An automatic welding device for a guardrail component

Abstract

The present invention belongs to the field of welding devices, and specifically relates to an automatic welding device for a guardrail assembly, comprising a welding platform and a welding manipulator matched with the welding platform, the welding platform is provided with a supporting assembly of a crossbar and a feeding assembly of a longitudinal bar, the crossbar and the longitudinal bar are welded to form a guardrail assembly, the welding platform is installed on the ground, the welding manipulator is installed on the ground with the aid of a fixed seat, and the fixed seat is fixedly connected to the ground, the feeding assembly comprises a traveling trolley arranged on the welding platform and a clamp installed on the traveling trolley, the clamp has the freedom to move along the axial direction of the crossbar with the aid of the traveling trolley, the clamp forms a conveying unit of the longitudinal bar and a transverse driving unit of the guardrail assembly, and the manipulator does not need to move back and forth with the addition of the longitudinal bar, which is convenient for debugging and prolongs the service life of the manipulator components.

Description

Technical Field

[0001] The present invention belongs to the field of welding devices, and particularly relates to an automatic welding device for guardrail components. Background Art

[0002] In the manufacturing process of guardrails, the main process is to integrally move a welding manipulator to sequentially weld a pair of horizontal pipes and multiple vertical rods together to achieve automatic welding. However, as a precision device with a large volume and weight, the welding manipulator requires a large amount of power during the moving process, and the manufacturing and maintenance costs of the welding manipulator are high. Reciprocating movement is more likely to cause damage to the components of the welding manipulator, resulting in high maintenance costs. Summary of the Invention

[0003] In order to solve the problems existing in the above-mentioned prior art, the present invention provides an automatic welding device for guardrail components, which does not require the welding manipulator to reciprocate with the addition of vertical rods, prolongs the service life of the components of the welding manipulator, effectively reduces the debugging time of the welding manipulator, and reduces the debugging difficulty.

[0004] The specific technical solution adopted by the present invention is as follows:

[0005] An automatic welding device for guardrail components includes a welding platform and a welding manipulator provided in a matching manner with the welding platform. A supporting component for the horizontal bar and a feeding component for the vertical bar are arranged on the welding platform. The horizontal bar and the vertical bar are welded to form a guardrail component. The key lies in that the welding platform is installed on the ground, and the welding manipulator is installed on the ground by means of a fixing seat. The fixing seat is fixedly connected to the ground. The feeding component includes a traveling trolley arranged on the welding platform and a fixture installed on the traveling trolley. The fixture has a degree of freedom to move along the axial direction of the horizontal bar by means of the traveling trolley, and the fixture supports the vertical bar to form a conveying unit for the vertical bar and a lateral movement driving unit for the prefabricated guardrail component.

[0006] The fixture is an electric gripper. The electric gripper includes a base installed on the traveling trolley and a pair of jaw bodies arranged on the base and forming an opening and closing fit by means of a driving motor. The jaw bodies are arranged in a V shape on the base.

[0007] A lifting platform is arranged between the traveling trolley and the fixture. The fixed end of the lifting platform is connected to the traveling trolley, and the lifting end is connected to the fixture.

[0008] The supporting component includes a bracket, a longitudinal turntable arranged on the bracket by means of a round shaft, and an upper support point and a lower support point arranged on the longitudinal turntable. A perpendicular line to the height where the upper support point and the lower support point are located forms a supporting channel. The center of the supporting channel is located on the axis of the round shaft. The supporting channel has a degree of freedom to change the width by means of the rotation of the longitudinal turntable. A locking member for locking the longitudinal turntable to the bracket is also arranged on the bracket.

[0009] The end of the circular shaft is provided with a stud, the stud and the longitudinal turntable are respectively arranged on both sides of the bracket, and the locking piece is a nut screwed with the stud.

[0010] The upper fulcrum and the lower fulcrum are rollers arranged parallel to the circular axis.

[0011] The welding platform is provided with a pressure rod located above the longitudinal rod, and the pressure rod includes an inclined section, a horizontal section and an arc-shaped limiting section arranged in sequence along the feeding direction of the walking trolley, the horizontal section is arranged in close contact with the longitudinal rod, the welding position of the welding manipulator is matched with the horizontal section, the arc-shaped limiting section forms a limit for the welded longitudinal rod, and the bottom of the horizontal section is lower than the welding height of the longitudinal rod;

[0012] A control method for a guardrail assembly automatic welding device comprises the following steps:

[0013] S1, the trolley is located at the material receiving position, and the fixture receives the longitudinal rod output by the conveyor belt;

[0014] S2, the walking trolley moves forward along the welding platform to transport the longitudinal rod to the welding position, and then the welding manipulator executes the preset program, and the welding gun set on the welding manipulator welds the two ends of the longitudinal rod to the cross rod along the preset trajectory to form a prefabricated guardrail assembly;

[0015] S3, the trolley continues to move forward one step, and the fixture pushes the longitudinal rod to move the prefabricated guardrail assembly forward;

[0016] S4, the clamp opens and separates from the longitudinal rod, and the trolley returns to the material receiving position to continue receiving the material;

[0017] S5. The walking trolley transports the next longitudinal bar to the welding position, and reciprocates in this way until the welding of the longitudinal bar and the cross bar is completed to obtain the guardrail assembly.

[0018] The step distance in step 3 is the designed spacing between the longitudinal bars in the guardrail assembly.

[0019] The beneficial effects of the present invention are:

[0020] The present invention does not require the welding manipulator made of precision parts to reciprocate with the addition of longitudinal rods, but uses the cooperation of the walking trolley and the clamp to transport the longitudinal rods for welding, and pushes the prefabricated guardrail assembly obtained after welding, so that the welding position remains unchanged, reducing the error caused by the shaking of the welding manipulator due to the translation of the longitudinal rods, and at the same time reducing the damage to the components of the welding manipulator due to the translation, reducing the debugging time and reducing the debugging difficulty;

[0021] The horizontal section of the pressure rod presses down the longitudinal rod to prevent the longitudinal rod from bouncing on the fixture, and the arc-shaped limiting section cooperates with the longitudinal rod on the prefabricated guardrail assembly to form a limit, so as to prevent the longitudinal rod from rubbing against the cross bar during the next feeding process, causing the prefabricated guardrail assembly to move and cause welding dislocation; after the longitudinal rod reaches the welding position, it rises with the help of the contraction of the clamp claw body, and the longitudinal rod forms an upward support for the horizontal section, so that the arc-shaped limiting section at the end of the pressure rod is raised, and the arc-shaped limiting section is separated from the longitudinal rod on the prefabricated guardrail assembly, so that the feeding assembly can push the prefabricated guardrail assembly;

[0022] The supporting assembly can realize the centering operation of the crossbar. There is no need to adjust the height of the supporting assembly for crossbars of different diameters, which further reduces the time required for debugging the welding robot and reduces the difficulty of debugging. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the working state of the present invention;

[0024] Figure 2 A top view of the welding platform, supporting assembly and feeding assembly of the invention;

[0025] Figure 3 for Figure 2 A magnified schematic diagram of the local A in the middle;

[0026] Figure 4 for Figure 3 BB section view of the feeding assembly and the lifting platform;

[0027] Figure 5 for Figure 2 A magnified schematic diagram of the local C in the middle;

[0028] Figure 6 for Figure 5 DD-direction schematic diagram of the middle support assembly;

[0029] Figure 7 is a schematic diagram of the structure of the compression rod;

[0030] Figure 8 It is a schematic diagram of the working steps of the present invention;

[0031] In the accompanying drawings, 1. welding platform, 2. welding manipulator, 3. cross bar, 4. supporting assembly, 401. bracket, 402. round shaft, 403. longitudinal turntable, 404. supporting channel, 405. locking piece, 406. roller, 5. longitudinal bar, 6. walking trolley, 8. clamp, 801. base, 802. claw body, 9. lifting platform, 10. pressure rod, 1001. inclined section, 1002. horizontal section, 1003. arc limit section. DETAILED DESCRIPTION

[0032] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0033] Specific implementation examples Figure 1 , Figure 2 and Figure 3 As shown, an automatic welding device for a guardrail assembly comprises a welding platform 1 and a welding manipulator 2 matched with the welding platform 1, a supporting assembly 4 of a crossbar 3 and a feeding assembly of a longitudinal bar 5 are arranged on the welding platform 1, the crossbar 3 and the longitudinal bar 5 are welded to form a guardrail assembly, the welding platform 1 is installed on the ground, the welding manipulator 2 is installed on the ground with the aid of a fixed seat 11, and the fixed seat 11 is fixedly connected to the ground, that is, the fixed seat 11 does not need to carry the welding manipulator 2 to translate along the moving direction of the feeding assembly; the feeding assembly comprises a walking trolley 6 arranged on the welding platform 1 and a clamp 8 installed on the walking trolley 6, the clamp 8 has the freedom of movement along the axial direction of the crossbar 3 with the aid of the walking trolley 6, the clamp 8 supports the longitudinal bar 5 to form a conveying unit of the longitudinal bar 5 and a transverse movement drive unit of the prefabricated guardrail assembly.

[0034] The supporting components 4 are respectively arranged on both sides of the welding platform 1 to support the two cross bars 3, and the feeding component reciprocates in the gap between the two cross bars 3 along the direction of the cross bars 3 to sequentially receive and feed the longitudinal bars 5. Preferably, the welding platform 1 is provided with a guide rail arranged along the length direction of the cross bars 3, and the walking trolley 6 moves along the guide rail and forms a guiding match with the guide rail.

[0035] The control method of the automatic welding device comprises the following steps:

[0036] S1, such as Figure 8 As shown in step e, the trolley 6 moves to the material receiving position, where the output end of the conveyor belt is provided, and the longitudinal rod 5 falls from the conveyor belt and falls onto the clamp 8, and the clamp 8 receives the longitudinal rod 5;

[0037] S2, such as Figure 8 As shown in step f, the walking trolley 6 moves forward along the guide rail on the welding platform 1 to transport the longitudinal rod 5 to the welding position, and then the welding manipulator 2 executes a preset program. The welding manipulator 2 moves the welding gun set thereon according to the preset program, so that the welding gun moves along a predetermined trajectory to weld and fix the two ends of the longitudinal rod 5 to the cross bar 3 respectively to form a prefabricated guardrail assembly;

[0038] S3, such as Figure 8 As shown in step g, the walking trolley 6 continues to move forward by one step, and the clamp 8 pushes the longitudinal rod 5 to move the prefabricated guardrail assembly forward; wherein the step length is the designed spacing of the longitudinal rods of the guardrail;

[0039] S4, the clamp 8 opens and separates from the longitudinal rod 5. Figure 8 As shown in step h; then the walking trolley 6 returns to the material receiving position to continue receiving the material;

[0040] S5, the traveling trolley 6 transports the next longitudinal bar 5 to the welding position, and reciprocates in this manner until the welding of the longitudinal bar 5 and the cross bar 3 is completed, and the guardrail assembly is obtained.

[0041] The welding device pushes the prefabricated guardrail assembly to move after welding, and the welding robot 2 only needs to wait in place according to the production rhythm. There is no need to make the welding robot 2 made of precision components move back and forth with the increase of the longitudinal rod 5, which reduces the error caused by the shaking of the welding robot 2 during translation, and at the same time reduces the damage to components of the welding robot 2 caused by the reciprocating translation, reduces the debugging time, and reduces the difficulty of debugging.

[0042] On the other hand, the supporting assembly 4 positions the crossbar 3 so that the axes of the crossbars 3 with different diameters are always at the same height, further reducing the debugging time and difficulty of the welding robot 2 to adapt to guardrails of different specifications.

[0043] The clamp 8 is an electric clamp, such as Figure 4 As shown, the electric clamp includes a base 801 mounted on the walking trolley 6 and a pair of claw bodies 802 arranged on the base 801 and formed to open and close with the help of a driving motor, and the claw bodies 802 are arranged in a V shape on the base 801. The driving motor of the electric clamp is a servo motor, and the opening and closing angles of the claw bodies 802 of the electric clamp are easy to accurately control. The two claw bodies 802 are arranged in a V shape, which makes it easy for the longitudinal rod 5 to fall between the two claw bodies 802.

[0044] Furthermore, a pressure rod 10 is provided on the welding platform 1 and is located above the longitudinal rod 5. Figure 7 As shown, the pressure rod 10 includes an inclined section 1001, a horizontal section 1002 and an arc-shaped limiting section 1003 which are sequentially arranged along the feeding direction of the walking trolley 6. The horizontal section 1002 is arranged in close contact with the longitudinal rod 5. The welding position of the welding manipulator 2 is matched with the horizontal section 1002. The arc-shaped limiting section 1003 forms a limit for the longitudinal rod 5 welded on the prefabricated guardrail assembly. The inclined section 1001 is inclined from high to low along the feeding direction, and the bottom of the horizontal section 1002 is lower than the welding height of the longitudinal rod 5. The lifting height of the longitudinal rod 5 of different diameters is controlled by controlling the closing angle of the claw body 802. The starting end of the pressure rod 10, that is, the end of the inclined section 1001, is provided with a crossbeam fixed to the frame, and the pressure rod 10 is suspended above the longitudinal rod 5 by means of the crossbeam.

[0045] When the clamp 8 is located at the material receiving position, the claws 802 are opened, and the longitudinal rod 5 falls between the two claws 802. Figure 8 As shown in step e, at this time, the height of the longitudinal rod 5 is lower than the welding height, and a gap is set between the longitudinal rod 5 and the cross bar 3; the walking trolley 6 moves along the feeding direction and passes through the inclined section 1001 to reach the welding position, such as Figure 8As shown in step f, the longitudinal rod 5 is located below the horizontal section 1002, the claw body 802 of the clamp 8 is retracted inward, and the longitudinal rod 5 is lifted upward by the V-shaped structure clamping action of the claw body 802 with the help of its arc surface, and the horizontal section 1002 of the pressure rod 10 presses down the longitudinal rod 5 to prevent the longitudinal rod 5 from bouncing. At the same time, the longitudinal rod 5 exerts an upward force on the horizontal section 1002, so that the arc-shaped limiting section 1003 at the end of the pressure rod 10 is tilted upward, and the arc-shaped limiting section 1003 is separated from the welded longitudinal rod 5. Then the longitudinal rod 5 reaches the welding height, and the welding robot 2 welds the two ends of the longitudinal rod 5 to the cross bar 3; after the welding is completed, the walking carriage 6 continues to move a step distance along the feeding direction, as shown in FIG. Figure 8 As shown in step g, the guardrail assembly is pushed forward by one step. At this time, the longitudinal rod 5 that has just been welded reaches the arc-shaped limit section 1003, and the longitudinal rod 5 loses the upward force on the pressure rod 10. The arc-shaped limit section 1003 rebounds to the initial position to limit the longitudinal rod 5, preventing the longitudinal rod 5 from rubbing against the cross bar 3 during the next feeding process, causing the prefabricated guardrail assembly to move and causing the spacing between the longitudinal rods 5 to be different; the clamp 8 opens, the claw body 802 separates from the longitudinal rod 5, and the walking trolley 6 retreats to the receiving position for receiving the material, and this reciprocating operation is performed until the welding of the guardrail assembly is completed.

[0046] Furthermore, the traveling trolley 6 and the fixture 8 are connected by means of a lifting platform 9. Figure 4 As shown, the fixed end of the lifting platform 9 is connected to the traveling trolley 6, and the lifting end is connected to the clamp 8. In this embodiment, two clamps 8 are arranged on the traveling trolley 6, and the two clamps 8 clamp and support the two ends of the longitudinal rod 5 respectively. A support plate parallel to the longitudinal rod 5 is installed on the lifting end of the lifting platform 9, and the base 801 of the clamp 8 is fixedly connected to the support plate; the lifting of two clamps 8 can be completed by using one lifting platform 9; after a longitudinal rod 5 is welded and moves a step distance along the feeding direction, the claw body 802 opens and separates from the longitudinal rod 5, and the lifting platform 9 drives the clamp 8 to descend, so that the clamp 8 is lower than the longitudinal rod 5, as shown in FIG. Figure 8 As shown in step h, the clamp 8 is prevented from interfering with the longitudinal rod 5 when the traveling trolley 6 retreats.

[0047] Further, such as Figure 5 , Figure 6As shown, the supporting assembly 4 includes a bracket 401, a longitudinal turntable 403 arranged on the bracket 401 by means of a circular shaft 402, and an upper fulcrum and a lower fulcrum arranged on the longitudinal turntable 403. The circular shaft 402 and the bracket 401 are in sliding cooperation. The circular shaft 402 and the longitudinal turntable 403 are fixedly connected. The vertical line at the height of the upper fulcrum and the lower fulcrum forms a supporting channel 404. The center of the supporting channel 404 is located on the axis of the circular shaft 402. The supporting channel 404 has the freedom to change the width by means of the rotation of the longitudinal turntable 403. The bracket 401 is in sliding cooperation. The circular shaft 402 and the longitudinal turntable 403 are fixedly connected. The vertical line at the height of the upper fulcrum and the lower fulcrum forms a supporting channel 404. The center of the supporting channel 404 is located on the axis of the circular shaft 402. The supporting channel 404 has the freedom to change the width by means of the rotation of the longitudinal turntable 403. 1 is also provided with a locking member 405 for locking the longitudinal turntable 403 and the bracket 401. The locking member 405 is loosened so that the longitudinal turntable 403 can rotate around the axis of the circular shaft 402 on the bracket 401, so that the angle between the line between the upper support point and the lower support point and the horizontal plane changes, thereby changing the width of the supporting channel 404, so that the width of the supporting channel 404 matches the diameter of the cross bar 3, and then the locking member 405 is used to lock and connect the longitudinal turntable 403 and the bracket 401 to prevent the width of the supporting channel 404 from changing.

[0048] A stud is provided at the end of the circular shaft 402, and the stud and the longitudinal turntable 403 are respectively arranged on both sides of the bracket 401. The locking member 405 is a nut screwed with the stud. The longitudinal turntable 403 can be locked or loosened on the bracket 401 by making the nut and the circular shaft 402 rotate relative to each other.

[0049] The upper fulcrum and the lower fulcrum are rollers 406 arranged parallel to the circular axis 402, and the gap between the two rollers 406 forms a supporting channel 404. When the feeding assembly pushes the guardrail assembly, the rollers 406 rotate with the movement of the cross bar 3, reducing the wear generated during the movement of the cross bar 3.

Claims

1. An automatic welding device for a guardrail assembly, comprising a welding platform (1) and a welding manipulator (2) matched with the welding platform (1), wherein the welding platform (1) is provided with a supporting assembly (4) of a crossbar (3) and a feeding assembly of a longitudinal bar (5), wherein the crossbar (3) and the longitudinal bar (5) are welded to form a guardrail assembly, characterized in that: The welding platform (1) is installed on the ground, the welding manipulator (2) is installed on the ground with the help of a fixing seat (11), the fixing seat (11) is fixedly connected to the ground, the feeding assembly comprises a walking trolley (6) arranged on the welding platform (1) and a clamp (8) installed on the walking trolley (6), the clamp (8) has the freedom of axial movement along the cross bar (3) with the help of the walking trolley (6), the clamp (8) supports the longitudinal bar (5) to form a conveying unit of the longitudinal bar (5) and a transverse driving unit of the prefabricated guardrail assembly; A lifting platform (9) is provided between the walking trolley (6) and the clamp (8), wherein the fixed end of the lifting platform (9) is connected to the walking trolley (6), and the lifting end is connected to the clamp (8); The welding platform (1) is provided with a pressure rod (10) located above the longitudinal rod (5). The pressure rod (10) comprises an inclined section (1001), a horizontal section (1002) and an arc-shaped limiting section (1003) which are arranged in sequence along the feeding direction of the walking trolley (6). The horizontal section (1002) is arranged to fit the longitudinal rod (5). The welding position of the welding manipulator (2) is matched with the horizontal section (1002). The arc-shaped limiting section (1003) forms a limit for the longitudinal rod (5) after welding. The bottom of the horizontal section (1002) is lower than the welding height of the longitudinal rod (5).

2. The automatic welding device for guardrail components according to claim 1 is characterized in that: The clamp (8) is an electric clamp, which comprises a base (801) mounted on the walking trolley (6) and a pair of claw bodies (802) arranged on the base (801) and forming an opening and closing fit with the help of a driving motor, wherein the claw bodies (802) are arranged in a V shape on the base (801).

3. The automatic welding device for guardrail components according to claim 1 is characterized in that: The supporting assembly (4) comprises a bracket (401), a longitudinal turntable (403) arranged on the bracket (401) by means of a circular shaft (402), and an upper fulcrum and a lower fulcrum arranged on the longitudinal turntable (403); a vertical line at the heights of the upper fulcrum and the lower fulcrum forms a supporting channel (404); the center of the supporting channel (404) is located on the axis of the circular shaft (402); the supporting channel (404) has the freedom to change its width by means of the rotation of the longitudinal turntable (403); and a locking member (405) for locking the longitudinal turntable (403) and the bracket (401) is also arranged on the bracket (401).

4. The automatic welding device for guardrail components according to claim 3 is characterized in that: A stud is disposed at the end of the circular shaft (402), the stud and the longitudinal turntable (403) are respectively disposed on both sides of the bracket (401), and the locking member (405) is a nut screwed onto the stud.

5. The automatic welding device for guardrail components according to claim 4 is characterized in that: The upper fulcrum and the lower fulcrum are respectively rollers (406) arranged parallel to the circular axis (402).

6. The control method of a guardrail assembly automatic welding device according to claim 1, characterized in that: The following steps are involved: S1, the traveling trolley (6) is located at the material receiving position, and the longitudinal rod (5) output by the conveyor belt is received by the clamp (8); S2, the walking trolley (6) moves forward along the welding platform (1) to transport the longitudinal rod (5) to the welding position, and then the welding manipulator (2) executes a preset program, and the welding gun provided on the welding manipulator (2) welds and fixes the two ends of the longitudinal rod (5) to the cross rod (3) along a preset trajectory to form a prefabricated guardrail assembly; S3, the trolley (6) continues to move forward by one step, and the fixture (8) pushes the longitudinal rod (5) to move the prefabricated guardrail assembly forward; S4, the clamp (8) opens and separates from the longitudinal rod (5), and the trolley (6) returns to the material receiving position to continue receiving the material; S5, the walking trolley (6) transports the next longitudinal rod (5) to the welding position, and reciprocates in this way until the welding of the longitudinal rod (5) and the cross rod (3) is completed, thereby obtaining a guardrail assembly.

7. The control method of the guardrail assembly automatic welding device according to claim 6 is characterized in that: The step distance in step S3 is the designed spacing between the longitudinal bars (5) in the guardrail assembly.

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