figure 21-22 As shown, 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.

[0154] like Figure 17 , Figure 22As 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.

[0155] 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.

[0156] 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.

[0157] 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.

[0158] like Figure 23 As shown, the step plate 1005 is a type of triangle. The step plate 1005 is provided with a step plate through hole 10051 and a groove on one side, so that the step plate movable block 6051 in the subsequent step plate horizontal movement limiting assembly 605 can abut against the groove to facilitate the fixation of the step plate 1005.

[0159] like Figures 24-26 As shown, the step plate loading and clamping fixture of this embodiment includes a step plate mounting base plate 601 and a step plate mounting slide plate 602. The step plate mounting base plate 601 is provided with a step plate ejection mechanism 603 for driving the step plate mounting slide plate 602 to slide on the step plate mounting base plate 601. The step plate mounting slide plate 602 is provided with a horizontal positioning mechanism for limiting the movement of the step plate 1005 in the horizontal direction and a vertical positioning mechanism 607 for limiting the movement of the step plate 1005 in the vertical direction.

[0160] In this embodiment, the step plate 1005 is positioned and fixed in the horizontal direction by a horizontal positioning mechanism so that it cannot move in the horizontal direction, and the step plate 1005 is fixed in the vertical direction by a vertical positioning mechanism 607 so that it cannot move in the vertical direction. After the positions in both directions are fixed, the position of the step plate 1005 is fixed.

[0161] In this embodiment, the horizontal positioning mechanism includes a step plate fixing and limiting component 604, a step plate horizontal movement limiting component 605, and a step plate vertical movement limiting component 606 for engaging with the step plate through hole 10051. The step plate fixing and limiting component 604 and the step plate horizontal movement limiting component 605 are arranged opposite to each other. In the horizontal direction, the two sides of the step plate 1005 are fixed by the fixed step plate fixing and limiting component 604 and the movable step plate horizontal movement limiting component 605, and the step plate through hole 10051 of the step plate 1005 is fixed by the step plate vertical movement limiting component 606, thus achieving the fixation of the step plate 1005 in the horizontal direction.

[0162] In this embodiment, the step plate fixing and limiting assembly 604 includes a step plate fixing block 6041, which is fixedly mounted on the step plate mounting slide plate 602. A detachable and removable step plate adjusting block 6042 is provided on the step plate fixing block 6041. The aforementioned step plate fixing block 6041 is fixedly mounted to fix one side of the step plate 1005. By providing the step plate adjusting block 6042, different models of step plates 1005 can be matched. In specific use, different step plate adjusting blocks 6042 can be selected according to different models of step plates 1005. The detachable method of the step plate adjusting block 6042 is not limited.

[0163] In this embodiment, the horizontal movement limiting component 605 of the step plate includes a step plate movable block 6051, a first movable push rod 6052, and a step plate movable block driving device 6053. The step plate movable block driving device 6053 is disposed on the step plate mounting slide plate 602. The step plate movable block driving device 6053 is connected to the step plate movable block 6051 through the first movable push rod 6052 and drives the step plate movable block 6051 to move horizontally reciprocally. The aforementioned step plate movable block driving device 6053 can be a cylinder. The cylinder drives the first movable push rod 6052 to move, which in turn drives the step plate movable block 6051 to move, and can abut against and fix the other side of the step plate 1005. When it is necessary to position and fix the step plate 1005, the step plate movable block 6051 moves toward the side of the step plate 1005 and abuts against the side. When it is necessary to release the fixation of the step plate 1005, the step plate movable block 6051 moves away from the side of the step plate 1005 and separates from the step plate 1005.

[0164] In this embodiment, the vertical movement limiting component 606 of the step plate includes a step plate movable pin 6061, a second movable push rod 6062, and a step plate movable pin driving device 6063. The step plate movable pin driving device 6063 is located below the step plate mounting plate 602. The step plate movable pin driving device 6063 is connected to the step plate movable pin 6061 through the second movable push rod 6062, and drives the step plate movable pin 6061 to reciprocate up and down in the step plate through hole 10051. The aforementioned step plate movable pin driving device 6063 can be a cylinder. The cylinder drives the second movable push rod 6062 to move, and drives the step plate movable pin 6061 to move up and down, moving in the step plate through hole 10051 to achieve positioning and fixation. When it is necessary to position and fix the step plate 1005, the step plate movable pin 6061 moves upward and is located in the step plate through hole 10051. When it is necessary to release the fixation of the step plate 1005, the step plate movable pin 6061 moves downward and leaves the step plate through hole 10051.

[0165] In this embodiment, the vertical positioning mechanism 607 includes a step plate movable arm 6071, a third movable push rod 6072, and a step plate movable arm drive device 6073. The step plate movable arm drive device 6073 is located below the step plate mounting plate 602. The step plate movable arm drive device 6073 is connected to the step plate movable arm 6071 through the third movable push rod 6072, and drives the step plate movable arm 6071 to move downwards to press against the surface of the step plate 1005 or to move upwards to move away from the surface of the step plate 1005. The aforementioned step plate movable arm drive device 6073 can be a cylinder. The cylinder drives the third movable push rod 6072 to move, which in turn drives the step plate movable arm 6071 to move, thereby pressing and fixing the top surface of the step plate 1005. When it is necessary to fix the step plate 1005, the step plate movable arm 6071 moves toward the surface of the step plate 1005 (moves downward) and presses against its surface. When it is necessary to release the fixation of the step plate 1005, the step plate movable arm 6071 moves away from the surface of the step plate 1005 (moves upward) and separates from the step plate 1005.

[0166] In this embodiment, a through hole is provided in the middle of the step plate mounting base 601 to accommodate the drive mechanism and movable push rod in the vertical positioning mechanism 607 and the vertical movement limiting component 606 of the step plate. Specifically, the output ends of the step plate movable pin drive device 6063 and the step plate movable arm drive device 6073 are connected to the step plate movable pin 6061 and the step plate movable arm 6071 respectively through the through hole. When the step plate mounting slide plate 602 slides, the step plate fixed limiting component 604, the step plate horizontal movement limiting component 605, the step plate vertical movement limiting component 606, and the vertical positioning mechanism 607 move together with the step plate mounting slide plate 602.

[0167] In use, first place the step plate 1005 on the step plate mounting plate 602, aligning the step plate through hole 10051 with the step plate movable pin 6061. Position the step plate 1005 close to the step plate fixing block 6041. Driven by the step plate movable pin drive device 6063, the step plate movable pin 6061 moves upward, passing through the step plate through hole 10051 for positioning. Then, the step plate movable block drive device 6053 drives the step plate movable block 6051, bringing it close to the other side of the step plate 1005. The step plate 1005 is then engaged between the step plate fixing block 6041 and the step plate movable block 6051, completing the horizontal positioning. Next, the step plate movable arm drive device 6073 drives the step plate movable arm 6071 downward, pressing it against the surface of the step plate 1005, completing the vertical positioning. After horizontal and vertical positioning, the positioning of step 1005 is completed.

[0168] In this embodiment, the step plate ejection mechanism 603 includes an ejection block 6031, a fourth movable push rod 6032, and an ejection block driving device 6033. The ejection block driving device 6033 is mounted on the step plate mounting base plate 601. The step plate mounting slide plate 602 has an ejection slot 6021, and the ejection block 6031 is engaged in the ejection slot 6021. The ejection block driving device 6033 is connected to the ejection block 6031 through the fourth movable push rod 6032, and drives the step plate mounting slide plate 602 to slide on the step plate mounting base plate 601. The ejection block driving device 6033 can be a cylinder. The cylinder drives the fourth movable push rod 6032 to move, which in turn drives the ejection block 6031 to move, thereby driving the step plate mounting slide plate 602 to slide. The reason for setting up the step plate ejection mechanism 603 to drive the step plate mounting slide 602 to slide is to facilitate the subsequent loading of the loading and clamping fixture, making it easier for the loading and clamping fixture to enter the gap between the pair of main rotating rods 1000, and facilitating welding. During loading, the step plate ejection mechanism 603 drives the step plate mounting slide 602 to retract to facilitate loading. During welding, the step plate ejection mechanism 603 drives the step plate mounting slide 602 to extend outward, so that the step plate 1005 can abut against the surface of the main rotating rod 1000, facilitating welding.

[0169] In this embodiment, a step plate support 6022 is provided on the step plate mounting slide 602, and an adjusting shim 6023 is provided between the step plate support 6022 and the step plate mounting slide 602; a step plate slide rail assembly 608 is provided between the step plate mounting base 601 and the step plate mounting slide 602. The step plate support 6022 can support the step plate 1005, and the adjusting shim 6023 can adjust the height of the step plate support 6022 to match different models of step plates 1005. The step plate slide rail assembly 608 facilitates the sliding of the step plate mounting slide 602 on the step plate mounting base 601. The specific structural form of the slide rail assembly is not limited, for example, it can be a guide rail or a slide rail.

[0170] like Figures 27-30As shown, the loading clamping fixture also includes an upper support bracket 609 for mounting the step plate and a lower support bracket 610 for mounting the step plate. The loading clamping fixture is mounted on the upper support bracket 609 via a step plate mounting base plate 601. A pair of loading clamping fixtures are provided, respectively located on both sides of the upper support bracket 609. The distance between the pair of loading clamping fixtures matches the distance between the pair of main rotating rods 1000 of the tower crane standard section. The upper support bracket 609 is mounted on the lower support bracket 610 via a mounting bracket positioning pin 611. The upper support bracket 609 is provided with a quick-change device 6091 for the step plate support end. The loading robot is provided with a robot end quick-change device that matches the quick-change device 6091 for the step plate support end. The lower support bracket 610 is provided with a rotatable protective fixture 6101 for the quick-change device for the step plate support end.

[0171] In this embodiment, a pair of loading clamping fixtures are provided, capable of loading two step plates 1005 at once to match the two main rotating rods 1000, thus satisfying the loading requirements of one side of the standard section in one go. The distance between the loading clamping fixtures matches the distance between the pair of main rotating rods 1000 of the tower crane standard section to ensure loading accuracy. In specific design, the distance between the two step plate movable pins 6061 can be controlled to match the distance between the pair of main rotating rods 1000. The mounting bracket positioning pin 611 facilitates the positioning between the upper step plate mounting bracket 609 and the lower step plate mounting bracket 610, enabling the loading robot to accurately grasp and load materials. The quick-change device 6091 at the step plate bracket end can be easily coordinated with the quick-change device at the robot end, facilitating the loading robot's loading. By setting up a protective fixture 6101 for the quick-change device at the end of the step plate bracket, it is easy to seal and protect the quick-change device 6091 at the end of the step plate bracket, preventing dust, welding spatter and other debris from entering the quick-change device, thereby avoiding air circuit and electrical faults in the quick-change device. The protective fixture 6101 for the quick-change device at the end of the step plate bracket can be rotated 90° clockwise and counterclockwise to adjust its position.

[0172] The method for feeding the stair treads in this embodiment includes the following steps:

[0173] S1: The upper support bracket 609 for mounting the step plate is placed on the lower support bracket 610. The step plate 1005 is placed on the step plate mounting slide plate 602, and the through hole 10051 of the step plate is aligned with the movable pin 6061 of the step plate. The step plate 1005 is positioned close to the step plate fixing block 6041. Driven by the movable pin drive device 6063, the movable pin 6061 of the step plate moves upward and passes through the through hole 10051 of the step plate for positioning. Next, the step plate movable block drive device 6053 drives the step plate movable block 6051 to move closer to the other side of the step plate 1005. The step plate 1005 is then locked between the step plate fixed block 6041 and the step plate movable block 6051. Then, the step plate movable arm drive device 6073 drives the step plate movable arm 6071 to move downward and press against the surface of the step plate 1005. The step plate mounting slide 602 is retracted by the step plate ejection mechanism 603.

[0174] S2: Rotate the quick-change device protection fixture 6101 of the step plate bracket end to separate it from the quick-change device 6091 of the step plate bracket end. The loading robot is connected to the quick-change device 6091 of the step plate bracket end through the robot end quick-change device. The loading robot drives the step plate mounting bracket 609 to move between a pair of fixed main rotating rods 1000.

[0175] S3: The step plate mounting slide plate 602 is extended by the step plate ejection mechanism 603, so that the step plate 1005 abuts against the main rotating rod 1000, and the step plate 1005 is welded to the main rotating rod 1000.

[0176] S4: The step plate movable arm 6071 is driven by the step plate movable arm drive device 6073 to move away from the step plate 1005, releasing the pressure on the step plate 1005. Under the drive of the step plate movable pin drive device 6063, the step plate movable pin 6061 leaves the step plate through hole 10051. Under the drive of the step plate movable block drive device 6053, the step plate movable block 6051 moves away from the step plate 1005, releasing the fixation on the step plate 1005.

[0177] S5: The feeding robot moves the upper support 609 of the step plate to the lower support 610 of the step plate. The quick-change device at the robot end separates from the quick-change device 6091 at the step plate support end. The protective fixture 6101 of the quick-change device at the step plate support end is rotated so that it is connected to and closed with the quick-change device 6091 at the step plate support end, thus completing the feeding of the step plate 1005.

[0178] like Figure 31 and Figure 32As shown, the welding clamping fixture of this embodiment includes a positioner 501 and a mounting frame 502 mounted 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 feeding avoidance 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 feeding avoidance drive assembly 504 is located between the main rotating rod positioning and clamping mechanism 503 and the mounting frame 502 (the feeding avoidance drive assembly 504 may not be provided between some main rotating rod positioning and clamping mechanisms 503 and the mounting frame 502).

[0179] like Figure 33 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.

[0180] 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.

[0181] 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.

[0182] 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.

[0183] 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).

[0184] like Figure 34As 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.

[0185] like Figure 35 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).

[0186] 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.

[0187] like Figure 34 , Figure 35 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.

[0188] 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.

[0189] like Figure 36 As shown, to better understand the above solution, this embodiment also provides a more detailed welding method, including the following steps:

[0190] 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 36 ( Figure 36 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.

[0191] 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;

[0192] 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.

[0193] S4: Weld both sides, rotate the positioner 90 degrees (position as follows) Figure 36 In 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.

[0194] 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.

[0195] S7: Weld 3 sides, then rotate the positioner 90 degrees (position as follows) Figure 36 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.

[0196] 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.

[0197] S9: Weld all four sides, then rotate the positioner 90 degrees (position as follows) Figure 36 (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;

[0198] 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.

[0199] S11: Weld 3 sides, then rotate the positioner back 90 degrees (position as follows). Figure 36 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;

[0200] 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.

[0201] The welding method described in this embodiment is for illustrative purposes only, and the welding sequence can be replaced according to actual circumstances.

[0202] like Figure 37 and Figure 38 As shown, the delivery vehicle system of this embodiment includes a mobile trailer 1 and a positioning mechanism for positioning the mobile trailer 1 when unloading materials. The mobile trailer 1 is provided with a component positioning fixture for positioning the components of the tower crane standard section.

[0203] Specifically, the component positioning fixture includes a railing positioning fixture 6, multiple inclined web member positioning fixtures 2, multiple straight web member positioning fixtures 3, multiple curved plate positioning fixtures 4, and multiple step positioning fixtures 5. The multiple inclined web member positioning fixtures 2 are arranged side-by-side in the middle of the mobile trailer 1. The multiple straight web member positioning fixtures 3 and multiple step positioning fixtures 5 are arranged side-by-side on both sides of the multiple inclined web member positioning fixtures 2. The multiple curved plate positioning fixtures 4 are arranged side-by-side at one end of a row of inclined web member positioning fixtures 2, and the railing positioning fixture 6 is located at the other end of a row of inclined web member positioning fixtures 2. The inclined web member positioning fixtures 2, straight web member positioning fixtures 3, and curved plate positioning fixtures 4 are respectively equipped with inclined web member contour blocks 21, straight web member contour blocks 31, and curved plate contour blocks 41 for matching the intersection lines of the ends of the inclined web member 1002, straight web member 1001, and curved plate 1004.

[0204] like Figure 39 , Figure 40 As shown, in this embodiment, the inclined web rod positioning fixture 2 includes an inclined web rod positioning sleeve 22 and an inclined web rod positioning ring 23 located directly above the inclined web rod positioning sleeve 22. The inclined web rod contour block 21 is disposed inside the inclined web rod positioning sleeve 22. Multiple inclined web rod positioning fixtures 2 are arranged side by side, and the inclined web rod contour blocks 21 in the multiple inclined web rod positioning fixtures 2 are positioned in the same position.

[0205] like Figure 41 , Figure 42 As shown, in this embodiment, the straight rod positioning fixture 3 includes a straight rod positioning sleeve 32 and a straight rod positioning ring 33 located directly above the straight rod positioning sleeve 32. The straight rod contour block 31 is disposed inside the straight rod positioning sleeve 32. Multiple straight rod positioning fixtures 3 are arranged side by side, and the straight rod contour blocks 31 in the multiple straight rod positioning fixtures 3 are positioned in the same position.

[0206] like Figure 43 , Figure 44 , Figure 45 , Figure 46 As shown, in this embodiment, the bending plate positioning fixture 4 includes a bending plate base 42, a bending plate groove inner fixing seat 43, and a bending plate groove outer fixing seat 44. The upper and lower ends of the bending plate groove outer fixing seat 44 are respectively provided with a bending plate positioning block 441 that matches the shape of the bending plate 1004. The bending plate groove inner fixing seat 43 and the bending plate groove outer fixing seat 44 are spaced apart on the bending plate base 42. The bending plate contour block 41 is provided on the bending plate base 42 and is located between the bending plate groove inner fixing seat 43 and the bending plate groove outer fixing seat 44. The bending plate 1004 is sandwiched between the bending plate groove inner fixing seat 43 and the bending plate groove outer fixing seat 44 and is located on the bending plate contour block 41. Multiple bending plate positioning fixtures 4 are arranged side by side, and the bending plate contour blocks 41 in the multiple bending plate positioning fixtures 4 are positioned in the same position.

[0207] like Figure 38As shown, in this embodiment, the step plate 1005 is provided with a through hole, and the step positioning fixture 5 of the component positioning fixture is mounted on the mobile trailer 1 through a step positioning fixture mounting plate 51. The step positioning fixture 5 includes a step positioning groove 52 that matches the sharp corner shape of the step plate 1005 and a step positioning post 53 that matches the position of the through hole.

[0208] like Figure 37 , Figure 38 As shown, in this embodiment, the railing positioning fixture 6 of the component positioning fixture includes a first railing slot 61 and a second railing slot 62 arranged opposite to each other, and the two ends of the railing 1003 are engaged in the first railing slot 61 and the second railing slot 62.

[0209] like Figure 47 , Figure 48 , Figure 49 As shown, in this embodiment, the positioning mechanism includes a trailer positioning fixture 7 located on the mobile trailer 1 and a ground positioning fixture 8 located on the ground at the unloading point; the trailer positioning fixture 7 includes a positioning V-shaped block 71 located at one end of the mobile trailer 1 and a trailer positioning pin 72 located at the other end of the mobile trailer 1; the ground positioning fixture 8 includes a ground fixing plate 81, one end of the ground fixing plate 81 is provided with a positioning V-shaped groove 82 that matches the positioning V-shaped block 71, and the other end of the ground fixing plate 81 is provided with a ground positioning hole 811 that matches the trailer positioning pin 72.

[0210] like Figure 37 , Figure 47 As shown in this embodiment, the mobile trailer 1 is provided with a handrail 11 and a caster set 12 is provided at the bottom of the mobile trailer 1. The caster set 12 can be a conventional rolling wheel and multiple casters can be provided.

[0211] The delivery system for the components of the tower crane standard section in this embodiment is used as follows: Using component positioning fixtures, workers position and fix each component (diagonal web member 1002, straight web member 1001, curved plate 1004, step plate 1005, and railing 1003) onto the mobile trailer 1 using contour blocks and / or shape fixing components. After checking that all components are in place and confirming proper installation, the mobile trailer 1 is towed to the positioning mechanism to fix its position. Once the inspection is successful, personnel leave the mobile trailer 1, waiting for the robot to pick up and load the components. This operation enables precise robot picking and loading, avoiding manual positioning, rotation, and marking by workers to ensure accurate workpiece positioning.

[0212] like Figures 50-53As shown, in this embodiment, the main rotating rod loading-welding part unloading device includes a frame 106 and a pair of loading and unloading grippers. The pair of loading and unloading grippers are respectively used to grab the main rotating rod 1000 from the positioning temporary table and load it to the welding clamping fixture and to unload the welding part in the welding clamping fixture. The loading and unloading grippers are mounted on the frame 106 through a moving component 107 for driving the loading and unloading grippers to move on the frame 106.

[0213] like Figures 54-56 As shown, the loading and unloading gripper of this embodiment includes a frame 101, a hook assembly 102, and a drive assembly 103 for moving the hook assembly 102. The hook assembly 102 and the drive assembly 103 are mounted on the frame 101. The hook assembly 102 includes a hook 1021 for hooking the welded parts of the standard section of the tower crane. A buffer 10211 is provided on the hook 1021.

[0214] In this embodiment, a clamping assembly 104 is also included for moving downwards and pressing against the welded components of the standard tower crane section. For example... Figure 5 As shown, specifically, multiple clamping components 104 are provided (in this embodiment, the frame 101 can be square, and four clamping components 104 can be provided, located at the four corners of the frame 101 respectively). The multiple clamping components 104 are evenly distributed on the frame 101. The clamping component 104 includes a clamping block 1041 and a clamping cylinder 1042 for driving the clamping block 1041 to move downward. The clamping cylinder 1042 is provided on the frame 101. The clamping block 1041 is connected to the clamping cylinder 1042. The shape of the lower surface of the clamping block 1041 matches the surface shape of the main rotating rod 1000 of the tower crane standard section welded part. For example, if the main rotating rod 1000 of the tower crane standard section welded part is circular, then the shape of the lower surface of the clamping block 1041 is an arc shape that matches the circle.

[0215] In this embodiment, the hook assembly 102 further includes a hook rotating mechanism 1022 for rotating under the drive of the drive assembly 103. The hook rotating mechanism 1022 is rotatably mounted on the frame 101, and the hooks 1021 are fixedly mounted on the hook rotating mechanism 1022. The drive assembly 103 is connected to the hook rotating mechanism 1022. In this embodiment, the frame 101 may be square, and a pair of hook rotating mechanisms 1022 are provided, located on a pair of sides of the frame 101 respectively. Each hook rotating mechanism 1022 is provided with a pair of hooks 1021.

[0216] In this embodiment, the drive assembly 103 includes a hook rotating cylinder 1031 and a drive transmission arm 1032 for rotating under the drive of the hook rotating cylinder 1031. The hook rotating cylinder 1031 is connected to the drive transmission arm 1032, and the drive transmission arm 1032 is connected to the hook assembly 102. A pair of hook assemblies 102 are provided, and a pair of hook rotating cylinders 1031 and drive transmission arms 1032 are also provided.

[0217] In this embodiment, the frame 101 is provided with a hook positioning and protection device 105 for fixing the position of the hook assembly 102. For example... Figure 6 , Figure 7 As shown, specifically, the drive transmission arm 1032 is provided with a locking hole 1051, and the frame 101 is provided with a fixed seat. The hook positioning protection device 105 includes a locking shaft 1052 and a locking cylinder 1053 for driving the locking shaft 1052 to move into the locking hole 1051. The locking cylinder 1053 is provided on the fixed seat. When the locking shaft 1052 extends into the locking hole 1051, locking can be achieved. At this time, the hook rotation cylinder 1031 cannot drive the drive transmission arm 1032 to rotate. Each drive transmission arm 1032 is equipped with a hook positioning protection device 105.

[0218] In this embodiment, the moving component 107 includes a first movable member 1071, a second movable member 1072, and a third movable member 1073. The first movable member 1071 is slidably mounted on the frame 106 along the X-axis direction. The second movable member 1072 is slidably mounted on the first movable member 1071 along the Y-axis direction. The third movable member 1073 is slidably mounted on the second movable member 1072 along the Z-axis direction. The third movable member 1073 is connected to the frame 101 of the unloading gripper. A connecting flange can be provided on the frame 101 to connect with the third movable member 1073.

[0219] In this embodiment, the structural diagram after the standard section of the tower crane is gripped by the loading and unloading grabber is shown below. Figure 57 As shown, the hook 1021 and clamping assembly 104 enable automated unloading of welded components for standard tower crane sections.

[0220] It should be noted that, in other embodiments, the above-mentioned moving component 107 may also adopt other structural forms of moving mechanisms.

[0221] It should be noted that, in other embodiments, multiple sets of movable components 107 may be installed on the frame 106, such as... Figure 58 As shown, for example, two sets of moving components 107 are set up. One set of moving components 107 is connected to the loading and unloading gripper (for unloading welded parts) at the bottom, and the other set of moving components 107 is connected to the loading and unloading gripper of the main rotating rod 1000 (for loading the main rotating rod 1000) at the bottom. The two sets of grippers work at the same time, and there is a working layer overlap area, which needs to be avoided to prevent interference.

Claims

1. An automated welding production line for a tower crane standard section, wherein the tower crane standard section comprises a main spiral rod (1000), a straight web member (1001), a diagonal web member (1002), a railing (1003), a curved plate (1004), and a step plate (1005), characterized in that, The automated welding production line includes: The workpiece pre-positioning device includes a delivery vehicle system for positioning and delivering the straight web bar (1001), inclined web bar (1002), railing (1003), curved plate (1004) and step plate (1005), and a positioning temporary placement table for positioning and temporarily placing the main rotating rod (1000). The workpiece positioning device comprises: a pairing fixture for fixing the positions of the straight web member (1001), the inclined web member (1002), the railing (1003), and the curved plate (1004); a loading gripper for gripping the fixed positions of the straight web member (1001), the inclined web member (1002), the railing (1003), and the curved plate (1004) from the pairing fixture; and a loading clamping fixture for positioning the step plate (1005). Welding apparatus: includes a welding robot and a welding clamping fixture for clamping and positioning the main rotating rod (1000), wherein the welding robot is located near the welding clamping fixture; Loading robot: used to deliver the loading gripper and the loading clamping fixture to the welding clamping fixture; Main rotating rod loading-welded part unloading device: used to grab the main rotating rod (1000) from the positioning temporary platform and load it onto the welding clamping fixture and to unload the welded parts in the welding clamping fixture; The welding clamping fixture includes a positioner (501) and a mounting frame (502) mounted 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 feeding avoidance 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 feeding avoidance drive assembly (504) is located between the main rotating rod positioning and clamping mechanism (503) and the mounting frame (502). The main rotating rod (1000) has four rods, which are fixed by four main rotating rod positioning and clamping mechanisms (503). One main rotating rod positioning and clamping mechanism (503) is fixed on the mounting frame (502). A feeding avoidance drive assembly (504) is provided between the three main rotating rod positioning and clamping mechanisms (503) and the mounting frame (502). The feeding avoidance drive assembly (504) is slidably provided on the mounting frame (502). Two of the main rotating rod positioning and clamping mechanisms (503) are driven to slide horizontally or vertically through the feeding avoidance drive assembly (504). The other main rotating rod positioning and clamping mechanism (503) is driven to slide tilted through the feeding avoidance drive assembly (504).

2. The automatic welding production line according to claim 1, characterized in that, 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 inclined 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 inclined web member (1002), the railing (1003), and the curved plate (1004) between the main rotating rod (1000).

3. The automatic welding production line according to claim 1, characterized in that, The feeding gripper includes a gripper frame (401) and multiple gripper mechanisms located below the gripper frame (401) for gripping the straight web bar (1001), the inclined web bar (1002), the railing (1003), and the curved plate (1004), respectively. The positions of the gripper mechanisms match the positions of the straight web bar (1001), the inclined web bar (1002), the railing (1003), and the curved plate (1004) between the main rotating rod (1000).

4. The automatic welding production line according to claim 1, characterized in that, The loading and clamping fixture includes a step plate mounting base plate (601) and a step plate mounting slide plate (602). The step plate mounting base plate (601) is provided with a step plate ejection mechanism (603) for driving the step plate mounting slide plate (602) to slide on the step plate mounting base plate (601). The step plate mounting slide plate (602) is provided with a horizontal positioning mechanism for limiting the movement of the step plate (1005) in the horizontal direction and a vertical positioning mechanism (607) for limiting the movement of the step plate (1005) in the vertical direction.

5. The automatic welding production line according to claim 4, characterized in that, The step plate (1005) is provided with a step plate through hole (10051); the horizontal positioning mechanism includes a step plate fixing limiting component (604), a step plate horizontal moving limiting component (605) and a step plate vertical moving limiting component (606) for cooperating with the step plate through hole (10051), the step plate fixing limiting component (604) and the step plate horizontal moving limiting component (605) are arranged opposite to each other; The vertical positioning mechanism (607) includes a step plate movable arm (6071), a third movable push rod (6072), and a step plate movable arm drive device (6073). The step plate movable arm drive device (6073) is located below the step plate mounting plate (602). The step plate movable arm drive device (6073) is connected to the step plate movable arm (6071) through the third movable push rod (6072), and drives the step plate movable arm (6071) to move downward to press against the surface of the step plate (1005) or move upward to move away from the surface of the step plate (1005). The step plate ejection mechanism (603) includes an ejection block (6031), a fourth movable push rod (6032), and an ejection block drive device (6033). The ejection block drive device (6033) is mounted on the step plate mounting base plate (601). The step plate mounting slide plate (602) is provided with an ejection slot (6021). The ejection block (6031) is engaged in the ejection slot (6021). The ejection block drive device (6033) is connected to the ejection block (6031) through the fourth movable push rod (6032) and drives the step plate mounting slide plate (602) to slide on the step plate mounting base plate (601).

6. The automatic welding production line according to claim 1, characterized in that, An auxiliary support clamping fixture (505) for temporary positioning and fixing of the straight web member (1001), the diagonal web member (1002), and the curved plate (1004) is also provided between the mounting frames (502); 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). 5051) is disposed between the mounting frames (502). The straight web support clamping assembly (5052), the inclined web support clamping assembly (5053) and the curved plate support clamping assembly (5055) are disposed on the mounting crossbeam (5051) through 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.

7. The automatic welding production line according to claim 6, characterized in that, The main rotating rod positioning and clamping mechanism (503) includes a pair of oppositely arranged automatic clamping and centering components (5031) and automatic extension components (5032). The automatic clamping and centering components (5031) and automatic extension components (5032) are respectively disposed on the inner surfaces of the 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 feeding avoidance drive component (504) is disposed between the automatic clamping and centering components (5031) and the mounting frame (502) or between the automatic extension components (5032) and the mounting frame (502). 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 so as to drive the main rotating rod positioning clamping mechanism (503) to slide.

8. The automatic welding production line according to any one of claims 1-7, characterized in that, The main rotor loading-welding part unloading device includes a frame (106) and a pair of loading and unloading grippers. The pair of loading and unloading grippers are respectively used to grab the main rotor (1000) from the positioning temporary table and load it onto the welding clamping fixture and to unload the welding part in the welding clamping fixture. The loading and unloading grippers are mounted on the frame (106) via a moving component (107) for driving the loading and unloading grippers to move on the frame (106).

9. The automatic welding production line according to claim 8, characterized in that, The loading and unloading gripper includes a frame (101), a hook assembly (102), and a drive assembly (103) for moving the hook assembly (102). The hook assembly (102) and the drive assembly (103) are mounted on the frame (101). The hook assembly (102) includes a hook (1021) for hooking the welded parts of the standard section of the tower crane. The loading and unloading gripper also includes a clamping assembly (104) for moving downward and pressing against the welded part of the standard section of the tower crane; multiple clamping assemblies (104) are provided, and the multiple clamping assemblies (104) are evenly distributed on the frame (101); the clamping assembly (104) includes a clamping block (1041) and a clamping cylinder (1042) for driving the clamping block (1041) to move downward, the clamping cylinder (1042) is provided on the frame (101), the clamping block (1041) is connected to the clamping cylinder (1042), and the shape of the lower surface of the clamping block (1041) matches the surface shape of the main rotating rod (1000) of the welded part of the standard section of the tower crane.

10. The automatic welding production line according to claim 9, characterized in that, The hook assembly (102) further includes a hook rotating mechanism (1022) for rotating under the drive of the drive assembly (103). The hook rotating mechanism (1022) is rotatably mounted on the frame (101). The hook (1021) is fixed on the hook rotating mechanism (1022). The drive assembly (103) is connected to the hook rotating mechanism (1022). The drive assembly (103) includes a hook rotating cylinder (1031) and a drive transmission arm (1032) for rotating under the drive of the hook rotating cylinder (1031). The hook rotating cylinder (1031) is connected to the drive transmission arm (1032), and the drive transmission arm (1032) is connected to the hook assembly (102). The frame (101) is provided with a hook positioning protection device (105) for fixing the position of the hook assembly (102); the drive transmission arm (1032) is provided with a locking hole (1051), and the hook positioning protection device (105) includes a locking shaft (1052) and a locking cylinder (1053) for driving the locking shaft (1052) to move into the locking hole (1051).

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