Gantry type welding equipment and using method thereof

Abstract

The invention discloses gantry type welding equipment and a using method of the gantry type welding equipment, and relates to the technical field of welding equipment. Before the to-be-welded component is placed, a container used for containing and positioning the to-be-welded component is constructed at the top of the basic component through the auxiliary positioning assembly; when to-be-welded components are placed, the to-be-welded components are gradually placed in the constructed container, the constructed container is used for guiding the to-be-welded components to be placed, and then accurate positioning is achieved; the technical effects that the position precision and the welding precision of products manufactured by the gantry type automatic welding machine are high, and defective products are not prone to occurring are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and in particular to a gantry welding equipment and a use method thereof. Background Art

[0002] The gantry automatic welding machine is a large-scale industrial equipment that can efficiently complete the automatic welding process of large steel or structural parts.

[0003] In the prior art, a gantry-type automatic welding machine generally includes a carrying platform 100, a gantry 200, a welding robot arm 210 and a material transfer robot arm 220 positioned on the gantry 200, and a feeding assembly. During operation, the feeding assembly transports the base component to the bottom of the gantry 200, the material transfer robot arm 220 clamps the component to be welded on the base component, moves it to the base component, and places it in place. Finally, the welding robot arm 210 welds the component to be welded to the base component. Although the above solution can automatically and efficiently complete the loading and welding of components, the loading of the components to be welded relies on the clamping of the robotic arm. Due to the clamping angle and clamping position, as well as the center of gravity of the components to be welded, it is easy for deviation to occur in the process from clamping to placement, resulting in deviations in the placement of the components to be welded, which in turn affects the position accuracy and welding accuracy of the components to be welded, seriously affecting the quality of the finished product; once problems occur in the welding of the components, rework is time-consuming, labor-intensive and costly.

[0004] Therefore, there is a need for a gantry-type automatic welding device that can produce products with high position accuracy and welding accuracy and is less likely to produce defective products. Summary of the Invention

[0005] The embodiments of the present application provide a gantry welding device and a method for using the same, thereby solving the technical problem in the prior art that gantry automatic welding machines are prone to deviations during the transportation and placement of components to be welded, thereby affecting the position accuracy and welding accuracy of the components to be welded; and achieve the technical effect that the position accuracy and welding accuracy of products manufactured by the gantry automatic welding machine are high and defective products are less likely to occur.

[0006] The embodiment of the present application provides a gantry welding device, comprising a carrying platform, a gantry, a feeding assembly, and a component conveying assembly; the gantry is positioned on the top of the carrying platform; a welding robot arm and a material transfer robot arm are slidably positioned on the gantry; the material transfer robot arm is used to clamp the component to be welded delivered by the component conveying assembly, and move the component to be welded and place it on the base component under the gantry; the feeding assembly is used to move the base component to be welded to the bottom of the gantry and transport the welded product away; and an auxiliary positioning assembly is also included; The top surface of the carrying platform is provided with a plurality of through slots; The auxiliary positioning assembly includes a load-bearing vertical rod and a sliding positioning body; There are two load-bearing vertical rods, which are respectively arranged near the two ends of the gantry and protrude from the through slots of the load-bearing platform; The sliding positioning body is a rectangular plate structure or a rectangular frame structure, which is arranged horizontally and is provided with a positioning groove that matches the bottom contour of the component to be welded; the positioning groove is a through groove with an opening larger at the top and smaller at the bottom.

[0007] Furthermore, the feeding assembly includes a conveying roller assembly and a clamping and shifting assembly; The conveyor roller assembly includes a support carrier and a roller group positioned on the support carrier, the number of which is multiple and is arranged close to the load platform and at least five centimeters higher than the load platform; the roller group is a row of horizontal cylindrical rollers, rotatably connected to the support carrier, and some or all of the rollers rotate under the coordinated control of the control unit and the power assembly, thereby playing the role of moving the base component horizontally to the top of the load platform; The main structure of the clamping and shifting assembly is a clamp positioned on the guide rail, which is controlled by a control unit to clamp the basic component as needed and drive the basic component to move under the gantry.

[0008] Furthermore, the sliding positioning body includes an end carrier, a connecting rod and a positioning frame; the end carrier is a hard rod body arranged horizontally, and there are two of them, which slide along two load-bearing vertical rods respectively under the coordinated control of the control unit and the power assembly; the connecting rod is a hard straight rod, and its two ends are respectively fixed at positions close to the ends of the two end carriers, and there are two of them; the combination of the end carriers and the two connecting rods is in the shape of a U; the positioning frame is a hard plate body, which is arranged horizontally, fixed on the connecting rod and arranged in a row on the connecting rod; the positioning groove is located on the positioning frame.

[0009] Preferably, the sliding positioning body includes a first positioning belt assembly and a second positioning belt assembly; The first positioning belt assembly includes a horizontal frame, a first reel, a second reel, and a positioning belt; There are two horizontal frames, each of which slides along two vertical bearing rods; The first reel and the second reel are both transversely arranged reel structures, and are positioned on two transverse frames respectively; The positioning belt is a belt-shaped sheet, with both ends wound and positioned on the first reel and the second reel respectively and always in a straight state; The positioning belt is provided with a row of positioning grooves, and groove combination rings are fixed on the edges of the positioning grooves; The slot combination ring is an annular strip of soft magnetism or Velcro; The structure of the second positioning belt assembly is the same as that of the first positioning belt assembly, and is located below the first positioning belt assembly.

[0010] Preferably, the positioning belt is provided with a row of square-shaped through slots for accommodating replacement pieces; The replacement pieces are detachably fixed on these U-shaped through grooves to close these U-shaped through grooves; The replacement piece is made of the same material as the positioning belt and can be detachably fixed to the positioning belt; Different replacement pieces are provided with the same or different positioning grooves; When replacing a new product, if there is no positioning groove on the positioning belt that matches the component to be welded, one or more replacement sheets can be directly replaced.

[0011] Preferably, the positioning belt is composed of multiple sections of belts or sheets that are detachably spliced ​​together, and the sections of positioning belt away from the ends are all replacement sheets; The positioning grooves on different replacement sheets are the same or different; when replacing a new product, if there is no positioning groove on the positioning belt that matches the component to be welded, one or more replacement sheets can be directly replaced.

[0012] Preferably, the positioning belt is further provided with a row of calibration holes; One or more positioning slots correspond to a calibration hole; The calibration hole is a through hole with a diameter of less than 1 cm; The auxiliary positioning component also includes a position verification component connected to the control unit signal. The basic structure of the position verification component is an infrared transmitter and an infrared receiver. The position of the positioning slot is indirectly known by the time when the infrared receiver receives the infrared signal transmitted through the verification hole.

[0013] Preferably, matching edge strips are fixed to both side edges of the positioning belt; The matching edge strip is of equal length to the positioning strip and is a metal or non-metallic soft strip; Two limit rails are fixed near the ends of the horizontal frame. The limit rails are hard straight rods, and the combination of the two horizontal frames forms a square shape. The longitudinal section of the position-limiting guide rail rod is C-shaped, and the matching edge strip passes through it; the C-shaped structure of the position-limiting guide rail rod prevents the matching edge strip from directly escaping from one side of the position-limiting guide rail rod.

[0014] Preferably, the sliding positioning body further includes a third positioning belt assembly; The third positioning belt assembly is located above the first positioning belt assembly and has a structure that is substantially the same as the first positioning belt assembly; the difference being that the positioning groove of the third positioning belt assembly is adapted to the top contour of the component to be welded; the positioning belt of the third positioning belt assembly is made of metal; and the motor that drives the first and second reels of the third positioning belt assembly to rotate has a real-time load detection function; A straight guide rail is also provided on the ground for the supporting vertical rod to slide along the length direction perpendicular to the gantry. The supporting vertical rod moves along the straight guide rail under the coordinated control of the control unit and the power assembly.

[0015] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: By adding an auxiliary positioning component to the gantry automatic welding machine in the prior art, a container for accommodating and positioning the components to be welded is constructed on the top of the base component using the auxiliary positioning component before the components to be welded are placed; when the components to be welded are placed, they are gradually placed in the constructed container, and the constructed container is used to guide the placement of the components to be welded to achieve precise positioning; this effectively solves the technical problem in the prior art that the gantry automatic welding machine is prone to deviations during the transportation and placement of the components to be welded, thereby affecting the position accuracy and welding accuracy of the components to be welded; and thus achieves the technical effect that the position accuracy and welding accuracy of the products manufactured by the gantry automatic welding machine are high and defective products are not prone to occur. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the appearance and structure of the gantry welding equipment of this application; Figure 2 This is a schematic diagram of the positional relationship of the various components of the gantry welding equipment of this application; Figure 3 It is a structural diagram of the auxiliary positioning component; Figure 4 It is a structural diagram of the limit component; Figure 5 It is a structural diagram of the clamping and shifting assembly; Figure 6 This is a schematic diagram of the overall structure of the gantry welding equipment; Figure 7 This is a simplified diagram of the positional relationship between the various components of the gantry welding equipment; Figure 8 A schematic diagram of the positional relationship between the clamping and shifting components and the carrying platform; Figure 9 A schematic diagram of the positional relationship between the first positioning belt assembly and the second positioning belt assembly; Figure 10 Schematic diagram of the positional relationship between the groove combination ring and the positioning groove; Figure 11 This is a simplified structural diagram of the positioning belt; Figure 12 Schematic diagram of the layout relationship of the replacement piece; Figure 13 Schematic diagram of the positional relationship between replacement pieces; Figure 14Schematic diagram of the positional relationship between the limiting guide rail, the horizontal frame and the positioning belt; Figure 15 Schematic diagram of the structure of the limiting guide rail rod; Figure 16 A schematic diagram showing the positional relationship between the matching edge strips, the limiting guide rails, and the positioning strips; Figure 17 Schematic diagram of the positional relationship between the third positioning belt assembly and the second positioning belt assembly.

[0017] In the picture: The supporting platform 100, the limiting assembly 110, the sliding guide rail 111, the carrier 112, the rotating column 113, the gantry 200, the welding robot 210, the material transfer robot 220, the conveying roller assembly 300, the component conveying assembly 400, the clamping and shifting assembly 500, the transverse guide rail 510, the horizontal guide rail 520, the sliding clamp 530, the supporting vertical rod 610, the sliding positioning body 620, the end carrier 621, the connecting rod 622, the positioning frame 623, the first positioning belt assembly 630, the horizontal frame 631, the first reel 632, the second reel 633, the positioning belt 634, the positioning groove 635, the groove combination ring 636, the replacement piece 637, the calibration hole 638, the matching edge strip 639, the limiting guide rail rod 640, the second positioning belt assembly 650, the position calibration assembly 660, and the third positioning belt assembly 670. DETAILED DESCRIPTION

[0018] To facilitate understanding of the present invention, the present application will be described more comprehensively below with reference to the relevant drawings; the drawings show preferred embodiments of the present invention, but the present invention can be implemented in many different forms and is not limited to the embodiments described herein; on the contrary, the purpose of providing these embodiments is to enable a more thorough and comprehensive understanding of the disclosed content of the present invention.

[0019] It should be noted that the terms “vertical”, “horizontal”, “up”, “down”, “left”, “right” and similar expressions used in this document are for illustrative purposes only and do not represent the only implementation method.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains; the terms used herein in the specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention; the term "and / or" used herein includes any and all combinations of one or more of the associated listed items.

[0021] Example 1

[0022] like Figures 1 to 8As shown, the gantry welding equipment of the present application includes a carrying platform 100, a gantry 200, a feeding assembly, a component conveying assembly 400, an auxiliary positioning assembly, a power assembly and a control unit.

[0023] The main body of the carrying platform 100 is a horizontally arranged hard plate, which is positioned on the ground under the support of a column or a frame structure.

[0024] The gantry 200 is a downward-opening U-shaped rigid frame, positioned on top of the carrying platform 100, for carrying the welding robot arm 210 and the material transfer robot arm 220 and serving as a guide for their movement.

[0025] The welding robot arm 210 is a multi-degree-of-freedom robot arm that is slidably positioned on the gantry 200. The arm head is a welding head, which is a prior art and will not be described in detail here. The welding robot arm 210 slides along the length direction of the gantry 200 under the coordinated control of the power assembly and the control unit. The material transfer robot arm 220 is used to clamp the components to be welded delivered by the component conveying assembly 400, and move the components to be welded and place them on the basic components under the gantry 200. It is a multi-degree-of-freedom robot arm with a clamp at the arm head. It is an existing technology and will not be described in detail here. The material transfer robot arm 220 slides along the length direction of the gantry 200 under the coordinated control of the power assembly and the control unit.

[0026] Preferably, there are multiple welding robot arms 210.

[0027] The feeding assembly is used to move the base components to be welded to the bottom of the gantry 200 and transport the welded products away; The feeding assembly includes a conveying roller assembly 300 and a clamping and shifting assembly 500; The conveyor roller assembly 300 includes a supporting frame and a roller group positioned on the supporting frame. The roller group is arranged in close proximity to the carrying platform 100 and is at least five centimeters higher than the carrying platform 100. The roller group is a row of horizontal cylindrical rollers that are rotatably connected to the supporting frame. Some or all of the rollers rotate under the coordinated control of the control unit and the power assembly to move the base member horizontally to the top of the carrying platform 100. This is a prior art. The main structure of the clamping and shifting assembly 500 is a clamp positioned on the guide rail, which is controlled by the control unit to clamp the basic component as needed and drive the basic component to move under the gantry 200; The clamping and shifting assembly 500 is positioned on the ground, and the carrying platform 100 has a plurality of through slots, through which the clamping and shifting assembly 500 can be extended; The clamping and shifting assembly 500 includes a transverse guide rail 510, a horizontal guide rail 520, and a sliding clamp 530. The transverse guide rail 510 is positioned on the ground and is a straight guide rail, and its length direction is the same as the length direction of the gantry 200. The horizontal guide rail 520 is a straight guide rail, which is controlled by a control unit to slide along the transverse guide rail 510. The length direction of the horizontal guide rail 520 is perpendicular to the length direction of the transverse guide rail 510. The sliding clamp 530 is slidably positioned on the transverse guide rail 520 and is an electric or pneumatic clamp that extends from a through slot on the carrying platform 100 and is controlled by the control unit to clamp and move the base component in a timely manner. A limit assembly 110 is provided at the top of the carrying platform 100 near the conveying roller assembly 300; the limit assembly 110 is used to guide the moving direction of the basic component to ensure processing accuracy; the limit assembly 110 includes a sliding guide rail 111, a carrier 112 and a rotating column 113; the sliding guide rail 111 is a horizontally arranged straight guide rail, and the length direction is perpendicular to the length direction of the gantry 200; the carrier 112 is a hard frame, which slides along the sliding guide rail 111 under the coordinated control of the control unit and the power assembly; the rotating column 113 is a cylinder made of rubber or plastic, which is rotatably connected to the carrier 112; the number of rotating columns 113 on a carrier 112 is two, one of which is vertically arranged and the other is horizontally arranged; when in use, the horizontally arranged rotating column 113 is located at the top of the basic component, and the vertically arranged rotating column 113 is against the side of the basic component.

[0028] The component conveying assembly 400 is used to deliver the components to be welded to the material transfer robot 220 for clamping, and is positioned at the top of the supporting platform 100 close to the gantry 200 or positioned on the ground close to the supporting platform 100; the component conveying assembly 400 is a conveyor belt structure, a magazine feeding mechanism or a combination of a robot arm and a shelf; it is a prior art and will not be described in detail here.

[0029] The auxiliary positioning assembly is used to assist in placing and aligning the components to be welded clamped by the material transfer robot 220. It is set close to one side of the gantry 200 and includes a load-bearing vertical rod 610 and a sliding positioning body 620. The supporting vertical rods 610 are two vertically arranged rigid rods or plates, respectively disposed near the ends of the gantry 200. The bottoms are fixed to the ground and extend out of the through slots of the supporting platform 100, serving as guides for the movement of the sliding positioning body 620. The sliding positioning body 620 is a rectangular plate structure or a rectangular frame structure, which is arranged horizontally and is provided with a positioning groove 635 that matches the bottom contour of the component to be welded; the sliding positioning body 620 is always located at the top of the supporting platform 100 and is arranged on one side close to the gantry 200; the positioning groove 635 is a through groove, the opening is larger at the top and smaller at the bottom (in the shape of a trumpet), and the bottom of the positioning groove 635 just fits the bottom contour of the component to be welded. When the component to be welded contacts the base component, its position is completely restricted by the positioning groove 635.

[0030] When the processed product needs to be replaced, the sliding positioning body 620 also needs to be replaced so that the positioning groove 635 thereon matches the new product.

[0031] Further, such as Figure 3 As shown, the sliding positioning body 620 includes an end carrier 621, a connecting rod 622 and a positioning frame 623; the end carrier 621 is a hard rod body arranged horizontally, and there are two of them, which slide along the two load-bearing vertical rods 610 respectively under the coordinated control of the control unit and the power assembly; the connecting rod 622 is a hard straight rod, and its two ends are respectively fixed at positions close to the ends of the two end carriers 621, and there are two of them; the combination of the two end carriers 621 and the two connecting rods 622 is in the shape of a U; the positioning frame 623 is a hard plate body, which is arranged horizontally, fixed on the connecting rod 622 and arranged in a row on the connecting rod 622; the positioning groove 635 is located on the positioning frame 623; when the processed product needs to be replaced, the layout of the positioning frame 623 can be changed or the positioning frame 623 can be replaced as needed.

[0032] The power assembly is used to provide power for the operation of various components of the gantry welding equipment of this application, and the control unit plays a role in controlling the coordinated operation of various components of the gantry welding equipment. Both are existing technologies and will not be described in detail here.

[0033] Preferably, the control unit is a combination of a programmable logic controller and control buttons.

[0034] When the gantry automatic welding equipment of the embodiment of the present application is used, it is necessary to weld the component to be welded on the plate-shaped base component (the base component is a large plate-shaped material, and the component to be welded is a relatively small component that needs to be welded on the base component). The steps are as follows: 1. First, adjust the posture of the limiting assembly 110 and the clamping and shifting assembly 500 according to the size of the base component; 2. The base component on the conveying roller assembly 300 moves toward the carrying platform 100 under the drive of the conveying roller assembly 300 and moves to the clamping range of the clamping and shifting assembly 500; 3. Control the clamping and shifting assembly 500 to clamp the base component and move it to the bottom of the gantry 200; 4. Control the sliding positioning body 620 to move downward in a timely manner so that it contacts the top surface of the base component, thereby forming a container for accommodating the component to be welded; 5. Then, the material transfer robot arm 220 is controlled to clamp the component to be welded from the component conveying assembly 400 and fill it into the positioning groove 635 to achieve the positioning of the component to be welded; 6. Lift the sliding positioning body 620, move the base component and start welding (if a collision sound is heard when lifting the sliding positioning body 620, pay special attention, as the component to be welded may be in an offset state); 7. After welding is completed, the clamping and shifting assembly 500 is used in conjunction with the conveying roller assembly 300 to transport the welded product away.

[0035] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages: The present invention solves the technical problem in the prior art that gantry-type automatic welding machines are prone to deviations during the transportation and placement of components to be welded, thereby affecting the position accuracy and welding accuracy of the components to be welded; and achieves the technical effect that the position accuracy and welding accuracy of products manufactured by the gantry-type automatic welding equipment are high and defective products are not likely to occur.

[0036] Example 2

[0037] Considering that the solution disclosed in the above embodiment can improve the welding accuracy of the components to be welded, it is limited by the structure of the sliding positioning body 620 and has poor applicability. When replacing the processed product, it is necessary to disassemble and / or replace the sliding positioning body 620, which is a relatively cumbersome process and is not conducive to the small and medium-sized batch production of the product. In response to the above problems, the embodiment of the present application optimizes and improves the structure of the sliding positioning body 620 on the basis of the above embodiment, and sets the positioning groove 635 on the belt body that can be retracted and then displaced, thereby achieving low-cost and efficient and fast replacement of the position and shape of the positioning groove 635 on the sliding positioning body 620, greatly improving the applicability of the gantry welding equipment of the present application, specifically: like Figures 9 to 11 As shown, the sliding positioning body 620 includes a first positioning belt assembly 630 and a second positioning belt assembly 650; The first positioning belt assembly 630 includes a horizontal frame 631, a first reel 632, a second reel 633, and a positioning belt 634; The two transverse frames 631 are rigid rods or plates arranged transversely, and slide along the two vertical support rods 610 under the coordinated control of the control unit and the power assembly. The first reel 632 and the second reel 633 are both horizontally arranged reel structures, respectively positioned on two horizontal frames 631, with their length directions perpendicular to the length direction of the gantry 200. They rotate under the coordinated control of the control unit and the power assembly to reel in or release the positioning belt 634; The positioning belt 634 is a belt-shaped sheet, with both ends wound around the first reel 632 and the second reel 633 and positioned thereon and always in a straight state; The positioning belt 634 is provided with a row of positioning grooves 635 , and a groove combination ring 636 is fixed to the edge of the positioning groove 635 ; The slot combination ring 636 is an annular strip of soft magnetism or Velcro, and is arranged close to the edge of the positioning slot 635 to be combined and fixed with other slot combination rings 636 (the slot combination ring 636 of the second positioning belt assembly 650).

[0038] The structure of the second positioning belt assembly 650 is substantially the same as that of the first positioning belt assembly 630. The second positioning belt assembly 650 is located below the first positioning belt assembly 630 and is also moved up and down under the coordinated control of the control unit and the power assembly. The spacing between the exposed positioning belt 634 on the second positioning belt assembly 650 and the exposed positioning belt 634 on the first positioning belt assembly 630 is always less than 1 cm. The difference between the second positioning belt assembly 650 and the first positioning belt assembly 630 is that the positioning belt 634 of the first positioning belt assembly 630 is softer than the positioning belt 634 of the second positioning belt assembly 650; the positioning belt 634 of the first positioning belt assembly 630 is made of rubber or elastic cloth; the positioning belt 634 of the second positioning belt assembly 650 is preferably a metal belt.

[0039] Preferably, the positioning belt 634 of the first positioning belt assembly 630 and the positioning belt 634 of the second positioning belt assembly 650 are made of different materials and / or have different thicknesses.

[0040] When the product to be produced needs to be changed, after the basic component is moved to the bottom of the gantry 200, the first positioning belt assembly 630 and the second positioning belt assembly 650 are first controlled to move downward so that the second positioning belt assembly 650 contacts the top surface of the basic component; then the first positioning belt assembly 630 and the second positioning belt assembly 650 are controlled to run synchronously according to the product to be replaced, so that the matching positioning groove 635 is exposed and moved to the target position; the groove combination ring 636 of the first positioning belt assembly 630 and the groove combination ring 636 of the second positioning belt assembly 650 are adsorbed or combined together during the movement, so that the two positioning grooves 635 are combined into one; thereafter, the first positioning belt assembly 630 is controlled to move up several centimeters, and the positioning belt 634 of the first positioning belt assembly 630 forms an inclined surface near the positioning groove 635 due to the influence of tension and the restriction of the groove combination ring 636. These inclined surfaces can play a certain role in guiding the placement of the components to be welded.

[0041] Preferably, in order to further improve the applicability of this application, Figure 12 As shown, the positioning belt 634 is provided with a row of U-shaped slots for accommodating replacement sheets 637; the replacement sheets 637 are detachably fixed on these U-shaped slots to close these U-shaped slots; the replacement sheets 637 are sheets made of the same material as the positioning belt 634, and are detachably fixed on the positioning belt 634 by means of zippers and buckles; different replacement sheets 637 are provided with the same or different positioning slots 635; when replacing a new product, if there is no positioning slot 635 on the positioning belt 634 that matches the component to be welded, one or more replacement sheets 637 can be directly replaced.

[0042] Preferably, Figure 13 As shown, in order to further improve the applicability of the present application, the positioning belt 634 is composed of a plurality of sections of belts or sheets that are detachably spliced ​​together, and the sections of the positioning belt 634 away from the end are all replacement sheets 637; the positioning grooves 635 on different replacement sheets 637 are the same or different; when replacing a new product, if there is no positioning groove 635 on the positioning belt 634 that matches the component to be welded, one or more replacement sheets 637 can be directly replaced.

[0043] Preferably, Figure 9 As shown, in order to ensure the movement accuracy of the positioning slot 635 on the positioning belt 634, a row of verification holes 638 are also provided on the positioning belt 634; one or more positioning slots 635 correspond to one verification hole 638; the verification hole 638 is a through hole with a diameter of less than 1 cm; the auxiliary positioning component also includes a position verification component 660 connected to the control unit signal, and the basic structure of the position verification component 660 is an infrared transmitter and an infrared receiver, and the position of the positioning slot 635 is indirectly known by the time when the infrared receiver receives the infrared signal transmitted through the verification hole 638.

[0044] Preferably, Figures 14 to 16 As shown, in order to further ensure the guiding effect of the positioning belt 634 and the positioning groove 635 thereon on the welded component, matching edge strips 639 are fixed on both side edges of the positioning belt 634; the matching edge strips 639 are the same length as the positioning belt 634, and are metal or non-metal soft strips; two limiting guide rods 640 are fixed near the end of the transverse frame 631; the limiting guide rods 640 are hard straight rods, and the combination with the two transverse frames 631 is in the shape of a U; the longitudinal section of the limiting guide rod 640 is C-shaped, and the matching edge strip 639 passes through it; the C-shaped structure of the limiting guide rod 640 prevents the matching edge strip 639 from directly escaping from one side of the limiting guide rod 640.

[0045] Example 3

[0046] Taking into account that in actual operation, some components to be welded are vertical rods, generally, the material moving robot arm 220 is required to clamp the vertical rod-shaped component to be welded for welding. However, in this state, the material moving robot arm 220 may be clamped and deviated with a small probability, thereby causing the component to be welded to be welded to be deviated. In the prior art, there is no relatively effective solution to verify whether the vertical rod-shaped component to be welded is clamped and deviated before welding. To address the above problem, the embodiment of the present application further optimizes and improves the structure of the sliding positioning body 620 on the basis of the above embodiment, specifically: like Figure 17 As shown, the sliding positioning body 620 further includes a third positioning belt assembly 670; The third positioning belt assembly 670 is located above the first positioning belt assembly 630 and has a structure that is substantially the same as the first positioning belt assembly 630. The difference is that the positioning groove 635 of the third positioning belt assembly 670 is adapted to the top contour of the component to be welded; the positioning belt 634 of the third positioning belt assembly 670 is made of metal; and the motor that drives the first reel 632 and the second reel 633 of the third positioning belt assembly 670 to rotate has a real-time load detection function. A straight guide rail is also provided on the ground for the supporting vertical rod 610 to slide along a length direction perpendicular to the gantry 200. The supporting vertical rod 610 moves along the straight guide rail under the coordinated control of the control unit and the power assembly.

[0047] Preferably, the gantry 200 is slidably positioned on the carrying platform 100 along its width direction, and slides under the coordinated control of the control unit and the power assembly.

[0048] When the component to be welded is in the shape of a vertical rod, perform the following steps: 1. First, arrange the first positioning belt assembly 630 and the second positioning belt assembly 650 on the base component, and control the positioning groove 635 on the third positioning belt assembly 670 to be in place according to the top contour of the vertical rod-shaped component to be welded; 2. Then, the material transfer robot 220 is used to place the vertical rod-shaped component to be welded on the base component with the help of the first positioning belt assembly 630 and the second positioning belt assembly 650; 3. The third positioning belt assembly 670 is then controlled to move downward. The load change of the motor driving the first reel 632 and the second reel 633 of the third positioning belt assembly 670 is used to detect whether the vertical rod-shaped component to be welded just passes through the positioning slot 635 of the third positioning belt assembly 670. If it does not pass through, it indicates an unacceptable tilt, and the control unit issues an alarm. 4. If the test passes, the material transfer robot 220 is used to move the vertical rod-shaped component to be welded upward and then downward, during which the sliding positioning body 620 is controlled to separate from the vertical rod-shaped component to be welded; 5. Then proceed with welding operation.

[0049] Preferably, a weighing sensor is positioned on the material moving robot arm 220, and the data measured by the load sensor can be used to indirectly determine whether the bottom of the vertical rod-shaped component to be welded is in contact with an object.

[0050] Preferably, after performing step 3, if the vertical rod-shaped component to be welded fails to pass through the positioning groove 635 of the third positioning belt assembly 670, the third positioning belt assembly 670 is controlled to move horizontally along the length and width directions of the gantry 200 multiple times and then move downward and then reset to test whether there is a vertical rod-shaped component to be welded that happens to pass through the positioning groove 635 of the third positioning belt assembly 670 at some point; if it is found to be penetrated, the clamp of the material moving robot arm 220 is loosened while the positioning groove 635 of the third positioning belt assembly 670 is sleeved on the vertical rod-shaped component to be welded, and then the positioning groove 635 of the third positioning belt assembly 670 is moved to the initial position (to straighten the vertical rod-shaped component to be welded), and finally the material moving robot arm 220 is reused to clamp the vertical rod-shaped component to be welded.

[0051] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Various modifications and variations are readily apparent to those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A gantry welding device, comprising a carrying platform (100), a gantry (200), a feeding assembly, and a component conveying assembly (400); the gantry (200) is positioned on the top of the carrying platform (100); a welding robot arm (210) and a material transfer robot arm (220) are slidably positioned on the gantry (200); the material transfer robot arm (220) is used to clamp the component to be welded conveyed by the component conveying assembly (400), and move the component to be welded and place it on a base component under the gantry (200); the feeding assembly is used to move the base component to be welded to the bottom of the gantry (200), and transport the welded product away; the device is characterized in that: Also included are auxiliary positioning components; The top surface of the carrying platform (100) is provided with a plurality of through slots; The auxiliary positioning assembly includes a bearing vertical rod (610) and a sliding positioning body (620); There are two vertical bearing rods (610), which are respectively arranged near the two ends of the gantry (200) and protrude from the through slot of the bearing platform (100); The sliding positioning body (620) is a rectangular plate structure or a rectangular frame structure, which is arranged horizontally and is provided with a positioning groove (635) that matches the bottom profile of the component to be welded; the positioning groove (635) is a through groove with an opening larger at the top and smaller at the bottom.

2. The gantry welding equipment according to claim 1, characterized in that: The feeding assembly comprises a conveying roller assembly (300) and a clamping and shifting assembly (500); The conveying roller assembly (300) comprises a supporting frame and a roller group positioned on the supporting frame, the number of which is multiple and is arranged close to the carrying platform (100) and more than five centimeters higher than the carrying platform (100); the roller group is a row of horizontal cylindrical rollers, which are rotatably connected to the supporting frame, and some or all of the rollers rotate under the coordinated control of the control unit and the power assembly, thereby playing the role of moving the basic component horizontally to the top of the carrying platform (100); The main structure of the clamping and shifting assembly (500) is a clamp positioned on a guide rail, which is controlled by a control unit to clamp the basic component as needed and drive the basic component to move under the gantry (200).

3. The gantry welding equipment according to claim 1, wherein: The sliding positioning body (620) includes an end carrier (621), a connecting rod (622) and a positioning frame (623); the end carrier (621) is a hard rod body arranged horizontally, and there are two of them, which slide along two vertical bearing rods (610) respectively under the coordinated control of the control unit and the power assembly; the connecting rod (622) is a hard straight rod, and its two ends are respectively fixed at positions close to the ends of the two end carriers (621), and there are two of them; the combination of the end carriers (621) and the two connecting rods (622) is in the shape of a square; the positioning frame (623) is a hard plate body, arranged horizontally, fixed on the connecting rod (622) and arranged in a row on the connecting rod (622); the positioning groove (635) is located on the positioning frame (623).

4. The gantry welding equipment according to claim 1, wherein: The sliding positioning body (620) includes a first positioning belt assembly (630) and a second positioning belt assembly (650); The first positioning belt assembly (630) includes a horizontal frame (631), a first reel (632), a second reel (633), and a positioning belt (634); There are two transverse frames (631), which slide along two vertical bearing rods (610) respectively; The first reel (632) and the second reel (633) are both transversely arranged reel structures, and are respectively positioned on two transverse frames (631); The positioning belt (634) is a belt-shaped sheet, with two ends respectively wound and positioned on the first reel (632) and the second reel (633) and always in a straight state; The positioning belt (634) is provided with a row of positioning grooves (635), and the edges of the positioning grooves (635) are fixed with groove combination rings (636); The groove combination ring (636) is an annular strip of soft magnetism or Velcro; The structure of the second positioning belt assembly (650) is the same as that of the first positioning belt assembly (630), and is located below the first positioning belt assembly (630).

5. The gantry welding equipment according to claim 4, characterized in that: The positioning belt (634) is provided with a row of square-shaped through grooves for accommodating the replacement pieces (637); The replacement pieces (637) are detachably fixed on these U-shaped through grooves to close these U-shaped through grooves; The replacement piece (637) is a piece made of the same material as the positioning belt (634) and can be detachably fixed to the positioning belt (634); Different replacement pieces (637) are provided with the same or different positioning grooves (635); When replacing a new product, if there is no positioning groove (635) on the positioning belt (634) that matches the component to be welded, one or more replacement sheets (637) can be directly replaced.

6. The gantry welding equipment according to claim 4, characterized in that: The positioning belt (634) is composed of multiple sections of belts or sheets that are detachably spliced ​​together, and the sections of positioning belt (634) away from the end are all replacement sheets (637); The positioning grooves (635) on different replacement sheets (637) may be the same or different; when replacing a new product, if there is no positioning groove (635) on the positioning belt (634) that matches the component to be welded, one or more replacement sheets (637) can be directly replaced.

7. The gantry welding equipment according to any one of claims 4 to 6, characterized in that: The positioning belt (634) is also provided with a row of calibration holes (638); One or more positioning slots (635) correspond to a calibration hole (638); The calibration hole (638) is a through hole with a diameter less than 1 cm; The auxiliary positioning component also includes a position verification component (660) connected to the control unit signal. The basic structure of the position verification component (660) is an infrared transmitter and an infrared receiver. The position of the positioning groove (635) is indirectly known by the time when the infrared receiver receives the infrared signal transmitted through the verification hole (638).

8. The gantry welding equipment according to claim 7, characterized in that: Matching edge strips (639) are fixed to both side edges of the positioning belt (634); The matching edge strip (639) is of equal length to the positioning strip (634) and is a metal or non-metal soft strip; Two position-limiting guide rails (640) are fixed near the ends of the transverse frame (631); the position-limiting guide rails (640) are hard straight rods, and the combination of the position-limiting guide rails (640) and the two transverse frames (631) forms a square shape; The longitudinal section of the position-limiting guide rail (640) is C-shaped, and the matching edge strip (639) passes through it; the C-shaped structure of the position-limiting guide rail (640) prevents the matching edge strip (639) from directly escaping from one side of the position-limiting guide rail (640).

9. The gantry welding equipment according to any one of claims 4 to 6, characterized in that: The sliding positioning body (620) further includes a third positioning belt assembly (670); The third positioning belt assembly (670) is located above the first positioning belt assembly (630) and has a structure that is substantially the same as that of the first positioning belt assembly (630); the difference is that the positioning groove (635) of the third positioning belt assembly (670) is adapted to the top profile of the component to be welded; the positioning belt (634) of the third positioning belt assembly (670) is made of metal; and the motor that drives the first reel (632) and the second reel (633) of the third positioning belt assembly (670) to rotate has a real-time load detection function; A straight guide rail is also provided on the ground for the vertical support rod (610) to slide along a length direction perpendicular to the gantry (200). The vertical support rod (610) moves along the straight guide rail under the coordinated control of the control unit and the power assembly.

10. A method for using a gantry welding device, characterized in that: The gantry welding equipment according to claim 2 is provided; the steps are as follows: Step 1: The base component on the conveying roller assembly (300) moves toward the carrying platform (100) driven by the conveying roller assembly (300) and moves to the clamping range of the clamping and shifting assembly (500); Step 2: Controlling the clamping and shifting assembly (500) to clamp the base component and move it to the bottom of the gantry (200); Step 3: Control the sliding positioning body (620) to move downward in due time so that it contacts the top surface of the base component, thereby forming a container for accommodating the component to be welded; Step 4: Thereafter, the material transfer robot arm (220) is controlled to clamp the component to be welded from the component conveying assembly (400) and fill it into the positioning groove (635) to achieve positioning of the component to be welded; Step 5: Lift the sliding positioning body (620), move the basic component and perform welding; Step 6: After welding is completed, the clamping and shifting assembly (500) is used in conjunction with the conveying roller assembly (300) to transport the welded product away.

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