Automatic welding robot for angle steel production

Abstract

The application relates to the technical field of welding robots, in particular to an automatic welding robot for angle steel production, which comprises a base and a welding mechanical arm arranged on the base, further comprises a welding table and a vertical beam moving mechanism, the welding table is fixedly installed on the base through a stand column, and an installation gap is formed in one side of the welding table; the vertical beam moving mechanism comprises a first linear sliding table and a first clamp, the first linear sliding table is arranged on the welding table, and a movable end of the first linear sliding table is connected with the first clamp through a connecting piece; the automatic welding is realized through the welding mechanical arm, the alignment and abutment of the vertical beam angle steel and the horizontal beam angle steel can be automatically realized through the cooperation of the vertical beam moving mechanism and the horizontal beam moving mechanism, the welding efficiency is greatly improved, and the manual participation degree is reduced.

Description

Technical Field

[0001] This invention relates to the field of welding robot technology, specifically to an automatic welding robot for angle steel production. Background Technology

[0002] In the angle steel manufacturing industry, welding is a crucial process for connecting two angle steel pieces into the desired structural components. Traditional angle steel frames, such as... Figure 1 As shown, it includes two vertical angle steel beams and several horizontal angle steel beams. The two ends of the horizontal angle steel beams are welded and fixed to the two vertical angle steel beams, and the vertical angle steel beams and horizontal angle steel beams are perpendicular to each other. Using this angle steel frame as the main body, and combining it with other specifications of angle steel or connecting parts, various types of frame devices, such as shelves, can be manufactured.

[0003] Currently, the welding process for angle steel frames in the industry still largely relies on manual labor. In practice, operators need to manually align the two angle steels to be welded. Since angle steel itself has a certain weight, and the edges and weld positions need to be precisely aligned, this process is not only time-consuming and labor-intensive, resulting in extremely low overall welding efficiency and making it difficult to meet the needs of large-scale production, but also causes operators to experience high labor intensity and fatigue due to the repetitive high-intensity work, which in turn affects the stability and consistency of welding quality and increases the defect rate.

[0004] In addition to using a welding robot to replace manual welding, while welding efficiency and safety can be improved to some extent, the joining process between two angle steels still requires manual alignment, resulting in a high degree of reliance on human labor. Furthermore, if there are deviations in the alignment process, such as the vertical beam and the horizontal beam not being fully perpendicular, welding quality problems may still exist. Therefore, there is an urgent need to design a welding robot for angle steel production to solve the problems of high labor intensity and unstable quality in existing technologies. To this end, we propose an automatic welding robot for angle steel production to effectively address the aforementioned drawbacks. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic welding robot for angle steel production, which solves the problems mentioned in the background art.

[0006] This invention is achieved through the following technical solution: an automatic welding robot for angle steel production, comprising a base and a welding robotic arm mounted on the base, and further comprising:

[0007] A welding table, which is fixedly installed on a base by a column, and an installation notch is provided on one side of the welding table;

[0008] A vertical beam moving mechanism, comprising a first linear slide and a first clamp, wherein the first linear slide is disposed on a welding table and the movable end of the first linear slide is connected to the first clamp via a connector;

[0009] A beam moving mechanism is provided in the installation notch. The beam moving mechanism includes two load plates arranged at a distance from each other. A second clamp is movably provided on each load plate.

[0010] A splicing mechanism is provided between two load-bearing plates, and the splicing mechanism is used to push the second clamps on the two load-bearing plates closer to or away from the vertical beam moving mechanism.

[0011] Optionally, the connector has an L-shaped plate structure, the first clamp is fixedly disposed on the inner side of the connector, and the connector is also provided with an opening for the jaws of the first clamp to pass through, and the two jaws of the first clamp are respectively connected to the first clamping plates.

[0012] Optionally, the splicing mechanism includes a base plate, which is fixedly connected to the welding table, and two load plates are rotatably connected to both sides of the base plate.

[0013] Optionally, the end of the seat plate is provided with a bushing, the inside of the bushing is provided with a rotating column, the outside of the bushing is provided with a rotating sleeve, the side wall of the bushing is provided with an arc-shaped opening, the central angle of the arc-shaped opening is not less than 180°, a positioning column is inserted into the arc-shaped opening, and the inner and outer ends of the positioning column are fixedly connected to the rotating column and the rotating sleeve respectively.

[0014] The rotating sleeve has symmetrical extension columns on both sides of its outer surface, and the two extension columns are fixedly connected to the two load plates respectively.

[0015] Optionally, a motor mount is fixedly provided at the end of the bushing, and a servo motor is mounted on the motor mount. The output shaft of the servo motor is fixedly connected to the rotating column.

[0016] Optionally, the carrying plate has a U-shaped structure, and a flip plate is rotatably provided on the inner side of the carrying plate. The second clamp is movably disposed on the flip plate. One end of the flip plate is rotatably connected to the carrying plate through a rotating shaft. The rotating shaft is rotatably engaged with the carrying plate through a damping bearing, and the rotating shaft extends out of the carrying plate and is fitted with a driven gear.

[0017] An arc-shaped rack is provided on one side of the installation notch. When the upper surface of the carrier plate is flush with the upper surface of the welding table, the arc-shaped rack meshes with one of the driven gears, and the upper surfaces of both flip plates remain parallel to the carrier plate.

[0018] Optionally, the upper surface of the flip plate is provided with a groove, the length direction of the groove is perpendicular to the length direction of the first linear slide, a displacement part is slidably provided in the groove, the second clamp is provided inside the displacement part, and the two jaws of the second clamp extend out of the displacement part and are provided with a second clamping piece.

[0019] Optionally, a docking block is provided on one side of the displacement part. The docking block has a hollow structure, and a protruding block is movably inserted inside the docking block. A second linear slide is provided on the upper surface of the seat plate. The second linear slide is perpendicular to the first linear slide, and a docking sleeve adapted to the protruding block is provided at the movable end of the second linear slide.

[0020] Optionally, the inner end of the docking block is provided with an electromagnet, and the inner end of the protruding block is fixedly embedded with a permanent magnet. When the electromagnet is energized, the electromagnet and the permanent magnet repel each other.

[0021] Optionally, the side of the displacement part is provided with a strip-shaped groove, the docking block is slidably disposed in the strip-shaped groove, and a shock-absorbing spring is connected between the end of the docking block facing the second linear slide and the inner end of the strip-shaped groove; in the natural state, the shock-absorbing spring is in a compressed state.

[0022] Compared with the prior art, the present invention provides an automatic welding robot for angle steel production, which has the following beneficial effects:

[0023] 1. This invention achieves automatic welding through a welding robotic arm. By coordinating the vertical beam moving mechanism and the horizontal beam moving mechanism, the vertical beam angle steel and the horizontal beam angle steel can be automatically aligned and joined, thereby greatly improving welding efficiency and reducing the degree of manual intervention.

[0024] 2. The beam moving mechanism in this invention includes two carrying plates. The two carrying plates can be rotated around the splicing mechanism to exchange positions. Therefore, when the angle steel on the front carrying plate is being welded, the worker can intermittently place the next angle steel to be welded on the rear carrying plate, thereby reducing the waiting time between two adjacent welding actions.

[0025] 3. In this invention, the docking block is elastically connected to the displacement part by a shock-absorbing spring. Therefore, when the displacement part moves with the crossbeam angle steel, the shock-absorbing spring can buffer the contact action of the crossbeam angle steel and the vertical beam angle steel, and avoid damage to the equipment due to rigid collision between the two.

[0026] 4. In this invention, a single splicing mechanism can drive the two displacement parts to move separately, thus helping to simplify the structure of the equipment and reduce its manufacturing cost. Attached Figure Description

[0027] Figure 1 A schematic diagram of an existing angle steel frame;

[0028] Figure 2 This is a schematic diagram of the structure of the present invention;

[0029] Figure 3 This is a schematic diagram of the welding station structure of the present invention;

[0030] Figure 4 This is a partial structural diagram of the welding station of the present invention;

[0031] Figure 5 This is a schematic diagram of the beam moving mechanism of the present invention;

[0032] Figure 6 This is a schematic diagram of the displacement part structure of the present invention;

[0033] Figure 7 This is a schematic diagram of the unfolded splicing mechanism of the present invention;

[0034] Figure 8 This is a cross-sectional view of the displacement section structure of the present invention;

[0035] Figure 9 for Figure 3 Enlarged view of point A in the middle;

[0036] Figure 10 for Figure 4 Enlarged view of the corresponding area at point B.

[0037] In the diagram: 100, base; 200, welding robotic arm; 300, welding table; 301, mounting notch; 302, blocking plate; 400, vertical beam moving mechanism; 401, first linear slide; 402, first clamp; 403, connector; 404, first clamping plate; 500, horizontal beam moving mechanism; 501, carrying plate; 502, second clamp; 503, flipping plate; 504, driven gear; 505, arc-shaped rack; 506, slide groove; 507, displacement. 508. Second clamping piece; 509. Docking block; 510. Extending block; 511. Electromagnet; 512. Strip groove; 513. Shock-absorbing spring; 514. Permanent magnet; 600. Splicing mechanism; 601. Seat plate; 602. Second linear slide; 603. Bushing; 604. Rotating column; 605. Rotating sleeve; 606. Arc-shaped opening; 607. Positioning column; 608. Motor base; 609. Servo motor; 610. Docking sleeve; 611. Extension column. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0039] Please see Figure 1 - Figure 10 This application proposes an automatic welding robot for angle steel production, including a base 100 and a welding robotic arm 200 mounted on the base 100. It also includes a welding table 300, a vertical beam moving mechanism 400, a horizontal beam moving mechanism 500, and a splicing mechanism 600. The welding table 300 is fixedly mounted on the base 100 by a column. The welding table 300 has a rectangular plate structure. An installation notch 301 is provided on one side of the welding table 300. The depth of the installation notch 301 is not less than half the width of the welding table 300.

[0040] Furthermore, the vertical beam moving mechanism 400 includes a first linear slide 401 and a first clamp 402. The first linear slide 401 is mounted on the welding table 300, and its movable end is connected to the first clamp 402 via a connector 403. Specifically, the connector 403 has an L-shaped plate structure, and is fixedly connected to the movable end of the first linear slide 401 by bolts. The first clamp 402 is fixedly mounted on the inner side of the connector 403. The connector 403 also has an opening for the jaws of the first clamp 402 to pass through. The two jaws of the first clamp 402 pass through the opening and are respectively connected to first clamping plates 404. The two first clamping plates 404 are distributed vertically, and the width of the first clamping plates 404 is not shorter than the width of the angle steel.

[0041] It should be noted that the length of the first linear slide 401 is the same as the length of the welding table 300, and when the first clamp 402 clamps the angle steel, the angle steel should also maintain the same length as the welding table 300. At the same time, the length of the angle steel must not exceed the length of the welding table 300.

[0042] A beam moving mechanism 500 is disposed within an installation notch 301. The beam moving mechanism 500 includes two load plates 501 arranged at a distance from each other, and each load plate 501 is movably equipped with a second clamp 502. A splicing mechanism 600 is disposed between the two load plates 501. The splicing mechanism 600 is used to push the second clamps 502 on the two load plates 501 closer to or away from the vertical beam moving mechanism 400. The second clamps 502 are used to clamp the beam angle steel, and the splicing mechanism 600 is used to drive the beam angle steel closer to the vertical beam angle steel, so that the two abut and align.

[0043] Both the first clamp 402 and the second clamp 502 employ electrically operated parallel grippers, and the angle steels held by the first clamp 402 and the second clamp 502 are perpendicularly distributed to each other. Additionally, a baffle plate 302 is provided on the upper surface of the welding table 300. When the first clamp 402 clamps and fixes the angle steel, the side of the angle steel facing away from the mounting notch 301 abuts against the baffle plate 302. The function of the baffle plate 302 is to maintain the stability of the angle steel, ensuring that it remains parallel to the length direction of the welding table 300.

[0044] In some embodiments of this application, the splicing mechanism 600 includes a base plate 601, which is fixedly connected to the welding table 300. The upper surface of the base plate 601 is flush with the upper surface of the welding table 300. Two carrier plates 501 are rotatably connected to both sides of the base plate 601. Specifically, a bushing 603 is provided at the end of the base plate 601. A rotating column 604 is rotatably provided inside the bushing 603. A rotating sleeve 605 is fitted outside the bushing 603. An arc-shaped opening 606 is provided on the side wall of the bushing 603. The central angle of the arc-shaped opening 606 is not less than 180°. A positioning column 607 is inserted into the arc-shaped opening 606. The inner and outer ends of the positioning column 607 are fixedly connected to the rotating column 604 and the rotating sleeve 605, respectively. Extension columns 611 are symmetrically provided on both sides of the outer side of the rotating sleeve 605. The two extension columns 611 are fixedly connected to the two carrier plates 501, respectively.

[0045] It is worth mentioning that both the rotating column 604 and the rotating sleeve 605 are rotatably engaged with the bushing 603 via ball bearings, and the outer end of the rotating column 604 does not extend beyond the outside of the bushing 603; the arc-shaped opening 606 is located in the middle section of the bushing 603, the surface of the rotating column 604 is provided with a threaded hole, and the rotating sleeve 605 is provided with a through hole, both the threaded hole and the through hole are located at the position of the arc-shaped opening 606; in this embodiment, during specific installation, first align the through hole and the threaded hole, and then insert the positioning column 607 from the outside in, so that the bottom end of the positioning column 607 is threaded into the threaded hole, so that the rotating column 604 and the rotating sleeve 605 can rotate synchronously.

[0046] Furthermore, a motor base 608 is fixedly provided at the end of the bushing 603, and a servo motor 609 is mounted on the motor base 608. The output shaft of the servo motor 609 is fixedly connected to the rotating column 604. Therefore, the rotation of the rotating column 604 can be controlled by the servo motor 609, which means that the two work plates 501 can be controlled to rotate around the bushing 603. Specifically, in this embodiment, the servo motor 609 is used to control the two work plates 501 to rotate 180° repeatedly, that is, first rotate half a circle clockwise, then rotate half a circle counterclockwise, and so on. During each rotation interval, the two work plates 501 remain flush with the upper surface of the welding table 300.

[0047] In some embodiments of this application, the carrier plate 501 has a U-shaped structure, and a flip plate 503 is rotatably provided on the inner side of the carrier plate 501. The second clamp 502 is movably disposed on the flip plate 503. One end of the flip plate 503 is rotatably connected to the carrier plate 501 through a rotating shaft. The rotating shaft is rotatably engaged with the carrier plate 501 through a damping bearing, and the rotating shaft extends out of the carrier plate 501 and is fitted with a driven gear 504. The flip plate 503 is rotatably disposed on the inner side of the carrier plate 501, and when the carrier plate 501 is kept flush with the welding table 300, the flip plate 503 is also kept flush with the carrier plate 501.

[0048] In addition, an arc-shaped rack 505 is provided inside the mounting notch 301 near the front end. When the upper surface of the carrier plate 501 is flush with the upper surface of the welding table 300, the arc-shaped rack 505 meshes with one of the driven gears 504, and the upper surfaces of both flip plates 503 remain parallel to the carrier plate 501. When the servo motor 609 drives the rotating column 604 to rotate half a turn, the driven gear 504 that leaves the arc-shaped rack 505 first rotates half a turn, while the other driven gear 504 also rotates half a turn when entering the area of ​​the arc-shaped rack 505. That is, the setting of the arc-shaped rack 505 ensures that the two flip plates 503 always keep their front facing upwards during the rotation intervals of the carrier plate 501.

[0049] It is worth noting that the tilting plate 503 is rotatably engaged with the carrying plate 501 via a damping bearing. The function of the damping bearing is to prevent the tilting plate 503 from rotating arbitrarily, ensuring that the tilting plate 503 can only rotate when its driven gear 504 and arc-shaped rack 505 are meshed. A groove 506 is formed on the upper surface of the tilting plate 503. The length direction of the groove 506 is perpendicular to the length direction of the first linear slide table 401. A displacement part 507 is slidably disposed within the groove 506. A second clamp 502 is disposed inside the displacement part 507. Both jaws of the second clamp 502 extend out of the displacement part 507 and are provided with second clamping pieces 508. The displacement part 507 has an internal hollow structure. The second clamp 502 is disposed inside the displacement part 507; one side of the displacement part 507 has an opening for the jaws of the second clamp 502 to pass through. Both second clamping pieces 508 are located on the outer side of the displacement part 507 and are symmetrically distributed vertically.

[0050] Furthermore, a docking block 509 is provided on one side of the displacement part 507. The docking block 509 has a hollow structure, and an extension block 510 is movably inserted inside the docking block 509. A second linear slide 602 is provided on the upper surface of the base plate 601. The second linear slide 602 is perpendicular to the first linear slide 401, and the movable end of the second linear slide 602 is provided with a docking sleeve 610 that matches the extension block 510. An electromagnet 511 is provided at the inner end of the docking block 509, and a permanent magnet 514 is fixedly embedded at the inner end of the extension block 510. When the electromagnet 511 is energized, the electromagnet 511 and the permanent magnet 514 repel each other. That is, when the electromagnet 511 is energized, the electromagnet 511 can push the extension block 510 outward; when the electromagnet 511 is de-energized, the extension block 510 can retract inward into the docking block 509 because the permanent magnet 514 can attract the electromagnet 511.

[0051] Meanwhile, a strip-shaped slot 512 is provided on the side of the displacement part 507, and the docking block 509 is slidably disposed in the strip-shaped slot 512. A shock-absorbing spring 513 is connected between the end of the docking block 509 facing the second linear slide 602 and the inner end of the strip-shaped slot 512; in its natural state, the shock-absorbing spring 513 is in a compressed state. That is, the shock-absorbing spring 513 always applies a thrust to the docking block 509 toward the side away from the first linear slide 401. During the process of the second linear slide 602 pushing one of the displacement parts 507 toward the first linear slide 401, when the crossbeam angle steel and the vertical beam angle steel abut, the shock-absorbing spring 513 can play a buffering role to avoid strong rigid collision between the two and damage to the equipment.

[0052] In this embodiment, the vertical beam angle steel is first fixed using the first clamp 402, ensuring that the vertical beam angle steel is parallel to the length direction of the welding table 300. Then, the two horizontal beam angle steels are fixed using the two second clamps 502, ensuring that the horizontal beam angle steel is parallel to the width direction of the welding table 300. Next, the vertical beam angle steel is advanced a certain distance using the first linear slide 401, and then the horizontal beam angle steel located in front is brought close to the vertical beam angle steel using the second linear slide 602, causing them to come into contact. After this is completed, the welding robot arm 200 welds the contact point. After welding is completed, the second clamp 502 releases the welded horizontal beam angle steel, and then the first linear slide 401 continues to advance a certain distance. At the same time, the servo motor 609 controls the rotating column 604 to rotate half a turn, causing the two carrying plates 501 to switch positions. At this time, the second linear slide 602 then controls the displacement part 507 located in front to come close to the vertical beam angle steel. During the welding breaks, the workers would then install the next crossbeam angle steel onto a second clamp 502 located on the rear side, and repeat this process.

[0053] It should be noted that each time the second linear slide 602 controls the movement of the displacement part 507 located on the front side, the electromagnet 511 on the back of the displacement part 507 needs to be kept energized so that the protruding block 510 is embedded in the docking sleeve 610. When the two carrier plates 501 need to be swapped, the electromagnet 511 is de-energized, so that the protruding block 510 is separated from the docking sleeve 610.

[0054] In addition, this embodiment also includes a PLC controller (not shown in the figure). The first linear slide 401, the second linear slide 502, the servo motor 609, the electromagnet 511, the first clamp 402 and the second clamp 502 are all connected to the PLC controller. The operator can control the above electrical components to execute in a specific order through the controller, so that no manual intervention is required in the entire welding process.

[0055] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0056] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic welding robot for angle steel production, comprising a base and a welding robotic arm mounted on the base, characterized in that, Also includes: A welding table, which is fixedly installed on a base by a column, and an installation notch is provided on one side of the welding table; A vertical beam moving mechanism, comprising a first linear slide and a first clamp, wherein the first linear slide is disposed on a welding table and the movable end of the first linear slide is connected to the first clamp via a connector; A beam moving mechanism is provided in the installation notch. The beam moving mechanism includes two load plates arranged at a distance from each other. A second clamp is movably provided on each load plate. A splicing mechanism is disposed between two carrying plates, and the splicing mechanism is used to push the second clamps on the two carrying plates closer to or away from the vertical beam moving mechanism; The splicing mechanism includes a base plate, which is fixedly connected to a welding table, and two load plates are rotatably connected to both sides of the base plate. The end of the seat plate is provided with a bushing, the inside of the bushing is provided with a rotating column, the outside of the bushing is provided with a rotating sleeve, the side wall of the bushing is provided with an arc-shaped opening, the central angle of the arc-shaped opening is not less than 180°, a positioning column is inserted into the arc-shaped opening, and the inner and outer ends of the positioning column are fixedly connected to the rotating column and the rotating sleeve respectively. The rotating sleeve has symmetrical extension columns on both sides of its outer side, and the two extension columns are fixedly connected to the two carrying plates respectively. The loading plate has a U-shaped structure. A flip plate is rotatably provided on the inner side of the loading plate. The second clamp is movably disposed on the flip plate. One end of the flip plate is rotatably connected to the loading plate through a rotating shaft. The rotating shaft is rotatably engaged with the loading plate through a damping bearing. The rotating shaft extends out of the loading plate and is fitted with a driven gear. An arc-shaped rack is provided on one side of the installation notch. When the upper surface of the carrier plate is flush with the upper surface of the welding table, the arc-shaped rack meshes with one of the driven gears, and the upper surfaces of both flip plates remain parallel to the carrier plate.

2. The automatic welding robot for angle steel production according to claim 1, characterized in that: The connector has an L-shaped plate structure. The first clamp is fixedly installed on the inner side of the connector. The connector also has an opening for the jaws of the first clamp to pass through. The two jaws of the first clamp are respectively connected to the first clamping plates.

3. The automatic welding robot for angle steel production according to claim 1, characterized in that: The end of the bushing is fixedly provided with a motor base, and a servo motor is mounted on the motor base. The output shaft of the servo motor is fixedly connected to the rotating column.

4. The automatic welding robot for angle steel production according to claim 1, characterized in that: The upper surface of the flip plate is provided with a sliding groove, the length direction of the sliding groove is perpendicular to the length direction of the first linear slide, a displacement part is slidably provided in the sliding groove, the second clamp is provided inside the displacement part, and the two jaws of the second clamp extend out of the displacement part and are provided with second clamping pieces.

5. An automatic welding robot for angle steel production according to claim 4, characterized in that: A docking block is provided on one side of the displacement part. The docking block has a hollow structure. An extension block is movably inserted inside the docking block. A second linear slide is provided on the upper surface of the seat plate. The second linear slide is perpendicular to the first linear slide. The movable end of the second linear slide is provided with a docking sleeve that matches the extension block.

6. The automatic welding robot for angle steel production according to claim 5, characterized in that: An electromagnet is provided at the inner end of the docking block, and a permanent magnet is embedded at the inner end of the protruding block. When the electromagnet is energized, the electromagnet and the permanent magnet repel each other.

7. The automatic welding robot for angle steel production according to claim 5, characterized in that: The displacement part has a strip-shaped groove on its side, and the docking block is slidably disposed in the strip-shaped groove. A shock-absorbing spring is connected between the end of the docking block facing the second linear slide and the inner end of the strip-shaped groove; in its natural state, the shock-absorbing spring is in a compressed state.

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