A self-positioning assembled steel-wood structure welding equipment

Abstract

The invention discloses an assembled steel-wood structure welding device with self-positioning, which relates to the technical field of welding and comprises a feeding system, an industrial robot and a frame, wherein the industrial robot is installed on one side of the frame, a welding gun is installed on the industrial robot, a sliding box is installed on the frame, a plurality of placement slots are sequentially arranged in the sliding box, a first spring is installed on one side of the placement slot, a light source is installed on each turn of the first spring, a telescopic plate is slidably installed on the upper side of the placement slot, a photoresistor plate is arranged on the inner wall of the placement slot and the lower side of the telescopic plate, the photoresistor plate is electrically connected to a control system, a conveying line is installed on one side of the sliding box, a rotating cylinder is installed on the conveying line, a connecting box is installed on the rotating cylinder, a bracket is installed above the connecting box, and a material unloading box is installed on the lower side of the bracket; the placement slot is used to place steel-wood A, the photoresistor plate detects steel-wood A, and the industrial robot and the welding gun cooperate to realize the welding of steel-wood A and steel-wood B.

Description

Technical Field

[0001] The invention relates to the technical field of welding, in particular to assembled steel-wood structure welding equipment with self-positioning function. Background Art

[0002] Steel-wood structure is a hybrid structure that combines the advantages of modern steel structure and traditional wood structure, making the building not only have traditional architectural style, but also more solid and durable. This structural form uses steel structure for load-bearing components such as columns and beams, while wood structure is used for the exterior, including the ceiling, doors and windows, railings, stairs, etc., all of which use wood structure materials. The two sets of steel-wood structures (equivalent to steel pipes) need to be assembled through welding to obtain better strength. An existing steel pipe welding device (CN116352228A) mainly uses internal and external welding to improve the welding effect. However, using a welding gun to directly weld the steel pipe will generate welding stress, reduce the structural bearing capacity, cause cracks, affect the machining accuracy and dimensional stability, and cause stress corrosion and low-stress brittle fracture. Therefore, the existing steel-wood structure welding device has the following main problems: (1) Direct welding leads to a decrease in the bearing capacity and strength of the steel-wood structure, which cannot meet the use requirements; (2) There is no detection of the steel-wood structure, resulting in defective products from the front-end process entering the welding, which reduces the welding efficiency. Summary of the invention

[0003] The purpose of the present invention is to provide a self-positioning assembled steel-wood structure welding device to solve the problems raised in the prior art.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a self-positioning assembled steel-wood structure welding equipment, comprising a feeding system and an industrial robot, comprising a frame, the industrial robot is installed on one side of the frame, a welding gun is installed on the industrial robot, a sliding box is installed on the frame, a plurality of placement slots are sequentially arranged in the sliding box, a first spring is installed on one side of the placement slot, a light source is installed on each turn of the first spring, a telescopic plate is slidably installed on the upper side of the placement slot, a photoresistor plate is provided on the inner wall of the placement slot and the lower side of the telescopic plate, the photoresistor plate is electrically connected to a control system, a conveyor line is installed on one side of the sliding box, a rotating cylinder is installed on the conveyor line, a docking box is installed on the rotating cylinder, a bracket is installed above the docking box, a material discharge box is installed on the lower side of the bracket, and the sliding box and the material discharge box are respectively connected to the feeding system;

[0005] The placement groove is used to place steel-wood A, the photoresistor plate detects steel-wood A, the unloading box is used to transport steel-wood B and perform detection, and the industrial robot and welding gun cooperate to realize the welding of steel-wood A and steel-wood B.

[0006] A through slot is provided on one side of the placement slot, one end of the first spring is located in the through slot, a displacement sensor is installed in the through slot, the other end of the first spring is located in the placement slot, both ends of the first spring are electrically connected to the control system through wires, and when the first spring is energized, each turn generates a magnetic field that attracts each other, which shortens the first spring, and when the first spring is de-energized, the first spring gradually expands under the action of its own elastic force.

[0007] The staff presses the start button on the control panel, and the control system energizes the multiple first springs in the sliding box. The first springs pull the contact plate and the electromagnet to move leftward into the through slot, so that the steel wood A can be placed in the placement slot;

[0008] The displacement sensor in the through slot feeds back the displacement data of the contact plate to the control system, and the feeding system transports the steel wood A to the placement slot. The control system generates negative pressure in the adsorption hole through the negative pressure system and the pipeline, and adsorbs and positions the steel wood A to prevent it from moving. At the same time, the feeding system transports the steel wood B to the feed port of the unloading box, and the piston rod of the limit cylinder is pushed out to position the steel wood B. Multiple sets of visual cameras detect leaks in the steel wood B. If there are leaks in the steel wood B, the limit cylinder releases the steel wood B, and the feeding system grabs and sends the steel wood B away. After that, the feeding system puts in new steel wood B.

[0009] After the adsorption hole adsorbs the steel wood A to position, the negative pressure system feeds back the pressure signal to the control system, and the control system controls the first spring to be powered off, the light source to be connected to the circuit and the electromagnet to be powered on. The first spring gradually expands under the action of its own elastic force, and pushes the contact plate and the electromagnet to move to the right inside the steel wood A. The electromagnet and the magnet on the telescopic plate attract each other. Under the action of the magnetic field attraction, the magnet on the telescopic plate pulls the telescopic plate to gradually expand, and the photoresistor plate on the lower side of the telescopic plate gradually expands with the telescopic plate. At this time, the photoresistor plate on the lower side of the telescopic plate and the photoresistor plate on the inner wall of the placement groove are facing the outer side of the steel wood A. The suction force of the electromagnet on the steel wood A is less than the suction force of the adsorption hole, so the steel wood A cannot be adsorbed by the electromagnet;

[0010] As the first spring moves to the right inside the steel wood A, the light source gradually expands and distributes inside the steel wood A along with each turn of the first spring. The light source irradiates light inside the steel wood A. When there is a hole in the steel wood A, the light from the light source passes through the hole and shines on the photoresistor board on the lower side of the telescopic plate or the photoresistor board on the inner wall of the placement groove. The resistance value of the photoresistor board changes, and the current in the circuit connected to the photoresistor board changes. The control system detects the current to determine whether there is a hole in the steel wood A.

[0011] When the steel wood A enters the positioning groove from the placement groove, the displacement sensor in the positioning groove feeds back data to the control system, and the control system controls the piston rod of the positioning cylinder to push out to position the steel wood A. After that, the transmission belt on the conveyor line drives the rotating cylinder, the docking box and the steel wood A to move to the right to the bottom of the electric board B. The second electric cylinder drives the insulating plate and the electric board B to move downward, so that the electric board B contacts the outer surface of the steel wood A. The first electric cylinder drives another set of insulating plates and the electric board A to contact the inner surface of the steel wood A. The control system connects the electric board A and the electric board B to the positive and negative poles of the power supply respectively. The current will flow from the steel wood A between the electric board A and the electric board B. This position is the position where the steel wood A needs to be welded. The current makes this position hot, reducing the stress generated by the later welding of the steel wood A.

[0012] After electric plates A and B heat steel and wood A for a set time, the control system cuts off the power to electric plates A and B, and drives electric plate A to move right and electric plate B upward through the first electric cylinder and the second electric cylinder respectively, so that electric plates A and B no longer heat steel and wood A and return.

[0013] When the first electric cylinder and the second electric cylinder retract, the internal encoder feeds back data to the control system, and the control system controls the conveyor line to drive steel wood A to move further to the right through the transmission belt, so that the middle part of steel wood A is directly below the unloading box. The encoder in the conveyor line feeds back data to the control system, and the control system connects the coil to the circuit. The alternating magnetic field generated by the coil causes eddy currents to be generated at the welding position on the lower side of steel wood B, and the position of steel wood B that needs to be welded becomes hot to reduce the stress generated during welding.

[0014] After the coil heats the welding position of steel wood B to the set time, the limit cylinder is released, allowing the position on the lower side of steel wood A that needs to be welded to emerge from the bottom of the feed box. Then the piston rod of the limit cylinder is pushed out again to position steel wood B. Steel wood B and steel wood A are in contact for assembly. The industrial robot drives the welding gun to perform welding on the position where steel wood B and steel wood A need to be welded.

[0015] After the welding of steel wood A and steel wood B is completed, the piston rod of the limit cylinder retracts, the fourth electric cylinder drives the bracket to move upward, and the bracket drives the unloading box to move upward so that the bottom height of the unloading box is at the top of the welded steel wood B. After that, the conveyor line drives the welded steel wood A and steel wood B to move to the right through the transmission belt. When the welded steel wood A and steel wood B move to the rightmost side of the transmission belt, the rotating cylinder drives the rightmost connection box to rotate 180 degrees, and the rightmost connection box drives the welded steel wood A and steel wood B to rotate 180 degrees. After that, the staff removes the welded steel wood A and steel wood B.

[0016] The rotary cylinder and the docking box are installed in multiple groups on the conveyor line, and the rotary cylinder is installed on the transmission belt of the conveyor line.

[0017] A plurality of adsorption holes are arranged in the placement slot, and the plurality of adsorption holes are connected to a negative pressure system through pipelines. The negative pressure system is installed on a frame. The telescopic plate is a telescopic structure. One end of the telescopic plate is installed on the placement slot, and the other end of the telescopic plate is slidably installed on the placement slot. A magnet is installed on the telescopic plate, and the upper side of the placement slot is blocked when the telescopic plate is unfolded. The light source is electrically connected to a control system, and a contact plate is installed on the first spring away from the through slot. A plurality of electromagnets are installed on the contact plate, and the electromagnets are electrically connected to a control system.

[0018] The docking box is provided with a plurality of positioning grooves in sequence, another group of displacement sensors are installed in the positioning grooves, two groups of positioning cylinders are installed on the upper side of the positioning grooves, a first electric cylinder is installed on one side of the positioning groove, an insulating plate is installed on the telescopic rod of the first electric cylinder, an electric plate A is provided on one side of the insulating plate, a second electric cylinder is installed on the bracket, another group of insulating plates is installed on the telescopic rod of the second electric cylinder, and an electric plate B is provided on one side of the other group of insulating plates;

[0019] The electric plate A and the electric plate B are connected to the positive electrode and the negative electrode of the power supply respectively through wires.

[0020] The material discharge box is provided with multiple groups, and the multiple groups of material discharge boxes are all installed on the bracket. The upper side of the material discharge box is provided with a feed port, and the lower side of the material discharge box is provided with a discharge port. The material discharge box located between the feed port and the discharge port is provided with multiple groups of limit cylinders and visual cameras, and the piston rods of the multiple groups of limit cylinders are located in the material discharge box. The visual camera is installed on the material discharge box, and the limit cylinder is located on one side of the visual camera.

[0021] A coil is installed on the outside of the material box near the discharge port, the coil is installed on the material box, the coil is electrically connected to the control system, and telescopic rods of the fourth electric cylinder are connected to both ends of the bracket, and the fourth electric cylinder is installed on the frame.

[0022] The sliding box is slidably mounted on the frame through a sliding groove, and the sliding box is connected to a telescopic rod of a third electric cylinder.

[0023] A control panel is installed on the frame, and a control system is built into the control panel. The conveying line, the first electric cylinder, the second electric cylinder, the third electric cylinder and the fourth electric cylinder are all built into encoders.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. Use the photoresistor board and visual sensor to inspect steel wood A and steel wood B respectively to avoid welding defective products caused by the front-end process. The light source gradually expands and distributes inside the steel wood A with each turn of the first spring. The light source shines light inside the steel wood A. When there is a hole in the steel wood A, the light from the light source passes through the hole and shines on the photoresistor board on the lower side of the telescopic plate or the photoresistor board on the inner wall of the placement slot. The resistance value of the photoresistor board changes, and the current in the circuit connected to the photoresistor board changes. The control system detects the current and then obtains whether there is a hole in the steel wood A, thereby improving the welding efficiency.

[0026] 2. Reduce welding stress and improve welding reliability. The control system connects the electric plate A and the electric plate B to the positive and negative poles of the power supply respectively. The current will flow from the steel wood A between the electric plate A and the electric plate B. This position is where the steel wood A needs to be welded. The current makes this position hot, reducing the stress generated by the later welding of the steel wood A.

[0027] 3. Detection and transportation are realized through the cooperation of the sliding box and the docking box to improve the detection efficiency. The control system controls the third electric cylinder to drive the sliding box to move to the right, so that the placement slot on the sliding box is aligned with the positioning slot on the docking box. The control system controls the negative pressure system to connect to the external atmosphere according to the displacement signal of the third electric cylinder, so that the adsorption hole cannot adsorb the steel wood A. The negative pressure system feeds back the pressure signal to the control system. The control system controls the electromagnet to be energized and the first spring to be de-energized. The first spring pushes the contact plate and the electromagnet to move to the right and enter the interior of the steel wood A. The electromagnet adsorbs the steel wood A and moves to the right under the elastic force of the first spring. The first spring pushes the steel wood A from the placement slot to the positioning slot through the electromagnet, so that the steel wood A is detected and pushed into the docking box, improving the detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of the present invention (the telescopic plate is in an expanded state);

[0029] Figure 2 yes Figure 1 Schematic diagram of the installation structure with industrial robots and welding guns;

[0030] Figure 3 It is a three-dimensional diagram of the sliding box and docking box and their internal structure (the telescopic plate is in a retracted state, and the direction of the arrow indicates the movement direction of the steel wood A);

[0031] Figure 4 yes Figure 3 Top view of the left part of the structure (the first spring is energized);

[0032] Figure 5 yes Figure 4 Cross-sectional view of the middle AA region;

[0033] Figure 6 yes Figure 5 A partial enlarged view of the middle B area;

[0034] Figure 7 yes Figure 4 Schematic diagram of the first spring after it is unfolded (the first spring is in the power-off state);

[0035] Figure 8 It is a schematic diagram of the installation structure of the conveyor line, the docking box and its internal structure, the bracket, the second electric cylinder and the electric board B;

[0036] Fig. 9 yes Figure 8 Schematic diagram of the structure after removing the bracket, the second electric cylinder and the electric plate B;

[0037] Fig.10 yes Fig. 9 A partial enlarged view of the middle C area.

[0038] In the figure: 1. control panel; 11. rack; 12. sliding box; 121. placement slot; 122. first spring; 123. light source; 124. telescopic plate; 125. contact plate; 126. electromagnet; 13. conveyor line; 131. rotary cylinder; 14. docking box; 141. positioning slot; 142. positioning cylinder; 143. first electric cylinder; 144. electric board A; 15. industrial robot; 151. welding gun; 16. unloading box; 17. bracket; 171. second electric cylinder; 172. electric board B; 18. limit cylinder; 181. visual camera; 19. coil; 2. steel and wood A; 21. steel and wood B; 22. third electric cylinder; 23. fourth electric cylinder. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] Example: Figure 1-Figure 10As shown, the present invention provides a technical solution of a self-positioning assembled steel-wood structure welding device, including a feeding system, an industrial robot 15 and a frame 11, the industrial robot 15 is installed on one side of the frame 11, a welding gun 151 is installed on the industrial robot 15, a sliding box 12 is installed on the frame 11, a plurality of placement slots 121 are sequentially arranged in the sliding box 12, a first spring 122 is installed on one side of the placement slot 121, a light source 123 is installed on each turn of the first spring 122, a telescopic plate 124 is slidably installed on the upper side of the placement slot 121, a photoresistor board is arranged on the inner wall of the placement slot 121 and the lower side of the telescopic board 124, the photoresistor board is electrically connected to the control system, a conveyor line 13 is installed on one side of the sliding box 12, A rotating cylinder 131 is installed on the conveyor line 13, a connecting box 14 is installed on the rotating cylinder 131, a bracket 17 is installed above the connecting box 14, a discharge box 16 is installed on the lower side of the bracket 17, the sliding box 12 and the discharge box 16 are respectively connected to the feeding system; the placement groove 121 is used to place the steel wood A2, the photoresistor board detects the steel wood A2, the discharge box 16 is used to convey the steel wood B21 and detect it, the industrial robot 15 and the welding gun 151 cooperate to realize the welding of steel wood A2 and steel wood B21, multiple groups of rotating cylinders 131 and connecting boxes 14 are installed on the conveyor line 13, the rotating cylinder 131 is installed on the transmission belt of the conveyor line 13, and a control panel 1 is installed on the frame 11, and the control panel 1 has a built-in control system.

[0041] The sliding box 12 is slidably installed on the frame 11 through the sliding groove. The sliding box 12 is connected to the telescopic rod of the third electric cylinder 22. A through groove is provided on one side of the placement groove 121. One end of the first spring 122 is located in the through groove. A displacement sensor is installed in the through groove. The other end of the first spring 122 is located in the placement groove 121. Both ends of the first spring 122 are electrically connected to the control system through a wire. After the first spring 122 is energized, each turn generates a magnetic field that attracts each other, which shortens the first spring 122. After the first spring 122 is powered off, it gradually expands under the action of its own elastic force. A plurality of adsorption devices are provided in the placement groove 121. Holes, multiple adsorption holes are connected to the negative pressure system through pipelines, the negative pressure system is installed on the frame 11, the telescopic plate 124 is a telescopic structure, one end of the telescopic plate 124 is installed on the placement slot 121, and the other end of the telescopic plate 124 is slidably installed on the placement slot 121, and a magnet is installed on the telescopic plate 124. When the telescopic plate 124 is unfolded, the upper side of the placement slot 121 is blocked, the light source 123 is electrically connected to the control system, and a contact plate 125 is installed on the first spring 122 away from the side of the through slot, and a plurality of electromagnets 126 are installed on the contact plate 125, and the electromagnets 126 are electrically connected to the control system.

[0042] A number of positioning grooves 141 are sequentially arranged on the docking box 14, another group of displacement sensors are installed in the positioning grooves 141, two groups of positioning cylinders 142 are installed on the upper side of the positioning grooves 141, a first electric cylinder 143 is installed on one side of the positioning groove 141, an insulating plate is installed on the telescopic rod of the first electric cylinder 143, an electric board A144 is arranged on one side of the insulating plate, a second electric cylinder 171 is installed on the bracket 17, another group of insulating plates is installed on the telescopic rod of the second electric cylinder 171, and an electric board B172 is arranged on one side of the other group of insulating plates; the electric board A144 and the electric board B172 are respectively connected to the positive pole and the negative pole of the power supply through wires.

[0043] There are multiple groups of material boxes 16, and the multiple groups of material boxes 16 are all installed on the bracket 17. A feed port is provided on the upper side of the material box 16, and a discharge port is provided on the lower side of the material box 16. Multiple groups of limit cylinders 18 and visual cameras 181 are installed on the material box 16 between the feed port and the discharge port. The piston rods of the multiple groups of limit cylinders 18 are located in the material box 16, and the visual camera 181 is installed on the material box 16. The limit cylinder 18 is located on one side of the visual camera 181; a coil 19 is installed on the outer side of the material box 16 near the discharge port, and the coil 19 is installed on the material box 16. The coil 19 is electrically connected to the control system, and the telescopic rods of the fourth electric cylinder 23 are connected at both ends of the bracket 17. The fourth electric cylinder 23 is installed on the frame 11, and the conveyor line 13, the first electric cylinder 143, the second electric cylinder 171, the third electric cylinder 22 and the fourth electric cylinder 23 are all equipped with built-in encoders.

[0044] Working principle: The staff presses the start button on the control panel 1, and the control system energizes the multiple first springs 122 in the sliding box 12. The first springs 122 pull the contact plate 125 and the electromagnet 126 to move leftward into the through slot, so that the steel wood A2 can be placed in the placement slot 121;

[0045] The displacement sensor in the through groove feeds back the displacement data of the contact plate 125 to the control system, and the feeding system transports the steel wood A2 to the placement groove 121. The control system generates negative pressure in the adsorption hole through the negative pressure system and the pipeline, and adsorbs and positions the steel wood A2 to prevent the steel wood A2 from moving; the feeding system simultaneously transports the steel wood B21 to the feed port of the unloading box 16, and the piston rod of the limit cylinder 18 is pushed out to position the steel wood B21. Multiple groups of visual cameras 181 perform leak detection on the steel wood B21. If there is a leak in the steel wood B21, the limit cylinder 18 releases the steel wood B21, and the feeding system grabs and sends the steel wood B21 away. After that, the feeding system puts in new steel wood B21.

[0046] After the adsorption hole adsorbs the steel wood A2 to position, the negative pressure system feeds back the pressure signal to the control system, and the control system controls the first spring 122 to be powered off, the light source 123 to be connected to the circuit and the electromagnet 126 to be powered on. The first spring 122 gradually expands under the action of its own elastic force, and pushes the contact plate 125 and the electromagnet 126 to move rightward inside the steel wood A2. The electromagnet 126 and the magnet on the telescopic plate 124 attract each other. Under the action of the magnetic field attraction, the magnet on the telescopic plate 124 pulls the telescopic plate 124 to gradually expand, and the photoresistor plate on the lower side of the telescopic plate 124 gradually expands with the telescopic plate 124. At this time, the photoresistor plate on the lower side of the telescopic plate 124 and the photoresistor plate on the inner wall of the placement groove 121 are directly opposite to the outer side of the steel wood A2, and the suction force of the electromagnet 126 on the steel wood A2 is less than the suction force of the adsorption hole, so the steel wood A2 cannot be adsorbed by the electromagnet 126;

[0047] As the first spring 122 moves to the right inside the steel wood A2, the light source 123 gradually expands and distributes inside the steel wood A2 following each turn of the first spring 122. The light source 123 irradiates light inside the steel wood A2. When there is a hole in the steel wood A2, the light from the light source 123 passes through the hole and shines on the photoresistor board on the lower side of the telescopic plate 124 or the photoresistor board on the inner wall of the placement groove 121. The resistance value of the photoresistor board changes, and the current in the circuit connected to the photoresistor board changes. The control system detects the current to determine whether there is a hole in the steel wood A2.

[0048] When the control system detects that there is a hole in the steel wood A2, the control system controls the first spring 122 to be energized again and the light source 123 to be deenergized, and the first spring 122 pulls the contact plate 125, the light source 123 and the electromagnet 126 to move to the left and enter the through slot. At the same time, the electromagnet 126 and the magnet pull the telescopic plate 124 to move to the left and gradually shrink under the action of attraction. After that, the displacement sensor in the through slot feeds back the position data of the contact plate 125 to the control system, and the control system controls the electromagnet 126 to be deenergized and the steel wood with the hole is pushed out through the feeding system. After A2 is taken away, a new piece of steel and wood A2 is placed through the feeding system. Similar to the above-mentioned detection of steel and wood A2, the first spring 122 is powered off again and the light source 123, the contact plate 125 and the electromagnet 126 are pushed to the right to enter the interior of the new piece of steel and wood A2. The telescopic plate 124 is gradually unfolded with the cooperation of the magnet and the electromagnet 126. The photoresistor board on the lower side of the telescopic plate 124 and the photoresistor board in the placement slot 121 detect the new piece of steel and wood A2 again. When the loop current in the photoresistor board remains almost unchanged, there is no loophole in the new piece of steel and wood A2.

[0049] When the control system detects that there is no hole in the steel and wood A2, the control system energizes the first spring 122, and the first spring 122 pulls the light source 123, the contact plate 125 and the electromagnet 126 into the through groove on the left side of the placement groove 121. The displacement sensor feeds back the displacement data of the contact plate 125 to the control system, and the control system controls the third electric cylinder 22 to drive the sliding box 12 to move to the right, so that the placement groove 121 on the sliding box 12 is aligned with the positioning groove 141 on the docking box 14. The control system controls the third electric cylinder 22 according to the displacement signal of the third electric cylinder 22. The negative pressure system is connected to the external atmosphere so that the adsorption hole cannot adsorb the steel wood A2. The negative pressure system feeds back the pressure signal to the control system. The control system controls the electromagnet 126 to be energized and the first spring 122 to be de-energized. The first spring 122 pushes the contact plate 125 and the electromagnet 126 to move to the right and enter the interior of the steel wood A2. The electromagnet 126 adsorbs the steel wood A2 and moves to the right under the elastic force of the first spring 122. The first spring 122 pushes the steel wood A2 from the placement slot 121 to the positioning slot 141 through the electromagnet 126.

[0050] When the steel wood A2 enters the positioning groove 141 from the placement groove 121, the displacement sensor in the positioning groove 141 feeds back data to the control system, and the control system controls the piston rod of the positioning cylinder 142 to push out to position the steel wood A2. After that, the transmission belt on the conveyor line 13 drives the rotating cylinder 131, the docking box 14 and the steel wood A2 to move to the right to the bottom of the electric board B172, and the second electric cylinder 171 drives the insulating plate and the electric board B172 to move downward, so that the electric board B172 contacts the outer surface of the steel wood A2, and the first electric cylinder 143 drives another group of insulating plates and the electric board A144 to contact the inner surface of the steel wood A2. The control system connects the electric board A144 and the electric board B172 to the positive pole and the negative pole of the power supply respectively, and the current will flow from the steel wood A2 between the electric board A144 and the electric board B172. This position is the position where the steel wood A2 needs to be welded. The current makes this position hot, reducing the stress generated by the later welding of the steel wood A2.

[0051] After electric plate A144 and electric plate B172 heat the steel wood A2 for the set time, the control system cuts off the power to electric plate A144 and electric plate B172, and drives electric plate A144 to move right and electric plate B172 upward through the first electric cylinder 143 and the second electric cylinder 171 respectively, so that electric plate A144 and electric plate B172 no longer heat the steel wood A2 and return.

[0052] When the first electric cylinder 143 and the second electric cylinder 171 retract, the internal encoder feeds back data to the control system, and the control system controls the conveyor line 13 to drive the steel wood A2 to move further to the right through the transmission belt, so that the middle part of the steel wood A2 is located directly below the unloading box 16. The encoder in the conveyor line 13 feeds back data to the control system, and the control system connects the coil 19 to the circuit. The alternating magnetic field generated by the coil 19 generates eddy currents at the welding position on the lower side of the steel wood B21, and the position of the steel wood B21 that needs to be welded generates heat to reduce the stress generated during welding.

[0053] After the coil 19 heats the welding position of the steel wood B21 to the set time, the limit cylinder 18 is released, so that the position on the lower side of the steel wood A2 that needs to be welded emerges from the bottom of the unloading box 16, and then the piston rod of the limit cylinder 18 is pushed out again to position the steel wood B21. The steel wood B21 and the steel wood A2 are in contact to achieve assembly, and the industrial robot 15 drives the welding gun 151 to perform welding processing on the position where the steel wood B21 and the steel wood A2 need to be welded.

[0054] After the welding of steel wood A2 and steel wood B21 is completed, the piston rod of the limiting cylinder 18 retracts, and the fourth electric cylinder 23 drives the bracket 17 to move upward, and the bracket 17 drives the unloading box 16 to move upward, so that the bottom height of the unloading box 16 is at the top of the welded steel wood B21. After that, the conveyor line 13 drives the welded steel wood A2 and steel wood B21 to move to the right through the transmission belt. When the welded steel wood A2 and steel wood B21 move to the rightmost side of the transmission belt, the rotating cylinder 131 drives the rightmost docking box 14 to rotate 180 degrees, and the rightmost docking box 14 drives the welded steel wood A2 and steel wood B21 to rotate 180 degrees. After that, the staff removes the welded steel wood A2 and steel wood B21.

[0055] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A self-positioning assembled steel-wood structure welding device, comprising a feeding system and an industrial robot (15), characterized in that: The invention comprises a frame (11), the industrial robot (15) being mounted on one side of the frame (11), the industrial robot (15) being mounted with a welding gun (151), the frame (11) being mounted with a sliding box (12), the sliding box (12) being provided with a plurality of placement slots (121) in sequence, a first spring (122) being mounted on one side of the placement slot (121), a light source (123) being mounted on each turn of the first spring (122), a telescopic plate (124) being slidably mounted on the upper side of the placement slot (121), the placement slot (121) being provided with a plurality of placement slots (121) in sequence, A photoresistor plate is provided on the inner wall of the groove (121) and the lower side of the telescopic plate (124), and the photoresistor plate is electrically connected to a control system; a conveyor line (13) is installed on one side of the sliding box (12); a rotating cylinder (131) is installed on the conveyor line (13); a docking box (14) is installed on the rotating cylinder (131); a bracket (17) is installed above the docking box (14); a material discharge box (16) is installed on the lower side of the bracket (17); and the sliding box (12) and the material discharge box (16) are respectively connected to a feeding system; The placement groove (121) is used to place the steel-wood A (2), the photoresistor plate detects the steel-wood A (2), the unloading box (16) is used to transport the steel-wood B (21) and perform detection, and the industrial robot (15) and the welding gun (151) cooperate to achieve welding of the steel-wood A (2) and the steel-wood B (21); A through slot is provided on one side of the placement slot (121), one end of the first spring (122) is located in the through slot, a displacement sensor is installed in the through slot, the other end of the first spring (122) is located in the placement slot (121), and both ends of the first spring (122) are electrically connected to a control system via wires.

2. The self-positioning assembled steel-wood structure welding equipment according to claim 1 is characterized in that: The rotating cylinder (131) and the docking box (14) are installed in multiple groups on the conveyor line (13), and the rotating cylinder (131) is installed on the transmission belt of the conveyor line (13).

3. The self-positioning assembled steel-wood structure welding equipment according to claim 2 is characterized in that: A plurality of adsorption holes are arranged in the placement slot (121), and the plurality of adsorption holes are connected to a negative pressure system through pipelines. The negative pressure system is installed on the frame (11). The telescopic plate (124) is a telescopic structure. One end of the telescopic plate (124) is installed on the placement slot (121), and the other end of the telescopic plate (124) is slidably installed on the placement slot (121). A magnet is installed on the telescopic plate (124). When the telescopic plate (124) is unfolded, the upper side of the placement slot (121) is shielded. The light source (123) is electrically connected to a control system. A contact plate (125) is installed on the first spring (122) at a side away from the through slot. A plurality of electromagnets (126) are installed on the contact plate (125), and the electromagnets (126) are electrically connected to the control system.

4. The self-positioning assembled steel-wood structure welding equipment according to claim 3 is characterized in that: The docking box (14) is provided with a plurality of positioning grooves (141) in sequence, another group of displacement sensors is installed in the positioning grooves (141), two groups of positioning cylinders (142) are installed on the upper side of the positioning grooves (141), a first electric cylinder (143) is installed on one side of the positioning groove (141), an insulating plate is installed on the telescopic rod of the first electric cylinder (143), an electric plate A (144) is provided on one side of the insulating plate, a second electric cylinder (171) is installed on the bracket (17), another group of insulating plates is installed on the telescopic rod of the second electric cylinder (171), and an electric plate B (172) is provided on one side of the other group of insulating plates; The electric plate A (144) and the electric plate B (172) are connected to the positive electrode and the negative electrode of the power supply respectively through wires.

5. The self-positioning assembled steel-wood structure welding equipment according to claim 4 is characterized in that: The material discharge box (16) is provided with a plurality of groups, and the plurality of groups of material discharge boxes (16) are all mounted on a bracket (17); a material feed port is provided on the upper side of the material discharge box (16), and a material discharge port is provided on the lower side of the material discharge box (16); a plurality of groups of limit cylinders (18) and a visual camera (181) are installed on the material discharge box (16) between the material feed port and the material discharge port; the piston rods of the plurality of groups of limit cylinders (18) are located in the material discharge box (16); the visual camera (181) is installed on the material discharge box (16), and the limit cylinder (18) is located on one side of the visual camera (181); A coil (19) is installed on the outside of the material discharge box (16) near the material discharge port. The coil (19) is installed on the material discharge box (16). The coil (19) is electrically connected to the control system. Telescopic rods of a fourth electric cylinder (23) are connected to both ends of the bracket (17). The fourth electric cylinder (23) is installed on the frame (11).

6. The self-positioning assembled steel-wood structure welding equipment according to claim 5 is characterized in that: The sliding box (12) is slidably mounted on the frame (11) via a sliding groove, and the sliding box (12) is connected to a telescopic rod of a third electric cylinder (22).

7. The self-positioning assembled steel-wood structure welding equipment according to claim 6 is characterized in that: A control panel (1) is mounted on the frame (11), the control panel (1) having a built-in control system, and the conveyor line (13), the first electric cylinder (143), the second electric cylinder (171), the third electric cylinder (22), and the fourth electric cylinder (23) all have built-in encoders.

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