Automatic welding and grinding system for steel grating

Abstract

The invention discloses an automatic steel grating welding and grinding system which comprises a positioning and material taking device, a carrying device, a welding device, a coping device and a stacking device, the carrying device comprises a carrying robot and a carrying clamping jaw connected to the carrying robot, and the carrying robot conveys the positioned steel grating to the welding device through the carrying clamping jaw; the welding device can be used for welding the steel grating, the welding device can also be used for automatically welding and grinding the welded steel grating on the moving cutter grinding device from the welding device, the stacking device comprises a stacking robot and a stacking clamping jaw installed on the stacking robot, and the stacking device takes down the steel grating ground by the grinding device for stacking. Manual operation is not needed in the whole process, consistency and stability of the welding quality are guaranteed through the welding device, meanwhile, the steel grating is further ground through the grinding device, the workpiece quality is greatly improved, the production efficiency is greatly improved, and the labor amount of workers is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of steel grating production, in particular to an automatic welding and polishing system for steel gratings. Background Art

[0002] Steel grating is a metal plate with excellent performance, which is widely used in building structures, industrial equipment, municipal engineering, transportation and other fields. Steel grating is a steel product made of flat steel and cross bars (twisted square steel, square steel, round steel, flat steel, etc.) arranged in a certain distance and welded into a square grid in the center. Steel grating is mainly used as ditch cover, steel structure channel plate, steel ladder tread, etc. The cross bar is generally made of twisted square steel. Steel grating is generally made of carbon steel, and the surface is hot-dip galvanized to prevent oxidation. It can also be made of stainless steel. Steel grating has ventilation, lighting, heat dissipation, anti-slip, explosion-proof and other functions.

[0003] In the prior art, manual assembly and manual welding are usually adopted to weld the partitions, and then four steel plates are combined and welded to form an edge, which results in low production efficiency and uneven quality. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic welding and grinding system for steel gratings to solve the above problems.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] The present invention provides an automatic welding and grinding system for steel gratings, comprising a positioning and material taking device, a transporting device, a welding device, a grinding device and a stacking device;

[0007] The positioning and material-retrieving device includes a conveyor frame and a power conveying roller installed on the conveyor frame. The discharging end of the conveyor frame is provided with an end positioning mechanism, and both sides of the discharging end are provided with side guide mechanisms. The end positioning mechanism and the side guide mechanism are both controlled to rise and fall by a lifting mechanism installed on the conveyor frame.

[0008] The transport device includes a transport robot and a transport clamp connected to the transport robot. The transport robot can transport the positioned steel grating to the welding device through the transport clamp, and can also transport the welded steel grating from the welding device to the grinding device.

[0009] The welding device includes a workbench, welding robots are provided on both sides of the workbench, welding components are installed on the welding robots, two symmetrically arranged sealing plate silos are provided on the workbench, the sealing plate silos are controlled by a first cylinder installed on the workbench, an automatic sealing plate feeding component is provided in the sealing plate silo, two side clamping components and a downward clamping component are provided between the two sealing plate silos, the side clamping components are slidably connected to the workbench, and the downward clamping component is installed on the workbench;

[0010] The grinding device includes a grinding machine and two double-axis constant-force grinding mechanisms installed on the grinding machine, two pressing and pushing mechanisms are provided between the two double-axis constant-force grinding mechanisms, one of the pressing and pushing mechanisms is fixed on the grinding machine frame, and the other pressing and pushing mechanism slides on the grinding machine frame;

[0011] The palletizing device includes a palletizing robot and a palletizing gripper installed on the palletizing robot. The palletizing device takes down the steel gratings ground by the grinding device for palletizing.

[0012] Furthermore, the end positioning mechanism and the side guide mechanism both include a base plate and a second cylinder installed on the base plate, the base plate is connected to the lifting mechanism, the piston ends of the second cylinders are both facing the steel grating, and the first top plate is connected to the piston ends of the second cylinders, and a protective shell is provided on the outside of the second cylinder.

[0013] Furthermore, the lifting mechanism includes a third cylinder installed on the conveyor frame, the piston end of the third cylinder is vertically upward and connected to the base plate, and a protective shell is provided on the outer side of the third cylinder.

[0014] Furthermore, the welding assembly includes a welding gun and a visual camera installed on the welding robot, and the visual camera is placed on one side of the welding gun.

[0015] Furthermore, the automatic sealing plate loading assembly includes a fourth cylinder installed inside the sealing plate silo, and a second top plate is connected to the piston end of the fourth cylinder. The second top plate is pressed against the sealing plate placed inside the sealing plate silo.

[0016] Furthermore, the side clamping assembly includes a bracket slidably connected to the workbench, a bidirectional cylinder is mounted on the bracket, a U-shaped support plate is provided on the outside of the bidirectional cylinder, and side clamping plates are respectively connected to the two piston ends of the bidirectional cylinder.

[0017] Furthermore, the downward pressing clamping assembly includes a fifth cylinder installed on both sides of the workbench, the piston ends of the two fifth cylinders are connected to the lifting frame, and the bottom of the lifting frame is connected to the first downward pressing plate.

[0018] Furthermore, the dual-axis constant force grinding mechanism includes a grinding knife and a motor driving the grinding knife. The bottom of the motor is slidably connected to the first screw linear module through a slider. The first screw linear module slides on the second screw linear module through a slider. The second screw linear module is installed on the grinding machine.

[0019] Furthermore, the downward pressing mechanism includes a base frame, a positioning plate and a second downward pressing plate. The positioning plate is installed on the lower half of the base frame through the sixth cylinder, and the second downward pressing plate is installed on the slide through the seventh cylinder. The slide is slidably connected to the top of the base frame, and the slide is controlled by the seventh cylinder.

[0020] Furthermore, the carrying gripper and the stacking gripper both include mounting frames connected to the welding robot and the stacking robot, and hooks are connected to the four corners of the bottom of the mounting frame through sliders and slide rails. The top of the hook is connected to the slider, and the slider is slidably connected to the slide rail. The slide rail is fixed to the bottom of the mounting frame, and the slider is controlled to move by an eighth cylinder and a ninth cylinder installed at the bottom of the mounting frame.

[0021] Compared with the prior art, the present invention has the following beneficial technical effects:

[0022] The entire process of the present invention does not require manual operation. The use of a welding device ensures the consistency and stability of the welding quality. At the same time, a grinding device is used to grind the part of the transverse reinforcement that is not sawed in place due to the previous process and the excess part of the transverse reinforcement on the side transverse plate at this station, which greatly improves the quality of the workpiece, greatly improves the production efficiency, and greatly reduces the labor workload of personnel. Compared with the previous traditional production model, the speed and accuracy have undergone qualitative changes. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below with reference to the accompanying drawings.

[0024] Figure 1 This is a top view of the automatic welding and grinding system for steel gratings of the present invention;

[0025] Figure 2 This is a schematic diagram of the positioning and reclaiming device structure;

[0026] Figure 3 It is a schematic diagram of the structure of the transport device;

[0027] Figure 4 Schematic diagram of the welding device structure;

[0028] Figure 5 This is a schematic diagram of the grinding device structure;

[0029] Figure 6 It is a schematic diagram of the structure of the palletizing device;

[0030] Explanation of the accompanying symbols: 1. Positioning and material-retrieving device; 101. Conveying rack; 102. Power conveying roller; 2. Transporting device; 201. Transporting robot; 202. Transporting clamp; 3. Welding device; 301. Workbench; 302. Welding robot; 303. Plate sealing silo; 304. First cylinder; 305. Welding gun; 306. Visual camera; 307. Bracket; 308. U-shaped pallet; 309. Side clamping plate; 310. Fifth cylinder; 311. Lifting frame; 4. Grinding device; 401. Grinding frame; 5. Palletizing device; 501. Palletizing robot; 502. Palletizing clamp; 6. Mounting frame; 7. Hook. DETAILED DESCRIPTION

[0031] like Figure 1-6 As shown, an automatic welding and grinding system for steel gratings includes a positioning and material-taking device 1, a conveying device 2, a welding device 3, a grinding device 4 and a stacking device 5.

[0032] The positioning and material-grabbing device 1 includes a conveyor frame 101 and a powered conveying roller 102 mounted on the conveyor frame 101. The discharging end of the conveyor frame 101 is provided with an end positioning mechanism, and side guide mechanisms are provided on both sides of the discharging end. The end positioning mechanism and the side guide mechanism are both controlled by a lifting mechanism mounted on the conveyor frame 101. The end positioning mechanism and the side guide mechanism each include a bottom plate and a second cylinder mounted on the bottom plate. The bottom plate is connected to the lifting mechanism. The piston ends of the second cylinders are both facing the steel grating, and the piston ends of the second cylinders are connected to the first top plate. A protective shell is provided on the outside of the second cylinder. The lifting mechanism includes a third cylinder mounted on the conveyor frame 101. The piston end of the third cylinder is vertically upward and connected to the bottom plate. A protective shell is provided on the outside of the third cylinder.

[0033] The transporting device 2 includes a transporting robot 201 and a transporting clamp 202 connected to the transporting robot 201. The transporting robot 201 sends the positioned steel grating to the welding device 3 through the transporting clamp 202, and can also move the welded steel grating from the welding device 3 to the knife grinding device 4.

[0034] The welding device 3 includes a workbench 301, with welding robots 302 installed on both sides of the workbench 301. The welding robots 302 are equipped with welding components, including a welding gun 305 and a visual camera 306 installed on the welding robot 302. The visual camera 306 is placed on one side of the welding gun 305. Two symmetrically arranged sealing plate silos 303 are provided on the workbench 301. The sealing plate silos 303 are controlled by a first cylinder 304 installed on the workbench 301. An automatic sealing plate loading assembly is provided in the sealing plate silo 303. The automatic sealing plate loading assembly includes a fourth cylinder installed inside the sealing plate silo 303. A second top plate is connected to the piston end of the fourth cylinder. The second top plate is pressed against the sealing plate placed inside the sealing plate silo 303. Two side clamping assemblies and a downward clamping assembly are provided between the two sealing plate silos 303. The side clamping assemblies are slidably connected to the workbench 301, and the downward clamping assembly is installed on the workbench 301. The side clamping assembly includes a bracket 307 slidably connected to the workbench 301, a two-way cylinder is installed on the bracket 307, a U-shaped support plate 308 is provided on the outer side of the two-way cylinder, and side clamping plates 309 are respectively connected to the two piston ends of the two-way cylinder. The downward clamping assembly includes a fifth cylinder 310 installed on both sides of the workbench 301, and the piston ends of the two fifth cylinders 310 are connected to a lifting frame 311, and the bottom of the lifting frame 311 is connected to a first downward pressing plate.

[0035] The grinding device 4 includes a grinding machine 401 and two dual-axis constant force grinding mechanisms 402 installed on the grinding machine 401. The dual-axis constant force grinding mechanism 402 includes a grinding knife and a motor for driving the grinding knife. The bottom of the motor is slidably connected to the first screw linear module through a slider. The first screw linear module slides on the second screw linear module through a slider. The second screw linear module is installed on the grinding machine 401. Two downward pressing and pushing mechanisms 403 are provided between the two dual-axis constant force grinding mechanisms 402, one of the downward pressing and pushing mechanisms 403 is fixed on the grinding frame 401, and the other downward pressing and pushing mechanism 403 slides on the grinding frame 401, and the downward pressing and pushing mechanism 403 includes a base frame, a positioning plate and a second downward pressing plate, the positioning plate is installed on the lower half of the base frame through the sixth cylinder, the second downward pressing plate is installed on the slide through the seventh cylinder, the slide is slidably connected to the top of the base frame, and the slide is controlled by the seventh cylinder.

[0036] The palletizing device 5 includes a palletizing robot 501 and a palletizing gripper 502 installed on the palletizing robot 501. The palletizing device 5 takes the steel gratings ground by the grinding device 4 and performs palletizing.

[0037] The carrying gripper 202 and the stacking gripper 502 both include a mounting frame 6 connected to the welding robot 302 and the stacking robot 501, and the four corners of the bottom of the mounting frame 6 are connected to hooks 7 through sliders and slide rails. The top of the hook 7 is connected to the slider, and the slider is slidably connected to the slide rail. The slide rail is fixed to the bottom of the mounting frame 6, and the slider is controlled to move by the eighth cylinder and the ninth cylinder installed at the bottom of the mounting frame 6.

[0038] The action process of the present invention is as follows:

[0039] During use, the workpiece cut from the cross-cut sawing machine is sent to the positioning and picking device 1 through the conveyor line flow, and then the workpiece is sent to the end through the conveying of the power conveying roller 102, and then the end positioning mechanism and the side guide mechanism start to work, and the second cylinder controls the first top plate to clamp the steel grating. After determining the position of the steel grating, the lifting mechanism lifts the end positioning mechanism and the side guide mechanism, waiting for the handling robot 2 to move the workpiece away, and then the handling robot 201 controls the handling and rotation 202 to move, so that the mounting frame 6 is placed above the workpiece, and then the workpiece is clamped by the claw 7, and the workpiece is sent to the welding device 3, and then the workpiece is clamped by the two side clamping assemblies and the downward clamping assembly. The workpiece is placed on the U-shaped pallet 308, and the two-way cylinder uses the two side clamping plates 309 to approach each other to clamp the workpiece, and then the fifth cylinder 310 drives the lifting mechanism. The lowering frame 311 descends, causing the first lower pressure plate to press the workpiece, and then the fourth cylinder inside the sealing plate bin 303 drives the second top plate to push the sealing plate onto the workpiece, and then visual observation is carried out through the visual camera 206 on the welding robot 302, and then welding is performed through the welding gun 305. After welding is completed, it is reset, and then the transport robot 201 sends the workpiece to the grinding device 4, and the downward pressing and tightening mechanism 403 on the grinding device 4 fixes the workpiece, and the sixth cylinder drives the positioning plate to move, and uses the positioning plate to clamp the workpiece, and then the seventh cylinder controls the second lower pressure plate to descend and press the workpiece, and then the dual-axis constant force grinding mechanism 402 starts to work, and the motor is driven to move by the first screw linear module and the second screw linear module. The motor works to make the grinding knife grind the workpiece, and the ground workpiece is transported to the material tray through the stacking device 5 for stacking.

[0040] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. An automatic welding and grinding system for steel grating, characterized by: It comprises a positioning and material taking device (1), a transporting device (2), a welding device (3), a grinding device (4) and a stacking device (5); The positioning and material-retrieving device (1) comprises a conveying frame (101) and a powered conveying roller (102) mounted on the conveying frame (101); an end positioning mechanism is provided at the material discharging end of the conveying frame (101), and side guide mechanisms are provided on both sides of the material discharging end; the end positioning mechanism and the side guide mechanism are both controlled to rise and fall by a lifting mechanism mounted on the conveying frame (101); The transport device (2) comprises a transport robot (201) and a transport clamp (202) connected to the transport robot (201); the transport robot (201) transports the positioned steel grating to the welding device (3) through the transport clamp (202), and can also transport the welded steel grating from the welding device (3) to the knife grinding device (4); The welding device (3) comprises a workbench (301), welding robots (302) are arranged on both sides of the workbench (301), welding components are installed on the welding robots (302), two symmetrically arranged sealing plate bins (303) are arranged on the workbench (301), the sealing plate bins (303) are controlled by a first cylinder (304) installed on the workbench (301), an automatic sealing plate feeding component is arranged in the sealing plate bin (303), two side clamping components and a downward clamping component are arranged between the two sealing plate bins (303), the side clamping components are slidably connected to the workbench (301), and the downward clamping component is installed on the workbench (301); The grinding device (4) comprises a grinding machine (401) and two double-axis constant-force grinding mechanisms (402) installed on the grinding machine (401), two pressing and tightening mechanisms (403) are arranged between the two double-axis constant-force grinding mechanisms (402), one of the pressing and tightening mechanisms (403) is fixed on the grinding machine frame (401), and the other pressing and tightening mechanism (403) slides on the grinding machine frame (401); The stacking device (5) comprises a stacking robot (501) and a stacking gripper (502) mounted on the stacking robot (501). The stacking device (5) takes down the steel gratings that have been polished by the polishing device (4) for stacking.

2. The automatic welding and grinding system for steel grating according to claim 1 is characterized in that: The end positioning mechanism and the side guide mechanism both include a base plate and a second cylinder mounted on the base plate, the base plate is connected to the lifting mechanism, the piston ends of the second cylinders are both facing the steel grating, and the first top plate is connected to the piston ends of the second cylinders, and a protective shell is provided on the outer side of the second cylinder.

3. The automatic welding and grinding system for steel grating according to claim 2 is characterized in that: The lifting mechanism comprises a third cylinder mounted on the conveying frame (101), the piston end of the third cylinder is vertically upward and connected to the bottom plate, and a protective shell is provided on the outer side of the third cylinder.

4. The automatic welding and grinding system for steel grating according to claim 1 is characterized in that: The welding assembly comprises a welding gun (305) and a visual camera (306) mounted on the welding robot (302), wherein the visual camera (306) is disposed on one side of the welding gun (305).

5. The automatic welding and grinding system for steel grating according to claim 1 is characterized in that: The automatic sealing plate loading assembly comprises a fourth cylinder installed inside the sealing plate bin (303), and a second top plate is connected to the piston end of the fourth cylinder. The second top plate is pressed against the sealing plate placed inside the sealing plate bin (303).

6. The automatic welding and grinding system for steel grating according to claim 1 is characterized in that: The side clamping assembly comprises a bracket (307) slidably connected to the workbench (301), a bidirectional cylinder is mounted on the bracket (307), a U-shaped support plate (308) is arranged on the outer side of the bidirectional cylinder, and side clamping plates (309) are respectively connected to the two piston ends of the bidirectional cylinder.

7. The automatic welding and grinding system for steel grating according to claim 1 is characterized in that: The downward pressing clamping assembly comprises a fifth cylinder (307) installed on both sides of the workbench (301), the piston ends of the two fifth cylinders (307) are connected to a lifting frame (311), and the bottom of the lifting frame (311) is connected to a first downward pressing plate.

8. The automatic welding and grinding system for steel grating according to claim 1 is characterized in that: The dual-axis constant force grinding mechanism (402) comprises a grinding knife and a motor for driving the grinding knife, the bottom of the motor is slidably connected to a first lead screw linear module via a slider, the first lead screw linear module is slidably connected to a second lead screw linear module via a slider, and the second lead screw linear module is mounted on the grinding machine (401).

9. The automatic welding and grinding system for steel grating according to claim 1 is characterized in that: The downward pressing and tightening mechanism (403) includes a base frame, a positioning plate and a second downward pressing plate, wherein the positioning plate is mounted on the lower half of the base frame via a sixth cylinder, and the second downward pressing plate is mounted on a slide plate via a seventh cylinder, and the slide plate is slidably connected to the top of the base frame and is controlled by the seventh cylinder.

10. The automatic welding and grinding system for steel grating according to claim 1 is characterized in that: The transporting gripper (202) and the palletizing gripper (502) both comprise a mounting frame (6) connected to the welding robot (302) and the palletizing robot (501); the four bottom corners of the mounting frame (6) are connected to hooks (7) via sliders and slide rails; the top of the hook (7) is connected to the slider; the slider is slidably connected to the slide rail; the slide rail is fixed to the bottom of the mounting frame (6); and the slider is controlled to move by an eighth cylinder and a ninth cylinder installed at the bottom of the mounting frame (6).

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