An automatic welding apparatus for a protective facility

Abstract

The application discloses a kind of automatic welding equipment of protective facility, it is related to welding equipment technical field, including six-axis robot arm and welding mechanism, one side of six-axis robot arm is provided with transmission mechanism, and the side of transmission mechanism is provided with lifting mechanism.The application greatly reduces the time of manual operation, compared with traditional manual welding, production efficiency can be improved several times, can meet the demand of large-scale protective facility production, secondly, welding actuator can be welded according to preset parameters and path under the accurate control of control system, avoid the error of manual operation, ensure the consistency and stability of welding quality, improve the welding quality of protective facility, reduce the scrap rate, at the same time, automatic welding equipment reduces the dependence on a large number of manual work, reduces labor cost, also reduces the risk of production accident caused by factors such as manual fatigue, improves the safety of production.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of welding equipment, in particular to an automatic welding equipment for protective facilities. BACKGROUND

[0002] In the process of modern social construction and development, protective facilities, as an important basic component to ensure public safety and maintain order, are widely used in many fields such as transportation, construction, industry, etc. In the field of transportation, highway guardrails, railway protective fences, subway platform protective fences and other facilities can effectively prevent vehicles or pedestrians from accidentally rushing out of the road or track, reducing the risk of traffic accidents; in the field of construction, construction safety fences, stair handrails, balcony guardrails and other facilities provide safety protection for construction personnel and users; in the field of industry, factory workshop isolation fences, equipment protective fences and other facilities can isolate dangerous areas and avoid direct contact between personnel and running equipment. With the acceleration of urbanization and the continuous advancement of infrastructure construction, the market demand for protective facilities is showing an increasing trend year by year, and higher requirements are put forward for their production efficiency and quality.

[0003] In the prior art, although some automatic welding equipment is applied to the production of protective facilities, these devices generally have poor adaptability. These automatic welding equipment is often designed for specific shapes and specifications of protective facilities, and it is difficult to be compatible with multiple types of products. When the product model changes, the device needs to be adjusted and reprogrammed a lot, resulting in long production switching period and high cost. At the same time, it cannot accurately identify the position deviation of the workpiece, and it is difficult to automatically adjust the welding parameters according to protective facilities of different materials and thicknesses. When defects such as weld offset, incomplete penetration and weld-through occur during the welding process, it cannot be timely feedback and corrected, resulting in high scrap rate. SUMMARY

[0004] The purpose of the present application is to provide an automatic welding equipment for protective facilities to solve the problems raised in the background.

[0005] To achieve the above purpose, the present application provides the following technical scheme: an automatic welding equipment for protective facilities, comprising a six-axis robot arm and a welding mechanism, one side of the six-axis robot arm is provided with a transmission mechanism, one side of the transmission mechanism is provided with a lifting mechanism, one end of the lifting mechanism is fixedly installed with a control system, the upper end of the frame of the transmission mechanism is fixedly installed with a concave seat, the inner top of the concave seat is fixedly installed with a scanning mechanism, the surface of the conveying belt of the transmission mechanism is provided with four groups of positioning mechanisms at equal distances, and the other side of the transmission mechanism is provided with a switching mechanism.

[0006] The positioning mechanism comprises long blocks, the upper ends of the long blocks are fixedly provided with concave plates, two groups of first telescopic rods are penetratingly installed on the two sides of the concave plates, one group of push plates is fixed at the extending ends of each two groups of first telescopic rods, side plates are penetratingly installed at the two ends of each group of push plates, small air cylinders are penetratingly installed at one end of each group of side plates, and limit plates are slidingly installed at one side of each group of push plates.

[0007] Preferably, the lower end of the six-axis robot arm is fixed with the upper end of the movable end of the lifting mechanism, one end of the welding mechanism is fixed with the terminal end of the six-axis robot arm, and the lifting mechanism, the six-axis robot arm, the welding mechanism and the scanning mechanism are signal connected with the control system.

[0008] Preferably, four groups of protection strips are installed at one side of each group of push plates, and one end of each group of limit plates is fixed with the extending end of one group of small air cylinders.

[0009] Preferably, one end of each of the four groups of long blocks is fixed with the surface of the conveying belt of the conveying mechanism, and the plurality of groups of first telescopic rods and the plurality of groups of small air cylinders are signal connected with the control system.

[0010] Preferably, the exchanging mechanism comprises a special-shaped frame block, a height adjusting assembly is arranged at the upper end of the special-shaped frame block, a clamping assembly is arranged at one side of the height adjusting assembly, and rotating assemblies are arranged at the two ends of the clamping assembly.

[0011] Preferably, the height adjusting assembly comprises a fixed frame seat, a long air cylinder is penetratingly installed at the upper end of the fixed frame seat, a sliding plate is slidingly installed at one side of the fixed frame seat, a fixed frame plate is fixedly installed at the upper end of the sliding plate, and the lower end of the fixed frame seat is fixed with the upper end of the special-shaped frame block, and the long air cylinder is signal connected with the control system.

[0012] Preferably, the clamping assembly comprises two groups of clamping plates, a second telescopic rod is fixedly installed at one end of each group of clamping plates, four groups of guide rails are fixedly installed at one side of the sliding plate, and a sliding seat is slidingly installed at the outer wall of each group of guide rails.

[0013] Preferably, the extending ends of the two groups of second telescopic rods are respectively fixed with the two ends of the fixed frame plate, one side of each of the two groups of sliding seats is fixed with one side of one group of clamping plates, and the two groups of second telescopic rods are signal connected with the control system.

[0014] Preferably, the rotating assembly comprises two groups of square plates, one end of each group of square plates is provided with a fixed plate, a servo motor is fixedly installed at the other end of the square plate, the output ends of the two groups of servo motors penetratingly pass through one end of the two groups of square plates and are respectively fixed with one end of the two groups of fixed plates.

[0015] Preferably, one end of each of the two groups of square plates is provided with a circular groove, three groups of stabilizing columns are slidingly installed in the two groups of circular grooves, one end of each of the three groups of stabilizing columns is fixed with one end of one group of fixed plates, and the two groups of servo motors are signal connected with the control system.

[0016] Compared with the prior art, the present application has the following advantages:

[0017] 1、In the present application, through the automatic positioning, conveying and welding process, the time of manual operation is greatly reduced, compared with traditional manual welding, the production efficiency can be improved several times, which can meet the demand of large-scale protective facility production, secondly, the welding execution mechanism can perform welding according to the preset parameters and path under the accurate control of the control system, which avoids the error of manual operation, ensures the consistency and stability of the welding quality, improves the welding quality of the protective facility, reduces the scrap rate, at the same time, the automatic welding equipment reduces the dependence on a large number of manual labor, reduces the labor cost, and also reduces the risk of production accidents caused by manual fatigue and other factors, improves the safety of production.

[0018] 2、In the present application, the height adjusting assembly is provided with the switching mechanism, which can drive the clamping assembly and the rotating assembly to adjust the height, facilitating the height adjustment before turning over the protective workpiece, the clamping assembly is provided with the clamping plate which can move along the guide rail to adjust the distance between the two, and the distance between the two groups of fixed plates in the rotating assembly can be adjusted, the two groups of fixed plates can clamp and fix the protective workpiece, and the rotating assembly can drive the protective workpiece to rotate, realizing the turning over welding of the protective workpiece. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a perspective view of the automatic welding equipment for protective facilities of the present application;

[0020] Figure 2 It is a side view of the automatic welding equipment for protective facilities of the present application;

[0021] Figure 3 It is a perspective view of the conveying mechanism and the positioning mechanism in the automatic welding equipment for protective facilities of the present application;

[0022] Figure 4 It is a structural schematic view of the positioning mechanism in the automatic welding equipment for protective facilities of the present application;

[0023] Figure 5 It is a structural schematic view of the conveying mechanism and the switching mechanism in the automatic welding equipment for protective facilities of the present application;

[0024] Figure 6 It is a perspective view of the switching mechanism in the automatic welding equipment for protective facilities of the present application;

[0025] Figure 7 It is a partial perspective view of the switching mechanism in the automatic welding equipment for protective facilities of the present application;

[0026] Figure 8It is a disassembled structural schematic of a rotating assembly of an automatic welding equipment of a protective facility.

[0027] In the figure:

[0028] 1, transmission mechanism; 11, lifting mechanism; 12, control system; 13, six-axis robot arm; 14, concave bracket; 15, welding mechanism; 16, scanning mechanism;

[0029] 2, positioning mechanism; 21, long block; 22, concave plate; 23, No. 1 telescopic rod; 24, push plate; 25, side plate; 26, small cylinder; 27, limiting plate; 28, protective strip;

[0030] 3, exchange mechanism; 31, special-shaped bracket block; 32, height adjustment assembly; 321, fixed bracket; 322, long cylinder; 323, sliding plate; 324, fixed bracket plate; 33, clamping assembly; 331, clamping plate; 332, No. 2 telescopic rod; 333, guide rail; 334, sliding seat; 34, rotating assembly; 341, square plate; 342, fixed plate; 343, servo motor; 344, circular groove; 345, stabilizing column. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the present application.

[0032] Embodiment one: refer to Figure 1 - Figure 8 As shown: an automatic welding equipment of a protective facility, including a six-axis robot arm 13 and a welding mechanism 15, one side of the six-axis robot arm 13 is provided with a transmission mechanism 1, one side of the transmission mechanism 1 is provided with a lifting mechanism 11, one end of the lifting mechanism 11 is fixedly installed with a control system 12, the frame upper end of the transmission mechanism 1 is fixedly installed with a concave bracket 14, the inside top end of the concave bracket 14 is fixedly installed with a scanning mechanism 16, the surface of the transmission belt of the transmission mechanism 1 is provided with four groups of positioning mechanisms 2 at equal distances, the other side of the transmission mechanism 1 is provided with an exchange mechanism 3, the lower end of the six-axis robot arm 13 is fixed with the upper end of the movable end of the lifting mechanism 11, one end of the welding mechanism 15 is fixed with the end of the six-axis robot arm 13, the lifting mechanism 11, the six-axis robot arm 13, the welding mechanism 15 and the scanning mechanism 16 are all signal connected with the control system 12;

[0033] The positioning mechanism 2 comprises long blocks 21, the upper ends of the long blocks 21 are fixedly provided with concave plates 22, two groups of first telescopic rods 23 are penetratingly installed on the two sides of the concave plates 22, a group of push plates 24 is fixed at the extending ends of each two groups of first telescopic rods 23, side plates 25 are penetratingly installed at the two ends of each group of push plates 24, small air cylinders 26 are penetratingly installed at one end of each group of side plates 25, limiting plates 27 are slidingly installed at one side of each group of push plates 24, four groups of protective strips 28 are installed at one side of each group of push plates 24, one end of each group of limiting plates 27 is fixed with the extending end of one group of small air cylinders 26, one end of each of the four groups of long blocks 21 is fixed with the surface of the conveying belt of the conveying mechanism 1, and a plurality of groups of first telescopic rods 23 and a plurality of groups of small air cylinders 26 are signal-connected with the control system 12.

[0034] In the embodiment, four groups of long blocks 21 are equidistantly installed on the surface of the conveying belt of the conveying mechanism 1, the end faces of the long blocks 21 are vertically fixed with the concave plates 22, two groups of first telescopic rods 23 are symmetrically penetratingly installed on the two sides of the concave plates 22, and the extending ends of the first telescopic rods 23 are rigidly connected with the push plates 24, the design adopts the symmetrical clamping principle, the first telescopic rods 23 of the four groups of long blocks 21 are synchronously started, the two push plates 24 move towards each other, the protective workpiece placed in the concave plate 22 can be quickly clamped to the center, and the preliminary positioning in the horizontal direction is realized.

[0035] The other end of the push plate 24 is welded with the side plate 25, the side plate 25 is transversely penetratingly installed with the small air cylinder 26, the extending end of the small air cylinder 26 is fixed with the limiting plate 27 slidingly installed on the push plate 24, when the push plate 24 completes the preliminary clamping, the small air cylinder 26 drives the limiting plate 27 to slide along the push plate 24 to perform secondary limiting from the side edge of the workpiece, and the structure can adapt to protective workpieces (such as square and circular pipes) with different cross-sectional shapes through the double positioning mode of horizontal clamping and side edge limiting.

[0036] The equipment integrates a visual guidance-intelligent decision-making-precise execution welding closed-loop system, and specifically cooperates with the following parts:

[0037] The concave frame seat 14 is fixed on the upper end of the frame of the conveying mechanism 1, and a high-precision scanning mechanism 16 (such as a laser line scanning camera or a structured light scanner) is installed on the inner wall of the concave frame seat 14, when the protective workpiece of the positioning mechanism 2 passes through the scanning area driven by the conveying belt, the scanning mechanism 16 collects the three-dimensional data of the workpiece at a speed of 10 frames per second, generates a point cloud model, and transmits the point cloud model to the control system 12 in real time;

[0038] The control system 12 analyzes the scanning data based on a preset welding process parameter library (containing data such as material type, plate thickness and weld form), automatically identifies the weld position, angle and deviation through an AI algorithm, generates an optimal welding path planning and parameter adjustment scheme (such as welding current, voltage and speed), and outputs the optimal welding path planning and parameter adjustment scheme to the welding mechanism 3.

[0039] The lifting mechanism 11 adopts a ball screw structure driven by a stepping motor, which can realize accurate displacement of ±0.1 mm in the Z-axis direction. The side end is equipped with a six-axis robot arm 13, and the end is installed with a welding mechanism 15 (supporting multiple welding processes such as MIG and TIG). The control system 12 sends instructions to the lifting mechanism 11 and the six-axis robot arm 13 simultaneously, drives the welding mechanism 15 to adjust to the optimal welding posture, and completes the automatic welding operation.

[0040] The control system 12 monitors the conveyor belt speed through the encoder, synchronously coordinates the clamping time of the positioning mechanism 2, the triggering time of the scanning mechanism 16, and the action timing of the operation cycle of the welding mechanism 15, realizes full-process automation, and shortens the single-workpiece welding beat to 30 seconds.

[0041] Fault self-diagnosis: Each actuator is equipped with a sensor (such as a cylinder pressure sensor and a motor torque sensor), which feeds back the running state to the control system 12 in real time. When an abnormality (such as insufficient clamping force or welding current fluctuation exceeding the threshold) is detected, the system immediately triggers an alarm and suspends the equipment, and generates a fault code to guide maintenance.

[0042] Through the above structural innovation and functional integration, the device can realize full-automatic operation of the workpiece from positioning, scanning, and welding. Compared with traditional equipment, the welding efficiency is greatly improved, and the technical pain points in the field of protective equipment welding are effectively solved.

[0043] Example two: as Figure 1 , Figure 2 , Figure 3 , Figure 5 , Figure 6 , Figure 7 and Figure 8As shown, the exchange mechanism 3 includes a special-shaped frame block 31, the upper end of the special-shaped frame block 31 is provided with a height adjusting assembly 32, one side of the height adjusting assembly 32 is provided with a clamping assembly 33, both ends of the clamping assembly 33 are provided with a rotating assembly 34, the height adjusting assembly 32 includes a fixed frame seat 321, a long cylinder 322 is installed through the upper end of the fixed frame seat 321, a sliding plate 323 is slidingly installed on one side of the fixed frame seat 321, a fixed frame plate 324 is fixedly installed on the upper end of the sliding plate 323, the lower end of the fixed frame seat 321 is fixed with the upper end of the special-shaped frame block 31, the long cylinder 322 is signal connected with the control system 12, the clamping assembly 33 includes two groups of clamping plates 331, both ends of the two groups of clamping plates 331 are fixedly installed with a second telescopic rod 332, four groups of guide rails 333 are fixedly installed on one side of the sliding plate 323, a sliding seat 334 is slidingly installed on the outer wall of each group of guide rails 333, the extending ends of the two groups of second telescopic rods 332 are respectively fixed with both ends of the fixed frame plate 324, one side of each two groups of sliding seats 334 is fixed with one side of a group of clamping plates 331, both groups of second telescopic rods 332 are signal connected with the control system 12, the rotating assembly 34 includes two groups of square plates 341, one end of the two groups of square plates 341 is provided with a fixed plate 342, a servo motor 343 is fixedly installed on the other end of the square plate 341, the output end of the two groups of servo motors 343 penetrates one end of the two groups of square plates 341 and is respectively fixed with one end of the two groups of fixed plates 342, a circular groove 344 is formed in one end of the two groups of square plates 341, three groups of stabilizing columns 345 are slidingly installed in the two groups of circular grooves 344, one end of each three groups of stabilizing columns 345 is fixed with one end of a group of fixed plates 342, both groups of servo motors 343 are signal connected with the control system 12.

[0044] In this embodiment, on the non-welding side of the transmission mechanism 1 frame, the special-shaped frame block 31 is fixedly installed through high-strength bolts, the frame block adopts an L-shaped reinforcing rib structure, the bottom is provided with a triangular supporting surface, the special-shaped frame block 31 is installed with the fixed frame seat 321 on the top, the long cylinder 322 (model: SC-100×500-S) is vertically installed through the top of the frame block, the cylinder barrel is fixed with the top of the frame block through a flange plate, the sliding plate 323 is slidingly installed on one side of the fixed frame seat 321, the sliding plate 323 is matched with the slide rail pair through a sliding block, and low-friction sliding in the vertical direction is realized.

[0045] The fixed frame plate 324 is installed on the upper end of the sliding plate 323, the telescopic rod of the long cylinder 322 is rigidly connected with the upper end of the fixed frame plate 324 to form a force transmission structure, when the control system 12 sends a lifting instruction, the long cylinder 322 drives the sliding plate 323 to move up and down through the fixed frame plate 324 at a stable speed, drives the clamping assembly 33 and the rotating assembly 34 installed thereon to adjust the height, and facilitates the height adjustment before the protective workpiece is turned over.

[0046] On the working side of the sliding plate 323, four sets of heavy-duty linear guides 333 are installed in parallel, and the spacing between the guides 333 is designed in the shape of an isosceles trapezoid according to the size of the protective workpiece to enhance the balance of forces. Two sets of high-rigidity slides 334 are installed on each guide 333, and dustproof scrapers and pre-tightening nuts are arranged at the bottom of the slides 334 to ensure stable operation in a dusty environment.

[0047] The two sets of clamping plates 331 are fixed to the slides 334 through L-shaped adapter plates, and the inner surfaces thereof are covered with anti-skid rubber layers (Shore hardness 70A) to increase the friction and prevent the workpiece from slipping. The clamping plates 331 are hingedly connected to the fixed frame plate 324 through the second extension rods 332 (electric push rods, model: DT-50-300-24V), and when the control system 12 controls the two sets of second extension rods 332 to extend or retract synchronously, the clamping plates 331 move along the guides 333 to adjust the distance between them, which can drive the distance between the two sets of fixed plates 342 in the rotating assembly 34 to be adjusted, facilitating the clamping and fixing of the protective workpiece by the two sets of fixed plates 342.

[0048] Square plates 341 are vertically installed at the ends of the clamping plates 331, and servo motors 343 (power 1.5 kW, rated speed 3000 rpm, equipped with planetary reducers, reduction ratio 1:20) are installed at one end of each of the two sets of square plates 341. The output shafts of the motors are connected to the fixed plates 342 through high-precision couplings to ensure that the coaxiality error of power transmission is less than 0.05 mm, and the rotational inertia is reduced.

[0049] Round grooves 344 are formed at the other ends of the two sets of square plates 341, and three sets of stabilizing columns 345 are uniformly arranged in the grooves. One end of each stabilizing column 345 is connected to the fixed plate 342 through a joint bearing, and the other end is embedded in the round groove 344 and rolls. When the servo motor 343 drives the fixed plate 342 to rotate, the stabilizing columns 345 form three-point support in the groove, which can effectively suppress the radial runout during the overturning process. The positioning error is less than ±0.2°, and this structure is particularly suitable for irregular protective workpieces with large gravity center offset, such as railway protective fences with complex accessories.

[0050] Pressure monitoring: A thin-film pressure sensor is installed on the inner side of the clamping plate 331 to monitor the clamping force in real time, and an automatic alarm and release of the workpiece are triggered when the clamping force exceeds 800 N.

[0051] Limit protection: Proximity switches are arranged at both ends of the guide 333 to prevent the slide 334 from overtraveling.

[0052] Emergency stop interlocking: The device is connected to the total control system of the equipment, and can immediately stop the overturning action in case of emergency.

[0053] In view of the difficulty in overturning the protective workpiece, the device is designed with a lifting-clamping-rotating integrated overturning assembly to realize stable overturning by 180°.

[0054] On the other side of the frame of the transmission mechanism 1, the special-shaped frame block 31 is installed, the fixed frame 321 is fixed on the special-shaped frame block 31, the long cylinder 322 is installed through the fixed frame 321, the sliding plate 323 is connected to the side of the long cylinder 322, the sliding plate 323 is driven to slide up and down along the fixed frame 321 by the fixed frame plate 324 at the telescopic end of the long cylinder 322, and the length of the protective workpiece can be adapted to different heights, so that the length of the protective workpiece does not affect the overturning;

[0055] Four groups of linear guides 333 are installed on one side of the sliding plate 323, and the sliding seats 334 are slidably installed on the linear guides 333. One group of clamping plates 331 is connected to every two groups of sliding seats 334, the clamping plates 331 and the fixed frame plate 324 are hinged through the second telescopic rod 332, when the second telescopic rod 332 is synchronously telescoped, the clamping plates 331 drive the sliding seats 334 to slide along the linear guides 333, and the protective workpiece of different specifications can be adapted;

[0056] The square plate 341 is installed at the end of the clamping plate 331, the fixed plate 342 is arranged at one end of the square plate 341, the servo motor 343 is carried at the other end of the square plate 341, the output shaft of the servo motor 343 penetrates the square plate 341 and is fixed with the fixed plate 342, the square plate 341 is provided with a circular groove 344, three groups of stabilizing columns 345 are slidably installed in the circular groove 344 and are connected with the fixed plate 342, when overturning, the servo motor 343 drives the fixed plate 342 to rotate at a speed of 15 rpm, the stabilizing columns 345 roll in the circular groove 344, a three-point support structure is formed, and the stability of the workpiece during overturning is ensured.

[0057] The working principle of the present application is as follows: in use, first, the operator places the protective workpiece (such as a guardrail crossbar, a stand column, etc.) to be welded on the positioning mechanism 2 at the starting end of the conveying belt of the transmission mechanism 1, the control personnel opens the control system 12, the one-way telescopic rod 23 on both sides of the concave plate 22 is synchronously extended, the push plate 24 is driven to move to the center of the workpiece, until the push plate 24 on both sides is in contact with the surface of the workpiece, the preliminary clamping in the horizontal direction is realized, and at the same time, the small-sized cylinder 26 drives the limiting plate 27 to slide inwards along the push plate 24 until the limiting plate 27 is closely attached to the side of the workpiece, and the secondary positioning is completed.

[0058] Then, after positioning is completed, the conveyor belt slowly transports to the welding station, during which the conveyor belt continues to transport the workpiece to the scanning area, the scanning mechanism 16 performs three-dimensional scanning on the workpiece at a frequency of 10 frames per second to generate point cloud data, and the scanning data is transmitted to the control system 12 in real time. The system first performs noise reduction processing on the original point cloud, and then identifies the weld position, length and angle information through a feature extraction algorithm. The control system 12 matches the optimal welding parameters (such as welding current, voltage, welding speed, etc.) from the pre-set process parameter library according to the identification result, and generates the motion trajectory of the six-axis robot arm 13. For complex workpieces, the path planning time is ≤1.5 seconds. The lifting mechanism 11 drives the six-axis robot arm 13 to descend to the optimal welding position according to the workpiece height information, and at the same time, the robot arm adjusts the posture of the welding mechanism 15 according to the planned trajectory to ensure that the welding torch maintains the correct angle with the weld;

[0059] The welding mechanism 15 starts to weld according to the pre-set parameters. In the welding process, the arc sensor monitors the welding current and voltage fluctuation in real time, and the control system 12 dynamically adjusts the parameters according to the feedback data to ensure stable welding quality. For continuous welds, quality monitoring: during the welding process, the scanning mechanism 16 synchronously monitors the weld in real time, and timely corrects the subsequent welding parameters by comparing the deviation between the actual weld and the planned path. If welding defects (such as pores, incomplete fusion, etc.) are detected, the system will automatically mark and perform repair welding in the subsequent process.

[0060] Finally, when the welding of one side of the workpiece is completed, the long cylinder 322 is controlled to run, the extended end of the long cylinder 322 drives the sliding plate 323 to move up and down through the fixed frame plate 324, so that the sliding plate 323 slides up and down on one side of the fixed frame seat 321. At the same time, the height of the clamping assembly 33 and the rotating assembly 34 can be adjusted by driving the rotating assembly 34 to move up and down together through the clamping assembly 33, which is convenient for subsequent clamping and rotating of the protective workpiece;

[0061] By synchronously running the two groups of second telescopic rods 332, the extended ends of the two groups of second telescopic rods 332 push the fixed frame plate 324, and the tails of the two groups of second telescopic rods 332 drive the two groups of clamping plates 331 to move. The two groups of clamping plates 331 drive the four groups of sliding seats 334 to slide on the outer walls of the four groups of guide rails 333, so that the distance between the two groups of clamping plates 331 can be adjusted, which is convenient for the two groups of clamping plates 331 to drive the rotating assembly 34 to move, so that the two groups of fixed plates 342 in the rotating assembly 34 contact the protective workpiece, and the protective workpiece in the middle can be clamped and fixed;

[0062] The two groups of servo motors 343 drive the two groups of fixed plates 342 to rotate, and the two groups of fixed plates 342 drive the protective workpiece to rotate, so that the protective workpiece is rotated by 180°, the protective workpiece can be turned over, and the turned-over protective workpiece can be welded through the control of the lifting mechanism 11, the six-axis robot arm 13 and the welding mechanism 15.

[0063] Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can make modifications to the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to part of the technical features, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An automatic welding apparatus for a protective installation comprising a six-axis robot arm (13) and a welding mechanism (15), characterised in that: The side of the six-axis robot arm (13) is provided with a conveying mechanism (1), one side of the conveying mechanism (1) is provided with a lifting mechanism (11), one end of the lifting mechanism (11) is fixedly installed with a control system (12), the frame upper end of the conveying mechanism (1) is fixedly installed with a concave bracket (14), the inside top end of the concave bracket (14) is fixedly installed with a scanning mechanism (16), the surface of the conveying belt of the conveying mechanism (1) is provided with four groups of positioning mechanisms (2) at equal intervals, and the other side of the conveying mechanism (1) is provided with an exchange mechanism (3); the positioning mechanism (2) comprises a long block (21), the upper end of the long block (21) is fixedly installed with a concave plate (22), two groups of first telescopic rods (23) are installed on the two sides of the concave plate (22), one group of push plates (24) is fixed at the extension end of each two groups of first telescopic rods (23), and the two ends of each group of push plates (24) are installed through a side plate (25), and a small air cylinder (26) is installed at one end of each group of side plates (25); and the side of each group of push plates (24) is slidably installed with a limiting plate (27); The exchange mechanism (3) comprises a special-shaped bracket block (31), the upper end of the special-shaped bracket block (31) is provided with a height adjusting assembly (32), one side of the height adjusting assembly (32) is provided with a clamping assembly (33), and the two ends of the clamping assembly (33) are provided with a rotating assembly (34); The height adjusting assembly (32) comprises a fixed bracket (321), a long air cylinder (322) is installed through the upper end of the fixed bracket (321), a sliding plate (323) is slidably installed on one side of the fixed bracket (321), a fixed frame plate (324) is fixedly installed on the upper end of the sliding plate (323), the lower end of the fixed bracket (321) is fixed with the upper end of the special-shaped bracket block (31), and the long air cylinder (322) is signal connected with the control system (12); The clamping assembly (33) comprises two groups of clamping plates (331), two groups of second telescopic rods (332) are fixedly installed at one end of the two groups of clamping plates (331), four groups of guide rails (333) are fixedly installed on one side of the sliding plate (323), and a sliding seat (334) is slidably installed on the outer wall of each group of guide rails (333); The extension ends of the two groups of second telescopic rods (332) are fixed with the two ends of the fixed frame plate (324), one side of each of the two groups of sliding seats (334) is fixed with one side of a group of clamping plates (331), and the two groups of second telescopic rods (332) are signal connected with the control system (12); The rotating assembly (34) comprises two groups of square plates (341), the one ends of the two groups of square plates (341) are provided with fixed plates (342), the other ends of the square plates (341) are fixedly installed with servo motors (343), the output ends of the two groups of servo motors (343) pass through the one ends of the two groups of square plates (341) and are fixed with the one ends of the two groups of fixed plates (342) respectively; One end of the two groups of square plates (341) is provided with a circular groove (344), the interiors of the two groups of circular grooves (344) are slidably provided with three groups of stabilizing columns (345), one end of every three groups of stabilizing columns (345) is fixed with one end of one group of fixed plates (342), the two groups of servo motors (343) are signal connected with the control system (12).

2. An automatic welding apparatus for a protective installation according to claim 1, characterized in that: The lower end of the six-axis robot arm (13) is fixed with the upper end of the movable end of the lifting mechanism (11), one end of the welding mechanism (15) is fixed with the terminal end of the six-axis robot arm (13), the lifting mechanism (11), the six-axis robot arm (13), the welding mechanism (15) and the scanning mechanism (16) are signal connected with the control system (12).

3. An automatic welding apparatus for a protective installation according to claim 1, characterized in that: One side of every group of the push plates (24) is provided with four groups of protective strips (28), one end of every group of the limiting plates (27) is fixed with the protruding end of one group of the small air cylinders (26).

4. An automatic welding apparatus for a protective installation according to claim 3, characterized in that: One end of the four groups of long blocks (21) is fixed with the conveying belt surface of the conveying mechanism (1), the multiple groups of the first telescopic rods (23) and the multiple groups of the small air cylinders (26) are signal connected with the control system (12).

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