Steel structure welding guiding and positioning device

Abstract

The invention discloses a steel structure welding guiding and positioning device, which relates to the technical field of steel structure processing, and comprises a main body supporting frame, a workpiece dynamic limiting and conveying unit and a self-centering clamping and welding module, and is matched with a guiding and feeding mechanism, a self-adaptive reducing connecting cabin and a multi-dimensional self-adaptive welding gun executing mechanism to realize integrated welding and positioning. The main body frame serves as a bearing foundation, the guide feeding mechanism drives guide rollers to stably feed through meshing transmission, the stability is improved through a surface pattern sleeve, the dynamic limiting unit forms bidirectional limiting through an adjusting screw, a cross connecting rod and a driving limiting shaft rod and is adaptive to different workpieces, and the self-centering clamping module adjusts the distance through gear transmission. A profiling clamping jaw is matched with a spring to achieve self-adaptive clamping, an anti-vibration pad protects a workpiece, a self-adaptive connecting cabin adjusts the height of a welding gun, a multi-dimensional welding gun mechanism achieves accurate alignment in the X direction and the Z direction, all parts of the device are in cooperative linkage, the welding positioning accuracy and adaptability are improved, and the welding quality of a steel structure is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of steel structure processing technology, specifically to a steel structure welding guide and positioning device. Background Technology

[0002] In the field of steel structure processing and manufacturing, welding is one of the core assembly processes. The stability of welding quality directly depends on the accuracy of workpiece positioning. Therefore, steel structure welding guide and positioning devices are widely used in the welding operations of various steel structure components such as bridges, buildings, and mechanical equipment. The core function of such steel structure welding guide and positioning devices is to achieve stable workpiece transportation, precise positioning, and stable clamping by relying on the coordination of feeding, limiting, clamping, and welding torch alignment structures. This provides precise guidance for the welding torch, ensuring that the workpiece does not deviate or deform during the welding process, thus guaranteeing weld quality and welding efficiency.

[0003] Currently, while existing steel structure welding guide and positioning devices are also equipped with feeding, limiting, clamping, and welding torch adjustment structures, each component generally adopts an independent control mode, lacking an integrated and coordinated design. The core deficiency lies in the inability to achieve seamless integration of workpiece conveying, dynamic limiting, and clamping positioning, a problem particularly prominent in high-precision steel structure welding operations. Specifically, the limiting mechanisms of existing devices are mostly fixed-space or manually adjustable structures, unable to perform real-time adaptive dynamic limiting based on the specifications of the steel structure workpiece during feeding; the limiting distance can only be preset before workpiece conveying. However, slight vibrations are unavoidable during workpiece conveying, and the preset limiting distance deviates from the actual workpiece size, causing slight displacement of the workpiece by the time it reaches the clamping area. Furthermore, after the clamping mechanism is activated, it cannot maintain the positioning reference from the previous conveying and limiting, requiring recalibration of the workpiece position. This not only disrupts the positioning continuity but also introduces uncontrollable positioning errors due to the secondary calibration, leading to defects such as weld misalignment and poor forming, making it difficult to meet the welding positioning requirements of high-precision steel structure workpieces. Summary of the Invention

[0004] The purpose of this invention is to provide a steel structure welding guide and positioning device to solve the problems of existing steel structure welding guide and positioning devices where each component is independently controlled, lacks integrated collaborative design, cannot achieve seamless connection between workpiece transportation, dynamic limiting and clamping positioning, resulting in poor positioning continuity, error accumulation, and difficulty in meeting the high-precision steel structure welding positioning requirements.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a steel structure welding guide and positioning device, comprising a main support frame, a workpiece dynamic limiting and conveying unit, and a self-centering clamping welding module;

[0006] Dustproof protective boxes are welded to both sides of the inner wall of the main support frame. Adaptive variable diameter connecting chambers are welded to both sides of the rear outer side of the main support frame. The upper end of each adaptive variable diameter connecting chamber is connected to a bearing frame. A multi-dimensional adaptive welding gun actuator is set at the front end of the bearing frame. A guiding feeding mechanism is installed in the center of the main support frame. A workpiece dynamic limiting conveying unit is set directly below the guiding feeding mechanism. A self-centering clamping welding module is set at the rear end of the workpiece dynamic limiting conveying unit. The self-centering clamping welding module is correspondingly set directly below the multi-dimensional adaptive welding gun actuator.

[0007] The self-centering clamping welding module includes a housing fixedly installed inside the rear end of the main support frame. Two guide grooves are symmetrically opened on both sides of the upper surface of the housing. Linear guide push blocks are respectively provided at both ends inside the housing.

[0008] Preferably, the two linear guide push blocks are connected to support columns at both ends of their upper surfaces. The upper ends of the support columns extend through the guide groove to the upper outer side of the housing and are fixedly connected to mounting plates. Connecting blocks are fixedly installed at both ends of the upper surface of the mounting plates. The upper ends of the connecting blocks extend to the upper outer side of the guide roller. Mounting brackets are fixedly installed on the upper surface of the connecting blocks by bolts. Self-centering clamping chambers are provided on the inner opposite sides of the two mounting brackets. Mounting grooves are opened inside the self-centering clamping chambers. Vibration-damping contact pads are installed in the center of the mounting grooves. Contouring clamping claws are slidably fitted on both sides of the mounting grooves. Limiting springs are connected to one end of each contouring clamping claw, and the other end of each limiting spring is connected to the inner wall of the mounting groove on both sides.

[0009] Preferably, the lower surfaces of the two linear guide push blocks are respectively provided with through slots at both ends, and an internal meshing gear plate is fixedly installed inside one of the through slots by bolts, and the inner sides of the two internal meshing gear plates are arranged opposite to each other; a drive motor is fixedly connected to the center of the lower surface of the housing, the output end of the drive motor extends to the center inside the housing, and a drive gear plate is fixedly connected thereto, and the outer sides of the drive gear plate mesh with the inner sides of the two internal meshing gear plates respectively.

[0010] Preferably, each of the two adaptive variable diameter connecting compartments has a sliding groove in the center, and the lower end of the bearing frame is inserted into the interior of the adaptive variable diameter connecting compartment, and the lower end surface of the bearing frame has a threaded hole; each of the two adaptive variable diameter connecting compartments has a precision adjusting screw installed in the center, and the outer end of the precision adjusting screw is threaded into the threaded hole at the lower end of the bearing frame, and one end of the precision adjusting screw extends to the outer end of the adaptive variable diameter connecting compartment and is fixedly connected to a servo electric drive unit.

[0011] Preferably, the guiding and feeding mechanism includes several guide rollers arranged in parallel in the center of the main support frame. The two ends of the guide rollers extend into the interior of the dustproof protective box, and the two sides of the guide roller surface are respectively provided with surface textured sleeves. A toothed disc is fixedly installed on one end surface of each of the several guide rollers, and the toothed discs are respectively located inside the dustproof protective box on one side. The toothed discs mesh with each other for transmission. The axis of the last toothed disc extends to the outer end of the main support frame and is fixedly connected to a driven rotating shaft.

[0012] Preferably, a vector frequency converter motor is fixedly installed on one side of the rear surface of the main support frame. The output end of the vector frequency converter motor is connected to an active drive shaft. A track is movably sleeved on the outer end of the active drive shaft, and the other end of the track is correspondingly sleeved on the outer end of the driven shaft.

[0013] Preferably, the workpiece dynamic limiting conveying unit includes two slide rail type limiting base plates fixedly installed on the lower two sides of the inner wall of the main support frame. Limiting grids are fixedly connected to the lower surfaces of the two slide rail type limiting base plates, and the limiting grids and the guide rollers of the guiding feeding mechanism are alternately arranged opposite each other. Limiting strips are fixedly connected to the inner ends of the upper surfaces of the two slide rail type limiting base plates, and limiting grooves are respectively opened in the center of the lower surfaces of the two limiting strips. Adjusting screws are respectively installed in the center of the interior of the two slide rail type limiting base plates. One end of the adjusting screw extends to the outer end of the slide rail type limiting base plate and is respectively connected to a synchronous servo motor. Threaded sleeves are threaded on both sides of the outer ends of the two adjusting screws. Cross connecting rods are movably connected to the inner surfaces of the threaded sleeves. Push plates are movably connected to the other ends of the cross connecting rods, and the two push plates are arranged relatively parallel.

[0014] Preferably, multiple limiting shafts are arranged and installed on the upper surfaces of the two push plates. The upper ends of the limiting shafts extend to the upper ends of the guide rollers, and the lower ends of the limiting shafts extend into the interior of the limiting grid. The upper surfaces of the two push plates are also provided with stroke protrusions at both ends, and the outer ends of the stroke protrusions are slidably sleeved in the limiting grooves opened in the limiting strips.

[0015] Preferably, the multidimensional adaptive welding torch actuator includes an X-axis linear guide rail fixedly welded to the surface of the support frame, a support plate attached to the front end of the X-axis linear guide rail, a Z-axis vertical guide rail welded to the front surface of the support plate, a mounting plate attached to the front end of the Z-axis vertical guide rail, a right-angle transition bracket detachably mounted on the front surface of the mounting plate by bolts, a laser welding actuator fixedly mounted in the center of the right-angle transition bracket, and the lower end of the laser welding actuator positioned directly above the self-centering clamping welding module.

[0016] Preferably, an X-axis transmission screw is installed at the center of the X-axis linear guide rail, and a transverse drive motor is fixedly connected to one end of the X-axis transmission screw; a Z-axis lifting screw is installed at the center of the Z-axis vertical guide rail, and a longitudinal drive motor is fixedly connected to one end of the Z-axis lifting screw; slider one is installed at the upper and lower ends of the back of the support plate, and the outer end of slider one is slidably sleeved inside the X-axis linear guide rail; slider two is installed on both sides of the back of the mounting plate, and the outer end of slider two is slidably sleeved inside the Z-axis vertical guide rail; threaded sleeves are provided at the center of the back of both the support plate and the mounting plate, and are respectively sleeved on the outer ends of the X-axis transmission screw and the Z-axis lifting screw.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] This invention achieves synchronous and uniform rotation of all guide rollers through the meshing transmission of the sawtooth discs in the guide feeding mechanism. Combined with the adaptive adjustment structure of the workpiece dynamic limiting conveying unit, a synchronous servo motor drives the adjusting screw to precisely adjust the push plate and limiting shaft, forming a bidirectional limiting structure. This structure can adapt the limiting distance to the workpiece width in real time. The cooperation between the stroke protrusion and the limiting groove further ensures smooth movement of the limiting components. The addition of a surface-textured sleeve increases friction. This synergy is achieved from three dimensions: synchronous conveying power, adaptive limiting adjustment, and auxiliary anti-deviation. It enables precise conveying of the workpiece along a preset path without manual intervention, significantly improving the stability and accuracy of the feeding process.

[0019] This invention's self-centering clamping welding module achieves precise synchronous adjustment of the clamping distance through the meshing transmission of the drive gear plate and the internal meshing gear plate. The contour-following clamping claws, in conjunction with the limiting spring, can adapt to the shape of the workpiece and closely fit the workpiece surface to achieve self-centering positioning. The anti-vibration contact pad in the center of the mounting slot can effectively buffer the clamping impact force and prevent workpiece deformation. Compared with the traditional rigid clamping structure, it not only improves the clamping adaptability of steel structure workpieces of different specifications and shapes, but also takes into account the clamping positioning accuracy and workpiece protection effect, reducing the workpiece damage rate.

[0020] This invention utilizes a precision screw drive in an adaptive variable-diameter connecting chamber to quickly and accurately adjust the initial position of the support frame and welding torch, adapting to the welding height requirements of different workpieces. The X and Z bidirectional lead screw drive and slider guide structure of the multi-dimensional adaptive welding torch actuator enable precise positioning and real-time fine-tuning of the laser welding actuator, precisely corresponding to the clamping center of the self-centering clamping module. This forms a complete process linkage of "pre-set adjustment - clamping positioning - precise welding torch alignment," achieving precise welding without repeated adjustments. This not only broadens the adaptability of the device to steel structure workpieces of different specifications but also significantly improves welding alignment accuracy and operational efficiency while reducing operational complexity. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the internal structure of the main support frame of the present invention;

[0023] Figure 3 This is a schematic diagram of the guiding and feeding mechanism of the present invention;

[0024] Figure 4 This is a schematic diagram of the workpiece dynamic limiting and conveying unit structure of the present invention;

[0025] Figure 5 This is a further structural schematic diagram of the workpiece dynamic limiting and conveying unit of the present invention;

[0026] Figure 6 This is a schematic diagram of the self-centering clamping welding module structure of the present invention;

[0027] Figure 7 This is a further structural schematic diagram of the self-centering clamping welding module of the present invention;

[0028] Figure 8 This is a schematic diagram of the multidimensional adaptive welding torch actuator of the present invention.

[0029] In the diagram: 1. Main support frame; 11. Dustproof protective box; 2. Adaptive variable diameter connecting compartment; 21. Precision adjusting screw; 22. Servo electric drive unit; 3. Bearing frame; 4. Multi-dimensional adaptive welding torch actuator; 41. X-axis linear guide rail; 42. X-axis transmission screw; 43. Lateral drive motor; 44. Bearing plate; 45. Slider one; 46. Z-axis vertical guide rail; 47. Z-axis lifting screw; 48. Longitudinal drive motor; 49. Mounting plate; 410. Slider two; 411. Right angle transition bracket; 412. Laser welding actuator; 5. Workpiece dynamic limit conveying unit; 51. Slide rail type limit base plate; 52. Limit grid; 53. 54. Limiting bar; 55. Adjusting screw; 56. Synchronous servo motor; 57. Threaded sleeve; 58. Cross linkage; 59. Push plate; 50. Limiting shaft; 510. Stroke protrusion; 6. Guide feeding mechanism; 61. Guide roller; 62. Surface textured sleeve; 63. Serrated disc; 64. Driven shaft; 65. Track; 66. Active drive shaft; 67. Vector frequency conversion motor; 78. Self-centering clamping welding module; 79. Housing; 70. Linear guide push block; 71. Internal meshing gear plate; 72. Support column; 73. Mounting plate; 74. Connecting block; 75. Mounting bracket; 76. Self-centering clamping chamber; 77. Contour clamping claw; 78. Anti-vibration contact pad; 79. Limiting spring; 70. Drive motor; 710. Drive gear disc. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] Please see Figures 1-8 As shown, the present invention provides a technical solution: a steel structure welding guide and positioning device, wherein the main support frame 1 serves as the overall load-bearing foundation, and dustproof protective boxes 11 are welded to both sides of its inner wall to protect the transmission components of the guide feeding mechanism 6 from dust corrosion; adaptive variable diameter connecting compartments 2 are symmetrically welded to both sides of the rear side of the outer end of the frame, and each connecting compartment is connected to a corresponding load-bearing frame 3 at its upper end. A multi-dimensional adaptive welding gun actuator 4 is fixedly installed at the front end of the load-bearing frame 3 to adjust the position of the welding gun. The guide feeding mechanism 6 is horizontally installed in the center of the frame, and a workpiece dynamic limiting conveying unit 5 is arranged directly below the guide feeding mechanism 6 for real-time limiting during the workpiece conveying process. The self-centering clamping welding module 7 at the rear end of the unit is precisely positioned directly below the multi-dimensional adaptive welding gun actuator 4, forming a coaxial operation link of "feeding-limiting-clamping-welding".

[0032] The housing 71 of the self-centering clamping welding module 7 is fixed inside the rear end of the main support frame 1. Symmetrical guide grooves on both sides of the upper surface of the housing provide movement guidance for the support columns 74. After the drive motor 712 inside the housing 71 starts, it drives the drive gear 713 at the output end to rotate. The outer ends of the drive gear 713 mesh with the internal meshing gear plates 73 on the two linear guide push blocks 72, thereby driving the two linear guide push blocks 72 to move synchronously in opposite directions or relative to each other along the inside of the housing. The support columns 74 at both ends of the upper surface of the linear guide push blocks 72 extend through the guide grooves to the upper outer side of the housing, driving the mounting plate 75, connecting block 76, and mounting frame 77 to move synchronously. The self-centering clamping compartment 78 inside the mounting frame adjusts its spacing accordingly. The anti-vibration contact pad 710 in the center of the mounting groove inside the clamping compartment buffers the clamping impact force. The contoured clamping claws 79 sliding on both sides, in conjunction with the limiting springs 711, can adapt to the workpiece shape to achieve stable self-centering clamping and prevent workpiece displacement.

[0033] The workpiece dynamic limiting conveying unit 5 consists of a slide rail type limiting base plate 51, a limiting grid 52, a limiting strip 53, and a driving component. The slide rail type limiting base plate 51 is fixed to both sides of the lower end of the inner wall of the main support frame 1. The limiting grid 52 on its lower surface is alternately arranged opposite to the guide roller 61 of the guiding feeding mechanism 6, forming a limiting structure with upper and lower coordination. The adjusting screw 54 in the center of the two slide rail type limiting base plates 51 is driven to rotate by the synchronous servo motor 55 at the outer end, which drives the threaded sleeves 56 on both sides of the outer side of the screw to move relative to or in opposite directions. The inner side of the threaded sleeve drives the push plate 58 to move parallel through the cross connecting rod 57. The limiting shafts 59 arranged on the push plate extend vertically to the upper end of the guide roller and the inside of the limiting grid. They cooperate with the travel protrusions 510 at both ends of the push plate to slide along the limiting groove of the limiting strip 53 to realize the dynamic limiting of the workpiece. Several guide rollers 61 of the guiding feeding mechanism 6 are arranged in parallel, with both ends extending into the dustproof protective box 11. The surface textured sleeves 62 on both sides of the surface increase the friction of the workpiece conveying. The sawtooth discs 63 at one end of the rollers mesh with each other for transmission. The last sawtooth disc is connected to the active drive shaft 66 through the driven rotating shaft 64 and the track 65. It is driven by the vector frequency conversion motor 67 to realize the synchronous rotation of all guide rollers and stably convey the workpiece.

[0034] The precision adjusting screw 21 in the center of the adaptive variable diameter connecting compartment 2 is threaded into the threaded hole at the lower end of the bearing frame 3. The screw is driven to rotate by the external servo electric drive unit 22 to achieve fine adjustment of the position of the bearing frame 3. The multi-dimensional adaptive welding gun actuator 4 drives the bearing plate 44 to move along the X direction through the X-direction linear guide rail 41, the X-direction transmission screw 42 and the transverse drive motor 43. The Z-direction vertical guide rail 46, the Z-direction lifting screw 47 and the longitudinal drive motor 48 on the front surface of the bearing plate drive the mounting plate 49 to rise and fall along the Z direction. The slider 1 45 and slider 2 410 respectively ensure the stability of the X-direction and Z-direction movements, and finally achieve the precise positioning of the laser welding actuator 412.

[0035] according to Figure 1 , Figure 2 and Figure 3 As shown, the adaptive variable diameter connecting compartment 2 is symmetrically welded to the rear two sides of the outer end of the main support frame 1. A sliding groove is provided in the center of each compartment to guide and limit the installation and movement of the bearing frame 3. The lower end of the bearing frame 3 is inserted into the interior of the adaptive variable diameter connecting compartment 2, and a threaded hole is provided on the lower surface of the bearing frame 3 to match the precision adjusting screw 21 installed in the center of the connecting compartment. The outer end of the precision adjusting screw 21 is threaded into the threaded hole at the lower end of the bearing frame 3. One end of the screw extends to the outer end of the adaptive variable diameter connecting compartment 2 and is fixedly connected to a servo drive unit 22. The servo drive unit 22 drives the precision adjusting screw 21 to rotate, and through threaded transmission, drives the bearing frame 3 to move left and right along the sliding groove in the connecting compartment, achieving precise fine-tuning of the bearing frame 3's position.

[0036] The guiding and feeding mechanism 6 is horizontally installed in the center of the main support frame 1. It is the core component for workpiece conveying. Below it, the workpiece dynamic limiting conveying unit 5 and several parallel guide rollers 61 are arranged. The two ends of the guide rollers 61 extend into the dustproof protective boxes 11 on both sides of the inner wall of the main support frame 1. The dustproof protective boxes 11 are used to protect the transmission components from dust. The guide rollers 61 are fitted with surface textured sleeves 62 on both sides of the surface to increase the friction between the guide rollers and the steel structure workpiece and ensure that the workpiece does not slip during the conveying process.

[0037] A serrated disc 63 is fixedly mounted on the same end surface of several guide rollers 61. All serrated discs 63 are placed inside a dustproof protective box 11 on one side and mesh with each other to form a synchronous transmission structure, ensuring that all guide rollers 61 rotate at the same speed. The serrated disc 63 at the end extends outward to the outside of the main support frame 1 and is fixedly connected to a driven shaft 64. A vector frequency converter motor 67 is fixedly mounted on one side of the rear end surface of the main support frame 1. The output end of the motor is connected to a drive shaft 66. A track 65 is movably sleeved on the outer end of the drive shaft 66, and the other end of the track 65 is correspondingly sleeved on the outer end of the driven shaft 64, forming a complete transmission link. During operation, the vector frequency converter motor 67 drives the drive shaft 66 to rotate, which in turn drives the driven shaft 64 and the end serrated disc 63 to rotate through the track 65. Then, through the meshing transmission of each serrated disc 63, all guide rollers 61 are driven to rotate synchronously, realizing the smooth and uniform conveying of steel structure workpieces.

[0038] according to Figure 4 and Figure 5 As shown, the workpiece dynamic limiting conveying unit 5 is arranged directly below the guiding feeding mechanism 6 and fixedly installed on both sides of the lower end of the inner wall of the main support frame 1. Two symmetrically arranged sliding rail type limiting base plates 51 have limiting grids 52 fixedly connected to their lower surfaces. The limiting grids 52 and the guide rollers 61 of the guiding feeding mechanism 6 are alternately arranged opposite each other to form a bidirectional limiting base. Limiting strips 53 are fixedly connected to both ends of the inner side of the upper surface of the two sliding rail type limiting base plates 51. A limiting groove adapted to the stroke protrusion 510 is opened in the center of the lower surface of the limiting strip 53 to provide guidance for the movement of the limiting component.

[0039] Two sliding rail type limiting base plates 51 each have an adjusting screw 54 horizontally mounted in their center. One end of the adjusting screw 54 extends to the outside of the sliding rail type limiting base plate 51 and is connected to a synchronous servo motor 55 to provide a power source for limiting adjustment. Threaded sleeves 56 are threaded onto both sides of the outer end of the adjusting screw 54. The inner surface of the threaded sleeve 56 is connected to one end of a cross link 57 via a movable connector. The other end of the cross link 57 is movably connected to a push plate 58, and the two push plates 58 are arranged relatively parallel. Multiple limiting shafts 59 are arranged on the upper surface of the threaded sleeve 56. The upper end of the limiting shaft 59 extends above the guide roller 61, and the lower end penetrates into the limiting grid 52 to achieve vertical limiting of the workpiece. Stroke protrusions 510 are provided at both ends of the upper surface of the push plate 58. The outer ends of the stroke protrusions 510 are slidably fitted into the limiting grooves of the limiting strip 53 to ensure smooth movement of the push plate 58. During operation, the synchronous servo motor 55 drives the adjusting screw 54 to rotate, which in turn drives the threaded sleeve 56 to move relative to or in the opposite direction. Through the cross linkage 57, the push plate 58 and the limit shaft 59 are adjusted synchronously to achieve dynamic limiting of steel structure workpieces of different specifications. This, together with the guide feeding mechanism 6, completes the smooth conveying.

[0040] according to Figure 6 and Figure 7 As shown, the self-centering clamping welding module 7 is fixedly installed inside the rear end of the main support frame 1, and precisely positioned directly below the multi-dimensional adaptive welding torch actuator 4 and behind the workpiece dynamic limiting conveying unit 5. The module includes a housing 71, with two guide grooves symmetrically opened on both sides of the upper surface of the housing 71 to provide guidance and limitation for the movement of subsequent components. Linear guide push blocks 72 are respectively set at both ends inside the housing 71. The upper ends of the two linear guide push blocks 72 are respectively connected to support columns 74. The upper ends of the support columns 74 extend through the guide grooves to the upper outside of the housing 71 and are fixedly connected to the mounting plate 75.

[0041] Connecting blocks 76 are fixedly installed at both ends of the upper surface of the mounting plate 75. The upper end of the connecting block 76 extends to the outer side of the upper end of the guide roller 61 of the guide feeding mechanism 6. The mounting frame 77 is fixedly installed above it by bolts. Self-centering clamping chambers 78 are provided on the inner opposite surfaces of the two mounting frames 77. The self-centering clamping chamber 78 has a mounting groove inside. The anti-vibration contact pad 710 is installed in the center of the mounting groove. The contour clamping claws 79 are slidably sleeved on both sides of the mounting groove. One end of each contour clamping claw 79 is connected to a limiting spring 711, and the other end of the limiting spring 711 is connected to the inner wall of the mounting groove on both sides. Two linear guide push blocks 72 have through slots at both ends of their lower surfaces. An internal meshing gear plate 73 is fixedly installed in one of the through slots by bolts. The inner sides of the two internal meshing gear plates 73 are arranged opposite each other. A drive motor 712 is fixedly connected to the center of the lower surface of the housing 71. Its output end extends to the center of the housing 71 and is fixedly connected to a drive gear plate 713. The outer sides of the drive gear plate 713 mesh with the inner sides of the two internal meshing gear plates 73 respectively to form a power transmission link.

[0042] During operation, the drive motor 712 drives the drive gear disk 713 to rotate, which in turn drives two linear guide push blocks 72 to move synchronously relative to each other or in opposite directions along the inside of the housing 71 through meshing transmission. This, in turn, drives the two self-centering clamping chambers 78 to adjust their spacing through components such as the support column 74 and the mounting plate 75, adapting to steel structure workpieces of different specifications. The contour-following clamping jaws 79, in conjunction with the limit springs 711, can adapt to the shape of the workpiece to achieve stable clamping. The anti-vibration contact pads 710 buffer the clamping impact force to prevent workpiece deformation or displacement, providing precise positioning for subsequent welding operations. Together with the workpiece dynamic limit conveying unit 5, they form a "limiting-clamping" synergistic effect.

[0043] according to Figure 8 As shown, the multi-dimensional adaptive welding torch actuator 4 is fixedly welded to the surface of the support frame 3 and is positioned directly above the self-centering clamping welding module 7. It is the core component for achieving precise positioning and attitude adjustment of the welding torch, connecting the support and welding operation, and working with the self-centering clamping structure to complete precise welding. This mechanism includes an X-axis linear guide rail 41, which is fixedly welded to the surface of the support frame 3. A support plate 44 is attached to the front end of the X-axis linear guide rail 41, and a Z-axis vertical guide rail 46 is welded to the front surface of the support plate 44. A mounting plate 49 is attached to the front end of the Z-axis vertical guide rail 46, forming a basis for bidirectional adjustment in X and Z directions.

[0044] A right-angle transition bracket 411 is detachably mounted on the front surface of the mounting plate 49 via bolts. A laser welding actuator 412 is fixedly mounted in the center of the bracket. The lower end of the laser welding actuator 412 precisely corresponds to the self-centering clamping welding module 7, ensuring the welding alignment of the workpiece after clamping. An X-axis transmission screw 42 is mounted in the center of the X-axis linear guide rail 41. One end of the screw is fixedly connected to a transverse drive motor 43, providing power for X-axis adjustment. Slider 45 is mounted on the upper and lower ends of the back of the bearing plate 44. The outer end of slider 45 is slidably sleeved inside the X-axis linear guide rail 41, ensuring smooth X-axis movement.

[0045] A Z-axis lifting screw 47 is installed in the center of the Z-axis vertical guide rail 46. One end of the screw is fixedly connected to a longitudinal drive motor 48 to achieve Z-axis height adjustment. Slider 410s are installed on both sides of the back of the mounting plate 49. The outer ends of slider 410s are slidably sleeved inside the Z-axis vertical guide rail 46 to improve Z-axis movement accuracy. Threaded sleeves are provided in the center of the back of both the bearing plate 44 and the mounting plate 49, respectively sleeved on the outer ends of the X-axis transmission screw 42 and the Z-axis lifting screw 47. The motor drives the screws to rotate, causing the corresponding components to move along the guide rail, achieving precise X and Z bidirectional positioning for laser welding, adapting to different welding position requirements, and working in conjunction with the self-centering clamping welding module 7 to ensure welding accuracy.

[0046] The overall effect achieved by the organization is as follows:

[0047] Before the device is started, the position is preset and adjusted according to the specifications of the steel structure workpiece to be welded through the adaptive variable diameter connecting chamber 2. After receiving the control signal, the servo electric drive unit 22 drives the precision adjustment screw 21 to rotate. Since the precision adjustment screw 21 is threadedly engaged with the threaded hole at the lower end of the bearing frame 3, and the lower end of the bearing frame 3 is inserted into the slide groove of the adaptive variable diameter connecting chamber 2, the threaded transmission drives the bearing frame 3 to move smoothly left and right along the slide groove, thereby adjusting the initial position of the multi-dimensional adaptive welding gun actuator 4. At the same time, the multi-dimensional adaptive welding gun actuator 4 is reset to the initial position, and the laser welding actuator 412 is aligned with the clamping center of the self-centering clamping welding module 7, preparing for subsequent welding alignment. After the initial adjustment is completed, the steel structure workpiece to be welded is placed on the guide roller 61 of the guide feeding mechanism 6. The vector frequency conversion motor 67 is started, and the equipment enters the feeding and limiting coordination stage. The vector frequency conversion motor 67 drives the active drive shaft 66 to rotate. The active drive shaft 66 drives the driven shaft 64 to rotate synchronously through the crawler 65. The driven shaft 64 is fixedly connected to the sawtooth disk 63 on the end guide roller 61, thereby driving the sawtooth disk 63 to rotate. Since the sawtooth disks 63 at one end of all guide rollers 61 are placed in the dustproof protective box 11 on one side and mesh with each other, the rotation of a single sawtooth disk 63 drives all guide rollers 61 to rotate synchronously and uniformly, realizing the conveying of the workpiece along the guide rollers 61 towards the self-centering clamping welding module 7. During the workpiece conveying process, the workpiece dynamic limiting conveying unit 5 is started synchronously to realize the real-time dynamic limiting of the workpiece. The synchronous servo motor 55 drives the adjusting screw 54 in the slide rail type limiting base plate 51 to rotate. The rotation of the adjusting screw 54 drives the threaded sleeves 56 on both sides of its outer side to move relative to each other. Reverse movement (adaptively adjusted according to workpiece width): The threaded sleeve 56 pushes the push plate 58 to move in a parallel direction through the movable cross linkage 57. The stroke protrusions 510 at both ends of the upper surface of the push plate 58 slide along the limiting groove of the limiting strip 53, ensuring the stability and straightness of the push plate 58's movement. At the same time, the limiting shafts 59 arranged on the push plate 58 move synchronously with the push plate. Their upper ends extend above the guide roller 61, and their lower ends penetrate into the limiting grid 52, forming a bidirectional limiting structure with the limiting grid 52 (alternating with the guide roller 61). This restricts the displacement of the workpiece from both sides and below, preventing the workpiece from shifting due to vibration and uneven friction during transport. This ensures that the workpiece is accurately transported along the preset path to the self-centering clamping welding module 7. In addition, the surface textured sleeves 62 on both sides of the guide roller 61 increase the friction with the workpiece contact surface, further improving the transport stability. The dustproof protective box 11 provides dustproof protection for transmission components such as the toothed disc 63, ensuring smooth transmission.When the workpiece is conveyed to the clamping area of ​​the self-centering clamping welding module 7, the guiding feeding mechanism 6 stops operating, and the workpiece dynamic limiting conveying unit 5 remains in a limited state to prevent the workpiece from shifting during clamping. Subsequently, the self-centering clamping welding module 7 starts clamping action. After receiving the signal, the drive motor 712 drives the drive gear disk 713 to rotate. The outer sides of the drive gear disk 713 mesh with the internal meshing gear plates 73 on the two linear guide push blocks 72 respectively. Since the inner sides of the two internal meshing gear plates 73 are arranged opposite each other, the meshing transmission drives the two linear guide push blocks 72 to move synchronously relative to each other along the inside of the housing 71 (the clamping distance is adjusted according to the workpiece width). The support columns 74 at both ends of the upper surface of the linear guide push block 72 slide along the guide groove on the upper surface of the housing 71. The movement of the mounting plate 75, connecting block 76, and mounting bracket 77 causes them to move synchronously towards each other, thereby pushing the two self-centering clamping chambers 78 toward the workpiece. When the contour clamping claws 79 in the self-centering clamping chambers 78 contact the workpiece surface, the contour clamping claws 79 slide inward along the mounting groove, compressing the limiting spring 711. The limiting spring 711 generates a reverse elastic force acting on the contour clamping claws 79, making them closely fit the shape of the workpiece, achieving self-adaptive self-centering clamping. At the same time, the anti-vibration contact pad 710 in the center of the mounting groove contacts the workpiece surface, buffering the clamping impact force and preventing the workpiece from deforming due to excessive clamping force, further ensuring clamping positioning accuracy. After clamping is completed, the workpiece dynamic limiting conveying unit 5 releases the limit, leaving space for subsequent welding operations. After the workpiece is clamped and positioned, the multi-dimensional adaptive welding torch actuator 4 is activated, adjusting the position of the laser welding actuator 412 according to the preset welding path. The transverse drive motor 43 drives the X-axis transmission screw 42 to rotate. Since the threaded sleeve at the center of the back of the support plate 44 is sleeved with the X-axis transmission screw 42, and the support plate 44 is slidably sleeved on the X-axis linear guide rail 41 via the slider 45, the rotation of the X-axis transmission screw 42 drives the support plate 44 to move smoothly along the X-axis linear guide rail 41, realizing the X-axis position adjustment of the laser welding actuator 412. The longitudinal drive motor 48 drives the Z-axis lifting screw 47 to rotate. Similarly, the mounting plate 49 is driven by the threaded sleeve at the center of the back. The sleeve is connected to the Z-axis lifting screw 47 and is slidably connected to the Z-axis vertical guide rail 46 via the slider 410. This drives the mounting plate 49 to rise and fall along the Z-axis vertical guide rail 46, thereby achieving Z-axis height adjustment of the laser welding actuator 412. Through bidirectional coordinated adjustment of X and Z, the laser welding actuator 412 accurately aligns with the part of the workpiece to be welded and then starts the welding operation. During the welding process, the self-centering clamping welding module 7 maintains the clamping state and continuously provides stable positioning for the workpiece. If the welding position needs to be adjusted, the posture of the laser welding actuator 412 can be finely adjusted in real time through the multi-dimensional adaptive welding gun actuator 4 to ensure accurate welding trajectory and adapt to different welding requirements.After welding a single part is completed, the laser welding actuator 412 stops working and resets to its initial position. The drive motor 712 of the self-centering clamping welding module 7 rotates in the opposite direction, driving the drive gear plate 713, the internal meshing gear plate 73, and the linear guide push block 72 to move in the opposite direction, causing the self-centering clamping chamber 78 to release the workpiece. Subsequently, the guiding feeding mechanism 6 and the workpiece dynamic limiting conveying unit 5 restart, conveying the workpiece to the next welding part, repeating the above clamping, welding gun positioning, and welding process until all workpieces are welded. After all welding operations are completed, the equipment components reset in sequence: the guiding feeding mechanism 6 stops running, the push plate 58 and the limiting shaft 59 of the workpiece dynamic limiting conveying unit 5 reset to their initial spacing, the self-centering clamping welding module 7 returns to its initial state, the multi-dimensional adaptive welding gun actuator 4 resets, and the adaptive variable diameter connecting chamber 2 drives the bearing frame 3 back to its initial position, waiting for the next batch of workpiece welding operations.

[0048] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A steel structure welding guide and positioning device, characterized in that: It includes a main support frame (1), a workpiece dynamic limiting and conveying unit (5), and a self-centering clamping welding module (7); Dustproof protective boxes (11) are welded to both sides of the inner wall of the main support frame (1). Adaptive variable diameter connecting chambers (2) are welded to both sides of the outer rear side of the main support frame (1). The upper end of the adaptive variable diameter connecting chambers (2) is connected to the bearing frame (3). The front end of the bearing frame (3) is provided with a multi-dimensional adaptive welding gun actuator (4). A guide feeding mechanism (6) is installed in the center of the main support frame (1). A workpiece dynamic limiting conveying unit (5) is provided directly below the guide feeding mechanism (6). A self-centering clamping welding module (7) is provided at the rear end of the workpiece dynamic limiting conveying unit (5). The self-centering clamping welding module (7) is correspondingly located directly below the multi-dimensional adaptive welding gun actuator (4). The self-centering clamping welding module (7) includes a housing (71) fixedly installed inside the rear end of the main support frame (1). Two guide grooves are symmetrically opened on both sides of the upper surface of the housing (71). Linear guide push blocks (72) are respectively provided at both ends inside the housing (71).

2. The steel structure welding guide and positioning device according to claim 1, characterized in that: The two linear guide push blocks (72) are connected to support columns (74) at both ends of their upper surfaces. The upper ends of the support columns (74) extend through the guide groove to the outer side of the housing (71) and are fixedly connected to the mounting plate (75). The upper ends of the mounting plate (75) are fixedly installed with connecting blocks (76). The upper ends of the connecting blocks (76) extend to the outer side of the upper end of the guide roller (61). The upper surface of the connecting blocks (76) is fixedly installed with mounting brackets (77) by bolts. The inner opposite sides of the two mounting brackets (77) are provided with self-centering clamping chambers (78). The self-centering clamping chambers (78) are provided with mounting grooves. The anti-vibration contact pads (710) are installed in the center of the mounting grooves. The two sides of the mounting grooves are slidably fitted with contour clamping claws (79). One end of the contour clamping claws (79) is connected with a limit spring (711), and the other end of the limit spring (711) is connected to the inner wall of the mounting groove.

3. The steel structure welding guide and positioning device according to claim 2, characterized in that: The two linear guide push blocks (72) have through slots at both ends of their lower surfaces. An internal meshing gear plate (73) is fixedly installed inside one of the through slots by bolts, and the inner sides of the two internal meshing gear plates (73) are arranged opposite to each other. A drive motor (712) is fixedly connected to the center of the lower surface of the housing (71). The output end of the drive motor (712) extends to the center inside the housing (71) and is fixedly connected to a drive gear plate (713). The outer sides of the drive gear plate (713) mesh with the inner sides of the two internal meshing gear plates (73) respectively.

4. The steel structure welding guide and positioning device according to claim 1, characterized in that: Both adaptive variable diameter connecting compartments (2) have a sliding groove in the center of their interiors. The lower end of the bearing frame (3) is inserted into the interior of the adaptive variable diameter connecting compartment (2), and the lower surface of the bearing frame (3) has a threaded hole. Both adaptive variable diameter connecting compartments (2) have a precision adjusting screw (21) installed in the center of their interiors. The outer end of the precision adjusting screw (21) is threaded into the threaded hole at the lower end of the bearing frame (3). One end of the precision adjusting screw (21) extends to the outer end of the adaptive variable diameter connecting compartment (2) and is fixedly connected to a servo electric drive unit (22).

5. A steel structure welding guide and positioning device according to claim 1, characterized in that: The guiding and feeding mechanism (6) includes several guide rollers (61) arranged in parallel in the center of the main support frame (1). The two ends of the guide rollers (61) extend into the interior of the dustproof protective box (11). Surface textured sleeves (62) are provided on both sides of the surface of the guide rollers (61). A toothed disc (63) is fixedly installed on one end of each of the guide rollers (61). The toothed discs (63) are respectively located inside the dustproof protective box (11) on one side. The toothed discs (63) mesh with each other for transmission. The axis of the last toothed disc (63) extends to the outer end of the main support frame (1) and is fixedly connected to a driven rotating shaft (64).

6. A steel structure welding guide and positioning device according to claim 5, characterized in that: A vector frequency converter motor (67) is fixedly installed on one side of the rear surface of the main support frame (1). The output end of the vector frequency converter motor (67) is connected to an active drive shaft (66). A track (65) is movably sleeved on the outer end of the active drive shaft (66). The other end of the track (65) is correspondingly sleeved on the outer end of the driven shaft (64).

7. A steel structure welding guide and positioning device according to claim 1, characterized in that: The workpiece dynamic limiting conveying unit (5) includes a slide rail type limiting base plate (51) fixedly installed on both sides of the lower end of the inner wall of the main support frame (1). The lower surfaces of the two slide rail type limiting base plates (51) are fixedly connected to a limiting grid (52), and the limiting grid (52) and the guide roller (61) of the guiding feeding mechanism (6) are alternately arranged opposite each other. The two slide rail type limiting base plates (51) are fixedly connected to the inner ends of the upper surfaces of the two slide rail type limiting base plates (51), and the lower surfaces of the two limiting strips (53) are respectively provided with limiting grooves. An adjusting screw (54) is installed in the center of the interior of each of the two sliding rail type limiting base plates (51). One end of the adjusting screw (54) extends to the outer end of the sliding rail type limiting base plate (51) and is connected to a synchronous servo motor (55). Threaded sleeves (56) are threaded onto both sides of the outer ends of the two adjusting screws (54). Cross connecting rods (57) are movably connected to the inner surface of the threaded sleeves (56). Push plates (58) are movably connected to the other end of the cross connecting rods (57), and the two push plates (58) are arranged in a relatively parallel manner.

8. A steel structure welding guide and positioning device according to claim 7, characterized in that: Multiple limiting shafts (59) are arranged on the upper surfaces of the two push plates (58). The upper end of the limiting shaft (59) extends to the upper end of the guide roller (61), and the lower end of the limiting shaft (59) extends to the interior of the limiting grid (52). The two ends of the upper surfaces of the two push plates (58) are also provided with stroke protrusions (510), and the outer ends of the stroke protrusions (510) are slidably sleeved in the limiting grooves opened in the limiting strip (53).

9. A steel structure welding guide and positioning device according to claim 1, characterized in that: The multidimensional adaptive welding torch actuator (4) includes an X-direction linear guide rail (41) fixedly welded to the surface of the support frame (3). The front end of the X-direction linear guide rail (41) is attached to a support plate (44). The front surface of the support plate (44) is welded to a Z-direction vertical guide rail (46). The front end of the Z-direction vertical guide rail (46) is attached to a mounting plate (49). The front surface of the mounting plate (49) is detachably mounted with a right-angle transition bracket (411) by bolts. A laser welding actuator (412) is fixedly mounted in the center of the right-angle transition bracket (411). The lower end of the laser welding actuator (412) is positioned directly above the self-centering clamping welding module (7).

10. A steel structure welding guide and positioning device according to claim 9, characterized in that: An X-axis transmission screw (42) is installed in the center of the X-axis linear guide (41), and a transverse drive motor (43) is fixedly connected to one end of the X-axis transmission screw (42); a Z-axis lifting screw (47) is installed in the center of the Z-axis vertical guide (46), and a longitudinal drive motor (48) is fixedly connected to one end of the Z-axis lifting screw (47); a slider 1 (45) is installed at the upper and lower ends of the back of the bearing plate (44), and the outer end of the slider 1 (45) is correspondingly slidably sleeved inside the X-axis linear guide (41); a slider 2 (410) is installed on both sides of the back of the mounting plate (49), and the outer end of the slider 2 (410) is correspondingly slidably sleeved inside the Z-axis vertical guide (46); a threaded sleeve is provided in the center of the back of both the bearing plate (44) and the mounting plate (49), and is correspondingly sleeved on the outer ends of the X-axis transmission screw (42) and the Z-axis lifting screw (47), respectively.

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