A multi-station automatic welding equipment and method for the main beam of a heliostat support

Abstract

The present invention discloses a multi-station automatic welding device for the main beam of a heliostat support, which relates to the technical field of welding and manufacturing of new energy components, including a stabilizing seat, a spot welding station and a full welding station. The multi-station automatic welding device and method for the main beam of a heliostat support are provided with a supporting mechanism and a clamping mechanism in linkage, so that the clamping mechanism can complete the positioning, lifting and anti-bias clamping of the cylindrical main beam by first moving up and then tightening on the supporting mechanism, and the driving arm is used to drive the workpiece on the supporting mechanism to be transported to the full welding station, the rotating support beam can be positioned by the anti-bias scraping assembly, and the reciprocating vibration arm drives the scraping teeth to intermittently knock and scrape the welding part, so as to ensure that the workpiece of the heliostat support can quickly remove the welding slag generated by the full welding operation, so that the multi-station automatic welding device can simultaneously realize the efficient operation of anti-bias clamping, anti-bias conveying and anti-bias slag removal for the welding of the main beam of the heliostat support.

Description

Technical Field

[0001] The present invention relates to the technical field of new energy component welding manufacturing, and particularly to a multi-station automatic welding equipment and method for the main beam of a heliostat support. Background Art

[0002] Most existing solar thermal power generation devices are tower-type solar thermal power generation. By widely using tower-type solar thermal power generation, the growing power demand can be met. The main beam of the heliostat support of tower-type solar thermal power generation is assembled and welded by 8 support beams, 1 main beam steel pipe, 2 push rod support welded parts, and 1 main beam support welded part. The welding dimension accuracy requirements of the main beam of the heliostat support are high, and a matching automatic welding equipment is needed to weld the support beams equidistantly to the main beam of the heliostat support.

[0003] According to the Chinese patent with the publication number CN111673322A, a multi-station automatic welding method and equipment for the main beam of a heliostat support are disclosed. This invention realizes the multi-station flow automatic welding of the main beam of the heliostat support. On the premise of ensuring the welding quality, it greatly reduces the labor intensity and cost of workers, improves the welding efficiency of products, and shortens the production cycle;

[0004] According to the Chinese patent with the publication number CN213560865U, a support beam welding positioning device for the main beam of a heliostat support is disclosed. This device can position and clamp the main beam steel pipe and the support beam steel plate to prevent the relative position of the support beam steel plate and the main beam steel pipe from changing during welding; the quick insertion and extraction of the support beam are realized through the elastic sheet mechanism, improving the positioning efficiency; while ensuring the dimensional accuracy of welding, the welding efficiency is improved, realizing the high-quality and high-efficiency welding of the main beam of the heliostat support for tower-type solar thermal power generation and saving manpower;

[0005] When the above technical solutions are used, the support beam can be positioned and restricted in the support beam positioning support, so as to prevent deviation during the welding of the main beam and the support beam of the heliostat support. However, due to the influence of the support beam positioning support, full-welding operation cannot be realized. During the subsequent full-welding operation, the support beam positioning support will affect the rapid transfer position of the workpiece, making it difficult to realize the positioning operations of clamping, conveying, and slag removal during the automatic welding of the workpiece. Summary of the Invention

[0006] The purpose of the present invention is to provide a multi-station automatic welding equipment and method for the main beam of a heliostat support, so as to solve the problems raised in the above background art.

[0007] To achieve the above object, the present invention provides the following technical solution: A multi-station automatic welding device for the main beam of a heliostat bracket, including a stable seat, a spot welding station, and a full welding station. Driving arms are symmetrically arranged at both ends of the stable seat. A spot welding station for placing the main beam is arranged on one side of the stable seat. A plurality of welding robots are arranged on the other side of the stable seat. A full welding station is installed on the upper side surface of the middle part of the stable seat. A plurality of positioning seats for placing the support beam are arranged above the spot welding station. A material supporting mechanism is arranged at one end of the driving arm. The material supporting mechanism includes a fan-shaped hanging plate movably connected to the driving arm. An L-shaped seat is movably connected to one side of the fan-shaped hanging plate. A slide rail is fixedly parallel to the upper surface of the horizontal side of the L-shaped seat.

[0008] A clamping mechanism is arranged on the L-shaped seat. The clamping mechanism includes a support plate slidably butted with the slide rail. A sliding sleeve slides on the outer side of the support plate. A vertical cavity is formed on the surface of one side of the support plate, and tooth grooves are arranged in a staggered manner on both sides of the inner wall of the vertical cavity. A retaining sleeve is installed on one side of the sliding sleeve. A rotating shaft rotates at the center of the retaining sleeve, and a turntable is fixed to the end of the rotating shaft extending out of the retaining sleeve. A plurality of adjustment grooves with equal included angles are formed on the surface of the turntable. A clamping seat is slidably connected to the inside of the adjustment groove. A clamping rod for tightening the inner wall of the main beam is fixed to one end of the clamping seat.

[0009] A plurality of anti-offset slag scraping components and driving rollers are arranged on the upper surface of the full welding station. The anti-offset slag scraping component includes a backing plate installed on the upper side of the full welding station. An intermediate plate and two parallel side plates are welded above the backing plate. Chute grooves are formed on the surfaces of the intermediate plate and the side plates. A trigger member is arranged between the two side plates. Vibration arms for removing welding slag are movably connected to the surfaces of the intermediate plate and the side plates.

[0010] Preferably, driving motors are installed at the tops of both ends of the stable seat. The middle part of the driving arm is installed with the output end of the driving motor. A counterweight block is installed at the end of the driving arm away from the fan-shaped hanging plate.

[0011] Preferably, a strip-shaped slideway is formed in the middle of the horizontal side of the L-shaped seat. A lead screw is connected through a bearing in the strip-shaped slideway. A feed motor is installed at the edge of the horizontal side of the L-shaped seat, and the output end of the feed motor is connected to the lead screw. A threaded sleeve sleeved with the lead screw is integrally formed at the bottom of the support plate.

[0012] Preferably, a hydraulic cylinder is rotatably connected to the surface of the retaining sleeve close to the sliding sleeve. The output end of the hydraulic cylinder is connected to a swing arm. The tail of the swing arm is fixed to a sector gear block. The center of the sector gear block is welded to the rotating shaft.

[0013] Preferably, a residual gear a is installed at the end of the rotating shaft of the retaining sleeve. A transmission gear is engaged below the sector gear block. A residual gear b is installed at the end of the concentric shaft of the transmission gear. The residual gear a and the residual gear b are respectively engaged with the engaging teeth on both sides of the tooth groove.

[0014] Preferably, the adjusting groove is composed of an eccentric groove and a concentric groove, and both the eccentric groove and the concentric groove are arc-shaped structures. A slide bar is arranged on the inner wall of the retaining sleeve close to the turntable, and the slide bar is slidably connected with the card seat.

[0015] Preferably, extrusion rods penetrating through the chute are fixed on both sides of the trigger member. An inner cavity is formed below the middle plate. A cross arm slidable in the inner cavity is arranged in the middle of the trigger member. A return spring is connected between the lower wall surface of the inner cavity and the lower wall surface of the cross arm. A scraping tooth is integrally formed at the upper end of the vibrating arm. A strip-shaped extrusion groove slidably docked with the extrusion rod is formed on the lower surface of the vibrating arm.

[0016] Preferably, an arc-shaped tooth rail is fixed on the lower edge of the vertical side of the L-shaped seat. A steering motor is embedded on the surface of the sector hanging plate. A steering gear engaged with the arc-shaped tooth rail is arranged at the output end of the steering motor.

[0017] Preferably, a punching station is arranged at one end of the spot welding station on the same horizontal line. Conveyor assemblies are arranged on both the spot welding station and the punching station;

[0018] A conveyor steel frame is arranged on one side of the spot welding station away from the stable seat. A walking track is installed on one side of the top of the conveyor steel frame. A lifting arm is installed on one side of the walking track. Two groups of mechanical clamping claws are installed below the lifting arm.

[0019] A multi-station automatic welding method for the main beam of a heliostat bracket includes the following steps:

[0020] S1. The main beam of the heliostat bracket is linearly conveyed to the conveyor assembly of the spot welding station through the conveyor assembly on the punching station, and the support beam and the main beam are positioned and sleeved through the positioning seat;

[0021] S2. The main beam and the support beam on the spot welding station are preliminarily spot welded by a multi-station welding robot;

[0022] S3. The position is synchronously deflected and adjusted by the material supporting mechanisms at both ends of the stable seat, so that the workpiece completed with preliminary spot welding is moved to the full welding station;

[0023] S4. The driving roller is controlled to rotate to assist the multi-station welding robot to perform rotary full welding operation on the workpiece at the full welding station;

[0024] S5. Control the lifting arm on the walking track to descend, drive the mechanical gripper to grip the fully welded workpiece, and drive the workpiece to move to the subsequent workstations through the walking track.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows: For the multi-station automatic welding equipment and method for the main beam of the heliostat bracket, a material supporting mechanism and a clamping mechanism are set to be linked. The clamping mechanism can complete the positioning and lifting and anti-deviation clamping of the cylindrical main beam on the material supporting mechanism by first moving upward and then tightening. The workpiece on the material supporting mechanism is conveyed to the full-welding station by the driving arm. The anti-deviation slag scraping assembly can position the rotating support beam, and the reciprocatingly rotating vibrating arm drives the scraping teeth to intermittently strike and scrape the welding part, ensuring that the workpieces of the heliostat bracket can quickly remove the welding slag generated during the full-welding operation. Furthermore, the multi-station automatic welding equipment can efficiently perform anti-deviation clamping, anti-deviation conveying, and anti-deviation slag removal for the welding of the main beam of the heliostat bracket.

[0026] 1. For the multi-station automatic welding equipment and method for the main beam of the heliostat bracket, when the driving screw rotates forward, several clamping rods are inserted into the end through holes of the main beam. The hydraulic cylinder drives the rotating shaft and the residual gear a at the center of the retaining sleeve to rotate forward, and at the same time, the residual gear b will rotate in the reverse direction. Ensure that when the residual gear a and the residual gear b rotate forward and backward respectively, the clamping mechanism will drive the workpiece to move upward. When the turntable rotates forward, the eccentric channel of the adjustment groove will squeeze the clamping seat, and the inner wall of the concentric channel restricts the position of the clamping seat, ensuring that the clamping rod at one end of the clamping seat presses against the inner wall surface of the main beam, facilitating the linear upward movement and detachment of the main beam with the support beam completed by spot welding from the positioning seat. When the main beam of the heliostat bracket is lapped on the driving roller, the support beam with spot welding completed on the outer side of the main beam will slide and insert along one side of the semi-circular middle plate and the side plate. The middle plate and the side plate can prevent deviation of both sides of the support beam, thereby ensuring that the multi-station automatic welding equipment can position and prevent deviation for the welding of the main beam and the support beam;

[0027] 2. For the multi-station automatic welding equipment and method for the main beam of the heliostat bracket, the vibrating arm between the middle plate and the side plate drives the scraping teeth to fit the welding part. When the support beam rotates and squeezes the top wall of the trigger part between the middle plate and the side plate, the trigger part moves downward and squeezes the vibrating arm to rotate away from the main beam. When the rotating support beam disengages from the extrusion of the trigger part, the trigger part is pushed upward by the return spring, thereby facilitating the vibrating arm to drive the scraping teeth at the upper end to rotate and strike the outer wall of the main beam, and further intermittently strike the welding part, ensuring that the workpieces of the heliostat bracket can quickly remove the welding slag generated during the full-welding operation. Description of the Drawings

[0028] Figure 1 It is the first three-dimensional structure schematic diagram of the multi-station automatic welding equipment of the present invention;

[0029] Figure 2 The second three-dimensional structure diagram of the multi-station automatic welding equipment of the present invention;

[0030] Figure 3 The three-dimensional structure diagram of the stable seat of the present invention;

[0031] Figure 4 The first three-dimensional structure diagram of the linkage between the material supporting mechanism and the clamping mechanism of the present invention;

[0032] Figure 5 The second three-dimensional structure diagram of the linkage between the material supporting mechanism and the clamping mechanism of the present invention;

[0033] Figure 6 The three-dimensional structure diagram of the material supporting mechanism of the present invention;

[0034] Figure 7 The three-dimensional structure diagram of the clamping mechanism of the present invention;

[0035] Figure 8 The first three-dimensional exploded structure diagram of the clamping mechanism of the present invention;

[0036] Figure 9 The second three-dimensional exploded structure diagram of the clamping mechanism of the present invention;

[0037] Figure 10 The three-dimensional structure diagram of the sliding connection between the support plate and the sliding sleeve of the present invention;

[0038] Figure 11 The three-dimensional structure diagram of the anti-deviation slag scraping assembly of the present invention;

[0039] Figure 12 The three-dimensional sectional structure diagram of the anti-deviation slag scraping assembly of the present invention;

[0040] Figure 13 The three-dimensional structure diagram of the connection between the middle plate and the trigger member of the present invention;

[0041] Figure 14 The three-dimensional structure diagram of the anti-deviation slag scraping assembly scraping slag from the main beam and the secondary beam of the present invention;

[0042] Figure 15 The three-dimensional sectional structure diagram of the positioning seat of the present invention.

[0043] In the figure: 1. Stable seat; 101. Driving motor; 102. Driving arm; 103. Counterweight; 2. Spot welding station; 201. Positioning seat; 3. Welding robot; 4. Material supporting mechanism; 401. Sector-shaped hanging plate; 402. L-shaped seat; 403. Lead screw; 404. Feeding motor; 405. Slide rail; 406. Arc-shaped tooth rail; 407. Direction-adjusting motor; 408. Direction-adjusting gear; 5. Clamping mechanism; 501. Support plate; 502. Slide sleeve; 503. Tooth groove; 504. Stop sleeve; 505. Hydraulic cylinder; 506. Swing arm; 507. Sector-shaped tooth block; 508. Remnant gear a; 509. Transmission gear; 510. Remnant gear b; 511. Turntable; 512. Adjusting groove; 513. Clamping seat; 514. Clamping rod; 6. Full welding station; 7. Anti-deviation slag scraping assembly; 701. Base plate; 702. Intermediate plate; 703. Side plate; 704. Triggering part; 7041. Extrusion rod; 705. Return spring; 706. Vibration arm; 707. Scraping tooth; 708. Chute; 8. Driving roller; 9. Punching station; 10. Conveyor steel frame; 11. Traveling track; 12. Lifting arm; 13. Mechanical claw. Detailed implementation mode

[0044] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0045] Please refer to Figures 1 - 10 and Figure 15 The present invention provides a technical solution: a multi-station automatic welding device for the main beam of a heliostat bracket, including a stable seat 1, a spot welding station 2 and a full welding station 6. Driving arms 102 are symmetrically arranged at both ends of the stable seat 1. A spot welding station 2 for placing the main beam is arranged on one side of the stable seat 1. A plurality of welding robots 3 are arranged on the other side of the stable seat 1. A full welding station 6 is installed on the upper side of the middle part of the stable seat 1. A plurality of positioning seats 201 for placing the support beam are arranged above the spot welding station 2. The upper side of the positioning seat 201 is an inner concave structure, which is convenient for the main beam to pass through the inner concave part of the positioning seat 201, conveying the main beam of the heliostat bracket to the spot welding station 2, and restricting the support beam sleeved outside the main beam by the positioning seat 201. One end of the driving arm 102 is provided with a material supporting mechanism 4. The material supporting mechanism 4 includes a sector-shaped hanging plate 401 movably connected to the driving arm 102. One side of the sector-shaped hanging plate 401 is movably connected with an L-shaped seat 402. The upper surface of the horizontal side of the L-shaped seat 402 is fixedly parallel with a slide rail 405;

[0046] The L-shaped seat 402 is provided with a clamping mechanism 5. The clamping mechanism 5 includes a support plate 501 slidably docked with the slide rail 405. A sliding sleeve 502 slides on the outer side of the support plate 501. Vertical cavities are formed on both sides of the surface of one side of the support plate 501, and tooth grooves 503 are arranged in a staggered manner on both sides of the inner wall of the vertical cavity. A retaining sleeve 504 is installed on one side of the sliding sleeve 502. A rotating shaft rotates in the center of the retaining sleeve 504, and a turntable 511 is fixed to the end of the rotating shaft extending out of the retaining sleeve 504. A plurality of adjusting grooves 512 with equal included angles are formed on the surface of the turntable 511. A clamping seat 513 is slidably connected inside the adjusting groove 512. One end of the clamping seat 513 is fixed with a clamping rod 514 for tightening the inner wall of the main beam;

[0047] Driving motors 101 are installed on the tops of both ends of the stable seat 1. The middle part of the driving arm 102 is installed with the output end of the driving motor 101. A counterweight 103 is installed at the end of the driving arm 102 far from the sector-shaped overhanging plate 401; A strip-shaped slideway is formed in the middle of the horizontal side of the L-shaped seat 402, and a lead screw 403 is connected through a bearing in the strip-shaped slideway. A feed motor 404 is installed on the edge of the horizontal side of the L-shaped seat 402, and the output end of the feed motor 404 is connected to the lead screw 403. A threaded sleeve sleeved with the lead screw 403 is integrally formed at the bottom of the support plate 501. After controlling the welding robot 3 to automatically perform spot welding positioning on the main beam and the support beam, control the feed motor 404 on the L-shaped seat 402 to drive the lead screw 403 to rotate forward. Thus, the lead screw 403 is in threaded transmission with the threaded sleeve at the bottom of the support plate 501, so that the support plate 501 moves horizontally forward along the slide rail 405 on the L-shaped seat 402, and a plurality of clamping rods 514 in front of the retaining sleeve 504 driven by the horizontally forward moving support plate 501 are inserted into the end through holes of the main beam;

[0048] A hydraulic cylinder 505 is rotatably connected to the surface of the retaining sleeve 504 close to the sliding sleeve 502. The output end of the hydraulic cylinder 505 is connected with a swing arm 506. The tail of the swing arm 506 is fixed to a sector-shaped tooth block 507. The center of the sector-shaped tooth block 507 is welded to the rotating shaft; A residual gear a508 is installed at the end of the rotating shaft of the retaining sleeve 504. A transmission gear 509 is meshed below the sector-shaped tooth block 507. A residual gear b510 is installed at the end of the concentric shaft of the transmission gear 509. The residual gear a508 and the residual gear b510 are respectively meshed with the teeth on both sides of the tooth groove 503;

[0049] The adjusting groove 512 is composed of an eccentric groove and a concentric groove, and both the eccentric groove and the concentric groove are arc-shaped structures. The eccentric groove of the adjusting groove 512 is eccentrically designed with the central axis of the retaining sleeve 504, and the concentric groove of the adjusting groove 512 is coaxially designed with the central axis of the retaining sleeve 504. A slide bar is arranged on the inner wall of the retaining sleeve 504 close to the turntable 511, and the slide bar is slidably connected with the clamping seat 513.

[0050] During specific implementation, the feed motor 404 drives the lead screw 403 to rotate forward, causing the lead screw 403 to drive the support plate 501 to perform a forward horizontal shift along the slide rail 405 on the L-shaped seat 402, so that several clamping rods 514 are inserted into the end through holes of the main beam. At this time, the output end of the hydraulic cylinder 505 is extended to push the swing arm 506 and the sector gear block 507 to rotate forward around the rotation axis at the center of the retaining sleeve 504. Thus, the rotation axis will drive the incomplete gear a 508 at the coaxial end to rotate forward, and further cause the incomplete gear a 508 to mesh with the tooth groove 503 on one side of the vertical cavity of the support plate 501. At the same time, the meshing of the sector gear block 507 with the transmission gear 509 will drive the incomplete gear b 510 to rotate in the reverse direction, so that the incomplete gear b 510 meshes with the tooth groove 503 on the other side of the vertical cavity of the support plate 501. Since the forward rotation tangent direction of the incomplete gear a 508 close to one side of the tooth groove 503 and the reverse rotation tangent direction of the incomplete gear b 510 close to the other side of the tooth groove 503 are both vertically downward, and the bottom of the support plate 501 is supported on the L-shaped seat 402 and cannot move up and down, when the incomplete gear a 508 and the incomplete gear b 510 rotate forward and in the reverse direction respectively, the incomplete gear a 508 and the incomplete gear b 510 will move up along the two groups of misaligned tooth grooves 503 to adjust their positions;

[0051] Meanwhile, when the hydraulic cylinder 505 drives the rotation axis at the center of the retaining sleeve 504 to rotate forward, the rotation axis will drive the coaxial turntable 511 to rotate forward, so that when the turntable 511 rotates forward, it will control the clamping rod 514 to approach the inner wall of the main beam through the adjustment groove 512 on the surface. Specifically: when the turntable 511 rotates forward, it will squeeze the clamping seat 513 through the eccentric groove of the adjustment groove 512, causing the clamping seat 513 to move along the slide rod on the inner wall of the retaining sleeve 504. When the clamping seat 513 moves into the concentric groove of the adjustment groove 512, the clamping seat 513 abuts against both sides of the inner wall of the concentric groove, and the inner wall of the concentric groove will limit the position of the clamping seat 513, ensuring that the clamping rod 514 at one end of the clamping seat 513 abuts tightly against the inner wall surface of the main beam;

[0052] When the hydraulic cylinder 505 pushes the rotation axis at the center of the retaining sleeve 504 to rotate forward, the incomplete gear a 508 and the incomplete gear b 510 will be lifted along the support plate 501. Then, the clamping rods 514 distributed at equal angles on one side of the turntable 511 will move up from the center position of the through hole of the main beam. At the same time, when the clamping rods 514 distributed at equal angles move up as a whole, they will also be squeezed and move away from each other. Thus, it is ensured that the clamping mechanism 5 can complete the positioning and lifting of the cylindrical main beam on the material supporting mechanism 4 by first moving up and then tightening, facilitating the main beam with the support beam to break away from the positioning seat 201 after spot welding processing;

[0053] When the driving motor 101 drives the driving arm 102 to flip, the fan-shaped hanging plate 401 will move from the spot welding station 2 to the full welding station 6. Since the support beam is originally inserted into the upper side of the positioning seat 201, the workpiece is moved upward by driving the clamping mechanism 5 when clamping, which can drive the support beam to separate from the positioning seat 201, so that the heliostat support workpiece can be quickly released from the positioning restriction during assembly and spot welding operations due to the positioning and anti-biasing restrictions. Since the clamping mechanism 5 is located on the horizontal side of the L-shaped seat 402, and the workpiece is positioned and clamped by two sets of clamping mechanisms 5 to move the position, when the fan-shaped hanging plate 401 changes its position, the L-shaped seat 402 will always be vertically downward to ensure the stability of the movement. Qualitatively, when the flipped driving arm 102 drives the workpiece to be placed on the driving roller 8 at the top of the full welding station 6 through the fan-shaped hanging plate 401 at one end, the counterweight block 103 at the other end of the driving arm 102 will flip accordingly, which can reduce the resistance of the driving motor 101 when rotating; when the main beam of the heliostat bracket is overlapped on the driving roller 8, the support beam that has been spot-welded on the outside of the main beam will slide and insert along one side of the semicircular middle plate 702 and the side plate 703, and the middle plate 702 and the side plate 703 can be used to prevent the two sides of the support beam from deflection. When the driving roller 8 rotates, it can drive the main beam to rotate in a circle, so that the welding robot 3 can perform 360° welding on the butt gap between the main beam and the support beam.

[0054] See also Figure 1 , Figure 2 , Figures 11 - 14 , a plurality of anti-deviation scraping assemblies 7 and driving rollers 8 are arranged on the upper surface of the full welding station 6, the anti-deviation scraping assemblies 7 include a pad 701 installed on the upper side of the full welding station 6, an intermediate plate 702 and two parallel side plates 703 are welded above the pad 701, the intermediate plate 702 and the side plates 703 are both semicircular structures, so the support beam will not be affected by the interference of the intermediate plate 702 and the side plates 703 during rotation, the surfaces of the intermediate plate 702 and the side plates 703 are provided with slide grooves 708, a triggering member 704 is arranged between the two side plates 703, and the surfaces of the intermediate plate 702 and the side plates 703 are movably connected with a rapping arm 706 for removing welding slag;

[0055] An extrusion rod 7041 penetrating the slide groove 708 is fixed on both sides of the trigger member 704, an inner cavity is opened below the middle plate 702, and a cross arm sliding with the inner cavity is provided in the middle of the trigger member 704, and a reset spring 705 is connected between the lower wall of the inner cavity and the lower wall of the cross arm, a scraping tooth 707 is integrally formed at the upper end of the vibrating arm 706, and a strip extrusion groove slidably docked with the extrusion rod 7041 is opened on the lower end surface of the vibrating arm 706.

[0056] In specific implementation, when the main beam and the supporting beam are fully welded, the scraper 707 is driven to fit the welding part through the vibration arm 706 between the middle plate 702 and the side plate 703, so that the scraper 707 can scrape off the welding slag produced by the welding, and when the supporting beam rotates and squeezes the top wall of the trigger member 704 between the middle plate 702 and the side plate 703, the trigger member 704 can squeeze the reset spring 705 when it moves downward, so that the trigger member 704 moves downward along the slide groove 708 through the squeezing rod 7041, so that the squeezing rod 7041 will squeeze the vibration The strip extrusion groove at the lower end of the beating arm 706 allows the beating arm 706 to rotate downward and away from the main beam. When the rotating support beam is disengaged from the extrusion of the trigger member 704, the reset spring 705 pushes the trigger member 704 upward, so that the extrusion rod 7041 on the trigger member 704 pulls the beating arm 706 upward to rotate and reset, thereby facilitating the beating arm 706 to drive the scraper teeth 707 at the upper end to rotate and hit the outer wall of the main beam, and then intermittently knock on the welding parts, ensuring that the workpiece of the heliostat bracket can quickly remove the welding slag generated by the full welding operation.

[0057] See also Figures 4 - 6 An arc-shaped rack 406 is fixed to the lower edge of the vertical side of the L-shaped seat 402. The arc-shaped rack 406 and the rotation center of the fan-shaped suspension plate 401 are distributed in concentric circles. A steering motor 407 is embedded and installed on the surface of the fan-shaped suspension plate 401. The output end of the steering motor 407 is provided with a steering gear 408 meshing with the arc-shaped rack 406.

[0058] In a specific implementation, the steering motor 407 is started to drive the steering gear 408 at the output end to rotate forward or reverse, so that the steering gear 408 can drive the arc-shaped rack 406 to deflect forward or reverse, so that the arc-shaped rack 406 can drive the L-shaped seat 402 to deflect at an angle. When the L-shaped seat 402 is at a deflection angle, it can drive the clamping mechanism 5 to change its position, so that the two groups of clamping mechanisms 5 can pull the cylindrical workpiece of the heliostat bracket to change its position, and the workpiece can be sent to the full welding station 6 for automatic welding to achieve an adjustable docking effect. In addition, the steering motor 407 drives the L-shaped seat 402 and the clamping mechanism 5 to change their positions, so that the cylindrical workpiece of the heliostat bracket can be quickly driven to swing as a whole, so that impurities on the workpiece can be quickly removed.

[0059] See also Figures 1 - 3, one end of the spot welding station 2 is provided with a punching station 9 on the same horizontal line. Conveyor components are arranged on both the spot welding station 2 and the punching station 9. A limiting baffle is installed at one end of the spot welding station 2 away from the punching station 9. The conveyor component consists of V-shaped rollers, synchronous wheels, synchronous belts, and a conveyor motor. The two ends of the V-shaped rollers are installed on the spot welding station 2 and the punching station 9 through bearing seats, and synchronous wheels are also installed on the V-shaped rollers. The synchronous wheels between adjacent two V-shaped rollers are driven by synchronous belts. A conveyor motor is installed at one end of one V-shaped roller away from the synchronous wheel; on one side of the spot welding station 2 away from the stable seat 1, a conveyor steel frame 10 is provided. On one side of the top of the conveyor steel frame 10, a walking track 11 is installed. On one side of the walking track 11, a lifting arm 12 is installed. Two groups of mechanical claws 13 are installed below the lifting arm 12.

[0060] During specific implementation, a support beam is positioned and inserted on the positioning seat 201 of the spot welding station 2, so that the center of the middle part of the support beam coincides with the concave inner axis on the upper side of the positioning seat 201. And a drilling device is installed on the punching station 9 for drilling the surface of the main beam. Subsequently, the main beam of the heliostat bracket is linearly conveyed to the conveyor component of the spot welding station 2 through the conveyor component on the punching station 9, and one end of the main beam is limited and blocked by the limiting baffle. Then, the main beam and the support beam are pre-spot welded by the multi-station welding robot 3. After the main beam and the support beam are spot welded, the feeding mechanisms 4 at both ends of the stable seat 1 are used to drive the clamping mechanism 5 to insert into both ends of the main beam, and the driving motor 101 is controlled to drive the feeding mechanism 4 to adjust the position, so that the workpiece after spot welding is sent to the full welding station 6. Then, the hydraulic cylinder 505 contracts to reverse the rotating shaft, thereby driving the turntable 511 to reverse and driving a plurality of clamping rods 514 to approach each other and disengage from the inner wall of the through hole of the main beam. At the same time, the residual gear a508 and the residual gear b510 can move down along the tooth grooves 503 on the inner wall of the support plate 501, ensuring that the retaining sleeve 504 and the sliding sleeve 502 move down along the support plate 501 to adjust the position, and the feed motor 404 is started to drive the lead screw 403 to reverse, so that the lead screw 403 drives the support plate 501 to drive the clamping mechanism 5 to move in the reverse direction along the slide rail 405 and away from the end of the main beam;

[0061] After the welding robot 3 completes the full welding of the main beam and the support beam of the workpiece, the walking track 11 on the conveyor steel frame 10 is used to drive the lifting arm 12 to linearly traverse horizontally, and the two groups of mechanical claws 13 are driven by the lifting arm 12 to move down to clamp the workpiece after full welding. Finally, the two groups of mechanical claws 13 are driven by the lifting arm 12 to move up, and under the horizontal movement of the walking track 11, the workpiece is driven to the next station for operation. This is the prior art and will not be elaborated here.

[0062] A multi-station automatic welding method for the main beam of a heliostat bracket includes the following steps:

[0063] S1. The main beam of the heliostat bracket is linearly conveyed to the conveying component at the spot welding station 2 by the conveying component at the punching station 9, and the support beam and the main beam are positioned and sleeved through the positioning seat 201.

[0064] S2. The multi-station welding robot 3 is used to perform preliminary spot welding operations on the main beam and the support beam at the spot welding station 2.

[0065] S3. The position is adjusted by synchronous yawing of the material supporting mechanisms 4 at both ends of the stabilizing seat 1, so that the workpiece after preliminary spot welding is moved to the full welding station 6.

[0066] S4. The driving roller 8 is controlled to rotate to assist the multi-station welding robot 3 to perform rotary full welding operations on the workpiece at the full welding station 6.

[0067] S5. The lifting arm 12 on the walking track 11 is controlled to descend to drive the mechanical gripper 13 to clamp the workpiece after full welding, and the workpiece is driven to move to the subsequent station through the walking track 11.

[0068] The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0069] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A multi-station automatic welding equipment for the main beam of a heliostat support, comprising a stable seat (1), a spot welding station (2) and a full welding station (6), characterized in that: Driving arms (102) are symmetrically arranged at both ends of the stable seat (1). A spot welding station (2) for placing the main beam is arranged on one side of the stable seat (1). A plurality of welding robots (3) are arranged on the other side of the stable seat (1). A full welding station (6) is installed on the upper side surface of the middle part of the stable seat (1). A plurality of positioning seats (201) for placing the support beam are arranged above the spot welding station (2). A material supporting mechanism (4) is arranged at one end of the driving arm (102). The material supporting mechanism (4) includes a sector-shaped hanging plate (401) movably connected to the driving arm (102). An L-shaped seat (402) is movably connected to one side of the sector-shaped hanging plate (401). A slide rail (405) is fixedly arranged in parallel on the upper surface of the horizontal side of the L-shaped seat (402); A clamping mechanism (5) is arranged on the L-shaped seat (402). The clamping mechanism (5) includes a support plate (501) slidably docked with the slide rail (405). A sliding sleeve (502) slides on the outer side of the support plate (501). A vertical cavity is formed on the surface of one side of the support plate (501), and tooth grooves (503) are arranged in a staggered manner on both sides of the inner wall of the vertical cavity. A retaining sleeve (504) is installed on one side of the sliding sleeve (502). A rotating shaft rotates at the center of the retaining sleeve (504), and a turntable (511) is fixed at one end of the rotating shaft extending out of the retaining sleeve (504). A plurality of adjusting grooves (512) with equal included angles are formed on the surface of the turntable (511). A clamping seat (513) is slidably connected inside the adjusting groove (512). A clamping rod (514) for tightening the inner wall of the main beam is fixed at one end of the clamping seat (513); A plurality of anti-deviation slag scraping components (7) and driving rollers (8) are arranged on the upper surface of the full welding station (6). The anti-deviation slag scraping component (7) includes a backing plate (701) installed on the upper side of the full welding station (6). An intermediate plate (702) and two parallel side plates (703) are welded above the backing plate (701). Chute grooves (708) are formed on the surfaces of the intermediate plate (702) and the side plates (703). A triggering member (704) is arranged between the two side plates (703). Vibration arms (706) for removing welding slag are movably connected to the surfaces of the intermediate plate (702) and the side plates (703).

2. The multi-station automatic welding equipment for the main beam of a heliostat bracket according to claim 1, characterized in that: Driving motors (101) are installed on the tops of both ends of the stable seat (1). The middle part of the driving arm (102) is installed on the output end of the driving motor (101). A counterweight block (103) is installed at one end of the driving arm (102) away from the sector-shaped hanging plate (401).

3. The multi-station automatic welding equipment for the main beam of a heliostat bracket according to claim 1, characterized in that: A strip-shaped slideway is provided in the middle of the horizontal side of the L-shaped seat (402), and a lead screw (403) is connected in the strip-shaped slideway through a bearing. A feed motor (404) is installed at the edge of the horizontal side of the L-shaped seat (402), and the output end of the feed motor (404) is connected to the lead screw (403). A threaded sleeve sleeved on the lead screw (403) is integrally formed at the bottom of the support plate (501).

4. The multi-station automatic welding equipment for the main beam of a heliostat bracket according to claim 1, characterized in that: A hydraulic cylinder (505) is rotatably connected to the surface of the retaining sleeve (504) close to the sliding sleeve (502). The output end of the hydraulic cylinder (505) is connected to a swing arm (506). The tail of the swing arm (506) is fixed to a sector gear block (507). The center of the sector gear block (507) is welded to a rotating shaft.

5. The multi-station automatic welding equipment for the main beam of a heliostat bracket according to claim 4, characterized in that: A defective gear a (508) is installed at the end of the rotating shaft of the retaining sleeve (504). A transmission gear (509) is engaged below the sector gear block (507). A defective gear b (510) is installed at the end of the concentric shaft of the transmission gear (509). The defective gear a (508) and the defective gear b (510) are respectively engaged with the engaging teeth on both sides of the tooth groove (503).

6. The multi-station automatic welding equipment for the main beam of a heliostat bracket according to claim 1, wherein: The adjusting groove (512) is composed of an eccentric groove and a concentric groove, and both the eccentric groove and the concentric groove are arc-shaped structures. A sliding rod is provided on the inner wall of the retaining sleeve (504) close to the turntable (511), and the sliding rod is slidably connected to the card seat (513).

7. An automatic multi-station welding device for the main beam of a heliostat bracket according to claim 1, characterized in that: Extrusion rods (7041) penetrating through the sliding grooves (708) are fixed on both sides of the trigger member (704). An inner cavity is provided below the middle plate (702). A cross arm sliding in the inner cavity is provided in the middle of the trigger member (704). A return spring (705) is connected between the lower wall surface of the inner cavity and the lower wall surface of the cross arm. A scraping tooth (707) is integrally formed at the upper end of the vibrating arm (706). A strip-shaped extrusion groove slidably docked with the extrusion rod (7041) is provided on the lower surface of the lower end of the vibrating arm (706).

8. The multi-station automatic welding equipment for the main beam of a heliostat bracket according to claim 1, characterized in that: An arc-shaped tooth rail (406) is fixed to the lower edge of the vertical side of the L-shaped seat (402). An alignment motor (407) is embedded and installed on the surface of the sector hanging plate (401). An alignment gear (408) meshing with the arc-shaped tooth rail (406) is provided at the output end of the alignment motor (407).

9. An automatic multi-station welding device for the main beam of a heliostat support, characterized in that: One end of the spot welding station (2) is provided with a punching station (9) on the same horizontal line. Conveyor assemblies are provided on both the spot welding station (2) and the punching station (9); A conveying steel frame (10) is provided on one side of the spot welding station (2) away from the stable seat (1). A walking track (11) is installed on one side of the top of the conveying steel frame (10). A lifting arm (12) is installed on one side of the walking track (11). Two groups of mechanical clamping jaws (13) are installed below the lifting arm (12).

10. A multi-station automatic welding method for the main beam of a heliostat support, which applies the multi-station automatic welding equipment for the main beam of the heliostat support described in claim 9, is characterized in that, Including the following steps: S1. The main beam of the heliostat bracket is linearly conveyed to the conveyor assembly of the spot welding station (2) through the conveyor assembly on the punching station (9), and the support beam and the main beam are positioned and sleeved through the positioning seat (201); S2. Use a multi-station welding robot (3) to perform preliminary spot welding operations on the main beam and the support beam at the spot welding station (2); S3. Synchronously and deflectingly adjust the position through the material supporting mechanisms (4) at both ends of the stable seat (1), so that the workpiece after preliminary spot welding is moved to the full welding station (6); S4. Control the rotation of the driving roller (8) to assist the multi-station welding robot (3) to perform rotary full welding operations on the workpiece at the full welding station (6); S5. Control the lowering of the lifting arm (12) on the walking track (11) to drive the mechanical claw (13) to clamp the workpiece after full welding, and drive the workpiece to move to the subsequent station through the walking track (11).

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