A welding robot for box-type substation production

Abstract

The present invention relates to the technical field of processing and production of box-type substations, and specifically to a welding robot for box-type substation production, comprising a slide rail base, a manipulator, a discharge mechanism, and a guide mechanism. In the present invention, a movable frame drives the discharge mechanism and the guide mechanism to move from front to back, firstly weld the horizontally placed protective plate, and then weld the longitudinally placed protective plate during the resetting process from back to front. During the entire process, the guide unit guides the connecting column and the rectangular plate 2 to the designated position, so that the protective plate is lowered to the designated welding position, reducing manual participation while improving the placement accuracy of the protective plate, and ultimately ensuring the protective effect of the welded protective plate on the electrical equipment inside the box.

Description

Technical Field

[0001] The present invention relates to the technical field of processing and production of box-type substations, and in particular to a welding robot for producing box-type substations. Background Art

[0002] A box-type substation, also known as a prefabricated substation or containerized substation, is a power facility that integrates transformers, high-voltage switchgear, low-voltage distribution equipment and their auxiliary equipment in a closed metal box. It is mainly used in scenarios such as power supply for urban public facilities, power distribution in residential areas and temporary power supply in industrial areas.

[0003] The box-type substation is mainly composed of a box body, a transformer located inside the box body, high-voltage switchgear, power distribution equipment and auxiliary equipment. The box body of the box-type substation is mainly composed of a bottom plate, a steel base, cable inlets and outlets, and a mobile auxiliary device. When processing the steel base, the steel frame is first cut into a specified length and welded into a rectangle. Then, multiple crossbeams and longitudinal beams are welded in the rectangular area to improve the rigidity and stability of the steel base (see Figure 6 ), and finally weld the protective plate (the main material of the protective plate is steel plate) according to the location where the electrical equipment needs to be placed. It is used to prevent water, moisture, dust and increase the structural strength of the steel base. It should be noted that the protective plate that needs to be welded mainly has two states: longitudinal and transverse.

[0004] Currently, in the process of welding protective plates, the protective plates to be welded are first moved and placed at the designated welding position, and then manually welded using welding equipment (such as welding guns, etc.). The welding process is repeated many times to complete the welding of all protective plates on the base. The current welding process has the following problems: Before the welding operation, there are mainly two placement methods: manually using lifting equipment to assist in placing the protective plates or manually placing the protective plates. Both placement methods require a lot of manpower, and the labor cost is high while the overall welding efficiency is low. Secondly, since there are many protective plates placed horizontally and vertically on the steel base and they need to be arranged in a close sequence, and the placement accuracy of the protective plates in the current welding process is poor, it is easy to cause a large error between the position of the protective plate and the designated placement position, affecting the protective effect of the protective plate. Summary of the Invention

[0005] Based on this, it is necessary to provide a welding robot for box-type substation production, aiming to solve the problems of the above-mentioned prior art.

[0006] The present application provides a welding robot for box-type substation production, comprising:

[0007] The slide rail base has two tracks distributed on the left and right and extending from front to back. A sliding frame is set in the track through an electric slider. A manipulator is fixed on the left sliding frame. Both sliding frames are slid through a horizontal column with an axis extending from left to right. A mobile frame is fixed between the two horizontal columns. A reference plate located between the two tracks is fixed on the upper end surface of the slide rail base.

[0008] The manipulator is provided with a discharge mechanism, and the discharge mechanism includes a connecting column, a connecting column is fixedly provided at the free end of the manipulator, a circular plate is fixedly provided on the lower end surface of the connecting column through an L-shaped frame, a rotating column is rotatably provided on the circular plate, a rectangular plate one is fixedly provided on the lower end surface of the rotating column, a rectangular plate two located below the rectangular plate one is provided on the rectangular plate one and slides up and down through four vertical columns arranged in a matrix, a clamping unit for clamping the protective plate is provided on the lower end surface of the rectangular plate two, the clamping unit includes two groups of plate groups distributed left and right, the plate group includes two front-to-back symmetrical clamping plates, and a driving unit for driving the clamping plate to clamp is provided on the rectangular plate two;

[0009] A guiding mechanism is provided on the movable frame and the connecting column. The guiding mechanism includes a conversion unit for converting the rectangular plate 1 and the rectangular plate 2 between the horizontal and vertical directions and a guiding unit for guiding the placement process of the protective plate;

[0010] The conversion unit includes circumferential bars. Four circumferential bars evenly distributed in the circumference are fixedly provided on the rotating column, and two pushing bars distributed front and back are provided on the slide rail base.

[0011] According to a favorable embodiment, the clamping unit also includes a sliding block, and the rectangular plate 2 slides left and right and is penetrated by two sliding blocks distributed left and right. The lower end surface of the sliding block is fixedly provided with a mounting plate, and the two clamping plates in the same plate group are slid forward and backward and are set on the lower end surface of the same mounting plate.

[0012] According to a favorable embodiment, the clamping unit also includes a moving block, and the rectangular plate 2 slides left and right and is penetrated by two moving blocks distributed left and right, and the two sliding blocks are located between the two moving blocks, and the lower end surface of the moving block is fixedly provided with a moving plate, and the lower end surface of the moving plate slides up and down and is provided with two reference blocks distributed front and back, and a horizontal column slides through the moving plate, and the opposite surfaces of the two horizontal columns are fixedly provided with clamping blocks, and a spring 1 is fixedly provided between the clamping block and the moving plate, the clamping plate is T-shaped, and the horizontal sections of the two clamping plates in the same plate group are opposite to each other front and back.

[0013] According to a favorable embodiment, the driving unit includes a threaded rod, and the upper end surface of the rectangular plate 2 is rotatably provided with a threaded rod with an axis extending from left to right through two fixed blocks distributed on the left and right. The threaded rod passes through the sliding block and the moving block. Four threaded segments are provided on the threaded rod, and the two threaded segments on the left and the two threaded segments on the right are symmetrical on the left and right. The sliding block and the moving block are both threadedly matched with the threaded segments of the threaded rod. A gear is fixedly provided on the threaded rod, and a rack is fixedly provided on the lower end surface of the rectangular plate 1, which passes through the rectangular plate 2 and engages with the gear.

[0014] According to a favorable embodiment, the drive unit further comprises a vertical block, the lower end face of the rectangular plate 2 is fixedly provided with the vertical block, the left and right end faces of the vertical block are both fixedly provided with connecting blocks via a multi-stage telescopic rod 1 extending from left to right through the axis, and the connecting block and the two clamping plates on the same side are both hingedly connected by a hinge bar.

[0015] According to a favorable embodiment, the guide unit includes an L-shaped plate, the lower end face of the movable frame is fixedly provided with an L-shaped plate, the left end face of the horizontal section of the L-shaped plate is fixedly provided with a pressing plate, the vertical section of the L-shaped plate slides up and down and passes through a guide column, the upper end face of the guide column is fixedly provided with a synchronization block, a telescopic rod with an axis extending from left to right is fixedly provided between the synchronization block and the circular plate, a mounting circular plate is fixedly provided on the guide column, a spring 2 is fixedly provided between the mounting circular plate and the horizontal section of the L-shaped plate, a plurality of guide holes equidistantly arranged from front to back are provided on the slide rail base, and the guide holes are, from top to bottom, a frustum section with a small diameter section facing downward and a cylindrical section, and the diameter of the cylindrical section is the same as the diameter of the guide column.

[0016] According to a favorable embodiment, the conversion unit further comprises a rotating sleeve, a fixed sleeve on the rotating column is provided with a rotating sleeve located below the circular plate, and the front and rear end surfaces of the rotating sleeve are both fixed with matching blocks through spring rods extending from front to rear via an axis, and the lower end surface of the circular plate is fixed with two groups of block groups distributed in a cross, each block group including four limit blocks arranged in a matrix and distributed circumferentially about the rotating column, and the front limit blocks are, from front to back, a rectangular segment and a triangular segment of an isosceles triangle, and the vertex angle of the triangular segment faces the rear side.

[0017] According to a favorable embodiment, the conversion unit also includes a moving seat, and two front-to-back symmetrical moving seats are provided on the slide rail base for sliding left and right. The moving seat is provided with a telescopic part for sliding up and down. The telescopic part is fixedly connected to the circular plate through a multi-stage telescopic rod 2, and the pushing bar is fixedly provided on the corresponding telescopic part.

[0018] According to a favorable embodiment, the guide unit also includes a transverse plate, a rectangular groove is opened through the movable frame, a transverse plate is set on the movable frame for sliding left and right, a guide groove is opened on the transverse plate, and the guide grooves are circular segment, rectangular segment, circular segment, rectangular segment and circular segment from left to right, and a positioning column is fixedly provided on the upper end face of the connecting column, and the diameter of the positioning column is the same as the diameter of the circular segment of the guide groove.

[0019] According to a favorable embodiment, the guide unit also includes a transverse block, and the upper end surface of the movable frame is provided with four matrix-arranged transverse blocks for sliding left and right. The end surface of the transverse block is fixed with a bolt with a vertical axis passing through the transverse plate, and the thread on the bolt is matched with a nut.

[0020] In summary, the present invention has at least one of the following beneficial effects:

[0021] 1. In the present invention, the discharging mechanism and the guiding mechanism are driven by the movable frame to move from front to back, and the horizontally placed protective plate is first welded, and then the longitudinally placed protective plate is welded during the resetting process from back to front. During the whole process, the connecting column and the rectangular plate 2 are moved to the designated position through the operation guide of the guide unit, so that the protective plate is placed at the designated welding position, which reduces manual participation and improves the placement accuracy of the protective plate, ensuring the protective effect of the welded protective plate on the electrical equipment inside the box.

[0022] 2. In the present invention, the protective plate is clamped in the front-to-back direction by two clamping plates approaching each other, and the protective plate is clamped in the left-to-right direction by two clamping blocks, thereby ensuring the stability of the protective plate during the welding process. As the rectangular plate 2 continues to move downward, the horizontal section of the clamping plate can press down the protective plate and press it tightly on the steel seat, which facilitates the subsequent welding process, reduces manual participation, and improves work efficiency.

[0023] 3. In the present invention, first, during the process of hoisting the steel seat, the steel seat and the reference plate are kept in close contact to preliminarily limit the position of the steel seat. Then, the right end face of the steel seat is pressed against the pressing plate. The above two methods cooperate with each other to form a reference for the subsequent placement of the protective plate and welding process, thereby improving the accuracy of welding. The lower end of the guide column passes through the conical section of the guide hole and is inserted into the cylindrical section to complete the limiting guidance of the rectangular plate 1 and the rectangular plate 2 in the front and rear directions. Through the cooperation between the positioning column and the corresponding guide groove, the connecting column and the rectangular plate 2 are guided in the left and right directions during their downward movement, so that the placed protective plate can be accurately placed at the specified welding position, thereby ensuring the welding accuracy of the protective plate.

[0024] Fourth, in the present invention, the push bars on the front and rear sides cooperate with the circumferential bars to change the rectangular plate 2 from a horizontal state to a vertical state, which is convenient for adapting to the welding operation of the horizontal and vertical protective plates on the steel seat and improving the applicability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0026] Figure 1 A schematic diagram of the three-dimensional structure of a box-type substation production welding robot provided according to an embodiment of the present invention is shown.

[0027] Figure 2 A front view of a welding robot for box-type substation production provided according to an embodiment of the present invention is shown.

[0028] Figure 3 A schematic diagram of the three-dimensional structure between the rectangular plate 1, the rectangular plate 2 and the reference plate provided according to an embodiment of the present invention is shown.

[0029] Figure 4 A schematic diagram of a partial cross-sectional three-dimensional structure between a first rectangular plate, a second rectangular plate and a circular plate provided according to an embodiment of the present invention is shown.

[0030] Figure 5 A schematic diagram of a partially sectional three-dimensional structure among a moving frame, a transverse plate and a positioning column provided according to an embodiment of the present invention is shown.

[0031] Figure 6 A schematic diagram of the three-dimensional structure between the steel seat and the protective plate provided according to an embodiment of the present invention is shown.

[0032] The above drawings include the following reference numerals:

[0033] 1. Slide rail base; 10. Track; 11. Sliding frame; 12. Horizontal column; 13. Moving frame; 2. Reference plate; 3. Unloading mechanism; 30. Connecting column; 300. Circular plate; 301. Rotating column; 302. Rectangular plate 1; 303. Rectangular plate 2; 31. Clamping unit; 310. Clamping plate; 311. Sliding block; 312. Mounting plate; 313. Moving block; 314. Moving plate; 315. Reference block; 316. Horizontal column; 317. Clamping block; 318. Spring 1; 32. Driving unit; 320. Threaded rod; 321. Gear; 322. Rack; 323. Vertical block; 324. Connecting block; 325. Articulated strip; 4. Guide mechanism; 40. Conversion unit; 400. Circumferential strip; 401. Pushing strip; 402. Rotating sleeve; 403. Matching block; 404. Limiting block; 405. Moving seat; 406. Telescopic member; 41. Guide unit; 410. L-shaped plate; 411. Clamping plate; 412. Guide column; 413. Synchronous block; 414. Mounting circular plate; 415. Spring 2; 416. Guide hole; 417. Transverse plate; 418. Guide groove; 419. Positioning column; 420. Transverse block; 421. Bolt. DETAILED DESCRIPTION

[0034] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0035] like Figure 1 and Figure 2 As shown, a welding robot for box-type substation production includes:

[0036] The slide rail base 1 has two tracks 10 distributed left and right and extending from front to back. A sliding frame 11 is set in the track 10 through an electric slider. A manipulator is fixed on the left sliding frame 11. A transverse column 12 with an axis extending from left to right slides through both sliding frames 11. The transverse column 12 is driven by an external hydraulic cylinder to move left and right. A moving frame 13 is fixed between the two transverse columns 12. A reference plate 2 located between the two tracks 10 is fixed on the upper end surface of the slide rail base 1. The free end of the manipulator is provided with an external existing welding device (not shown in the figure).

[0037] like Figure 1 、 Figure 2 and Figure 3As shown, the manipulator is provided with a discharge mechanism 3, and the discharge mechanism 3 includes a connecting column 30, and the free end of the manipulator is fixedly provided with a connecting column 30, and the lower end face of the connecting column 30 is fixedly provided with a circular plate 300 through an L-shaped frame, and a rotating column 301 is rotatably provided on the circular plate 300, and a rectangular plate 1 302 is fixedly provided on the lower end face of the rotating column 301, and a rectangular plate 2 303 located below the rectangular plate 1 302 is provided on the rectangular plate 1 302 so as to slide up and down through four vertical columns arranged in a matrix, and the rectangular plate 2 303 is driven by an external hydraulic cylinder 2 to move up and down, and a clamping unit 31 for clamping the protective plate is provided on the lower end face of the rectangular plate 2 303, and the clamping unit 31 includes two groups of plate groups distributed left and right, and the plate group includes two front-to-back symmetrical clamping plates 310, and the rectangular plate 2 303 is provided with a driving unit 32 for driving the clamping plate 310 to clamp.

[0038] like Figure 1 and Figure 2 As shown, the movable frame 13 and the connecting column 30 are jointly provided with a guiding mechanism 4, which includes a conversion unit 40 for converting the rectangular plate 1 302 and the rectangular plate 2 303 between the horizontal and vertical directions and a guiding unit 41 for guiding the placement process of the protective plate.

[0039] like Figure 1 、 Figure 2 and Figure 4 As shown, the conversion unit 40 includes circumferential bars 400 , four circumferentially evenly distributed circumferential bars 400 are fixedly provided on the rotating column 301 , and two pushing bars 401 distributed front to back are provided on the slide rail base 1 .

[0040] During work, the staff first lifts the steel seat to which the protective plate needs to be welded through the existing external lifting equipment and moves it to the slide rail base 1, and makes the front end surface of the steel seat close to the reference plate 2, and then the manipulator drives the connecting column 30, rectangular plate 1 302 and rectangular plate 2 303 to the front area of ​​the slide rail base 1, and at the same time, the manipulator drives the connecting column 30 down to the material taking position, and the clamping plate 310 is opposite to the protective plate to be welded, and then the external hydraulic cylinder 2 works to make the rectangular plate 2 303 move downward, and the driving unit 32 makes the two clamping plates 310 in the same plate group cooperate with each other to clamp the protective plate, and make the center line of the protective plate collinear with the axis of the rotating column 301, and then the manipulator moves the connecting column 30. The connecting column 30 drives the protective plate to move above the steel seat. The external hydraulic cylinder 1 works to drive the movable frame 13 to move through the horizontal column 12. The electric slider works to move the two sliding frames 11 backward, so that the movable frame 13 moves to the top of the steel seat. In this process, the connecting column 30 and the rectangular plate 2 303 are guided to the specified position by the downward movement of the manipulator and the cooperation of the guide unit 41, so that the clamped protective plate is lowered to the specified welding position, and then the welding equipment on the manipulator performs multi-point welding on the contact area between the protective plate and the steel seat. After the welding is completed, the manipulator moves up to drive the connecting column 30 to reset, and then the electric slider continues to move backward to repeat the above operation process, and multiple horizontal protective plate welding operations are performed at the specified position on the steel seat.

[0041] When the electric slider drives the sliding frame 11 to move continuously backward and causes the rear push bar 401 to push the circumferential bar 400, the rotating column 301 rotates, and the rotating column 301 drives the rectangular plate 1 302 and the rectangular plate 2 303 to rotate synchronously. After the rotation, the two are arranged longitudinally. Then the electric slider works to move the sliding frame 11 forward. During the forward movement, the above process is repeated to perform the welding operation of the longitudinal protective plate.

[0042] like Figure 1 、 Figure 2 、 Figure 3 and Figure 4 As shown, the clamping unit 31 also includes a sliding block 311. There are two sliding blocks 311 distributed left and right on the rectangular plate 2 303, which slide left and right and penetrate up and down. The lower end surface of the sliding block 311 is fixedly provided with a mounting plate 312, and the two clamping plates 310 in the same plate group are set on the lower end surface of the same mounting plate 312 for sliding back and forth.

[0043] like Figure 1 、 Figure 2 、 Figure 3 and Figure 4As shown, the clamping unit 31 also includes a moving block 313, and the rectangular plate 303 slides left and right and is penetrated by two moving blocks 313 distributed left and right, and the two sliding blocks 311 are located between the two moving blocks 313, and the lower end surface of the moving block 313 is fixedly provided with a moving plate 314, and the lower end surface of the moving plate 314 slides up and down and is provided with two reference blocks 315 distributed front and back, and a horizontal column 316 slides left and right on the moving plate 314, and the opposite surfaces of the two horizontal columns 316 are fixedly provided with clamping blocks 317, and a spring 1 318 is fixedly provided between the clamping block 317 and the moving plate 314, and the clamping plate 310 is T-shaped, and the horizontal sections of the two clamping plates 310 in the same plate group are opposite to each other front and back.

[0044] like Figure 1 、 Figure 2 、 Figure 3 and Figure 4 As shown, the driving unit 32 includes a threaded rod 320, and the upper end surface of the rectangular plate 2 303 is rotatably provided with a threaded rod 320 with an axis extending from left to right through two fixed blocks distributed on the left and right. The threaded rod 320 passes through the sliding block 311 and the moving block 313. Four threaded segments are provided on the threaded rod 320, and the two threaded segments on the left and the two threaded segments on the right are symmetrical. The sliding block 311 and the moving block 313 are both threadedly matched with the threaded segments of the threaded rod 320. A gear 321 is fixedly provided on the threaded rod 320, and the lower end surface of the rectangular plate 1 302 is fixedly provided with a rack 322 that passes through the rectangular plate 2 303 and engages with the gear 321.

[0045] like Figure 1 、 Figure 2 、 Figure 3 and Figure 4 As shown, the driving unit 32 also includes a vertical block 323. The vertical block 323 is fixedly provided on the lower end surface of the rectangular plate 2 303. The left and right end surfaces of the vertical block 323 are both fixedly provided with a connecting block 324 through a multi-stage telescopic rod extending from left to right through the axis. The connecting block 324 and the two clamping plates 310 on the same side are hingedly connected with a hinge bar 325.

[0046] When working, the protective plate to be welded is placed on the front side of the slide rail base 1. When the manipulator drives the connecting column 30 to move above the protective plate, the manipulator drives rectangular plate 1 302 and rectangular plate 2 303 to move down, so that the lower end surface of the vertical section of the clamping plate 310 is flush with the bottom end of the protective plate, and the horizontal section of the clamping plate 310 is pressed down to the upper end surface of the protective plate, limiting the upper and lower directions of the protective plate, and at the same time facilitating the subsequent clamping plate 310 to press the protective plate on the steel seat, thereby facilitating welding. At this time, the two clamping plates 310 in the same plate group are located on the front and rear sides of the protective plate, and then the manipulator drives the connecting column 30 and rectangular plate 1 302 to move down, and the external hydraulic cylinder 2 makes rectangular plate 2 303 close to rectangular plate 1 302. Therefore, rectangular plate 2 303 remains stationary at this time, and rectangular plate 1 302 drives rack 322 to move down, and the engagement between rack 322 and gear 321 causes gear 321 to drive threaded rod 320 to rotate.

[0047] The screw thread cooperation between the threaded rod 320 and the sliding block 311 and the moving block 313 makes the two sliding blocks 311 move away from each other and the two moving blocks 313 move toward each other. In the process of the two sliding blocks 311 moving toward each other, the sliding block 311 drives the two mounting plates 312 and the corresponding clamping plates 310 on the mounting plates 312 to move synchronously. As the clamping plates 310 move away from the connecting blocks 324, the two hinged bars 325 on the connecting blocks 324 move toward each other. The two clamping plates 310 move toward each other to clamp the protective plate in the front and rear directions. In the process of the clamping plates 310 clamping, as the two sliding blocks 311 continue to move away from each other, the two plate assemblies 310 are The inner clamping plates 310 are away from each other to avoid the clamping effect of the clamping plates 310 being affected by the excessive length of the protective plates, thereby improving the stability of the clamping process. In the process of the two moving blocks 313 approaching each other, the moving block 313 drives the moving plate 314 and the clamping block 317 to move synchronously, and the two clamping blocks 317 eventually contact the left and right sides of the protective plate respectively. As the moving block 313 continues to move, the spring 1 318 is compressed, and the elastic force generated by the compression of the spring 1 318 causes the two clamping blocks 317 to clamp the left and right directions of the protective plate. In summary, the clamping and fixation of the protective plate is completed, and the center line of the protective plate is made collinear with the axis of the connecting column 30.

[0048] like Figure 1 、 Figure 2 and Figure 3As shown, the guide unit 41 includes an L-shaped plate 410, the lower end surface of the mobile frame 13 is fixedly provided with the L-shaped plate 410, the left end surface of the horizontal section of the L-shaped plate 410 is fixedly provided with a close plate 411, the left end surface of the close plate 411 is provided with a plurality of rolling balls (not shown in the figure) for reducing friction, the vertical section of the L-shaped plate 410 slides up and down and is penetrated by a guide column 412, the upper end surface of the guide column 412 is fixedly provided with a synchronization block 413, and the synchronization block 413 is fixedly provided with the synchronization block 413. A telescopic rod with an axis extending from left to right is fixed between the circular plates 300, a mounting circular plate 414 is fixedly sleeved on the guide column 412, and a spring 2 415 is fixedly provided between the mounting circular plate 414 and the horizontal section of the L-shaped plate 410. A plurality of guide holes 416 equidistantly arranged from front to back are provided on the slide rail base 1. The guide holes 416 are, from top to bottom, a frustum section with a small diameter section facing downward and a cylindrical section, and the diameter of the cylindrical section is the same as the diameter of the guide column 412.

[0049] It should be noted that after the steel seat is hoisted and moved to be placed on the slide rail base 1 and the front end face of the steel seat is tightly aligned with the reference plate 2, the multiple guide holes 416 set on the slide rail base 1 are opposite to the positions on the steel seat where the horizontal protective plates need to be welded.

[0050] After completing the above-mentioned clamping operation of the protective plate, the electric slider drives the sliding frame 11 to move backward, and stops moving after the guide column 412 is located above the guide hole 416. The external hydraulic cylinder works to move the movable frame 13 to the left, and the movable frame 13 drives the L-shaped plate 410 and the clamping plate 411 to move synchronously. The clamping plate 411 is pressed against the right end face of the steel seat, and the clamping plate 411 and the reference plate 2 cooperate with each other to form a reference for the subsequent placement of the protective plate and welding process, thereby improving the accuracy of welding. The provided rolling ball reduces the friction between the clamping plate 411 and the steel seat during the subsequent forward and backward movement.

[0051] After that, the manipulator drives the connecting column 30 to move downward, and the connecting column 30 drives the circular plate 300 to move downward synchronously through the L-shaped frame. The circular plate 300 drives the synchronous block 413 to move downward synchronously through the telescopic rod. The synchronous block 413 drives the guide column 412 to move downward. The lower end of the guide column 412 passes through the frustum section of the guide hole 416 and is stuck in the cylindrical section, completing the front and rear direction limitation of the movable frame 13, rectangular plate 1 302 and rectangular plate 2 303, which is convenient for the subsequent placement and welding of the protective plate It is connected to the designated position on the steel base, and then the robot drives the rectangular plate 1 302, the rectangular plate 2 303 and the protective plate to move downward synchronously, and presses the protective plate down on the steel base, and finally performs the welding operation. In the above-mentioned guiding process, the inclined surface of the frustum section of the guide hole 416 guides the downward movement of the guide column 412, and the spring 2 415 is compressed. After completing the welding operation at this location, the elastic force generated by the compression of the spring 2 415 facilitates the guide column 412 to exit the guide hole 416.

[0052] like Figure 1 、 Figure 2 、 Figure 3 and Figure 4 As shown, the conversion unit 40 also includes a rotating sleeve 402, and the rotating sleeve 402 located below the circular plate 300 is fixedly provided on the rotating column 301. The front and rear end surfaces of the rotating sleeve 402 are fixed with matching blocks 403 through spring rods extending from front to back through the axis. The lower end surface of the circular plate 300 is fixed with two groups of block groups distributed in a cross shape, and the block group includes four limit blocks 404 arranged in a matrix and distributed circumferentially about the rotating column 301. The front side limit block 404 in the block group distributed in the front and rear directions is used as an example for explanation. The front side limit block 404 is a rectangular segment and a triangular segment of an isosceles triangle from front to back, and the vertex of the triangular segment faces the rear side.

[0053] like Figure 1 and Figure 2 As shown, the conversion unit 40 also includes a moving seat 405, and two front-to-back symmetrical moving seats 405 are provided on the slide rail base 1 for sliding left and right. The moving seat 405 is provided with a telescopic member 406 for sliding up and down. The telescopic member 406 is fixedly connected to the circular plate 300 through a multi-stage telescopic rod 2, and the push bar 401 is fixedly set on the corresponding telescopic member 406.

[0054] During operation, in the process of adjusting the left and right positions of the rotating column 301 and the circular plate 300, the circular plate 300 drives the moving seat 405, the telescopic member 406 and the pushing bar 401 to move synchronously to a position relative to the front and rear of the connecting column 30 through the multi-stage telescopic rod 2. Therefore, during the welding process, the pushing bar 401 can cooperate with the circumferential bar 400. When the connecting column 30 drives the rectangular plate 1 302 and the rectangular plate 2 303 to move backward to perform the welding operation of the horizontal protective plate, as the connecting column 30 continues to move, the connecting column 30 drives the circular plate 300 and the circumferential bar 400 to move backward, and the circumferential bar 400 cooperates with the pushing bar 401 on the rear side to rotate the rotating column 301, the rectangular plate 1 302 and the rectangular plate 2 303.

[0055] During the above rotation process, the rotating column 301 drives the rotating sleeve 402 and the matching block 403 to rotate synchronously, the matching block 403 is in continuous contact with the inclined surface of the limit block 404, the spring rod is compressed, and as the rotating sleeve 402 continues to rotate, the matching block 403 alternately contacts and cooperates with the limit blocks 404 in the longitudinal block group and the transverse block group, and finally the matching block 403 moves between the two limit blocks 404 in the transverse block group, and the four limit blocks 404 in the transverse block group cooperate with each other to lock the limit blocks 404 within a specified angle range (the angle range between the two limit blocks 404 in the same block group), so that the rectangular plate 1 302 and the rectangular plate 2 303 remain facing the left and right sides within the specified angle range, so that the longitudinal protective plate can be welded from back to front later.

[0056] After completing the welding process of the longitudinal protective plate, the connecting column 30 drives the circumferential bar 400 to move forward synchronously and cooperates with the pushing bar 401 on the front side, so that the rotating column 301 drives the rectangular plate 1 302 and the rectangular plate 2 303 to return to the initial horizontal orientation.

[0057] like Figure 1 、 Figure 2 and Figure 5 As shown, the guide unit 41 also includes a transverse plate 417, a rectangular groove is opened through the movable frame 13, a transverse plate 417 is set on the movable frame 13 for sliding left and right, and a guide groove 418 is opened on the transverse plate 417. The guide grooves 418 are circular segments, rectangular segments, circular segments, rectangular segments and circular segments from left to right. A positioning column 419 is fixedly provided on the upper end surface of the connecting column 30, and the diameter of the positioning column 419 is the same as the diameter of the circular segment of the guide groove 418.

[0058] like Figure 1 、 Figure 2 and Figure 5 As shown, the guide unit 41 also includes a transverse block 420. The upper end surface of the movable frame 13 is provided with four matrix-arranged transverse blocks 420 for sliding left and right. The upper end surface of the transverse block 420 is fixed with a bolt 421 with a vertical axis passing through the transverse plate 417, and a nut is threaded on the bolt 421.

[0059] During operation, during the first placement and welding of the transverse protective plate, when the two moving blocks 313 on the rectangular plate 2 303 approach each other, the moving plate 314 moves synchronously. During the movement of the two moving plates 314, the reference blocks 315 thereon are respectively tightly attached to the left and right sides of the part of the steel base where the transverse protective plate needs to be welded, so that the rotating column 301 is now located in the middle position of the welding position on the steel base in the left and right directions. It should be noted that the transverse protective plate needs to be welded to the middle position of the steel base welding position in the left and right directions. After the above operation, the rotating column 301 drives the transversely oriented rectangular plate 2 303 to move to the middle position of the steel base welding position, so that the transverse protective plate can be accurately placed at the specified position.

[0060] The rotating column 301 moves to the center position, which is also the reference position for the horizontal welding of the protective plate. In the previous process of the manipulator driving the rotating column 301 downward through the connecting column 30, the connecting column 30 drives the positioning column 419 to move into the middle circular segment of the guide groove 418. Then, in the process of the rotating column 301 and the connecting column 30 moving left and right, the connecting column 30 drives the transverse plate 417 to move synchronously through the cooperation between the positioning column 419 and the guide groove 418. In this process, the transverse plate 417 drives the transverse block 420 and the bolt 421 to move synchronously. When the rotating column 301 is located in the middle position in the left and right directions of the welding position on the steel base, the transverse plate 417 is manually fixed by tightening the nut to the bolt 421. At this time, the positions of the left and right circular segments on the guide groove 418 are the reference positions for the longitudinal placement of the protective plate. The reference position for welding the longitudinal protective plate is determined by clamping the positioning column 419 into the left and right circular segments of the guide groove 418, and then the placement and welding of the longitudinal protective plate are performed.

[0061] It should be noted that after the protective plate that needs to be horizontally welded is placed on the steel base, the threaded rod 320 continues to rotate, so that the movable plate 314 drives the reference block 315 to move continuously, and the reference block 315 is tightly attached to the left and right end faces of the steel base at the horizontal welding position, thereby limiting the state of the rectangular plate 2 303 and the protective plate to ensure that the protective plate is in a horizontal orientation. In the process of welding the longitudinal protective plate, the protective plate that needs to be welded is adjusted to a longitudinal orientation through the cooperation between the reference block 315 and the already welded transverse protective plate or the transverse beam on the steel base, which is convenient for welding.

[0062] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0063] Furthermore, the terms "first," "second," "number one," and "number two" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature designated as "first," "second," "number one," or "number two" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0064] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "connected," "installed," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0065] The embodiments of this specific implementation method are all preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A welding robot for box-type substation production, characterized in that: include: A slide rail base is provided on the slide rail base, wherein two tracks are distributed on the left and right and extend from front to back, a sliding frame is provided in the track through an electric slider, a manipulator is fixedly provided on the left sliding frame, a horizontal column with an axis extending from left to right is slid through both sliding frames, a moving frame is fixedly provided between the two horizontal columns, and a reference plate located between the two tracks is fixedly provided on the upper end surface of the slide rail base; The manipulator is provided with a discharge mechanism, and the discharge mechanism includes a connecting column, a connecting column is fixedly provided at the free end of the manipulator, a circular plate is fixedly provided on the lower end surface of the connecting column through an L-shaped frame, a rotating column is rotatably provided on the circular plate, a rectangular plate one is fixedly provided on the lower end surface of the rotating column, a rectangular plate two located below the rectangular plate one is provided on the rectangular plate one and slides up and down through four vertical columns arranged in a matrix, a clamping unit for clamping the protective plate is provided on the lower end surface of the rectangular plate two, the clamping unit includes two groups of plate groups distributed left and right, the plate group includes two front-to-back symmetrical clamping plates, and a driving unit for driving the clamping plate to clamp is provided on the rectangular plate two; A guiding mechanism is provided on the movable frame and the connecting column. The guiding mechanism includes a conversion unit for converting the rectangular plate 1 and the rectangular plate 2 between the horizontal and vertical directions and a guiding unit for guiding the placement process of the protective plate; The conversion unit includes circumferential bars, four circumferentially evenly distributed circumferential bars are fixedly provided on the rotating column, and two push bars distributed front and back are provided on the slide rail base; The clamping unit further includes a moving block; The driving unit includes a threaded rod, and the upper end surface of the rectangular plate 2 is rotatably provided with a threaded rod with an axis extending from left to right through two fixed blocks distributed on the left and right. The threaded rod passes through the sliding block and the moving block. Four threaded segments are provided on the threaded rod, and the two threaded segments on the left and the two threaded segments on the right are symmetrical. The sliding block and the moving block are both threadedly matched with the threaded segments of the threaded rod. A gear is fixedly provided on the threaded rod, and a rack is fixedly provided on the lower end surface of the rectangular plate 1 that passes through the rectangular plate 2 and meshes with the gear. The drive unit further includes a vertical block, the lower end surface of the rectangular plate 2 is fixedly provided with the vertical block, and the left and right end surfaces of the vertical block are both fixedly provided with a connecting block through a multi-stage telescopic rod 1 extending from left to right through the axis, and the connecting block and the two clamping plates on the same side are both hingedly connected by a hinge bar; The guide unit includes an L-shaped plate, the lower end face of the movable frame is fixedly provided with an L-shaped plate, the left end face of the horizontal section of the L-shaped plate is fixedly provided with a tight plate, the vertical section of the L-shaped plate slides up and down and passes through a guide column, the upper end face of the guide column is fixedly provided with a synchronization block, a telescopic rod with an axis extending from left to right is fixedly provided between the synchronization block and the circular plate, a mounting circular plate is fixedly provided on the guide column, a spring 2 is fixedly provided between the mounting circular plate and the horizontal section of the L-shaped plate, a plurality of guide holes equidistantly arranged from front to back are provided on the slide rail base, and the guide holes are, from top to bottom, a frustum section with a small diameter section facing downward and a cylindrical section, and the diameter of the cylindrical section is the same as the diameter of the guide column.

2. A box-type substation production welding robot according to claim 1, characterized in that: The clamping unit also includes a sliding block. The rectangular plate slides left and right and is penetrated by two sliding blocks distributed left and right. The lower end surface of the sliding block is fixedly provided with a mounting plate. The two clamping plates in the same plate group are slid forward and backward and are set on the lower end surface of the same mounting plate.

3. A box-type substation production welding robot according to claim 2, characterized in that: The rectangular plate 2 slides left and right and is penetrated by two movable blocks distributed left and right, and the two sliding blocks are located between the two movable blocks, and the lower end surface of the movable block is fixedly provided with a movable plate, and the lower end surface of the movable plate slides up and down and is provided with two reference blocks distributed front and back, and a horizontal column slides left and right on the movable plate, and the opposite surfaces of the two horizontal columns are fixedly provided with a clamping block, and a spring 1 is fixedly provided between the clamping block and the movable plate, and the clamping plate is T-shaped, and the horizontal sections of the two clamping plates in the same plate group are opposite to each other front and back.

4. A box-type substation production welding robot according to claim 1, characterized in that: The conversion unit also includes a rotating sleeve, and the fixed sleeve on the rotating column is provided with a rotating sleeve located below the circular plate. The front and rear end surfaces of the rotating sleeve are fixed with matching blocks through spring rods extending from front to back through the axis. The lower end surface of the circular plate is fixed with two groups of block groups distributed in a cross shape, and the block group includes four limit blocks arranged in a matrix and distributed circumferentially about the rotating column. The front limit blocks are a rectangular segment and a triangular segment of an isosceles triangle from front to back, and the vertex of the triangular segment faces the rear side.

5. The welding robot for box-type substation production according to claim 1, characterized in that: The conversion unit also includes a moving seat, and two front-to-back symmetrical moving seats are provided on the slide rail base for sliding left and right. The moving seat is provided with a telescopic part for sliding up and down. The telescopic part is fixedly connected to the circular plate through a multi-stage telescopic rod 2, and the pushing bar is fixedly provided on the corresponding telescopic part.

6. A box-type substation production welding robot according to claim 1, characterized in that: The guide unit also includes a transverse plate, a rectangular groove is opened through the movable frame, a transverse plate is set on the movable frame for sliding left and right, and a guide groove is opened on the transverse plate. The guide grooves are circular segment, rectangular segment, circular segment, rectangular segment and circular segment from left to right. A positioning column is fixedly set on the upper end surface of the connecting column, and the diameter of the positioning column is the same as the diameter of the circular segment of the guide groove.

7. A box-type substation production welding robot according to claim 6, characterized in that: The guide unit also includes a transverse block. The upper end surface of the movable frame is provided with four transverse blocks arranged in a matrix for sliding left and right. The upper end surface of the transverse block is fixed with a bolt with a vertical axis that passes through the transverse plate.

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