Guardrail processing equipment

Abstract

This application provides a guardrail processing equipment, including an incoming material positioning rack, a loading positioning table, a frame, an assembly fixture, a processing robot, a loading gripper, and a gripping robot. The incoming material positioning rack can stack various types of rods in sections to achieve initial positioning. The loading positioning table can adjust the position of various rods and position them in multiple waiting positions to achieve secondary positioning. The assembly fixture is mounted on the frame, receiving the rods and fixing them in an assembled state to form a guardrail. The processing robot is mounted on the frame and can weld the rods on the assembly fixture. The loading gripper can clamp and release the rods. The gripping robot can move the loading gripper to transfer the rods from the incoming material positioning rack to the loading positioning table, and then transfer the secondary positioned rods from the loading positioning table to the assembly fixture. This solves the problems of low production efficiency and high labor costs in the prior art for crane guardrails.

Description

Technical Field

[0001] This application relates to the field of machining equipment technology, specifically to a guardrail machining equipment. Background Technology

[0002] Currently, guardrails for construction machinery, such as those for port container cranes, are mainly produced through manual assembly and welding, which not only results in low production efficiency but also requires a large number of personnel and leads to high labor costs. Summary of the Invention

[0003] In view of this, this application provides a guardrail processing equipment to solve the problems of low production efficiency and high labor costs of crane guardrails in the prior art.

[0004] To achieve the above objectives, this application provides the following technical solution:

[0005] A guardrail processing equipment, comprising:

[0006] The incoming material positioning rack can stack various rods in sections to enable the rods to complete the initial positioning.

[0007] The loading and positioning table can adjust the position of various rods and position them in multiple waiting stations so that the rods can complete secondary positioning.

[0008] frame;

[0009] The assembly fixture is set on the frame and supports the rods and can fix the rods in an assembled state that forms a guardrail.

[0010] A processing robot, mounted on the frame, is capable of connecting all the links on the assembly tooling into a whole;

[0011] The feeding gripper is capable of clamping and releasing rods;

[0012] The gripping robot can move the loading gripper to transfer the rod from the incoming material positioning rack to the loading positioning table, and then transfer the rod after secondary positioning from the loading positioning table to the assembly tooling.

[0013] Optionally, it also includes a flipping and shifting machine mounted on the frame;

[0014] The assembly tooling is provided with at least two parts, both of which are connected to the flipping and positioning machine. The flipping and positioning machine can drive the assembly tooling to perform directional translation, so that the assembly tooling can switch between the first station and the second station.

[0015] The loading gripper can move the rod to the assembly fixture located at the first station, and the processing robot can weld the rod on the assembly fixture located at the second station.

[0016] Optionally, it also includes a rotary positioner disposed between the flipping positioner and the assembly tooling, the rotary positioner being capable of driving the assembly tooling to rotate;

[0017] The assembly base plate of the assembly tooling has a cutout at the welding point of the rod, so that the processing robot can weld the rod on both sides of the assembly tooling.

[0018] Optionally, the frame includes opposing columns;

[0019] The flipping and positioning machine includes a head seat, a tail seat, and a drive motor. The head seat and the tail seat are rotatably connected to the two side columns, and the drive motor is installed in each of the two side columns to drive the head seat and the tail seat to rotate respectively. The assembly tooling is connected between the head seat and the tail seat.

[0020] Optionally, it also includes a riveting robot mounted on the frame, which is capable of riveting rods on the assembly tooling located at the second workstation.

[0021] Optionally, the frame is provided with a first robot slide rail and a second robot slide rail. The riveting robot is slidably connected to the first robot slide rail via a first mounting base, and the processing robot is slidably connected to the second robot slide rail via a second mounting base.

[0022] Optionally, the loading and positioning platform includes a loading base plate and positioning components disposed on the loading base plate. The loading base plate is provided with multiple positioning areas, and each positioning area is provided with a set of positioning components capable of acting on a corresponding type of rod. A single set of positioning components includes:

[0023] The feeding and positioning slots are provided in multiple locations and can accommodate rods;

[0024] A transverse push cylinder and / or a longitudinal push cylinder push the rod located in the loading positioning groove in the transverse and longitudinal directions, respectively, and limit the rod to the position to be picked up;

[0025] The positioning sensor is communicatively connected to the transverse push cylinder and the longitudinal push cylinder.

[0026] Optionally, some of the positioning components further include:

[0027] The limiting arm is mounted on the feeding base plate;

[0028] The first rotary cylinder can drive the limiting arm to rotate above the loading positioning groove.

[0029] Optionally, the assembly fixture includes an assembly base plate and multiple sets of dispersed clamping assemblies disposed on the assembly base plate, the clamping assemblies including:

[0030] The positioning slots are designed to accommodate rods;

[0031] A clamping arm is mounted on the assembly base plate;

[0032] The second rotary cylinder can drive the clamping arm to rotate above the pairing positioning groove.

[0033] Optionally, the assembly tooling may further include an electromagnet disposed on the assembly base plate, wherein the electromagnet is energized to attract rods.

[0034] Optionally, the incoming material positioning rack includes an incoming material base plate and a rod frame disposed on the incoming material base plate. The incoming material base plate is provided with multiple storage areas, and each storage area is provided with a rod frame capable of supporting corresponding types of rods. The rod frame includes multiple layers of support blocks arranged with equal height differences.

[0035] Optionally, a third robot rail is also included, wherein the grasping robot is slidably connected to the third robot rail via a third mounting base.

[0036] Optional, also includes:

[0037] Finished product racks are capable of supporting welded guardrails;

[0038] The material handling gripper is capable of gripping and releasing the guardrail, and can move under the drive of the gripping robot to transfer the guardrail from the assembly tooling to the finished product rack.

[0039] Both the unloading gripper and the loading gripper are connected to the gripping robot via quick-change connectors.

[0040] Optionally, the frame includes opposing columns and a main beam erected between the two columns, the assembly tooling is located below the main beam, and the processing robot is mounted on the main beam;

[0041] The gripping robot is located between the incoming material positioning rack and the assembly tooling located at the first work station;

[0042] The loading and positioning platform and the finished product rack are located on opposite sides of the incoming material positioning rack, respectively.

[0043] Both the loading gripper and the unloading gripper can be placed on a fixture frame, which is located close to the unloading gripper.

[0044] The guardrail processing equipment provided in this application includes an incoming material positioning rack, a loading positioning table, a frame, an assembly fixture, a processing robot, a loading gripper, and a gripping robot. The incoming material positioning rack can stack various types of rods in sections to achieve initial positioning. The loading positioning table can adjust the position of various rods and position them in multiple waiting positions to achieve secondary positioning. The assembly fixture is mounted on the frame, receives the rods, and can fix them in an assembled state to form a guardrail. The processing robot is mounted on the frame and can weld the rods on the assembly fixture. The loading gripper can hold and release the rods. The gripping robot can move the loading gripper to transfer the rods from the incoming material positioning rack to the loading positioning table, and then transfer the rods after secondary positioning from the loading positioning table to the assembly fixture. This setup, because producing a single guardrail requires multiple different types of rods, pre-sorts and stacks the guardrail components on the incoming material positioning rack according to their categories for initial approximate positioning. Then, a gripping robot, driven by a loading gripper, sequentially removes all types of rods needed to assemble a guardrail from the incoming material positioning rack and places them on the loading positioning table. The loading positioning table repositions each type of rod, positioning them in their respective waiting positions for precise secondary positioning. At this point, the gripping robot, driven by the loading gripper, removes each rod from the loading positioning table and places it in the assembly fixture, where it is then... The components are directly transferred to the assembly fixture from a fixed position on the workstation. Under this positioning condition, the gripping robot can accurately transfer each component to a specific position on the assembly fixture according to the program settings. The positional accuracy of each component is high, and they are arranged into a guardrail shape to be connected. Then, the processing robot runs to connect the components, and finally the guardrail is produced. The entire processing of the guardrail is completed by the sequential cooperation of various mechanisms. There is no need to pause or add manual assistance in the middle. The degree of human intervention is low and the degree of automation is high, which solves the problems of low production efficiency and high labor cost of crane guardrails in the existing technology. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of this application 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 only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0046] Figure 1 This is a schematic diagram of the overall structure of the guardrail processing equipment provided in the embodiments of this application;

[0047] Figure 2 This is a partial structural schematic diagram of the guardrail processing equipment provided in the embodiments of this application;

[0048] Figure 3This is an overall schematic diagram of the material receiving and positioning rack provided in the embodiments of this application;

[0049] Figure 4 This is an overall schematic diagram of the loading and positioning platform provided in the embodiments of this application;

[0050] Figure 5 A partial structural diagram of the loading and positioning table provided in the embodiments of this application.

[0051] Figure 6 This is an overall schematic diagram of the assembly tooling provided in the embodiments of this application;

[0052] Figure 7 This is a partial structural diagram of the assembly tooling provided in an embodiment of this application.

[0053] exist Figures 1-7 middle:

[0054] 1. Incoming material positioning rack; 2. Loading positioning table; 3. Machine frame; 4. Assembly tooling; 5. Welding robot; 6. Riveting robot; 7. Loading gripper fixture; 8. Unloading gripper fixture; 9. Gripping robot; 10. Turning positioner; 11. Rotary positioner; 12. First robot slide rail; 13. Wire feeding drum; 14. Third robot slide rail; 15. Finished product rack; 16. Main control cabinet; 17. Guardrail kick plate; 18. Guardrail post; 19. Guardrail handrail; 20. Guardrail crossbar;

[0055] 101. Incoming material base plate; 102. Rod frame; 103. Support block;

[0056] 201. Feeding base plate; 202. Feeding positioning groove; 203. Horizontal push cylinder; 204. Longitudinal push cylinder; 205. Limiting arm; 206. First rotary cylinder;

[0057] 301. Column; 302. Main beam;

[0058] 401. Assembly base plate; 402. Assembly positioning groove; 403. Clamping arm; 404. Second rotary cylinder; 405. Electromagnet;

[0059] 1001, Head seat; 1002, Tail seat. Detailed Implementation

[0060] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0061] Generally, guardrails are composed of multiple rods. The processing steps of guardrails involve assembling the rods and welding them into a whole. Taking the guardrail of a port container crane as an example, the rods come in various types in terms of shape, size, and length. Specifically, they are divided into guardrail kick plates 17, guardrail posts 18, guardrail handrails 19, and guardrail crossbars 20. Among them, the guardrail kick plates 17 are flat iron, the guardrail posts 18 are angle iron, the guardrail handrails 19 are semi-enclosed round rods, and the guardrail crossbars 20 are short, straight round rods.

[0062] like Figures 1-7 As shown, this application provides a guardrail processing equipment suitable for guardrail structures composed of various types of rods, such as guardrails for port container cranes. The equipment includes a material inlet positioning rack 1, a loading positioning platform 2, a frame 3, an assembly fixture 4, a processing robot, a loading gripper 7, and a gripping robot 9. The frame 3, processing robot, and material inlet positioning rack 1 are positioned in a front-to-back relationship. The gripping robot 9 is located between the frame 3 and the material inlet positioning rack 1. The loading positioning platform 2 is located near the material inlet positioning rack 1 and is approximately perpendicular to it. The assembly fixture 4 is arranged side-by-side with the material inlet positioning rack 1, and the processing robot is located above the assembly fixture 4. The material inlet positioning rack 1 can... Various types of rods are stacked in sections. Rods of the same type are manually stacked in piles, completing the initial positioning of the rods. The loading and positioning platform 2 adjusts the position of each type of rod and positions them in multiple waiting stations, completing the secondary positioning. The assembly fixture 4 is mounted on the frame 3, receiving the rods and fixing them in a guardrail-like assembly state. The processing robot is mounted on the frame 3 and welds the rods on the assembly fixture 4. The loading gripper 7 can hold and release the rods. The gripping robot 9 moves the loading gripper 7 to transfer the rods from the incoming material positioning rack 1 to the loading and positioning platform 2, and then transfers the secondary-positioned rods from the loading and positioning platform 2 to the assembly fixture 4. Both the loading and positioning platform 2 and the incoming material positioning rack 1 have corresponding placement areas for the same type of rod, and there is a one-to-one correspondence between them. The positions of the rods in the waiting stations and on the assembly fixture 4 also correspond accurately, providing coordination for the gripping robot 9 to operate according to the program.

[0063] With this setup, since producing a guardrail requires multiple different types of rods, the rods are pre-sorted and stacked on the incoming material positioning rack 1 according to their categories for initial approximate positioning. Then, the gripping robot 9, driven by the loading gripper 7, sequentially removes all types of rods needed to assemble a guardrail from the incoming material positioning rack 1 and places them on the loading positioning table 2. The loading positioning table 2 repositions each type of rod, positioning them in their respective waiting positions for precise secondary positioning. At this point, the gripping robot 9, driven by the loading gripper 7, removes each rod from the loading positioning table 2 and places it on the assembly fixture. 4. Since the rods are directly transferred to the assembly fixture 4 from the fixed position to be picked up, under this positioning condition, the gripping robot 9 can accurately transfer each rod to the fixed position on the assembly fixture 4 according to the program settings. The positional accuracy of each rod is high, and they are arranged into a guardrail shape to be connected. Then the processing robot runs to connect the rods and finally process the guardrail. The entire processing of the guardrail is completed by the sequential cooperation of each mechanism. There is no need to pause or add manual assistance in the middle. The degree of human intervention is low and the degree of automation is high. This solves the problems of low production efficiency and high labor cost of crane guardrails in the existing technology.

[0064] Furthermore, while existing technologies utilize robots for welding guardrails, the assembly and connection by robots can lead to inaccurate alignment, causing the connection positions between the members to deviate from the robot's preset positions, resulting in poor stability of the finished guardrails. The guardrail processing equipment provided in this application, designed to perform secondary positioning on each type of member, ensures that the gripping robot 9 smoothly places the workpiece into the designated position on the assembly fixture 4 after grasping it, significantly improving the quality and yield of the guardrails.

[0065] In one specific embodiment, the incoming material positioning rack 1 includes an incoming material base plate 101 and a frame 102 disposed on the incoming material base plate 101. The incoming material base plate 101 is provided with multiple storage areas, and each storage area is provided with a frame 102 capable of supporting corresponding types of rods. The frame 102 includes multiple layers of support blocks 103 arranged with equal height differences, such as... Figure 3 As shown, the rods are placed in their positions manually. This ensures that each rod is evenly spaced within its designated area, facilitating accurate retrieval by the loading gripper 7. Of course, besides the rod holder 102 configuration, it is also feasible to use limiting baffles to prevent the rods from contacting each other vertically and stacking them together.

[0066] In one specific embodiment, the loading and positioning platform 2 includes a loading base plate 201 and positioning components disposed on the loading base plate 201. The loading base plate 201 has multiple positioning areas, and each positioning area is provided with a set of positioning components capable of acting on corresponding types of rods. A single set of positioning components includes a loading positioning groove 202, a transverse push cylinder 203 and / or a longitudinal push cylinder 204, and a positioning sensor; the transverse push cylinder 203 and / or the longitudinal push cylinder 204 are set as needed according to the type of rod; the loading positioning groove 202 has multiple grooves and can accommodate rods, and the loading... The positioning groove 202 allows the rod to move a certain amount along its length. The loading positioning groove 202 is in the form of a V-shaped groove cut into a block. Because the rods can be round, angle iron, or flat iron, the V-shaped groove also has various specifications. The transverse push cylinder 203 and / or the longitudinal push cylinder 204 push the rod located in the loading positioning groove 202 along the transverse and longitudinal directions, respectively, and limit the rod to the corresponding pick-up position. The rod is limited after reaching the pick-up position; this process is a fine adjustment. The positioning sensor is communicatively connected to both the transverse push cylinder 203 and the longitudinal push cylinder 204. For ease of explanation, the direction of movement of the longitudinal push cylinder 204 is consistent with the length direction of the rod.

[0067] It should be noted that, due to the limited surface area provided by the loading base plate 201, in order to reasonably arrange the various components and rods, a transverse push cylinder 203 and a longitudinal push cylinder 204 are set on the front and back sides of the loading base plate 201, and a through-hole block is provided on the back side; the positioning sensor is a photoelectric switch or an infrared sensor.

[0068] With this setup, the rated movement of the transverse push cylinder 203 and the longitudinal push cylinder 204 ensures that the rod is always in a fixed position for picking. After the rod is accurately positioned on the loading and positioning table 2, the loading gripper 7 picks up each rod. After the loading gripper 7 clamps the rod, the push cylinder will retract and release, thus releasing the limit on the rod.

[0069] Furthermore, considering that some rods are quite long, a portion of the positioning components also includes a limiting arm 205 and a first rotary cylinder 206. The limiting arm 205 is mounted on the loading base plate 201. The first rotary cylinder 206 can drive the limiting arm 205 to rotate above the loading positioning groove 202 to press against the rod. The first rotary cylinder 206 can be replaced with a micro motor.

[0070] With this configuration, the positioning component used to position the longest rod is additionally equipped with a rotatable limiting arm 205 to prevent the rod from tilting up due to the push of the cylinder during the secondary positioning process. After the loading gripper 7 clamps the rod, the limiting arm 205 rotates to move away from above the loading positioning groove 202.

[0071] In one specific embodiment, the assembly fixture 4 includes an assembly base plate 401 and multiple sets of dispersed clamping assemblies disposed on the assembly base plate 401. Each clamping assembly includes an assembly positioning groove 402, a clamping arm 403, and a second rotary cylinder 404. The assembly positioning groove 402 can accommodate rods and is in the form of a V-shaped groove cut into a block. Because the rods can be round, angle iron, or flat iron, the V-shaped groove also has various specifications. The clamping arm 403 is disposed on the assembly base plate 401. The second rotary cylinder 404 can drive the clamping arm 403 to rotate above the assembly positioning groove 402 to press against the rod. The second rotary cylinder 404 can be replaced with a micro motor. Additionally, stops and sensors can be disposed at appropriate positions on the assembly base plate 401.

[0072] With this setup, multiple sets of clamping components are arranged in a reasonable manner to assemble and shape the rods into a guardrail shape; after welding is completed, the clamping arm 403 moves away from the assembly positioning groove 402.

[0073] Furthermore, the assembly fixture 4 also includes an electromagnet 405 mounted on the assembly base plate 401. When energized, the electromagnet 405 can attract the rods, thus aiding in fixation. Preferably, the electromagnet 405 is positioned where angle iron or flat iron rods are present, as these two types of rods have flat surfaces, facilitating attraction.

[0074] In one specific embodiment, since guardrails are generally formed by welding, the processing robot can specifically be a welding robot 5. In some cases, the processing robot can also be set as a riveting robot 6, that is, the various rods are connected by riveting to form a guardrail.

[0075] In one specific embodiment, the guardrail processing equipment further includes a flipping and positioning machine 10 mounted on the frame 3; the assembly tooling 4 has at least two parts, each connected to the flipping and positioning machine 10. Figure 1 For example, the assembly tooling 4 has two parts. The flipping and positioning machine 10 can drive the assembly tooling 4 to move in a curved direction so that the assembly tooling 4 can switch between the first station and the second station. That is, the assembly tooling 4 always keeps the side that receives the rod facing upwards. The loading gripper 7 can move the rod to the assembly tooling 4 located at the first station. The processing robot can weld the rod on the assembly tooling 4 located at the second station.

[0076] With this setup, the dual-station structure allows for automatic material feeding and assembly at one station while automatic welding occurs at the other. After both stations have completed their respective tasks, the flipping and positioning machine 10 swaps the positions of the two assembly fixtures 4. The welded guardrail is then removed, and the assembly process of the rods is carried out. This dual-station interchange and alternating operation improves production efficiency.

[0077] In a preferred embodiment, the guardrail processing equipment further includes a rotary positioner 11 disposed between the flipping positioner 10 and the assembly fixture 4. The rotary positioner 11 can drive the assembly fixture 4 to rotate around an axis and flip 180°. The assembly base plate 401 of the assembly fixture 4 is hollowed out at the welding points of the rods so that both sides of the welding points of the rods are exposed, allowing the processing robot to weld the rods on both sides of the assembly fixture 4. Except for the parts that are necessary to provide the installation position, the remaining empty parts of the assembly base plate 401 of the assembly fixture 4 are hollowed out to the greatest extent possible.

[0078] With this setup, and assuming the processing robot is configured for low-cost single-sided welding, welding on both sides can be achieved by flipping the tooling 4, thus improving the welding success rate.

[0079] Regarding the structure of the frame 3, it can be specifically configured as a gantry frame. The frame 3 includes opposing columns 301 and a main beam 302 connecting the two columns 301.

[0080] In another specific embodiment, the column 301 is a hollow column; the flipping positioner 10 includes a head seat 1001, a tail seat 1002, and a drive motor. The head seat 1001 and tail seat 1002 are rotatably connected to the two side columns 301, and a drive motor is installed in each of the two side columns 301 to drive the head seat 1001 and tail seat 1002 to rotate respectively. The assembly tooling 4 is connected between the head seat 1001 and tail seat 1002. The drive motor is specifically a combination of a motor and a reducer. The rotary positioner 11 is also symmetrically arranged on the head seat 1001 and tail seat 1002, and the two sides of the assembly tooling 4 are connected to the rotary positioner 11.

[0081] With this configuration, the motor and reducer of the drive unit are installed inside the column 301 of the frame 3, so that the head seat 1001 and tail seat 1002 of the flipping positioner 10 are integrated with the column 301, thereby shortening the length of the frame 3, reducing the equipment installation space, and improving the overall rigidity of the frame 3.

[0082] In another preferred embodiment, the guardrail processing equipment further includes a riveting robot 6 mounted on the frame 3. The riveting robot 6 is capable of riveting rods on the assembly tooling 4 located at the second work station. The processing robot and the riveting robot 6 are respectively mounted on opposite horizontal sides of the main beam 302, that is, the processing robot is mounted above the second work station as the welding robot 5, and the riveting robot 6 is mounted above the first work station.

[0083] With this setup, the rods on the assembly fixture 4 are assembled at the first station and then riveted. At the same time, at the second station, the riveted rods are welded. The automatic assembly and riveting cycle at the first station is shorter than the automatic welding cycle at the second station. After the automatic welding is completed, the flipping and positioning machine 10 is activated to swap the positions of the two assembly fixtures 4.

[0084] In another preferred embodiment, to ensure that the robot's movement range during riveting and welding can cover a long guardrail, the main beam 302 of the frame 3 is provided with a first robot slide rail 12 and a second robot slide rail. The riveting robot 6 is slidably connected to the first robot slide rail 12 via a first mounting base, and the processing robot is slidably connected to the second robot slide rail via a second mounting base. In addition, a wire feeding drum 13 is also provided on the mounting base.

[0085] In another preferred embodiment, in order to optimize the working range of the gripping robot 9, a third robot slide rail 14 is also provided. The gripping robot 9 is slidably connected to the third robot slide rail 14 through a third mounting base. The extension direction of the third robot slide rail 14 is consistent with the length direction of the material positioning rack 1.

[0086] In a preferred embodiment, the guardrail processing equipment further includes a finished product rack 15 and a feeding gripper 8; the finished product rack 15 can receive the welded guardrail; the feeding gripper 8 can hold and release the guardrail, and can move under the drive of the gripping robot 9 to transfer the guardrail from the assembly tooling 4 to the finished product rack 15; wherein, the feeding gripper 8 and the feeding gripper 7 are both connected to the gripping robot 9 through quick-change connectors. This quick-change connection method is a conventional technical means in the field and will not be described in detail here.

[0087] With this setup, when the welded guardrail needs to be removed, the gripper robot 9 changes its gripper fixture. In this way, one gripper robot 9 can simultaneously perform the dual functions of loading the pole and unloading the guardrail, reducing robot investment and lowering costs.

[0088] Given that the frame 3 includes opposing columns 301 and a main beam 302 erected between the two columns 301, the assembly tooling 4 is located below the main beam 302, the processing robot is mounted on the main beam 302, and the riveting robot 6 and welding robot 5 are located on opposite sides. The gripping robot 9 is located between the incoming material positioning rack 1 and the assembly tooling 4 at the first workstation. The loading positioning table 2 and the finished product rack 15 are located on opposite sides of the incoming material positioning rack 1, both of which are elongated and roughly perpendicular. The loading gripper 7 and the unloading gripper 8 can both be placed on the fixture frame, which is positioned close to the unloading gripper 8, meaning the gripping robot 9 performs quick-change fixture actions at the fixture frame. This reasonable layout makes the overall structure of the guardrail processing equipment compact, facilitating cooperation between the various mechanisms and ensuring the smooth operation of the entire process.

[0089] In addition, the main control cabinet 16 of the guardrail processing equipment is installed on the frame 3, and all electrical components are connected to the main control cabinet 16 for communication.

[0090] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0091] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0092] It should be understood that the qualifiers “first,” “second,” “third,” “fourth,” “fifth,” and “sixth” used in the description of the embodiments of this application are only used to more clearly illustrate the technical solutions and are not intended to limit the scope of protection of this application.

Claims

1. A guardrail processing equipment, characterized in that, include: The incoming material positioning rack (1) can stack various rods in sections so that the rods can be initially positioned. The loading and positioning table (2) can adjust the position of various rods and position them in multiple waiting positions so that the rods can complete secondary positioning. Rack (3); Assembly tooling (4) is set on the frame (3) to support the rods and fix the rods in an assembly state that forms a guardrail; The processing robot, mounted on the frame (3), is capable of connecting all the rods on the assembly tooling (4) into a whole; The loading gripper (7) is capable of clamping and releasing the rod; The gripping robot (9) can move the loading gripper (7) to transfer the rod from the incoming material positioning rack (1) to the loading positioning table (2), and transfer the rod after secondary positioning from the loading positioning table (2) to the assembly tooling (4). A flipping and positioning machine (10) is installed on the frame (3). At least two assembly toolings (4) are provided and are all connected to the flipping and positioning machine (10). The flipping and positioning machine (10) can drive the assembly tooling (4) to move in a curved direction so that the assembly tooling (4) can switch between the first station and the second station. The loading gripper (7) can move the rod to the assembly tooling (4) located at the first station. The processing robot can weld the rod on the assembly tooling (4) located at the second station. The frame (3) includes columns (301) arranged opposite to each other; the flipping and positioning machine (10) includes a head seat (1001), a tail seat (1002) and a drive motor. The head seat (1001) and the tail seat (1002) are rotatably connected to the columns (301) on both sides respectively. The drive motor is installed in the columns (301) on both sides to drive the head seat (1001) and the tail seat (1002) to rotate respectively. The assembly tooling (4) is connected between the head seat (1001) and the tail seat (1002).

2. The guardrail processing equipment according to claim 1, characterized in that, It also includes a rotary positioner (11) disposed between the flipping positioner (10) and the assembly tooling (4), the rotary positioner (11) being able to drive the assembly tooling (4) to rotate; The assembly base plate (401) of the assembly tooling (4) has a cutout at the welding point of the rod, so that the processing robot can weld the rod on both sides of the assembly tooling (4).

3. The guardrail processing equipment according to claim 1, characterized in that, It also includes a riveting robot (6) mounted on the frame (3), which is capable of riveting rods on the assembly tooling (4) located at the second work station.

4. The guardrail processing equipment according to claim 3, characterized in that, The frame (3) is provided with a first robot slide rail (12) and a second robot slide rail. The riveting robot (6) is slidably connected to the first robot slide rail (12) through a first mounting base, and the processing robot is slidably connected to the second robot slide rail through a second mounting base.

5. The guardrail processing equipment according to claim 1, characterized in that, The loading positioning platform (2) includes a loading base plate (201) and positioning components disposed on the loading base plate (201). The loading base plate (201) is provided with multiple positioning areas, and each positioning area is provided with a set of positioning components capable of acting on corresponding type rods. A single set of positioning components includes: The feeding positioning groove (202) is provided with multiple grooves and can accommodate rods; The transverse push cylinder (203) and / or the longitudinal push cylinder (204) push the rod located in the loading positioning groove (202) in the transverse and longitudinal directions respectively, and limit the rod to the position to be picked up; The positioning sensor is communicatively connected to the transverse push cylinder (203) and the longitudinal push cylinder (204).

6. The guardrail processing equipment according to claim 5, characterized in that, Some of the positioning components also include: A limiting arm (205) is mounted on the loading base plate (201); The first rotary cylinder (206) can drive the limiting arm (205) to rotate above the loading positioning groove (202).

7. The guardrail processing equipment according to claim 1, characterized in that, The assembly fixture (4) includes an assembly base plate (401) and multiple sets of dispersed clamping assemblies disposed on the assembly base plate (401), the clamping assemblies including: The assembly positioning groove (402) can accommodate the rod; A clamping arm (403) is mounted on the assembly base plate (401); The second rotary cylinder (404) can drive the clamping arm (403) to rotate above the pairing positioning groove (402).

8. The guardrail processing equipment according to claim 7, characterized in that, The assembly tooling (4) also includes an electromagnet (405) mounted on the assembly base plate (401), which can attract rods when energized.

9. The guardrail processing equipment according to claim 1, characterized in that, The incoming material positioning rack (1) includes an incoming material base plate (101) and a rod frame (102) set on the incoming material base plate (101). The incoming material base plate (101) is provided with multiple storage areas, and each storage area is provided with a rod frame (102) that can hold corresponding types of rods. The rod frame (102) includes multiple support blocks (103) with equal height differences.

10. The guardrail processing equipment according to claim 1, characterized in that, It also includes a third robot rail (14), and the gripping robot (9) is slidably connected to the third robot rail (14) via a third mounting base.

11. The guardrail processing equipment according to claim 1, characterized in that, Also includes: Finished material rack (15) can support the welded guardrail; The unloading gripper (8) is capable of gripping and releasing the guardrail, and can move under the drive of the gripping robot (9) to transfer the guardrail from the assembly tooling (4) to the finished product rack (15). The unloading gripper (8) and the loading gripper (7) are both connected to the gripping robot (9) via quick-change connectors.

12. The guardrail processing equipment according to claim 11, characterized in that, The frame (3) includes opposing columns (301) and a main beam (302) erected between the two columns (301). The assembly tooling (4) is located below the main beam (302), and the processing robot is mounted on the main beam (302). The gripping robot (9) is located between the incoming material positioning rack (1) and the assembly tooling (4) located at the first work station; The loading positioning table (2) and the finished product rack (15) are located on opposite sides of the incoming material positioning rack (1); Both the loading gripper (7) and the unloading gripper (8) can be placed on the fixture frame, which is located close to the unloading gripper (8).

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