Omni-directional welding workstation for standard knot of hoistway construction hoist and turning control method of omni-directional welding workstation

Abstract

The all-directional welding workstation comprises a welding platform, the standard knot is placed on the top of the welding platform, a positioning assembly is arranged on the outer side wall of the standard knot, a bottom plate is arranged at the bottom of the welding platform, and a portal frame is arranged on the top of the bottom plate. A transverse moving assembly is arranged at the bottom of the portal frame and comprises a moving nut, a lifting assembly is arranged at the bottom of the moving nut, an annular sliding rail is arranged at the top of the bottom plate, a moving platform is arranged at the top of the annular sliding rail, and a control table is arranged at the top of the bottom plate. According to the omni-directional welding workstation for the standard knot of the hoistway construction hoist and the turning control method of the omni-directional welding workstation, the problems of poor positioning precision and unreliable clamping are solved through a basic positioning and flexible clamping system, meanwhile, the inner robot and the outer robot work cooperatively, all-position welding of a closed structure is achieved, and then intelligent control and visual guidance are combined, so that the working efficiency is improved. And stable and consistent welding quality is ensured.

Description

Technical Field

[0001] This invention relates to the field of welding technology for standard sections of hoists, specifically to an omnidirectional welding workstation for standard sections of hoisting systems and its direction-changing control method. Background Technology

[0002] As an indispensable vertical transportation equipment in modern construction, the manufacturing quality of the standard sections of the shaft construction hoist directly affects the safety performance and service life of the entire machine.

[0003] While existing standard section welding manufacturing technologies offer numerous advantages, they still suffer from the following technical drawbacks: Traditional welding fixtures generally employ a rigid positioning mode, which cannot effectively accommodate the dimensional tolerances of the various components within the standard section. Construction hoist standard sections typically consist of a complex spatial frame structure comprised of four columns, multiple web members, and connecting plates. The insufficient positioning accuracy of traditional fixtures often results in rack installation position deviations exceeding the allowable range of ±1mm, severely impacting the smooth operation of the hoist cage and the precision of gear and rack transmission. Furthermore, existing welding equipment struggles to effectively complete the welding of complex spatial welds within the standard section. Because the standard section is a closed frame structure, it contains numerous hard-to-reach narrow space welds. Traditional solutions require operators to repeatedly loosen, flip, and reposition the workpiece during welding, significantly increasing auxiliary operation time and leading to low production efficiency. Moreover, repeated clamping introduces repetitive positioning errors, affecting the final product quality. Finally, traditional welding processes lack effective online monitoring and real-time control methods. Most existing equipment operates using preset welding parameters, which cannot adapt to dynamic changes such as workpiece assembly gaps and thermal deformation. Welding quality is highly dependent on the operator's experience and judgment, resulting in poor weld quality stability and a tendency to produce defects such as undercut, incomplete penetration, and porosity, making it difficult to guarantee product quality consistency. Summary of the Invention The purpose of this section is to outline some aspects of the embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0004] 1. Technical problems to be solved: To address the problems mentioned above, such as insufficient positioning accuracy of traditional tooling, poor accessibility of weld seams inside enclosed structures requiring multiple re-clampings, and poor quality stability due to lack of adaptive control during the welding process, this invention is proposed.

[0005] Therefore, the purpose of this invention is to provide an omnidirectional welding workstation for a standard section of a shaft construction hoist and its direction-changing control method. By using a foundation positioning and flexible clamping system, the problems of poor positioning accuracy and unreliable clamping are solved. At the same time, the internal and external dual robots work together to achieve all-position welding of the closed structure. Furthermore, the combination of intelligent control and visual guidance ensures stable and consistent welding quality.

[0006] 2. Technical Solution: To address the aforementioned technical problems, according to one aspect of the present invention, the present invention provides the following technical solution: A standard section omnidirectional welding workstation for a shaft construction hoist includes a welding platform. A standard section is placed on top of the welding platform. A positioning component is provided on the outer wall of the standard section. The positioning component includes a basic positioning module and a clamping positioning module. A base plate is bolted to the bottom of the welding platform. A gantry frame is bolted to the top of the base plate. A lateral movement component is provided at the bottom of the gantry frame. The lateral movement component includes a moving nut. A lifting component is provided at the bottom of the moving nut. The lifting component includes a lifting frame. Multiple lifting screws are inserted into the inner wall of the lifting frame. Multiple ball nut seats are threaded to the outer circumference of the multiple lifting screws. A lifting platform is provided on the outer circumference of the base plate. A welding robot is installed at the bottom of the lifting platform. A circular slide rail is bolted to the top of the base plate. A moving platform is installed at the top of the circular slide rail. A welding robot is installed at the top of the moving platform. A drive wheel is hinged to the bottom of the moving platform. The outer circumference of the drive wheel is rolled to the circular slide rail. A servo motor is installed at the top of the drive wheel. Multiple load-bearing casters are installed at the bottom of the moving platform. A guide frame is welded to the bottom of the moving platform. A pressure spring is welded to the inner side wall of the guide frame. A hinge frame is welded to the other end of the pressure spring. A pressure wheel is hinged to the bottom of the hinge frame. A control console is installed at the top of the base plate.

[0007] As a preferred embodiment of the omnidirectional welding workstation for a standard section of a shaft construction hoist according to the present invention, the basic positioning module includes a positioning block one, a positioning block two, a positioning block three, a positioning strip, and a support frame. The bottoms of the positioning block one, the positioning block two, the positioning block three, and the positioning strip are all connected to the welding platform by bolts, and the support frame is disposed on the inner wall of the standard section.

[0008] As a preferred embodiment of the omnidirectional welding workstation for a standard section of a shaft construction hoist and its direction-changing control method of the present invention, the clamping and positioning module includes a base one and multiple base twos. The top side wall of the base one is provided with an installation through groove. The inner side wall of the installation through groove and the top of the base one are both provided with an electric cylinder one. The output end of the electric cylinder one is threadedly connected to a connecting seat one. The side wall of the connecting seat is bolted to a frame bracket. The top of the multiple base twos is provided with multiple electric cylinder twos. The output end of the multiple electric cylinder twos is welded with multiple threaded connecting rods. The outer circumference of the multiple threaded connecting rods is threadedly connected with multiple fish-eye joints. The side walls of the multiple fish-eye joints are hingedly connected with multiple hinge seats. The side walls of the multiple hinge seats are welded with multiple connecting seats two. A portion of the side walls of the connecting seats two are bolted to a rack fixing clamp. The inner side wall of the rack fixing clamp is embedded with a flexible gasket. The side walls of the other portion of the connecting seats two are bolted to a column fixing clamp.

[0009] As a preferred embodiment of the omnidirectional welding workstation for a standard section of a shaft construction hoist and its direction-changing control method of the present invention, a heavy-duty lead screw is threadedly connected to the inner circumference of the moving nut, a servo motor is connected to the side wall of the heavy-duty lead screw through a reserved keyway, the top of the servo motor is bolted to the gantry frame, multiple bearing seats are sleeved on the outer circumference of the heavy-duty lead screw, one of the bearing seats is bolted to the gantry frame on its side wall, and a support plate is sleeved on the outer side wall of the other bearing seat. The gantry frame is welded to the top of the support plate, and multiple L-shaped protective shells are bolted to the bottom of the gantry frame.

[0010] As a preferred embodiment of the omnidirectional welding workstation for a standard section of a hoisting platform and its direction-changing control method of the present invention, the outer wall of the hoisting platform is integrally formed with multiple guide blocks, the side walls of the multiple guide blocks are slidably connected with multiple guide grooves, the multiple guide grooves are opened on the inner wall of the hoisting frame, the top of the multiple hoisting screws are connected with multiple servo motors through reserved keyways, the side wall of the hoisting frame is integrally formed with multiple fixing plates, the bottom of a portion of the fixing plates is bolted with multiple origin sensors, the top of another portion of the fixing plates is bolted with limit sensors, the top of the hoisting platform is integrally formed with a connecting base, and the top of the connecting base is bolted with a moving nut.

[0011] As a preferred embodiment of the omnidirectional welding workstation for a standard section of a shaft construction hoist and its direction-changing control method of the present invention, the side wall of the mobile platform is integrally formed and connected with multiple cleaning brush mounting seats, the bottom of the mobile platform is hinged to a driven wheel, the outer circumference of the driven wheel is rolledly connected to the annular slide rail, the top of the mobile platform is bolted to the servo motor three, the mobile platform is bolted to the wire feeder two, a calibration block is welded to the outer wall of the mobile platform, the side wall of the calibration block is provided with a calibration QR code, and a calibration scanner is provided on the right side of the calibration block.

[0012] As a preferred embodiment of the omnidirectional welding workstation for a standard section of a shaft construction hoist and its direction-changing control method of the present invention, the top of the gantry frame is connected to a wire feeder one by bolts, and both the wire feeder one and the wire feeder two are electrically connected to a junction box.

[0013] As a preferred embodiment of the omnidirectional welding workstation for a standard section of a shaft construction hoist and its direction-changing control method of the present invention, the control console is electrically connected to the welding robot one and the welding robot two. The top of the welding robot one and the welding robot two are respectively provided with the vision sensor one and the vision sensor two. The top of the control console is provided with a control screen and an emergency stop button.

[0014] As a preferred embodiment of the omnidirectional welding workstation for a standard section of a shaft construction hoist and its direction-changing control method of the present invention, the console includes a control system, which includes a motion control module, a welding control module, a vision processing module, a safety monitoring module and a human-machine interaction module. The motion control module includes a fixture motion control module, a robot one motion control module, and a robot two motion control module. The fixture motion control module is electrically connected to the electric cylinder one and the electric cylinder two. The robot one motion control module is electrically connected to the servo motor one and multiple servo motor twos. The robot motion control module is electrically connected to the servo motor three and the calibration scanner. The welding control module includes a welding power control module and a wire feeding control module. The welding power control module is electrically connected to the welding robot one and the welding robot two, and the wire feeding control module is electrically connected to the junction box. The vision processing module includes a welding recognition module and a path planning module, and the vision processing module is electrically connected to the first vision sensor and the second vision sensor. The safety control module includes a sensor detection module and a system diagnostic module. The sensor detection module is electrically connected to the origin sensor and the limit sensor. The human-computer interaction module includes an interface management module and a data management module.

[0015] A method for controlling the directional change of a standard section omnidirectional welding workstation for a shaft construction hoist, comprising the following steps: S1: System Initialization and Security Self-Check S1.1: Power on the control console and start the self-diagnostic program of each control module. S1.2: Servo driver enabled, detecting the status of each motion axis. S1.3: The safety monitoring module verifies the status of the emergency stop circuit and limit switches. S1.4: Vision system calibration, intrinsic parameter calibration S2: Workpiece clamping and positioning control S2.1: The console controls the basic positioning module's actions, with positioning blocks one, two, and three performing coarse positioning on the standard section. S2.2: The electric cylinder of the clamping and positioning module drives the frame bracket to support the standard section frame. S2.3: The electric cylinder's second drive rack and pinion clamp and column clamp complete precise positioning. S2.4: The pressure monitoring system provides real-time feedback on the clamping force, and locks the clamping force once the preset value is reached. S3: Coordinate System Establishment and Path Planning S3.1: The circular track calibration scanner reads the calibration QR code and establishes a global coordinate system. S3.2: The vision sensors of welding robots one and two perform three-dimensional scanning of the standard section. S3.3: Point cloud data processing to extract actual weld features S3.4: The path planning submodule generates optimized welding trajectories and divides the inner and outer robot working areas. S4: Variable direction welding execution S4.1: Internal Welding Stage S4.1.1: Control gantry lateral movement component, servo motor drives heavy-duty lead screw positioning. S4.1.2: The lifting control module controls the servo motor to drive the lifting screw, precisely positioning the height. S4.1.3: The welding robot enters the standard section under the action of the lifting platform. S4.1.4: When the wire feeder starts, the welding power supply outputs the set parameters. S4.1.5: A vision sensor tracks the weld seam in real time and adaptively adjusts the trajectory. S4.2: External Welding Stage S4.2.1: The circular track motion control module starts the servo motor three S4.2.2: The drive wheel moves along the annular slide rail, and the pressure wheel provides stable contact pressure. S4.2.3: Welding robot two moves around the standard section under the drive of the mobile platform. S4.2.4: The wire feeder and its two counterparts complete the welding of the external weld seam. S4.2.5: The cleaning brush continuously cleans the track surface. S5: Multi-robot collaboration and real-time adjustment S5.1: The motion control module monitors the positions of the internal and external robots in real time to prevent motion interference. S5.2: Welding parameters are dynamically optimized based on thermal deformation monitoring. S5.3: The vision processing module corrects path deviations in real time. S5.4: The wire feeding control submodule matches the welding speed to ensure stable wire feeding. S6: Welding completed and system reset S6.1: The welding power source shall be shut down according to the arc termination procedure. S6.2: The wire feeder stops after a delay to prevent welding wire from sticking. S6.3: Each motion axis returns to a safe position. S6.4: Sequential release of clamping and positioning modules S6.5: Production data recording, system standby.

[0016] 3. Beneficial effects: Compared with the prior art, the beneficial effects of the present invention are: This type of omnidirectional welding workstation for standard sections of a hoisting system and its direction-changing control method constitute a complete positioning system through positioning blocks 1, 2, 3, and 3 in the basic positioning module, as well as positioning strips. These systems are used to position the rectangular frame, rack, and circular column of the standard section, respectively. Positioning blocks 1 and 3 work together to fix the rectangular frame structure of the standard section. Positioning block 2 is specifically used for the initial positioning of the rack, and positioning block 3 is used for the initial positioning of the circular column, forming a systematic positioning solution. The clamping positioning module uses base 1 and multiple base 2s distributed together. The frame bracket is supported by electric cylinder 1, and electric cylinder 2 drives the rack fixing clamp and column fixing clamp to complete the final clamping through the transmission chain of threaded connecting rod, fish-eye joint, hinge seat, and connecting seat 2. This design eliminates installation stress through fish-eye joints and protects the workpiece surface with flexible gaskets, achieving reliable clamping without damaging the workpiece and effectively controlling welding deformation. This type of omnidirectional welding workstation for standard sections of a shaft construction hoist and its direction-changing control method adopts a dual-robot configuration combining a gantry system and a circular track system. The gantry system achieves lateral positioning through a heavy-duty lead screw, a moving nut, and a servo motor, and vertical movement through a lifting lead screw, a servo motor, and a guide mechanism, driving welding robot one to complete internal weld welding. The circular track system, through a drive wheel, a servo motor, and a clamping wheel mechanism, along with load-bearing casters and a cleaning brush mounting base, ensures that welding robot two can stably and reliably complete external circumferential weld welding. This collaborative operation mode with internal and external division of labor, through the spatial complementarity of the two robots, achieves comprehensive coverage of weld seams at all positions of the standard section without dead angles. This invention relates to an omnidirectional welding workstation for a standard section of a shaft construction hoist and its directional control method. A control system is designed, comprising a motion control module, a welding control module, a vision processing module, a safety monitoring module, and a human-machine interaction module. The system uses vision sensors 1 and 2 to monitor the weld position in real time, and origin and limit sensors to ensure safe movement. Precise positioning is achieved through a calibration scanner and calibration QR code. The control system automatically adjusts the welding trajectory and parameters based on real-time detection data. Wire feeders 1 and 2 are centrally managed through a junction box, enabling precise control of the welding process. This intelligent control system reduces reliance on operator experience and ensures consistent product quality. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and detailed embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a schematic diagram of the overall structure of an omnidirectional welding workstation for a standard section of a shaft construction hoist and its direction-changing control method according to the present invention. Figure 2 This is a front view of the overall structure of an omnidirectional welding workstation for a standard section of a shaft construction hoist according to the present invention. Figure 3 This is a schematic diagram of the basic positioning module structure of an omnidirectional welding workstation for a standard section of a shaft construction hoist according to the present invention; Figure 4 This is a schematic diagram of the clamping and positioning module structure of an omnidirectional welding workstation for a standard section of a shaft construction hoist and its direction-changing control method according to the present invention. Figure 5 This is a schematic diagram of the lateral movement component structure of an omnidirectional welding workstation for a standard section of a shaft construction hoist and its directional control method according to the present invention. Figure 6This is a schematic diagram of the lifting component structure of an omnidirectional welding workstation for a standard section of a shaft construction hoist and its direction-changing control method according to the present invention. Figure 7 This is a schematic diagram of the overall structure of the lifting component of the omnidirectional welding workstation for a standard section of a shaft construction hoist and its direction-changing control method according to the present invention. Figure 8 This is a schematic diagram of the moving platform structure of an omnidirectional welding workstation for a standard section of a shaft construction hoist and its direction-changing control method, according to the present invention. Figure 9 This is a schematic diagram of the control system structure inside the control console of the omnidirectional welding workstation for a standard section of a shaft construction hoist and its direction-changing control method according to the present invention. Figure 10 This invention provides a welding workflow diagram of an omnidirectional welding workstation for a standard section of a shaft construction hoist and its direction-changing control method.

[0018] Explanation of the numbers in the diagram: 1. Standard section; 2. Positioning block one; 3. Positioning block two; 4. Welding platform; 5. Positioning block three; 6. Positioning strip; 7. Support frame; 8. Electric cylinder one; 9. Base one; 10. Electric cylinder two; 11. Base two; 12. Column fixing clamp; 13. Frame bracket; 14. Rack fixing clamp; 15. Flexible gasket; 16. Connecting seat one; 17. Connecting seat two; 18. Hinge seat; 19. Fisheye joint; 20. Threaded connecting rod; 21. Gantry frame; 22. Wire feeder one; 23. Junction box; 24. Heavy-duty lead screw; 25. Support plate; 26. Servo motor one; 27. Moving nut; 28. Bearing seat; 29. Servo Motor II; 30. Lifting Frame; 31. Limit Sensor; 32. Origin Sensor; 33. Lifting Screw; 34. Lifting Platform; 35. Welding Robot I; 36. Vision Sensor I; 37. Ball Bearing Nut Seat; 38. Guide Block; 39. Vision Sensor II; 40. Welding Robot II; 41. Wire Feeder II; 42. Calibration Block; 43. Driven Wheel; 44. Calibration Scanner; 45. Load-bearing Caster Wheel; 46. Cleaning Brush Mounting Base; 47. Guide Frame; 48. Pressure Wheel; 49. Pressure Spring; 50. Circular Slide Rail; 51. Servo Motor III; 52. Drive Wheel; 53. Control Panel; 54. Emergency Stop Button; 55. Control Console. Detailed Implementation

[0019] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0020] This invention is described in detail with reference to the schematic diagrams. When describing the embodiments of this invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not be construed as limiting the scope of protection of this invention. In actual fabrication, the three-dimensional spatial dimensions of length, width, and depth should be included.

[0021] The orientation or positional relationship indicated in the terminology is based on the orientation or positional relationship shown in the accompanying drawings and is only for the convenience of describing the invention and simplifying the description, and is not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.

[0022] The term "connection method" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] The embodiments of the present invention will now be described in further detail with reference to the accompanying drawings.

[0024] This invention provides an overall structural schematic diagram of an embodiment of an omnidirectional welding workstation for a standard section of a shaft construction hoist and its directional control method, comprising: Please see Figures 1-10This embodiment of a shaft construction hoist standard section omnidirectional welding workstation and its direction-changing control method includes a welding platform 4, a standard section 1 placed on top of the welding platform 4, a positioning component on the outer wall of the standard section, the positioning component including a basic positioning module and a clamping positioning module, a base plate bolted to the bottom of the welding platform 4, a gantry frame 21 bolted to the top of the base plate (the gantry frame 21 is existing technology), a lateral movement component at the bottom of the gantry frame 21 including a moving nut 27, a lifting component at the bottom of the moving nut 27 including a lifting frame 30, multiple lifting screws 33 inserted into the inner wall of the lifting frame 30, multiple ball nut seats 37 threaded to the outer circumference of the multiple lifting screws 33, a lifting platform 34 on the outer circumference of the multiple ball nut seats 37, a welding robot 35 at the bottom of the lifting platform 34, and the top of the base plate... A ring slide rail 50 is bolted to the top of the ring slide rail, and a moving platform is mounted on top of the moving platform. A second welding robot 40 is mounted on top of the moving platform. Welding robots 35 and 40 are specifically six-axis welding robots in the prior art. A drive wheel 52 is hinged to the bottom of the moving platform. The outer circumference of the drive wheel 52 is rolled to the ring slide rail 50. A servo motor 51 is mounted on top of the drive wheel 52. Multiple load-bearing casters 45 are mounted on the bottom of the moving platform. The load-bearing casters 45 are in the prior art and are used to support the moving platform and allow multi-directional movement. A guide frame 47 is welded to the bottom of the moving platform. A pressure spring 49 is welded to the inner wall of the guide frame 47 to provide a constant pressure force for the pressure wheel 48. A hinge frame is welded to the other end of the pressure spring 49. The pressure wheel 48 is hinged to the bottom of the hinge frame to provide stable track contact pressure. A control console 55 is mounted on top of the base plate.

[0025] It is worth noting that, in order to facilitate the basic positioning of standard section 1, the basic positioning module specifically includes positioning block 1 2, positioning block 2 3, positioning block 3 5, positioning strip 6, and support frame 7. The bottoms of positioning block 1 2, positioning block 2 3, positioning block 3 5, and positioning strip 6 are all connected to the welding platform 4 by bolts. Positioning block 1 2 and positioning strip 6 are used to fix the rectangular frame structure of standard section 1, positioning block 2 3 is used for the initial positioning of the rack of standard section 1, positioning block 3 5 is used for the initial positioning of the circular column of standard section 1, and support frame 7 is set on the inner side wall of standard section 1. Support frame 7 is used to fix the diagonal bar structure inside standard section 1.

[0026] Next, to facilitate the clamping and fixing of standard section 1, the clamping and positioning module specifically includes a base 1 9 and multiple bases 2 11. A mounting slot is provided on the top side wall of base 1 9. An electric cylinder 8 is installed on both the inner side wall of the mounting slot and the top of base 1 9. The output end of electric cylinder 1 8 is threadedly connected to a connecting seat 16. A frame bracket 13 is bolted to the side wall of connecting seat 16. Multiple electric cylinders 2 10 are installed on the top of the multiple bases 2 11, and multiple threaded connections are welded to the output ends of each electric cylinder 2 10. Rod 20, with multiple threaded connecting rods 20 having multiple fisheye joints 19 threadedly connected to the outer circumference of the rod 20. The fisheye joints 19 are existing technology and are used to eliminate installation stress and protect the electric cylinder. Multiple hinge seats 18 are hinged to the side walls of the multiple fisheye joints 19. Multiple connecting seats 17 are welded to the side walls of the multiple hinge seats 18. A portion of the connecting seats 17 has a rack fixing clip 14 bolted to its side wall. A flexible gasket 15 is embedded in the inner side wall of the rack fixing clip 14. Another portion of the connecting seats 17 has a column fixing clip 12 bolted to its side wall.

[0027] Meanwhile, to facilitate the horizontal movement of the lifting platform 34, specifically, a heavy-duty lead screw 24 is threadedly connected to the inner circumference of the moving nut 27. A servo motor 26 is connected to the side wall of the heavy-duty lead screw 24 through a reserved keyway. The top of the servo motor 26 is bolted to the gantry frame 21. Multiple bearing seats 28 are sleeved on the outer circumference of the heavy-duty lead screw 24 to support the heavy-duty lead screw 24 and ensure rotation accuracy. The side wall of one bearing seat 28 is bolted to the gantry frame 21, and the outer wall of the other bearing seat 28 is sleeved with a support plate 25. The top of the support plate 25 is welded to the gantry frame 21, and multiple L-shaped protective shells are bolted to the bottom of the gantry frame 21 to protect the internal structure.

[0028] Furthermore, to facilitate the vertical lifting of the lifting platform 34, specifically, multiple guide blocks 38 are integrally formed and connected to the outer wall of the lifting platform 34. Multiple guide grooves are slidably connected to the side walls of the multiple guide blocks 38. The multiple guide grooves are opened on the inner side wall of the lifting frame 30. Two servo motors 29 are connected to the top of the multiple lifting screws 33 through reserved keyways. The two servo motors 29 rotate in opposite directions. Multiple fixing plates are integrally formed and connected to the side wall of the lifting frame 30. Multiple origin sensors 32 are bolted to the bottom of one part of the fixing plates as reference sensors to determine the initial position of the lifting platform 34. Limit sensors 31 are bolted to the top of the other part of the fixing plates as safety protection devices to prevent the lifting platform 34 from overtravel. A connecting base is integrally formed and connected to the top of the lifting platform 34. A moving nut 27 is bolted to the top of the connecting base.

[0029] It is worth noting that, in order to facilitate the movement and position calibration of the mobile platform, specifically, the side wall of the mobile platform is integrally formed with multiple cleaning brush mounting seats 46, which can be externally connected to the cleaning brushes via bolts to keep the track clean. The bottom of the mobile platform is hinged with driven wheels 43 to assist in supporting the mobile platform and sharing the load. The outer circumference of the driven wheels 43 is rolledly connected to an annular slide rail 50. The top of the mobile platform is bolted with a servo motor 51. The mobile platform is bolted with a wire feeder 41. A calibration block 42 is welded to the outer wall of the mobile platform. The side wall of the calibration block 42 is provided with a calibration QR code. A calibration scanner 44 is provided on the right side of the calibration block 42. This is existing technology used to read the calibration QR code to achieve accurate positioning. Refer to model: SICK CLV630-0010.

[0030] Preferably, in order to facilitate the supply of welding wire, specifically, a wire feeder 22 is bolted to the top of the gantry frame 21 for supplying welding wire, and both the wire feeder 22 and the wire feeder 41 are electrically connected to a junction box 23.

[0031] Meanwhile, to facilitate welding work by the welding robots, the control console 55 is electrically connected to welding robot 1 35 and welding robot 2 40. Both welding robot 1 35 and welding robot 2 40 are equipped with vision sensor 1 36 and vision sensor 2 39 on their tops for identifying the positions of internal and external weld seams and tracking and correcting them in real time. (Refer to the Keyence CV-X100 series model.) The control console 55 is equipped with a control panel 53 on its top and an emergency stop button 54 on its top for immediately stopping all equipment in an emergency.

[0032] Secondly, specifically, the console 55 includes a control system, which includes a motion control module, a welding control module, a vision processing module, a safety monitoring module, and a human-machine interaction module. The motion control module includes a fixture motion control module, a robot-1 motion control module, and a robot-2 motion control module. The fixture motion control module is electrically connected to electric cylinder 8 and electric cylinder 10. The robot-1 motion control module is electrically connected to servo motor 26 and multiple servo motors 29. The robot motion control module is electrically connected to servo motor 51 and calibration scanner 44. The welding control module includes a welding power control module and a wire feeding control module. The welding power control module is electrically connected to welding robot 1 35 and welding robot 2 40, and the wire feeding control module is electrically connected to junction box 23. The vision processing module includes a welding recognition module and a path planning module. The vision processing module is electrically connected to vision sensor 1 36 and vision sensor 2 39. The safety control module includes a sensor detection module and a system diagnostic module. The sensor detection module is electrically connected to the origin sensor 32 and the limit sensor 31. The human-computer interaction module includes an interface management module and a data management module.

[0033] Finally, specifically, S1: System initialization and security self-test. S1.1: Power on console 55 and start the self-diagnostic program of each control module. S1.2: Servo driver enabled, detecting the status of each motion axis. S1.3: The safety monitoring module verifies the status of the emergency stop circuit and limit switches. S1.4: Vision system calibration, intrinsic parameter calibration S2: Workpiece clamping and positioning control S2.1: Console 55 controls the basic positioning module's actions, with positioning blocks 1, 2, and 3 performing coarse positioning on standard section 1. S2.2: The electric cylinder of the clamping and positioning module drives the frame bracket 13 and supports the standard section 1 frame. S2.3: Electric cylinder 2 10 drives rack and pinion clamp 14 and column clamp 12 to complete precise positioning. S2.4: The pressure monitoring system provides real-time feedback on the clamping force, and locks the clamping force once the preset value is reached. S3: Coordinate System Establishment and Path Planning S3.1: The circular track calibration scanner 44 reads the calibration QR code and establishes a global coordinate system. S3.2: The vision sensors of welding robots 1 and 35 perform a three-dimensional scan of standard section 1. S3.3: Point cloud data processing to extract actual weld features S3.4: The path planning submodule generates optimized welding trajectories and divides the inner and outer robot working areas. S4: Variable direction welding execution S4.1: Internal Welding Stage S4.1.1: Control the lateral movement component of the gantry 21; servo motor 26 drives the heavy-duty lead screw 24 for positioning. S4.1.2: The lifting control module controls servo motor 29 to drive the lifting screw 33, precisely positioning the height. S4.1.3: Welding robot 35 enters the interior of standard section 1 under the action of the lifting platform. S4.1.4: Start wire feeder 22, set welding power output parameters. S4.1.5: Vision sensor 36 tracks weld seams in real time and adaptively adjusts trajectory. S4.2: External Welding Stage S4.2.1: The circular track motion control module starts the servo motor 351 S4.2.2: The drive wheel 52 moves along the annular slide rail 50, and the pressure wheel 48 provides stable contact pressure. S4.2.3: Welding robot 240 moves around standard section 1 under the drive of the mobile platform. S4.2.4: Wire feeder 241 assists in completing the external weld seam welding. S4.2.5: The cleaning brush continuously cleans the track surface. S5: Multi-robot collaboration and real-time adjustment S5.1: The motion control module monitors the positions of the internal and external robots in real time to prevent motion interference. S5.2: Welding parameters are dynamically optimized based on thermal deformation monitoring. S5.3: The vision processing module corrects path deviations in real time. S5.4: The wire feeding control submodule matches the welding speed to ensure stable wire feeding. S6: Welding completed and system reset S6.1: The welding power source shall be shut down according to the arc termination procedure. S6.2: The wire feeder stops after a delay to prevent welding wire from sticking. S6.3: Each motion axis returns to a safe position. S6.4: Sequential release of clamping and positioning modules S6.5: Production data recording, system standby.

[0034] In addition, the circuits, electronic components and modules involved in this invention are all existing technologies, which can be fully implemented by those skilled in the art, and need not be elaborated upon. The content protected by this invention does not involve any improvement to the internal structure and method. Combination Figures 1-10 The following is a specific usage process of an omnidirectional welding workstation for a standard section of a shaft construction hoist and its direction-changing control method: 1. Power on console 55. The system executes the automatic initialization program, and each motion axis returns to zero positioning. According to the specifications of standard section 1, the operator installs positioning block 1 2, positioning block 2 3, positioning block 3 5 and positioning strip 6 on welding platform 4 to form a complete positioning system. The standard section 1 assembly is hoisted onto the platform, so that each component cooperates with the corresponding positioning block to complete the initial positioning. Electric cylinder 1 8 is started to drive frame bracket 13 to provide main support. Then, electric cylinder 2 10 is started. Through the transmission mechanism of threaded connecting rod 20, fisheye joint 19, hinge seat 18 and connecting seat 2 17, the rack fixing clamp 14 and column fixing clamp 12 are driven to complete the final clamping. Flexible gasket 15 protects the workpiece surface during clamping. The pressure monitoring system confirms that the clamping force reaches the preset value. 2: The control system establishes a precise coordinate system by reading the calibration QR code through the calibration scanner 44. Vision sensor 1 36 and vision sensor 2 39 perform a panoramic scan of the clamped standard section 1 to identify all weld positions. Under the precise control of the gantry 21 system, welding robot 1 35 enters the standard section 1 to start welding operations through the lateral positioning of the heavy-duty screw 24 and the vertical positioning of the lifting screw 33. At the same time, welding robot 2 40 moves along the circular slide rail 50 through the drive wheel 52 and the clamping wheel 48 mechanism under the drive of the circular track system to complete the external circumferential weld. The two robots work together, and the vision system tracks the weld position in real time and adaptively adjusts the welding trajectory. 3: After all welds are completed, the welding power supply stops according to the program, the wire feeder stops after a delay, all motion axes return to the safe position, the clamping mechanism is released in sequence, the operator is lifted off the welded standard section 1, the control system automatically records the welding parameters and quality data, the system is reset and ready for the next work cycle.

[0035] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A hoistway construction hoist standard segment omnidirectional welding station, characterized by, The utility model provides a welding platform, which comprises a welding platform (4) having a standard section (1) placed on the top of the welding platform (4), a positioning assembly arranged on the outer wall of the standard section (1), the positioning assembly comprising a basic positioning module and a clamping positioning module, a bottom plate connected to the bottom of the welding platform (4) by bolts, a gantry (21) connected to the top of the bottom plate by bolts, a transverse moving assembly arranged at the bottom of the gantry (21), the transverse moving assembly comprising a moving nut (27), a lifting assembly arranged at the bottom of the moving nut (27), the lifting assembly comprising a lifting frame (30), a plurality of lifting lead screws (33) inserted into the inner side wall of the lifting frame (30), a plurality of ball nut seats (37) threadedly connected to the circumferential outer wall of the plurality of lifting lead screws (33), a plurality of lifting platforms (34) arranged on the circumferential outer wall of the plurality of ball nut seats (37), a welding robot one (35) arranged at the bottom of the plurality of lifting platforms (34), an annular slide rail (50) connected to the top of the bottom plate by bolts, a moving platform arranged on the top of the annular slide rail, a welding robot two (40) arranged on the top of the moving platform, a driving wheel (52) hingedly connected to the bottom of the moving platform, the driving wheel (52) being rollingly connected to the annular slide rail (50), a servo motor three (51) arranged on the top of the driving wheel (52), a plurality of load-bearing universal wheels (45) arranged on the bottom of the moving platform, a guide frame (47) welded to the bottom of the moving platform, a compression spring (49) welded to the inner side wall of the guide frame (47), a hinged frame welded to the other end of the compression spring (49), a compression wheel (48) hingedly connected to the bottom of the hinged frame, and a control console (55) arranged on the top of the bottom plate.

2. The hoistway construction hoist standard segment omnidirectional welding station of claim 1, wherein, The basic positioning module comprises a positioning block one (2), a positioning block two (3), a positioning block three (5), a positioning strip (6), and a support frame (7), the bottom of the positioning block one (2), the positioning block two (3), the positioning block three (5), and the positioning strip (6) are all connected to the welding platform (4) by bolts, and the support frame (7) is arranged on the inner side wall of the standard section (1).

3. The hoistway construction hoist standard segment omnidirectional welding station of claim 2, wherein, The clamping positioning module includes a base one (9) and a plurality of base two (11), the top side wall of the base one (9) is provided with a mounting through slot, the inner side wall of the mounting through slot and the top of the base one (9) are provided with an electric cylinder one (8), the output end of the electric cylinder one (8) is connected with a connecting seat one (16) through threads, the side wall of the connecting seat one (16) is connected with a frame bracket (13) through bolts, the top of a plurality of base two (11) is provided with a plurality of electric cylinder two (10), the output end of a plurality of electric cylinder two (10) is welded with a plurality of threaded connecting rods (20), the circumferential outer wall of a plurality of threaded connecting rods (20) is connected with a plurality of fish eye joints (19) through threads, the side wall of a plurality of fish eye joints (19) is hingedly connected with a plurality of hinged seats (18), the side wall of a plurality of hinged seats (18) is welded with a plurality of connecting seat two (17), the side wall of a part of the connecting seat two (17) is connected with a rack fixing clamp (14) through bolts, the inner side wall of the rack fixing clamp (14) is embedded with a flexible gasket (15), the side wall of another part of the connecting seat two is connected with a stand fixing clamp (12) through bolts.

4. The hoistway construction hoist standard segment omnidirectional welding station of claim 3, wherein, The circumferential inner wall of the moving nut (27) is connected with a heavy type screw rod (24) through threads, the side wall of the heavy type screw rod (24) is connected with a servo motor one (26) through a reserved key groove, the top of the servo motor one (26) is connected with the gantry (21) through bolts, the circumferential outer wall of the heavy type screw rod (24) is sleeved with a plurality of bearing seats (28), the side wall of one of the bearing seats (28) is connected with the gantry (21) through bolts, the outer side wall of another bearing seat (28) is sleeved with a support plate (25), the top of the support plate (25) is welded with the gantry (21), the bottom of the gantry (21) is connected with a plurality of L-shaped protective shells through bolts.

5. The hoistway construction hoist standard segment omnidirectional welding station of claim 4, wherein, The outer side wall of the lifting platform (34) is integrally connected with a plurality of guide blocks (38), the side wall of a plurality of guide blocks (38) is slidingly connected with a plurality of guide grooves, a plurality of guide grooves are formed in the inner side wall of the lifting frame (30), the top of a plurality of lifting screw rods (33) is connected with a plurality of servo motors two (29) through a reserved key groove, the side wall of the lifting frame (30) is integrally connected with a plurality of fixed plates, the bottom of a part of the fixed plates is connected with a plurality of origin sensors (32) through bolts, the top of another part of the fixed plates is connected with a limit sensor (31) through bolts, the top of the lifting platform (34) is integrally connected with a connecting base, the top of the connecting base is connected with the moving nut (27) through bolts.

6. The hoistway construction hoist standard segment omnidirectional welding station of claim 5, wherein, The mobile platform side wall is integrally connected with a plurality of cleaning brush mounting seats (46), the mobile platform bottom is hingedly connected with a driven wheel (43), the driven wheel (43) circumferential outer wall is rollingly connected with the annular slide rail (50), the mobile platform top is boltedly connected with the servo motor three (51), the mobile platform is boltedly connected with the wire feeder two (41), the mobile platform outer side wall is welded with the calibration block (42), the calibration block (42) side wall is provided with a calibration two-dimensional code, and the calibration block (42) right side is provided with a calibration scanner (44).

7. The hoistway construction hoist standard segment omnidirectional welding station of claim 6, wherein, The gantry (21) top is boltedly connected with a wire feeder one (22), and the wire feeder one (22) and the wire feeder two (41) are both electrically connected with a junction box (23).

8. The hoistway construction hoist standard segment omnidirectional welding station of claim 7, wherein, The control console (55) is electrically connected with the welding robot one (35) and the welding robot two (40), the welding robot one (35) and the welding robot two (40) top are both provided with the visual sensor one (36) and the visual sensor two (39), the control console (55) top is provided with a control screen (53), and the control console (55) top is provided with an emergency stop button (54).

9. The hoistway construction hoist standard segment omnidirectional welding station of claim 8, wherein, The control console (55) comprises a control system, the control system comprises a motion control module, a welding control module, a visual processing module, a safety monitoring module and a man-machine interaction module; The motion control module comprises a clamp motion control module, a robot one motion control module and a robot two motion control module, the clamp motion control module is electrically connected with the electric cylinder one (8) and the electric cylinder two (10), the robot one motion control module is electrically connected with the servo motor one (26) and a plurality of servo motor two (29), and the robot motion control module is electrically connected with the servo motor three (51) and the calibration scanner (44); The welding control module comprises a welding power supply control module and a wire feeding control module, the welding power supply control module is electrically connected with the welding robot one (35) and the welding robot two (40), and the wire feeding control module is electrically connected with the junction box (23); The visual processing module comprises a welding identification module and a path planning module, and the visual processing module is electrically connected with the visual sensor one (36) and the visual sensor two (39); The safety control module comprises a sensor detection module and a system diagnosis module, and the sensor detection module is electrically connected with the origin sensor (32) and the limit sensor (31); The man-machine interaction module comprises an interface management module and a data management module.

10. The direction changing control method of the hoistway construction elevator standard section omnidirectional welding workstation according to any one of claims 1-9, comprising the following steps: S1: system initialization and safety self-checking S1.1: the control console (55) is powered on, and each control module self-diagnosis program is started S1.2: the servo driver is enabled, and the state of each motion shaft is detected S1.3: the safety monitoring module verifies the emergency stop circuit and the limit switch state S1.4: the visual system is calibrated, and the internal parameter is calibrated. S2: Workpiece clamping and positioning control S2.1: Console (55) controls the basic positioning module to act, positioning block one (2), two, three to the standard section (1) for rough positioning S2.2: Electric cylinder one (8) of the clamping positioning module drives the frame bracket (13) to support the standard section (1) frame S2.3: Electric cylinder two (10) drives rack fixed clamp (14) and column fixed clamp (12) to complete the precise positioning S2.4: The pressure monitoring system feedbacks the clamping force in real time, and locks after reaching the preset value S3: Coordinate system establishment and path planning S3.1: The ring track calibration scanner (44) reads the calibration two-dimensional code to establish the global coordinate system S3.2: The vision sensor of welding robot one (35), two scans the standard section (1) in three dimensions S3.3: Point cloud data processing, extracting the actual weld characteristics S3.4: The path planning sub-module generates an optimized welding trajectory, and divides the internal and external robot working areas S4: Direction-changing welding execution S4.1: Internal welding stage S4.1.1: Control the gantry (21) horizontal movement assembly, servo motor one (26) drives heavy lead screw (24) positioning S4.1.2: The lifting control module controls servo motor two (29) to drive the lifting lead screw (33) to precisely position the height S4.1.3: Welding robot one (35) enters the standard section (1) under the drive of the lifting platform (34) S4.1.4: The wire feeder one (22) starts, and the welding power supply outputs the set parameters S4.1.5: The vision sensor one (36) tracks the weld in real time and adjusts the trajectory adaptively S4.2: External welding stage S4.2.1: The ring track motion control module starts servo motor three (51) S4.2.2: The drive wheel (52) moves along the ring track (50), and the compression wheel (48) provides stable contact pressure S4.2.3: Welding robot two (40) moves around the standard section (1) under the drive of the moving platform S4.2.4: The wire feeder two (41) completes the external weld welding in coordination S4.2.5: The cleaning brush continuously cleans the track surface S5: Multi-robot cooperation and real-time adjustment S5.1: The motion control module monitors the internal and external robot positions in real time to prevent motion interference S5.2: The welding parameters are dynamically optimized according to the thermal deformation monitoring S5.3: The vision processing module corrects the path deviation in real time S5.4: The wire feeding control sub-module matches the welding speed to ensure stable wire feeding S6: Welding completion and system reset S6.1: The welding power supply is turned off according to the arc collection program S6.2: The wire feeder is stopped with a time delay to prevent the welding wire from sticking S6.3: Each motion axis returns to the safe position S6.4: The clamping positioning module is sequentially loosened S6.5: Production data is recorded, and the system is on standby.

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