Intelligent welding device for high-stability complex steel member

Abstract

The invention relates to the technical field of welding devices, in particular to a high-stability complex steel member intelligent welding device which comprises a multi-angle auxiliary welding device mounted beside a welding robot, and the multi-angle auxiliary welding device comprises a mounting platform, a discharging robot, an adaptive discharging seat and a pre-discharging tool; the mounting platform is arranged beside the welding robot; the adaptive discharging seat is fixedly mounted on the mounting platform, and the movable end of the adaptive discharging seat is used for fixing a to-be-welded steel member; the discharging robot is arranged on the side of the adaptive discharging base, and a multi-section discharging head is installed at the movable end of the discharging robot and used for synchronously grabbing a plurality of welding parts. The pre-discharging tool is arranged on the side of the adaptive discharging base and used for placing a plurality of welding pieces in advance, and the welding efficiency and the welding quality can be effectively improved.

Description

Technical Field

[0001] This invention relates to the field of welding equipment technology, specifically to a highly stable intelligent welding device for complex steel components. Background Technology

[0002] The welding quality of complex steel components directly affects the safety and service life of the overall structure. As manufacturing evolves towards high-end and intelligent processes, component designs are becoming increasingly complex, often exhibiting multi-branched, asymmetrical forms, and assembled from various irregularly shaped plates and pipes in a specific spatial sequence. Welding these components requires not only precise reach of the welding torch to difficult-to-weld locations such as curved surfaces, deep grooves, and concealed joints, but also the sequential assembly and continuous welding of multiple prefabricated parts within a single setup to ensure the overall dimensional accuracy and internal stress distribution of the component. Therefore, developing integrated equipment that combines highly stable posture adjustment with intelligent sequential welding capabilities has become crucial for improving the quality and efficiency of steel structure manufacturing.

[0003] Chinese Patent No. CN222588606U discloses a welding positioner capable of automatically adjusting the welding posture of a steel component to be welded. The machine includes a body, which comprises a frame. A base plate is fixedly installed below the frame, and a first motor is fixedly installed above the base plate. A first cylinder is fixedly installed above the frame. The machine also includes an adjustment mechanism fixedly installed above the frame, and the first cylinder drives the adjustment mechanism to move up and down. A welding component includes a fixing plate coaxially connected to the output shaft of the first motor, which drives the welding component to move along a first annular groove. This welding positioner, capable of automatically adjusting the welding posture of a steel component to be welded, ensures that the welding pen can reach all parts of the workpiece, including complex shapes, hard-to-reach spaces or angles, achieving omnidirectional, dead-angle-free welding coverage, thus improving welding quality and production efficiency.

[0004] However, the above solutions still have significant limitations when dealing with complex components requiring sequential welding of multiple parts: the assembly process of steel components typically relies on independent unloading robots or manual labor for part delivery and positioning. Existing unloading robots often only support single-piece, sequential loading, requiring repeated posture adjustments and alignment calibrations of the workpiece or welding torch after each part is placed, resulting in frequent process chain interruptions and lengthy auxiliary time. This discrete unloading not only significantly reduces overall operational efficiency in the welding cycle but may also introduce additional positioning errors due to multiple interventions, affecting the cumulative accuracy and weld consistency of multi-part assembly welding. Summary of the Invention

[0005] To address the aforementioned issues, a highly stable intelligent welding device for complex steel components is provided. Through a multi-angle auxiliary welding device, welding efficiency and welding quality can be effectively improved.

[0006] To address the problems of existing technologies, this invention provides a highly stable intelligent welding device for complex steel components, including a multi-angle auxiliary welding device installed beside a welding robot. The multi-angle auxiliary welding device includes an installation platform, a feeding robot, an adaptive feeding seat, and a pre-feeding fixture. The installation platform is located beside the welding robot. The adaptive feeding seat is fixedly installed on the installation platform, and its movable end is used to fix the steel component to be welded. The feeding robot is located beside the adaptive feeding seat, and its movable end is equipped with multiple feeding heads for simultaneously gripping multiple weldable parts. The pre-feeding fixture is located beside the adaptive feeding seat and is used to pre-place multiple weldable parts.

[0007] Preferably, the multi-segment feeding head includes an outer feeding frame, an inner feeding frame, a first push spring, a first sensor, and an adaptive limiting sleeve; the outer feeding frame is fixedly installed on the movable end of the feeding robot, and the inner part of the outer feeding frame is provided with an installation slide rail, and the bottom of the outer feeding frame is provided with multiple first limiting feeding slots, each of which is provided with a first suction hole; the inner feeding frame is slidably installed in the installation slide rail, and the bottom of the inner feeding frame is provided with multiple second limiting feeding slots, and the axial center position of the inner feeding frame is provided with an axial insertion block, each of which is provided with a second suction hole; multiple first sensors are provided and are evenly distributed inside the first and second limiting feeding slots; the first push spring is installed between the outer feeding frame and the inner feeding frame.

[0008] Preferably, the multi-segment discharge head also includes multiple adaptive limiting sleeves, which are evenly distributed inside the first limiting discharge groove and the second limiting discharge groove, and multiple adaptive buffer pads are provided on both sides of the adaptive limiting sleeves.

[0009] Preferably, the adaptive feeding seat includes a multi-angle adjustment frame and a feeding clamp; the multi-angle adjustment frame is fixedly installed on the installation platform, and the top of the multi-angle adjustment frame is provided with a movable adjustment end; the feeding clamp is fixedly installed on the movable adjustment end of the multi-angle adjustment frame, and the feeding clamp is used to clamp and fix the steel component.

[0010] Preferably, the multi-angle adjustment frame includes a multi-angle movable platform, a support platform, and an angle positioning device; the support platform is fixedly installed on the mounting platform, and a ball joint is provided at the axial center of the support platform; the multi-angle movable platform is located above the support platform, and the multi-angle movable platform is coaxially arranged with the support platform and hinged to the ball joint; the angle positioning device is installed on the support platform and is used to position the multi-angle movable platform.

[0011] Preferably, the angle positioning device includes a ring-shaped positioning detection rail, a push positioning frame, and a first linear actuator; the ring-shaped positioning detection rail is fixedly installed at the bottom of the multi-angle movable platform, and a limit hole is provided on the ring-shaped positioning detection rail; the push positioning frame is set at the bottom of the ring-shaped positioning detection rail, the push positioning frame is slidably connected to the support platform, a telescopic positioning block is slidably installed on the push positioning frame, a second push spring is installed between the telescopic positioning block and the push positioning frame, and a pressure sensor is also installed on the push positioning frame; the first linear actuator is fixedly installed on the support platform, and the output end of the first linear actuator is connected to the push positioning frame.

[0012] Preferably, the top of the feeding fixture is provided with a third limiting feeding groove, the inner wall of the third limiting feeding groove is provided with multiple mounting grooves, the axis position of the feeding fixture is provided with a first axis positioning hole, and the multiple mounting grooves are equipped with limiting clamping devices.

[0013] Preferably, the limiting clamping device includes a movable clamping block, a connecting rod, a return spring, a synchronous contraction block, and a synchronous contraction device; multiple movable clamping blocks are provided and distributed in the mounting groove, and the movable clamping blocks are slidably connected to the mounting groove; multiple connecting rods are provided and distributed on the movable clamping blocks, and the connecting rods are fixedly connected to the movable clamping blocks; multiple synchronous contraction blocks are provided and distributed on the connecting rods, and the synchronous contraction blocks are fixedly connected to the connecting rods, and the synchronous contraction blocks are provided with guide angles; multiple return springs are provided and evenly distributed between the movable clamping blocks and the unloading clamp; the synchronous contraction device is used to drive the multiple synchronous contraction blocks to move.

[0014] Preferably, the synchronous shrinking device includes a mounting bracket, a second linear driver, and a docking shrinking sleeve; the mounting bracket is fixedly installed at the bottom of the unloading clamp; the second linear driver is fixedly installed on the mounting bracket; the docking shrinking sleeve is fixedly installed at the output end of the second linear driver, the opening of the docking shrinking sleeve abuts against the guide bevel, and the opening of the docking shrinking sleeve is also provided with multiple abutting balls.

[0015] Preferably, the pre-feeding tool is provided with a second axis positioning hole at the axis position, and the top of the pre-feeding tool is also provided with a plurality of fourth limit feeding grooves, and each fourth limit feeding groove is provided with a second sensor inside.

[0016] The advantages of this invention compared to the prior art are: 1. This invention achieves simultaneous gripping and batch welding of multiple parts through the coordinated operation of a multi-segment feeding head and a pre-feeding fixture. The multi-segment feeding head of the feeding robot can grip multiple welding parts pre-placed in designated positions on the pre-feeding fixture at once, significantly reducing the number of gripping operations compared to the traditional single-part sequential feeding method. Throughout the welding process, there is no need for repeated posture adjustments and alignment calibrations of the workpiece or welding torch after each part is placed, avoiding frequent interruptions in the process chain and lengthy auxiliary time. This continuous and efficient operation mode enables the welding and manufacturing of complex steel components to be completed in a shorter time, significantly improving overall operational efficiency, effectively shortening the production cycle, reducing production costs, and meeting the manufacturing industry's demand for high-efficiency production.

[0017] 2. During the welding process, this invention utilizes an adaptive feeding seat to firmly fix the steel component to be welded, ensuring that the position of the steel component remains stable throughout the entire welding process. Simultaneously, the precise alignment of the multi-segment feeding head with the pre-feeding tool and the batch welding feeding operation effectively reduce additional positioning errors introduced by multiple interventions. This precise positioning and stable operating environment ensure the cumulative accuracy and weld consistency of multi-part assembly welding. For complexly arranged weldments, it ensures that the alignment of each weldment with the steel component is accurate, resulting in uniform and strong welds during the welding process, thereby improving welding quality and enhancing the overall structural stability and safety of complex steel components. Attached Figure Description

[0018] Figure 1 This is a three-dimensional schematic diagram of the steel structure.

[0019] Figure 2 This is a three-dimensional schematic diagram of a highly stable intelligent welding device for complex steel components according to the present invention.

[0020] Figure 3 This is a front view of a highly stable intelligent welding device for complex steel components according to the present invention.

[0021] Figure 4 This is a three-dimensional schematic diagram of a multi-segment feeding head and welded parts in a highly stable intelligent welding device for complex steel components according to the present invention.

[0022] Figure 5 This is a three-dimensional schematic diagram of a multi-segment feeding head in a highly stable intelligent welding device for complex steel components according to the present invention.

[0023] Figure 6 yes Figure 5 A magnified view of a portion of point A in the middle.

[0024] Figure 7 This is a front view of the adaptive feeding seat in a highly stable intelligent welding device for complex steel components according to the present invention.

[0025] Figure 8 yes Figure 7 A three-dimensional schematic diagram of the BB section.

[0026] Figure 9 yes Figure 8 A magnified view of a section at point C.

[0027] Figure 10 This is a planar sectional perspective view of the material feeding fixture in a highly stable intelligent welding device for complex steel components according to the present invention.

[0028] Figure 11 This is a three-dimensional schematic diagram of the pre-feeding tool in a highly stable intelligent welding device for complex steel components according to the present invention.

[0029] The numbers on the map are: 1. Installation platform; 2. Feeding robot; 3. Multi-segment feeding head; 31. Outer feeding rack; 311. Mounting slide rail; 312. First limiting feeding groove; 313. First suction hole; 32. Inner feeding rack; 321. Shaft insert block; 322. Second limiting feeding groove; 323. Second suction hole; 33. First sensor; 34. Adaptive limiting sleeve; 341. Adaptive buffer pad; 4. Adaptive feeding seat; 41. Multi-angle adjustment frame; 411. Multi-angle movable table; 412. Support platform; 413. Ball joint; 414. Angle positioning device; 415. Circular positioning detection rail; 4151. Limiting hole; 416. Push positioning frame; 416 1. Telescopic positioning block; 4162. Second push spring; 417. First linear actuator; 42. Discharge clamp; 421. Third limit discharge groove; 422. First shaft positioning hole; 423. Mounting groove; 424. Limit clamping device; 4241. Movable clamping block; 4242. Connecting rod; 4243. Return spring; 4244. Synchronous retraction block; 4245. Guide angle; 4246. Mounting bracket; 4247. Second linear actuator; 4248. Butt retraction sleeve; 4249. Abutment ball; 5. Pre-discharge tool; 51. Second shaft positioning hole; 52. Fourth limit discharge groove; 53. Second sensor; 6. Steel component; 7. Welded part. Detailed Implementation

[0030] To further understand the features, technical means, and specific objectives and functions achieved by the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0031] See Figures 1 to 11As shown, a highly stable intelligent welding device for complex steel components includes a multi-angle auxiliary welding device installed beside a welding robot. The multi-angle auxiliary welding device includes an installation platform 1, a feeding robot 2, an adaptive feeding seat 4, and a pre-feeding fixture 5. The installation platform 1 is located beside the welding robot. The adaptive feeding seat 4 is fixedly installed on the installation platform 1, and its movable end is used to fix the steel component 6 to be welded. The feeding robot 2 is located beside the adaptive feeding seat 4, and its movable end is equipped with a multi-segment feeding head 3, which is used to simultaneously grasp multiple weldable parts 7. The pre-feeding fixture 5 is located beside the adaptive feeding seat 4 and is used to pre-place multiple weldable parts 7.

[0032] The mounting platform 1 is fixedly set next to the welding robot, providing basic support for the entire auxiliary welding device. The adaptive material feeding seat 4 is firmly installed on the mounting platform 1, and its movable end has the function of fixing the steel component 6 to be welded. When the steel component 6 to be welded is placed on it, it can be fixed by clamping to ensure the stability of the position of the steel component 6 during the subsequent welding process.

[0033] The feeding robot 2 is positioned next to the adaptive feeding base 4, and its movable end is equipped with a multi-segment feeding head 3. The multi-segment feeding head 3 is designed to simultaneously grip multiple welded parts 7, reducing the number of gripping operations and improving work efficiency. The pre-feeding fixture 5 is also positioned next to the adaptive feeding base 4. Its function is to pre-place multiple welded parts 7 and position them in designated locations so that the multi-segment feeding head 3 can accurately grip them.

[0034] When it is necessary to weld complexly arranged weldable parts 7 onto the surface of steel component 6, firstly, the steel component 6 to be welded is placed on the adaptive feeding seat 4, which securely fixes the steel component 6 through the clamping function of its movable end. Next, the multiple weldable parts 7 to be welded are placed into the pre-feeding fixture 5, which places the multiple weldable parts 7 in the designated positions according to preset rules.

[0035] Subsequently, the feeding robot 2 starts, moving the multi-segment feeding head 3 to directly above the pre-feeding fixture 5. At this time, the multi-segment feeding head 3 and the pre-feeding fixture 5 are coaxially aligned. The feeding robot 2 pushes the multi-segment feeding head 3 down, and the multi-segment feeding head 3 contacts multiple welded parts 7 on the pre-feeding fixture 5 in sequence, completing the gripping action of multiple welded parts 7.

[0036] After the gripping is completed, the unloading robot 2 moves the multi-segment unloading head 3 to directly above the adaptive unloading seat 4, so that the multi-segment unloading head 3 and the adaptive unloading seat 4 are coaxially arranged. Then, the multi-segment unloading head 3 descends and docks with the adaptive unloading seat 4. During the docking process, the multi-segment unloading head 3 drives part of the gripped welded parts 7 to contact the steel components 6 on the adaptive unloading seat 4.

[0037] At this time, the material feeding robot 2 moves and drives the adaptive material feeding seat 4 to adjust to a suitable welding angle. The welding robot starts working and welds the initially connected welding parts 7 and steel components 6.

[0038] After the initial welding of the welded component 7 to the steel component 6 is completed, the unloading robot 2 continues to apply pressure to the multi-segment unloading head 3, causing the remaining welded component 7 to contact the steel component 6. Subsequently, the welding robot welds the secondary welded component 7 to the steel component 6.

[0039] After all welding is completed, the unloading robot 2 drives the multi-segment unloading head 3 to reset. This batch welding and unloading operation method avoids the process of repeatedly picking up materials, which can efficiently complete the welding operation of complex steel components 6, while effectively ensuring the welding positioning quality, reducing the additional positioning errors introduced by multiple interventions, and ensuring the cumulative accuracy and weld consistency of multi-part assembly welding.

[0040] See Figures 1 to 5 As shown, the multi-segment feeding head 3 includes an outer feeding frame 31, an inner feeding frame 32, a first push spring, a first sensor 33, and an adaptive limiting sleeve 34. The outer feeding frame 31 is fixedly installed on the movable end of the feeding robot 2. The outer feeding frame 31 has an internal mounting slide rail 311, and the bottom of the outer feeding frame 31 has multiple first limiting feeding slots 312. Each first limiting feeding slot 312 has a first suction hole 313 inside. The inner feeding frame 32 is slidably mounted on the inner feeding frame 32. Installed in the mounting slide rail 311, the bottom of the inner layer feeding rack 32 is provided with multiple second limiting feeding grooves 322, the axial center position of the inner layer feeding rack 32 is provided with an axial insertion block 321, and each second limiting feeding groove 322 is provided with a second suction hole 323 inside; multiple first sensors 33 are provided and are evenly distributed inside the first limiting feeding groove 312 and the second limiting feeding groove 322; a first push spring is installed between the outer layer feeding rack 31 and the inner layer feeding rack 32.

[0041] The pre-feeding fixture 5 can store two parts of welded components 7, each part containing multiple welded components 7. After the feeding robot 2 starts, it moves the multi-segment feeding head 3 to directly above the pre-feeding fixture 5, so that the multi-segment feeding head 3 and the pre-feeding fixture 5 are coaxially arranged. Then, the feeding robot 2 drives the outer feeding rack 31 to descend, and the outer feeding rack 31 drives the inner feeding rack 32 to descend synchronously through the internal mounting slide rail 311.

[0042] When the inner feeding rack 32 contacts the pre-feeding fixture 5, the shaft insertion block 321 at its axis position is inserted into the pre-feeding fixture 5 to ensure the stability of the connection. At this time, the first part of the welded component 7 on the pre-feeding fixture 5 enters the second limiting feeding groove 322 at the bottom of the inner feeding rack 32, and the second limiting feeding groove 322 limits the welded component 7. Subsequently, the outer feeding rack 31 continues to descend, compressing the first push spring located between the outer feeding rack 31 and the inner feeding rack 32, so that the first limiting feeding groove 312 at the bottom of the outer feeding rack 31 connects with the second part of the welded component 7 stored on the pre-feeding fixture 5, and limits the second part of the welded component 7.

[0043] First sensors 33, distributed inside the first limiting feeding groove 312 of the outer feeding rack 31 and the second limiting feeding groove 322 of the inner feeding rack 32, are used to detect whether both the first limiting feeding groove 312 and the second limiting feeding groove 322 have completed docking with the welded part 7. After confirming docking, the first suction hole 313 in the first limiting feeding groove 312 and the second suction hole 323 in the second limiting feeding groove 322 generate an adsorption force, adsorbing and fixing the welded part 7. Finally, the feeding robot 2 rises, driving the outer feeding rack 31 and the inner feeding rack 32 to rise synchronously, causing the welded part 7 to detach from the pre-feeding fixture 5.

[0044] When it is necessary to weld the weldment 7 to the steel component 6, the unloading robot 2 moves the outer unloading rack 31 to directly above the adaptive unloading seat 4. Then, the outer unloading rack 31 and the inner unloading rack 32 descend and dock with the adaptive unloading seat 4, and the axial insertion block 321 is inserted into the adaptive unloading seat 4, achieving docking between the inner unloading rack 32 and the adaptive unloading seat 4. Simultaneously, the inner unloading rack 32 brings the already gripped weldment 7 into contact with the steel component 6 on the adaptive unloading seat 4.

[0045] At this time, the unloading robot 2 moves, and through the axial insertion block 321 of the inner unloading rack 32, it drives the adaptive unloading seat 4 to adjust synchronously until the steel component 6 and the welded part 7 are adjusted to the appropriate welding angle. Then, the welding robot starts working and welds the welded part 7 held by the inner unloading rack 32 to the steel component 6.

[0046] After the welding of the welded part 7 to the steel component 6 is completed on the inner feeding rack 32, the feeding robot 2 continues to apply pressure to the outer feeding rack 31, causing the welded part 7 held by the outer feeding rack 31 to come into contact with the steel component 6. Finally, the welding robot welds the welded part 7 of the outer feeding rack 31 to the steel component 6, completing the entire welding process.

[0047] See Figure 5 and Figure 6As shown, the multi-segment feeding head 3 also includes multiple adaptive limiting sleeves 34, which are evenly distributed inside the first limiting feeding groove 312 and the second limiting feeding groove 322. Multiple adaptive buffer pads 341 are provided on both sides of the adaptive limiting sleeves 34.

[0048] During the process of the multi-segment feeding head 3 gripping the welded part 7, when the welded part 7 enters the first limiting feeding groove 312 or the second limiting feeding groove 322, the adaptive limiting sleeve 34 is fitted onto the outside of the welded part 7. Due to the elastic properties of the adaptive buffer pad 341, the adaptive limiting sleeve 34 can make fine adjustments within the first limiting feeding groove 312 and the second limiting feeding groove 322. This fine adjustment capability helps the adaptive limiting sleeve 34 to engage, ensuring that the welded part 7 is in a suitable position within the limiting feeding groove, thus improving the stability of the gripping.

[0049] During the welding process, stress is generated when the weldment 7 is welded to the steel component 6. At this time, the adaptive limiting sleeve 34 can adaptively adjust its movement by means of the elasticity of its adaptive buffer pads 341 on both sides. This movement can buffer the stress generated during welding, avoid damage to the weldment 7 and the limiting structure due to stress concentration, and at the same time ensure the positional stability of the weldment 7 during welding, reduce welding deviations caused by stress, thereby ensuring welding quality and accuracy.

[0050] See Figures 1 to 7 As shown, the adaptive feeding seat 4 includes a multi-angle adjustment frame 41 and a feeding clamp 42; the multi-angle adjustment frame 41 is fixedly installed on the installation platform 1, and the top of the multi-angle adjustment frame 41 is provided with a movable adjustment end; the feeding clamp 42 is fixedly installed on the movable adjustment end of the multi-angle adjustment frame 41, and the feeding clamp 42 is used to clamp and fix the steel component 6.

[0051] During the welding operation, after the unloading robot 2 moves the multi-segment unloading head 3 above the adaptive unloading seat 4 and completes docking with the unloading fixture 42, the weldment 7 gripped by the multi-segment unloading head 3 comes into contact with the steel component 6 fixed on the unloading fixture 42. At this time, according to the welding process requirements, the welding angle between the weldment 7 and the steel component 6 needs to be adjusted. The unloading robot 2 starts its movement operation, driving the multi-segment unloading head 3 to adjust the angle. Since the multi-segment unloading head 3 is connected to the movable adjustment end of the multi-angle adjustment frame 41, the angle adjustment action of the multi-segment unloading head 3 is transmitted to the movable adjustment end of the multi-angle adjustment frame 41, prompting it to perform synchronous adjustment. The movable adjustment end of the multi-angle adjustment frame 41 rotates or moves precisely in multiple directions according to the movement command of the unloading robot 2, thereby changing the relative position and angle between the weldment 7 and the steel component 6 to achieve a suitable welding angle. After adjusting to the appropriate angle, the welding robot begins to work, welding the weldment 7 and the steel component 6.

[0052] See Figure 7 and Figure 8 As shown, the multi-angle adjustment frame 41 includes a multi-angle movable platform 411, a support platform 412, and an angle positioning device 414. The support platform 412 is fixedly installed on the mounting platform 1, and a ball joint 413 is provided at the axial center of the support platform 412. The multi-angle movable platform 411 is located above the support platform 412, and the multi-angle movable platform 411 is coaxially arranged with the support platform 412. The multi-angle movable platform 411 is hinged to the ball joint 413. The angle positioning device 414 is installed on the support platform 412 and is used to position the multi-angle movable platform 411.

[0053] After the feeding fixture 42 and the multi-segment feeding head 3 are docked, the angle positioning device 414 releases the position lock on the multi-angle movable table 411. At this time, the welded part 7 gripped by the multi-segment feeding head 3 comes into contact with the steel component 6 fixed on the feeding fixture 42. According to the welding process requirements, the welding angle between the welded part 7 and the steel component 6 needs to be adjusted. The feeding robot 2 starts its movement operation, driving the multi-segment feeding head 3 to adjust its angle. Since the multi-segment feeding head 3 is connected to the feeding fixture 42, the angle adjustment action of the multi-segment feeding head 3 is transmitted to the multi-angle movable table 411. The multi-angle movable table 411, with its hinged structure with the ball joint 413 of the support platform 412, can move synchronously with the adjustment action of the multi-segment feeding head 3, and can rotate or move precisely in multiple directions, thereby changing the relative position and angle between the welded part 7 and the steel component 6.

[0054] See Figure 8 and Figure 9 As shown, the angle positioning device 414 includes an annular positioning detection rail 415, a push positioning frame 416, and a first linear actuator 417. The annular positioning detection rail 415 is fixedly installed at the bottom of the multi-angle movable platform 411, and a limiting hole 4151 is provided on the annular positioning detection rail 415. The push positioning frame 416 is located at the bottom of the annular positioning detection rail 415, and the push positioning frame 416 is slidably connected to the support platform 412. A telescopic positioning block 4161 is slidably installed on the push positioning frame 416, and a second push spring 4162 is installed between the telescopic positioning block 4161 and the push positioning frame 416. A pressure sensor is also installed on the push positioning frame 416. The first linear actuator 417 is fixedly installed on the support platform 412, and the output end of the first linear actuator 417 is connected to the push positioning frame 416.

[0055] When the material feeding fixture 42 and the multi-section material feeding head 3 have completed docking, and before the welding angle adjustment operation between the welded part 7 and the steel component 6 has been carried out, the angle positioning device 414 is in the working state of locking the multi-angle movable table 411. At this time, the first linear actuator 417 is in the initial position, and the output end of the first linear actuator 417 is at a specific height. Under the action of the output end of the first linear actuator 417, the push positioning frame 416 is pushed to the high position. The telescopic positioning block 4161 on the push positioning frame 416 is in the extended state under the elastic force of the second push spring 4162, and precisely docks with the limiting hole 4151 on the annular positioning detection rail 415, thereby restricting the multi-angle movable table 411 to a specific position, preventing it from rotating arbitrarily, and ensuring the initial position of the steel component 6 is stable before the welding operation.

[0056] When the welding angle between welded part 7 and steel component 6 needs to be adjusted according to welding process requirements, the angle positioning device 414 needs to release the position lock on the multi-angle movable table 411. The control system sends a command to the first linear actuator 417, activating the first linear actuator 417 and causing its output end to move downwards, thereby driving the push positioning frame 416 to descend. During the descent of the push positioning frame 416, it gradually disengages from the bottom of the multi-angle movable table 411, releasing the pressure restriction on the multi-angle movable table 411. At this time, the multi-angle movable table 411 gains rotational freedom, allowing for angle adjustment in subsequent operations.

[0057] After the steel component 6 on the unloading fixture 42 is welded, the multi-angle movable table 411 needs to be repositioned for subsequent operations. At this time, the first linear drive 417 is restarted, and its output end moves upward, driving the push positioning frame 416 to rise and press against the bottom of the multi-angle movable table 411 again. The pressure sensor installed on the push positioning frame 416 monitors the pressure on the second push spring 4162 in real time. If the pressure detected by the pressure sensor exceeds the normal range, it indicates that the telescopic positioning block 4161 is not aligned with the limiting hole 4151 of the annular positioning detection rail 415, and at the same time, it indicates that the multi-angle movable table 411 has not rotated to the designated position.

[0058] In this situation, the control system controls the unloading robot 2, which drives the unloading clamp 42 and the multi-angle movable table 411 to rotate via the multi-segment unloading head 3. As the multi-angle movable table 411 rotates, the annular positioning detection rail 415 fixed at its bottom rotates synchronously. With the rotation of the annular positioning detection rail 415, when the limiting hole 4151 moves directly above the telescopic positioning block 4161, the telescopic positioning block 4161 automatically extends under the elastic force of the second push spring 4162 and precisely inserts into the limiting hole 4151. At this time, the annular positioning detection rail 415 is effectively positioned, meaning that the multi-angle movable table 411 has rotated to the designated position, and the pressure detected by the pressure sensor has returned to the normal range, indicating successful repositioning.

[0059] When the annular positioning detection rail 415 rotates to the designated position, it indicates that the multi-angle movable table 411 has completed its angle adjustment. The unloading robot 2 then stops moving and drives the multi-segment unloading head 3 to disengage from the unloading fixture 42. At this time, the angle positioning device 414 continuously maintains the positioning state of the multi-angle movable table 411, ensuring that the multi-angle movable table 411 remains stable in position during subsequent welding operations, providing reliable positional assurance for the welding robot to perform precise welding.

[0060] See Figures 7 to 10 As shown, the top of the feeding clamp 42 is provided with a third limiting feeding groove 421, the inner wall of the third limiting feeding groove 421 is provided with multiple mounting grooves 423, the axial position of the feeding clamp 42 is provided with a first axial positioning hole 422, and the multiple mounting grooves 423 are equipped with limiting clamping devices 424.

[0061] A third limiting discharge groove 421 is provided at the top of the discharge fixture 42. During the welding preparation stage, the operator places the steel component 6 into the third limiting discharge groove 421. The inner wall structure of this limiting discharge groove can form a tight fit with the outer surface of the steel component 6 to effectively constrain it. The physical boundary of its inner wall restricts the free movement of the steel component 6 in the horizontal direction, ensuring that the steel component 6 is in a relatively fixed position on the discharge fixture 42, providing a basic position guarantee for subsequent precise docking and welding operations.

[0062] The first axial positioning hole 422, located at the axial center of the feeding fixture 42, enables precise docking with the multi-segment feeding head 3. During the welding operation, the feeding robot 2 moves the multi-segment feeding head 3 above the adaptive feeding seat 4. The multi-segment feeding head 3, with its specific positioning structure, accurately inserts into the first axial positioning hole 422 of the feeding fixture 42. This precise docking establishes a stable connection between the multi-segment feeding head 3 and the feeding fixture 42, ensuring that the force applied by the multi-segment feeding head 3 is reliably transmitted to the feeding fixture 42 during subsequent movement operations of the feeding robot 2. This, in turn, drives the feeding fixture 42 and the steel component 6 fixed thereon to move synchronously, providing an accurate motion transmission path for adjusting the angle between the welded part 7 and the steel component 6.

[0063] Multiple mounting slots 423 are evenly distributed on the inner wall of the third limiting discharge slot 421, and each mounting slot 423 is equipped with a limiting clamping device 424. When the steel component 6 is placed in the third limiting discharge slot 421, the limiting clamping device 424 begins to operate. Forces are applied to the steel component 6 from different directions, firmly fixing it within the third limiting discharge slot 421. This ensures the positional stability of the steel component 6 during the welding process, thereby ensuring that the welding quality meets the process requirements.

[0064] During the welding operation, when the welding angle between the weldment 7 and the steel component 6 needs to be adjusted according to the welding process requirements, the unloading robot 2 initiates a movement operation, driving the multi-segment unloading head 3 to adjust its angle. Since the multi-segment unloading head 3 and the unloading fixture 42 are precisely aligned through the first axial positioning hole 422, and the unloading fixture 42 securely clamps the steel component 6 through the limiting clamping device 424, the angle adjustment action of the multi-segment unloading head 3 can be accurately transmitted to the steel component 6, causing a corresponding change in the relative position and angle between the steel component 6 and the weldment 7 until a suitable welding angle is achieved. Once the appropriate angle is reached, the welding robot begins its work, performing the welding operation on the weldment 7 and the steel component 6. During this time, the unloading fixture 42 continuously maintains a secure clamp on the steel component 6, ensuring the smooth progress of the welding process.

[0065] See Figures 7 to 10 As shown, the limiting clamping device 424 includes a movable clamping block 4241, a connecting rod 4242, a return spring 4243, a synchronous shrinking block 4244, and a synchronous shrinking device. Multiple movable clamping blocks 4241 are provided and distributed in the mounting groove 423, and the movable clamping blocks 4241 are slidably connected to the mounting groove 423. Multiple connecting rods 4242 are provided and distributed on the movable clamping blocks 4241, and the connecting rods 4242 are fixedly connected to the movable clamping blocks 4241. Multiple synchronous shrinking blocks 4244 are provided and distributed on the connecting rods 4242, and the synchronous shrinking blocks 4244 are fixedly connected to the connecting rods 4242. A guide angle 4245 is provided on each synchronous shrinking block 4244. Multiple return springs 4243 are provided and evenly distributed between the movable clamping block 4241 and the unloading clamp 42. The synchronous shrinking device is used to drive the multiple synchronous shrinking blocks 4244 to move.

[0066] After the operator places the steel component 6 into the third limiting discharge groove 421, the clamping operation of the limiting clamping device 424 is activated. The synchronous shrinking device starts to work. Since the synchronous shrinking block 4244 is provided with a guide angle 4245, under the drive of the synchronous shrinking device, multiple synchronous shrinking blocks 4244 shrink along a specific direction.

[0067] During the shrinking process, the synchronous shrinking block 4244 drives the connecting rod 4242 to move synchronously. The connecting rod 4242 is fixedly connected to the movable clamping block 4241, which in turn causes multiple movable clamping blocks 4241 to move synchronously along the mounting groove 423 toward the steel component 6. As the movable clamping blocks 4241 move, they gradually come into contact with the outer surface of the steel component 6 and apply a gradually increasing clamping force, firmly fixing the steel component 6 in the third limiting discharge groove 421.

[0068] During the retraction and movement of the movable clamping block 4241, the return spring 4243, which is evenly distributed between the movable clamping block 4241 and the unloading fixture 42, is compressed, causing the return spring 4243 to store elastic potential energy. At this time, under the combined action of multiple movable clamping blocks 4241, the steel component 6 is constrained in multiple directions in the horizontal direction, and its position is stably fixed, providing reliable positional assurance for subsequent angle adjustment of the welded part 7 and the steel component 6, as well as welding operations.

[0069] When the welding operation is completed and the steel component 6 needs to be removed from the third limiting discharge groove 421, the synchronous retraction device stops pushing the synchronous retraction block 4244. At this time, the elastic potential energy stored in the compressed return spring 4243 is released, generating a spring force in the opposite direction of compression. This spring force acts on the movable clamping block 4241, pushing the movable clamping block 4241 along the mounting groove 423 away from the steel component 6, returning it to its initial position.

[0070] The movement of the movable clamping block 4241 drives the synchronous contraction block 4244 to move synchronously via the connecting rod 4242, so that the entire limiting clamping device 424 returns to a relaxed state. At this time, the steel component 6 is no longer subject to the clamping force of the movable clamping block 4241, and the operator can smoothly remove the steel component 6 from the third limiting discharge groove 421 to complete a complete welding operation cycle.

[0071] See Figures 7 to 10 As shown, the synchronous shrinking device includes a mounting bracket 4246, a second linear driver 4247, and a docking shrinking sleeve 4248. The mounting bracket 4246 is fixedly installed on the bottom of the unloading clamp 42. The second linear driver 4247 is fixedly installed on the mounting bracket 4246. The docking shrinking sleeve 4248 is fixedly installed on the output end of the second linear driver 4247. The opening of the docking shrinking sleeve 4248 abuts against the guide bevel 4245. The opening of the docking shrinking sleeve 4248 is also provided with a plurality of abutting balls 4249.

[0072] When the limit clamping device 424 needs to be activated to clamp the steel component 6 placed in the third limit discharge groove 421, the second linear driver 4247 starts to work and generates linear driving force, which drives the docking shrink sleeve 4248 fixed at its output end to move linearly.

[0073] During the movement of the docking shrink sleeve 4248, the contact ball 4249 at its opening remains in contact with the guide angle 4245 on the synchronous shrink block 4244. The contact ball 4249 effectively reduces the friction between the docking shrink sleeve 4248 and the guide angle 4245, allowing the movement of the docking shrink sleeve 4248 to be transmitted more smoothly to the synchronous shrink block 4244. When the docking shrink sleeve 4248 continuously applies pressure to the guide angle 4245, the inclined structure of the guide angle 4245 decomposes the linear pressure it receives into a component force along the shrinking direction of the synchronous shrink block 4244, thereby guiding multiple synchronous shrink blocks 4244 to move synchronously.

[0074] During the shrinking process, the synchronous shrinking block 4244, through its fixed connection with the connecting rod 4242, drives the connecting rod 4242 to move synchronously. The connecting rod 4242 is in turn fixedly connected to the movable clamping block 4241, thereby causing multiple movable clamping blocks 4241 to shrink and move synchronously along the mounting groove 423 towards the steel component 6. As the movable clamping block 4241 moves, it gradually contacts the outer surface of the steel component 6 and applies a gradually increasing clamping force, ultimately fixing the steel component 6 tightly within the third limiting discharge groove 421, providing a stable position guarantee for subsequent welding operations.

[0075] See Figure 2 and Figure 11 As shown, the pre-feeding tool 5 has a second axial positioning hole 51 at its axial position, and the top of the pre-feeding tool 5 is also provided with a plurality of fourth limiting feeding grooves 52, and each fourth limiting feeding groove 52 is provided with a second sensor 53 inside.

[0076] When welding is required on steel component 6, and multiple welding parts 7 need to be placed in advance, the operator places the welding parts 7 one by one into the fourth limiting feeding groove 52 at the top of the pre-feeding tool 5. The internal structure of each fourth limiting feeding groove 52 can form a tight fit with the outer surface of the welding part 7, ensuring that the welding part 7 is in a relatively fixed position within the fourth limiting feeding groove 52.

[0077] During the placement of the weldment 7, when the weldment 7 falls completely into the fourth limiting discharge trough 52, the second sensor 53 is triggered. The second sensor 53 confirms that the fourth limiting discharge trough 52 has a pre-placed weldment 7 by detecting the weldment 7. If a fourth limiting discharge trough 52 is not filled with a weldment 7, the second sensor 53 continuously feeds back a signal indicating no weldment 7, and the control system can use this to remind the operator to perform a replenishment operation.

[0078] Once all welded parts 7 are accurately placed in the fourth limiting feeding groove 52, the feeding robot 2 starts, moving the multi-segment feeding head 3 directly above the pre-feeding fixture 5, and aligning the multi-segment feeding head 3 with the second axis positioning hole 51 of the pre-feeding fixture 5. Subsequently, the feeding robot 2 pushes the multi-segment feeding head 3 downwards, gradually approaching the pre-feeding fixture 5.

[0079] During the descent, the multi-segment feeding head 3 is accurately inserted into the second axial positioning hole 51 of the pre-feeding tool 5. This ensures that there is no relative displacement between the multi-segment feeding head 3 and the pre-feeding tool 5 during the subsequent gripping of the welded part 7, providing a stable foundation for accurately gripping the welded part 7.

[0080] After the multi-segment feeding head 3 is connected to the pre-feeding tool 5, the multi-segment feeding head 3 aligns sequentially with each of the fourth limit feeding slots 52 according to a preset program. The multi-segment feeding head 3 then contacts the pre-placed welding parts 7. Since the welding parts 7 are precisely positioned within the fourth limit feeding slots 52, the multi-segment feeding head 3 can accurately grasp the welding parts 7, completing the rapid and efficient feeding process.

[0081] Specific working principle: The mounting platform 1 is fixedly set next to the welding robot, providing basic support for the entire auxiliary welding device. The adaptive material feeding seat 4 is firmly installed on the mounting platform 1, and its movable end has the function of fixing the steel component 6 to be welded. When the steel component 6 to be welded is placed on it, it can be fixed by clamping to ensure the stability of the position of the steel component 6 during the subsequent welding process.

[0082] The feeding robot 2 is positioned next to the adaptive feeding base 4, and its movable end is equipped with a multi-segment feeding head 3. The multi-segment feeding head 3 is designed to simultaneously grip multiple welded parts 7, reducing the number of gripping operations and improving work efficiency. The pre-feeding fixture 5 is also positioned next to the adaptive feeding base 4. Its function is to pre-place multiple welded parts 7 and position them in designated locations so that the multi-segment feeding head 3 can accurately grip them.

[0083] When it is necessary to weld complexly arranged weldable parts 7 onto the surface of steel component 6, firstly, the steel component 6 to be welded is placed on the adaptive feeding seat 4, which securely fixes the steel component 6 through the clamping function of its movable end. Next, the multiple weldable parts 7 to be welded are placed into the pre-feeding fixture 5, which places the multiple weldable parts 7 in the designated positions according to preset rules.

[0084] Subsequently, the feeding robot 2 starts, moving the multi-segment feeding head 3 to directly above the pre-feeding fixture 5. At this time, the multi-segment feeding head 3 and the pre-feeding fixture 5 are coaxially aligned. The feeding robot 2 pushes the multi-segment feeding head 3 down, and the multi-segment feeding head 3 contacts multiple welded parts 7 on the pre-feeding fixture 5 in sequence, completing the gripping action of multiple welded parts 7.

[0085] After the gripping is completed, the unloading robot 2 moves the multi-segment unloading head 3 to directly above the adaptive unloading seat 4, so that the multi-segment unloading head 3 and the adaptive unloading seat 4 are coaxially arranged. Then, the multi-segment unloading head 3 descends and docks with the adaptive unloading seat 4. During the docking process, the multi-segment unloading head 3 drives part of the gripped welded parts 7 to contact the steel components 6 on the adaptive unloading seat 4.

[0086] At this time, the material feeding robot 2 moves and drives the adaptive material feeding seat 4 to adjust to a suitable welding angle. The welding robot starts working and welds the initially connected welding parts 7 and steel components 6.

[0087] After the initial welding of the welded component 7 to the steel component 6 is completed, the unloading robot 2 continues to apply pressure to the multi-segment unloading head 3, causing the remaining welded component 7 to contact the steel component 6. Subsequently, the welding robot welds the secondary welded component 7 to the steel component 6.

[0088] After all welding is completed, the unloading robot 2 drives the multi-segment unloading head 3 to reset. This batch welding and unloading operation method avoids the process of repeatedly picking up materials, which can efficiently complete the welding operation of complex steel components 6, while effectively ensuring the welding positioning quality, reducing the additional positioning errors introduced by multiple interventions, and ensuring the cumulative accuracy and weld consistency of multi-part assembly welding.

[0089] The above embodiments only illustrate one or more implementations of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of protection of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A highly stable intelligent welding device for complex steel components, comprising a multi-angle auxiliary welding device installed beside a welding robot, characterized in that, The multi-angle assisted welding device includes an installation platform (1), a feeding robot (2), an adaptive feeding seat (4), and a pre-feeding tool (5); The mounting platform (1) is set up next to the welding robot; The adaptive feeding seat (4) is fixedly installed on the installation platform (1). The movable end of the adaptive feeding seat (4) is used to fix the steel component (6) to be welded. The feeding robot (2) is set on the side of the adaptive feeding seat (4). The moving end of the feeding robot (2) is equipped with a multi-segment feeding head (3). The multi-segment feeding head (3) is used to simultaneously grab multiple welding parts (7). The pre-feeding tool (5) is set on the side of the adaptive feeding seat (4) and is used to pre-place multiple welding parts (7).

2. The intelligent welding device for highly stable complex steel components according to claim 1, characterized in that, The multi-stage feeding head (3) includes an outer feeding rack (31), an inner feeding rack (32), a first push spring, a first sensor (33), and an adaptive limiting sleeve (34); The outer feeding rack (31) is fixedly installed on the movable end of the feeding robot (2). The inner side of the outer feeding rack (31) is provided with a mounting slide rail (311). The bottom of the outer feeding rack (31) is provided with multiple first limiting feeding slots (312). Each first limiting feeding slot (312) is provided with a first suction hole (313). The inner feeding rack (32) is slidably installed in the mounting slide rail (311). The bottom of the inner feeding rack (32) is provided with multiple second limiting feeding slots (322). The axial position of the inner feeding rack (32) is provided with an axial insertion block (321). Each second limiting feeding slot (322) is provided with a second suction hole (323). The first sensor (33) is provided in multiple forms and is evenly distributed inside the first limiting discharge groove (312) and the second limiting discharge groove (322); The first push spring is installed between the outer feed rack (31) and the inner feed rack (32).

3. The intelligent welding device for highly stable complex steel components according to claim 2, characterized in that, The multi-segment discharge head (3) also includes multiple adaptive limiting sleeves (34), which are evenly distributed inside the first limiting discharge groove (312) and the second limiting discharge groove (322). Multiple adaptive buffer pads (341) are provided on both sides of the adaptive limiting sleeves (34).

4. The intelligent welding device for highly stable complex steel components according to claim 1, characterized in that, The adaptive feeding seat (4) includes a multi-angle adjustment frame (41) and a feeding clamp (42); The multi-angle adjustment bracket (41) is fixedly installed on the installation platform (1), and the top of the multi-angle adjustment bracket (41) is provided with a movable adjustment end; The material feeding clamp (42) is fixedly installed on the movable adjustment end of the multi-angle adjustment frame (41). The material feeding clamp (42) is used to clamp and fix the steel component (6).

5. The intelligent welding device for highly stable complex steel components according to claim 4, characterized in that, The multi-angle adjustment frame (41) includes a multi-angle movable platform (411), a support platform (412), and an angle positioning device (414). The support platform (412) is fixedly installed on the installation platform (1), and a ball joint (413) is provided at the axial position of the support platform (412). The multi-angle movable platform (411) is set above the support platform (412), the multi-angle movable platform (411) and the support platform (412) are coaxially arranged, and the multi-angle movable platform (411) is hinged to the ball joint (413); An angle positioning device (414) is installed on the support platform (412) and is used to position the multi-angle movable platform (411).

6. The intelligent welding device for highly stable complex steel components according to claim 5, characterized in that, The angle positioning device (414) includes an annular positioning detection rail (415), a push positioning frame (416), and a first linear driver (417). The annular positioning detection rail (415) is fixedly installed at the bottom of the multi-angle movable table (411), and the annular positioning detection rail (415) is provided with a limiting hole (4151). The push positioning frame (416) is set at the bottom of the annular positioning detection rail (415). The push positioning frame (416) is slidably connected to the support platform (412). A telescopic positioning block (4161) is slidably installed on the push positioning frame (416). A second push spring (4162) is installed between the telescopic positioning block (4161) and the push positioning frame (416). A pressure sensor is also installed on the push positioning frame (416). The first linear actuator (417) is fixedly mounted on the support platform (412), and the output end of the first linear actuator (417) is connected to the push positioning frame (416).

7. The intelligent welding device for highly stable complex steel components according to claim 4, characterized in that, The top of the feeding fixture (42) is provided with a third limiting feeding groove (421), the inner wall of the third limiting feeding groove (421) is provided with multiple mounting grooves (423), the axial position of the feeding fixture (42) is provided with a first axial positioning hole (422), and the multiple mounting grooves (423) are provided with limiting clamping devices (424).

8. The intelligent welding device for highly stable complex steel components according to claim 7, characterized in that, The limiting clamping device (424) includes a movable clamping block (4241), a connecting rod (4242), a return spring (4243), a synchronous retraction block (4244), and a synchronous retraction device; Multiple movable clamping blocks (4241) are provided and distributed in the mounting groove (423), and the movable clamping blocks (4241) are slidably connected to the mounting groove (423); Multiple connecting rods (4242) are provided and distributed on the movable clamping block (4241). The connecting rods (4242) are fixedly connected to the movable clamping block (4241). Multiple synchronous shrink blocks (4244) are provided and distributed on the connecting rod (4242). The synchronous shrink blocks (4244) are fixedly connected to the connecting rod (4242). The synchronous shrink blocks (4244) are provided with guide bevels (4245). Multiple return springs (4243) are provided and are evenly distributed between the movable clamping block (4241) and the unloading clamp (42); The synchronous contraction device is used to drive the movement of multiple synchronous contraction blocks (4244).

9. The intelligent welding device for highly stable complex steel components according to claim 8, characterized in that, The synchronous shrinking device includes a mounting bracket (4246), a second linear actuator (4247), and a docking shrink sleeve (4248). The mounting bracket (4246) is fixedly installed on the bottom of the feeding clamp (42); The second linear actuator (4247) is fixedly mounted on the mounting bracket (4246); The docking shrink sleeve (4248) is fixedly installed at the output end of the second linear actuator (4247). The opening of the docking shrink sleeve (4248) abuts against the guide bevel (4245). The opening of the docking shrink sleeve (4248) is also provided with multiple abutting balls (4249).

10. The intelligent welding device for highly stable complex steel components according to claim 1, characterized in that, The pre-feeding tool (5) has a second axial positioning hole (51) at its axial position, and the top of the pre-feeding tool (5) is also provided with multiple fourth limiting feeding grooves (52), and each fourth limiting feeding groove (52) is provided with a second sensor (53).

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