An angle steel tower base welding device and method thereof

Abstract

This invention belongs to the field of welding technology for angle steel tower components, and discloses a welding device and method for angle steel tower bases. The device includes a frame and a six-axis welding robotic arm mounted on the frame. A cam divider is mounted on the frame, and a turntable is fixedly mounted on the power output end of the cam divider. The turntable is equipped with several centering components for positioning the circular base to be welded. A positioning detection mechanism is mounted on the top of the frame. A hydraulic lift is also fixedly mounted on the frame, and a platform is mounted on the drive end of the hydraulic lift. A multi-station linkage-type lowering component is mounted on the platform. The multi-station linkage-type lowering component is used to clamp multiple stiffening ribs to be welded and to drive the stiffening ribs to move downward. In this invention, the multi-station linkage-type lowering component can load all the circumferentially equidistant stiffening ribs at one time and move them downward twice, achieving precise positioning of the stiffening ribs and completing the welding process using automated welding operations.

Description

Technical Field

[0001] This invention belongs to the field of welding technology for angle steel tower components, specifically, it relates to a welding device and method for angle steel tower base. Background Technology

[0002] The circular base of the angle steel tower, also known as the tower foot, serves as the core load-bearing hub connecting the upper tower body with the lower concrete foundation. Its structure mainly consists of a thick circular base plate, stiffening ribs evenly distributed radially on the base plate, and welds converging at the main body of the tower leg. It evenly transfers the various loads, such as vertical pressure, horizontal wind load, and conductor tension, borne by the upper tower body to the concrete foundation below, ensuring the overall stability of the tower. When welding this type of circular base, each stiffening rib needs to be vertically pressed against the base plate using positioning clamps and pre-arranged according to equal angles. Small current symmetrical spot welding is used for positioning and fixing, thereby locking the overall geometric dimensions and preventing displacement or deformation during subsequent welding. During the actual welding, in order to effectively suppress angular deformation and warping caused by welding stress, workers strictly implement the symmetrical segmented skip welding method, that is, multiple welders simultaneously start arc welding at symmetrical positions and alternately weld segments along the same rotation direction.

[0003] Chinese invention patent application number CN202511439291.9 discloses a welding device and method for angle steel tower base, including a base clamping assembly, which includes a clamping base, a clamping component disposed on the clamping base, and a centering component disposed on the clamping component; a welding assembly, which includes a welding component disposed on the clamping base, a wiring component disposed on the welding component, and a support component disposed on the welding component; and a pre-connecting component is provided on the clamping base.

[0004] It can be seen that the above technical solution achieves 90° precise centering and automated welding of the four steel plates of the angle steel tower base by adjusting the adaptive clamping force of the clamping component through the synchronous retraction of the centering component and the track-based movement of the welding component. Through design optimization, it can improve the contact strength between the stiffening rib and the main material of the tower leg to a certain extent. However, the splicing and support operation between the stiffening rib and the circular base plate, as well as the welding of the fillet weld connecting the two, still need to be completed manually by the staff one by one. The effective penetration depth, weld leg size and forming fullness of each fillet weld are difficult to unify due to the welder's physical exertion, attention fluctuations and differences in operating habits. In particular, when multiple stiffening ribs are distributed circumferentially, the cumulative error causes some stiffening ribs to deviate from the preset equal division angle or cause the verticality to tilt, which increases the difficulty of subsequent assembly of the base. Summary of the Invention

[0005] The purpose of this invention is to provide a welding device and method for angle steel tower bases. A circular base is hoisted onto the turntable of a cam divider, where it is positioned by equidistant centering components distributed around the circumference of the turntable. Each stiffening rib is clamped onto a multi-station linkage-type lowering component in the correct posture. Subsequently, a hydraulic lift drives the platform, the multi-station linkage-type lowering component, and the stiffening ribs to initially move downwards. After the initial downward movement, the multi-station linkage-type lowering component drives each stiffening rib to move downwards a second time, ensuring its bottom edge fully contacts the circular base. At this point, workers perform spot welding to fix the contact points. After spot welding, a six-axis welding robot arm works in conjunction with the cam divider to continuously weld each weld seam of the workpiece, thus solving the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A welding device for angle steel tower bases includes a frame and a six-axis welding robot mounted on the frame. A cam divider is mounted on the frame, and a turntable is fixedly mounted on the power output end of the cam divider. The turntable is equipped with several centering components for positioning the circular bases to be welded. A positioning detection mechanism is mounted on the top of the frame. A hydraulic lift is fixedly mounted on the side of the frame away from the cam divider and the six-axis welding robot. A platform is mounted on the drive end of the hydraulic lift. A multi-station linkage-type lowering assembly is mounted on the platform. The multi-station linkage-type lowering assembly is used to clamp multiple stiffening ribs to be welded and to drive the stiffening ribs to move downward. A control box is fixedly installed on one side of the outer wall of the carrier. The control box is electrically connected to the six-axis welding robotic arm, the cam divider, the positioning detection mechanism, the hydraulic lift, and the multi-station linkage-type lowering assembly.

[0007] The following are further optimizations of the above technical solution by the present invention: The multi-station linkage-type feeding assembly includes a shelf-type partition that is concentric with the turntable and rotatably mounted on the platform. Multiple rocker arm-type feeding structures are equidistantly distributed around the lower end of the shelf-type partition. A clamping mechanism is installed on the drive end of each rocker arm-type feeding structure. A servo drive motor is installed inside the shelf-type partition. A multi-link push-pull structure for synchronizing the operation of each rocker arm-type feeding structure is installed on the power output shaft of the servo drive motor.

[0008] Further optimization: A shaft cylinder seat that is concentric with the shelf-type partition is fixedly installed at the top of the platform. A T-shaped shaft is rotatably installed inside the shaft cylinder seat. The lower end of the T-shaped shaft is fixedly connected to the upper end of the shelf-type partition.

[0009] Further optimization: The rocker arm type lowering structure includes a beam frame fixedly installed on the lower outer wall of the shelf-type partition. An upper swing arm is installed on the upper end of the beam frame via a hinge shaft. A front pull arm and a U-shaped rear rocker arm are respectively hinged to both ends of the upper swing arm. A slide table is vertically slidably installed on the outer wall of the beam frame away from the central axis of the cam divider via a guide rail. The upper end of the slide table and the lower end of the front pull arm are hinged. The clamping mechanism is fixedly installed on the slide table. The multi-link push-pull structure synchronously pulls the rocker arm type lowering structure to swing under the drive of the servo drive motor, causing the stiffening ribs in each clamping mechanism to move down or up relative to the platform.

[0010] Further optimization: The multi-link push-pull structure includes a cross plate installed at the lower end of the power output shaft of the servo drive motor. Multiple fisheye connecting rods are hinged at the top corner of the cross plate. A U-shaped seat is hinged to one end of the fisheye connecting rod near the U-shaped rear rocker arm. The lower end of the U-shaped rear rocker arm is hinged to the U-shaped seat.

[0011] Further optimization: The clamping mechanism includes a parallel gripper installed on the outer wall of the slide table. Each of the two drive ends of the parallel gripper is equipped with a clamping arm, and the lower ends of the two clamping arms are integrally formed with a clamping plate.

[0012] Further optimization: Stepped sections are provided on the outer side walls of the two clamping plates that are close to each other.

[0013] Further optimization: The centering component includes a support platform fixedly installed at the edge of the bottom surface of the turntable. An automatic telescopic rod is fixedly installed on the top of the support platform. A centering seat is installed on the drive end of the automatic telescopic rod. A groove is provided on the side of the centering seat away from the automatic telescopic rod.

[0014] Further optimization: An internal threaded guide seat is fixedly installed on the drive end of the automatic telescopic rod. The internal threaded guide seat is equipped with two threaded shafts. One end of each threaded shaft passes through the internal threaded guide seat and is rotatably connected to one side of the outer wall of the centering seat.

[0015] The present invention also provides a welding method for an angle steel tower base, using the above-mentioned welding device for an angle steel tower base, comprising the following steps: S1: First, the circular base to be welded is smoothly lifted onto the turntable of the cam divider. As the circular base gradually descends, the centering components arranged equidistantly on the circumference of the turntable move synchronously to center and clamp the circular base onto the turntable. S2: After the circular base is positioned, place each stiffening rib into the corresponding clamping position of the multi-station linkage-type lowering assembly in the correct posture. After the stiffening ribs are loaded, operate the hydraulic lift to drive the platform to move the multi-station linkage-type lowering assembly and the stiffening ribs down smoothly together until the bottom edge of each stiffening rib is about 10 to 20 millimeters away from the upper surface of the circular base. After the stiffening ribs are roughly lowered into place, the staff will open the multi-station linkage-type lowering assembly again. At this time, the multi-station linkage-type lowering assembly will move each stiffening rib down relative to the platform for a second time to ensure that each stiffening rib contacts the upper surface of the circular base with a consistent vertical posture and equal pressure. Then, the staff will spot weld the connection between the stiffening ribs and the circular base. S3: After spot welding is completed, the welding operation is performed. The cam divider rotates intermittently at a preset angle to transfer the spot-welded workpiece from the spot welding station to the welding station. After the arrival detection mechanism confirms that the workpiece is in place, the six-axis welding robot arm performs automated welding operation according to the set welding process, and completes the welding operation of all welds in sequence. S4: After all welds are completed, operate the hydraulic lift to raise the platform, release the centering components, remove the welded tower leg circular base and hoist it to the next process.

[0016] The present invention, by adopting the above technical solution, has at least the following beneficial effects: 1. In this invention, multiple centering components are equidistantly distributed around the circumference of the turntable surface of the cam divider. These components work synchronously to achieve high-precision positioning of the circular base before it enters the work station, eliminating random deviations caused by manual hoisting and visual alignment. This lays the foundation for the accurate placement of the stiffening ribs. Furthermore, the initial coarse downward movement of the hydraulic lift allows each stiffening rib to quickly approach the base plate, while the secondary fine downward movement of the multi-station linkage-type lowering component utilizes the mechanical rigidity of the linkage mechanism to ensure that each stiffening rib can overcome the flatness tolerance and local warping of the steel plate, maintaining a consistent vertical posture and uniformity. The pressure ensures that the bottom edge fully contacts the base plate, effectively reducing the uneven gap between the stiffening ribs and the base plate caused by manual placement. This ensures that the root gap of each contact part is highly consistent, reducing the risk of root incomplete fusion or concavity. Subsequently, the axial welding robot arm works in conjunction with the cam divider to complete the automated welding operation of each weld seam one by one. The robot arm can ensure that the walking speed, swing amplitude, arc dwell time and interlayer interval of each weld seam are completely consistent, unaffected by fluctuations in physical strength and attention, so that the effective penetration depth, weld leg size and formation fullness of each fillet weld seam are highly uniform.

[0017] 2. In this invention, the multi-station linkage-type lowering assembly can load all the stiffening ribs that are equidistantly distributed around the circumference at one time. The coarse and fine lowering is completed by a hydraulic lift. This simplifies the tedious process of workers placing, hammering, and measuring verticality and gaps one by one into a continuous mechanical action, greatly shortening the auxiliary preparation time. Manual spot welding is only for quick fixation and takes very little time. After spot welding is completed, the cam divider immediately transfers the workpiece to the welding station of the six-axis welding robot arm, compressing the original serial waiting time and improving welding efficiency. Attached Figure Description

[0018] Figure 1 The three-dimensional representation of the overall structure in the embodiments of the present invention Figure 1 ; Figure 2 The three-dimensional representation of the overall structure in the embodiments of the present invention Figure 2 ; Figure 3 This is a front sectional view of the overall structure in an embodiment of the present invention; Figure 4 This is a three-dimensional sectional view of the overall structure in an embodiment of the present invention; Figure 5 This is a schematic diagram of the installation structure of the multi-station linkage type feeding assembly in an embodiment of the present invention; Figure 6 This is a perspective sectional view of the multi-station linkage type feeding assembly in an embodiment of the present invention; Figure 7 This is a three-dimensional structural diagram of the multi-station linkage-type feeding assembly in an embodiment of the present invention; Figure 8 This is a perspective view of the clamping mechanism in an embodiment of the present invention; Figure 9 The three-dimensional representation of the overall structure in the embodiments of the present invention Figure 3 ; Figure 10 This is a schematic diagram of the centering component in an embodiment of the present invention; Figure 11 for Figure 9 A magnified view of a portion of point A in the middle.

[0019] In the diagram: 1-Carrier; 2-Six-axis welding robotic arm; 3-Cam divider; 31-Turntable; 4-Centering assembly; 41-Platform; 42-Automatic telescopic rod; 43-Internal threaded guide seat; 44-Centering seat; 45-Groove; 46-Threaded shaft; 5-Hydraulic lift; 6-Carrier platform; 7-Multi-station linkage-type lowering assembly; 71-Shaft cylinder seat; 72-T-shaft; 73-Shelf-type partition; 74-Servo drive motor; 75-Multi-link push-pull structure; 751-Cross plate; 752-Fisheye connecting rod; 76-Rocker arm type lowering structure; 761-Beam frame; 762-Slide table; 763-Front pull arm; 764-U-shaped swing arm; 765-U-shaped rear swing arm; 766-U-shaped seat; 77-Clamping mechanism; 771-Parallel gripper; 772-Clamping arm; 773-Clamping plate; 774-Step section; 8-Arm position detection mechanism; 9-Control box. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0021] Depend on Figures 1 to 4 As shown, a welding device for angle steel tower base includes a carrier frame 1 and a six-axis welding robotic arm 2 mounted on the carrier frame 1. A cam divider 3 is mounted on the carrier frame 1, and a turntable 31 is fixedly mounted on the power output end of the cam divider 3. Several centering components 4 for positioning the circular base to be welded are provided on the turntable 31. A positioning detection mechanism 8 is mounted on the top of the carrier frame 1. A hydraulic lift 5 is fixedly mounted on the side of the carrier frame 1 away from the cam divider 3 and away from the six-axis welding robotic arm 2. A platform 6 is mounted on the drive end of the hydraulic lift 5. A multi-station linkage type lowering component 7 is mounted on the platform 6. The multi-station linkage type lowering component 7 is used to clamp multiple stiffening ribs to be welded and to drive the stiffening ribs to move downward.

[0022] In this embodiment, a control box 9 is fixedly installed on one outer wall of the carrier 1. The control box 9 is electrically connected to the six-axis welding robot arm 2, the cam divider 3, the positioning detection mechanism 8, the hydraulic lift 5, and the multi-station linkage-type lowering assembly 7. The control box 9 outputs control signals to control the six-axis welding robot arm 2, the cam divider 3, the hydraulic lift 5, and the multi-station linkage-type lowering assembly 7 to work. The signal detected by the positioning detection mechanism 8 is sent to the control box 9, and the control box 9 determines whether the workpiece has rotated into position.

[0023] In this embodiment, the cam divider 3 is existing technology and can be purchased directly from the market. The power input end of the cam divider 3 is connected to a servo motor, and a turntable 31 is fixedly installed on the power output end of the cam divider 3. At this time, the servo motor is started to drive the cam divider 3 to drive the turntable 31 to rotate intermittently at a set angle. After the cam divider 3 stops working, it locks the turntable 31. At this time, the turntable 31 remains stable and stationary. The precise intermittent indexing movement of the turntable 31 ensures that the angle of each rotation is fixed and the repeatability is high.

[0024] In this embodiment, the positioning detection mechanism 8 is existing technology. Its specific structure consists of a photoelectric sensor and several sensing blocks. Each sensing block is arranged equidistantly on the lower surface of the turntable 31. When the object being detected moves into the effective sensing range, the state of the internal oscillation circuit of the photoelectric sensor changes, and outputs a switching signal to the input module of the control box 9. The control box 9 then determines whether the workpiece has rotated into position.

[0025] In this embodiment, the control box 9 is the prior art. The function of the control box 9 is to receive detection signals and send control signals to control the corresponding load components to work. Its specific structure includes a box, in which a programmable logic controller, servo driver, relay module, switching power supply, touch screen and communication module are installed. The servo driver and remote IO module are connected to form a network through a bus.

[0026] In this embodiment, the six-axis welding robotic arm 2 is also existing technology. Its specific structure consists of six rotating joints connected in series: base, waist, upper arm, forearm, wrist, and end flange. Each joint integrates a servo motor, harmonic reducer, and absolute encoder. The welding torch and wire feeding mechanism are installed on the end flange. The control box 9 sends pulse commands to the servo drivers of each joint according to the path planning program generated by pre-programmed offline. The six servo motors rotate in coordination to make the welding torch move along the preset trajectory. At the same time, the encoder provides real-time feedback on the actual rotation angle to form a closed-loop control, ensuring that the walking speed, swing amplitude, arc dwell time, and interlayer interval are strictly consistent.

[0027] Depend on Figure 5 , Figure 6 , Figure 7 and Figure 8 As shown, the multi-station linkage-type feed assembly 7 includes a shelf-type partition 73 that is concentric with the turntable 31 and rotatably mounted on the platform 6. Multiple rocker arm-type feed structures 76 are equidistantly distributed around the lower end of the shelf-type partition 73. A clamping mechanism 77 is mounted on the drive end of the rocker arm-type feed structure 76. A servo drive motor 74 is installed inside the shelf-type partition 73. A multi-link push-pull structure 75 for synchronizing the operation of each rocker arm-type feed structure 76 is mounted on the power output shaft of the servo drive motor 74.

[0028] With this design, when the multi-station linkage-type lowering assembly 7 is working, the servo drive motor 74 drives the various rocker arm-type lowering structures 76 on the outside of the shelf-type partition 73 to move synchronously through the multi-link push-pull structure 75. The rocker arm-type lowering structure 76 drives the clamping mechanism 77 with stiffening ribs to move down until the bottom edge of the stiffening ribs contacts the upper plate surface of the circular base. By utilizing the linkage principle, all the circumferentially distributed stiffening ribs are kept completely synchronized during the second downward movement. Each stiffening rib contacts the base plate at the same vertical speed and the same clamping force, effectively eliminating the problems of indexing error and uneven contact gap caused by pressing down one by one.

[0029] The top of the platform 6 is fixedly installed with a shaft cylinder seat 71 that is concentric with the shelf-type partition 73. A T-shaped shaft 72 is rotatably installed inside the shaft cylinder seat 71. The lower end of the T-shaped shaft 72 is fixedly connected to the upper end of the shelf-type partition 73.

[0030] This design allows the shelf-type partition 73 to be rotatably mounted on the platform 6 through the cooperation of the T-shaped shaft 72 and the shaft cylinder seat 71, which facilitates assembly and installation.

[0031] Furthermore, after spot welding and fixing the connection between the stiffening rib and the circular base, the clamping mechanism 77 is still clamped and connected to the stiffening rib. At this time, the cam divider 3 can drive the circular base, the stiffening rib, and the shelf-type partition 73 to rotate around the axis of the T-shaped shaft 72.

[0032] The rocker arm type lowering structure 76 includes a beam frame 761 fixedly installed on the lower outer wall of the shelf type partition 73. The upper end of the beam frame 761 is equipped with an upper swing arm 764 through a hinge shaft. The two ends of the upper swing arm 764 are respectively hinged to a front pull arm 763 and a U-shaped rear rocker arm 765.

[0033] A slide table 762 is vertically slidably mounted on the outer wall of the beam frame 761 away from the central axis of the cam divider 3 via a guide rail. The upper end of the slide table 762 is hinged to the lower end of the front pull arm 763, and the clamping mechanism 77 is fixedly mounted on the slide table 762.

[0034] With this design, the multi-link push-pull structure 75, driven by the servo drive motor 74, synchronously pulls the rocker arm type lowering structure 76 to swing, causing the stiffening ribs in each clamping mechanism 77 to move down or up relative to the platform 6.

[0035] The multi-link push-pull structure 75 includes a cross plate 751 mounted on the lower end of the power output shaft of the servo drive motor 74. Multiple fisheye connecting rods 752 are hinged at the top corner of the cross plate 751. A U-shaped seat 766 is hinged to one end of the fisheye connecting rod 752 near the U-shaped rear rocker arm 765. The lower end of the U-shaped rear rocker arm 765 is hinged to the U-shaped seat 766.

[0036] With this design, the output shaft of the servo drive motor 74 drives the cross disk 751 to rotate, thereby enabling the rocker arm type feeding structure 76 to obtain horizontal push and pull force through the cross disk 751.

[0037] When the cross plate 751 rotates and pushes the U-shaped seat 766 through the fisheye connecting rod 752, the U-shaped seat 766 uses the U-shaped rear rocker arm 765 to make the upper swing arm 764 swing down with the hinge pin at the upper end of the beam frame 761 as the center. That is, the upper swing arm 764 forces the slide table 762 to move vertically downward through the front pull arm 763 until the bottom edge of the stiffening ribs clamped by each clamping mechanism 77 simultaneously contacts the upper surface of the circular base.

[0038] The clamping mechanism 77 includes a parallel gripper 771 mounted on the outer wall of the slide table 762. Each of the two drive ends of the parallel gripper 771 is equipped with a clamping arm 772, and the lower ends of the two clamping arms 772 are integrally formed with a clamping plate 773.

[0039] In this embodiment, stepped portions 774 are provided on the outer side walls of the two clamping plates 773 that are close to each other.

[0040] With this design, when clamping the stiffening rib, the stiffening rib is first placed at the stepped portion 774 between the two clamping plates 773, and the parallel gripper 771 drives the clamping arms 772 on the two drive ends to close, thereby clamping and fixing the stiffening rib, which is convenient to use.

[0041] Depend on Figure 9 , Figure 10 and Figure 11 As shown, the centering component 4 includes a support platform 41 fixedly installed at the bottom edge of the turntable 31. An automatic telescopic rod 42 is fixedly installed on the top of the support platform 41. A centering seat 44 is installed on the drive end of the automatic telescopic rod 42. A groove 45 is provided on the side of the centering seat 44 away from the automatic telescopic rod 42.

[0042] The control end of the automatic telescopic rod 42 is electrically connected to the control box 9. The operator starts the automatic telescopic rod 42 through the control box 9. The automatic telescopic rod 42 drives the centering seat 44 to move towards the center of the circular base until the centering seat 44 contacts the outer surface of the circular base through the groove 45. At this time, each centering seat 44 contacts the outer surface of the circular base at the same time and pushes it to the center position. After the clamping force reaches the set value, it is kept in a pressed state.

[0043] An internal threaded guide seat 43 is fixedly installed on the drive end of the automatic telescopic rod 42. The internal threaded guide seat 43 is fitted with two threaded shafts 46. One end of each threaded shaft 46 passes through the internal threaded guide seat 43 and is rotatably connected to one side of the outer wall of the centering seat 44.

[0044] With this design, due to the different specifications of the circular base, the extension stroke of the support 41 may be insufficient. In this case, the operator can manually rotate the threaded shaft 46 to adjust the position of the threaded shaft 46 in the internal threaded guide seat 43, so that the centering seat 44 is closer to or further away from the internal threaded guide seat 43, thereby adjusting the initial position of the centering seat 44 for convenient use.

[0045] In this embodiment, the automatic telescopic rod 42 is one of an electric telescopic rod, a hydraulic cylinder, or a telescopic cylinder.

[0046] In this embodiment, the hydraulic lift 5 is the prior art. Its specific structure includes a gantry frame fixedly installed on the carrier 1. A lifting block is vertically slidably installed in the middle of the gantry frame through a sliding guide assembly. The platform 6 is fixedly installed on the lifting block. A drive cylinder for driving the lifting block to move the platform 6 up and down is fixedly installed on the top of the gantry frame.

[0047] The present invention also provides a welding method for an angle steel tower base, using the above-mentioned welding device for an angle steel tower base, comprising the following steps: S1: First, the operator uses a crane or other lifting equipment to smoothly lift the circular base to be welded to the center area of ​​the turntable 31 of the cam divider 3. As the circular base gradually descends, the centering components 4 arranged equidistantly on the circumference of the turntable 31 move synchronously to center and clamp the circular base on the turntable 31.

[0048] In step S1, the working principle of the centering component 4 is as follows: the automatic telescopic rod 42 in the centering component 4 starts to drive the centering seat 44 to move towards the center of the circular base until the centering seat 44 contacts the outer surface of the circular base through the groove 45. At this time, each centering seat 44 contacts the outer surface of the circular base at the same time and pushes it to the center position. After the clamping force reaches the set value, it is kept in a pressed state, thereby realizing the centering and clamping of the circular base on the turntable 31.

[0049] S2: After the circular base is positioned, each stiffening rib is placed in the corresponding clamping position of the multi-station linkage-type lowering assembly 7 in the correct posture. After the stiffening ribs are loaded, the operator operates the hydraulic lift 5 to drive the platform 6 to descend on the control box 9 panel. At this time, the platform 6 drives the multi-station linkage-type lowering assembly 7 and the stiffening ribs to descend smoothly together until the bottom edge of each stiffening rib is about 10 to 20 millimeters away from the upper surface of the circular base. After the rough descent, the operator starts the multi-station linkage-type lowering assembly 7 again. At this time, the multi-station linkage-type lowering assembly 7 drives each stiffening rib to move down a second time relative to the platform 6. At this time, the mechanical rigidity of the linkage mechanism ensures that each stiffening rib has a consistent vertical posture and equal pressure so that the bottom edge is in full contact with the upper surface of the circular base. Then, the operator uses a welding torch to spot weld the connection between each stiffening rib and the circular base.

[0050] In step S2, the working principle of the multi-station linkage type lowering assembly 7 is as follows: the servo drive motor 74 starts with the set rotation speed, start and stop time, rotation angle and rotation torque, and outputs rotation power to drive the cross disk 751 to rotate. The rotation of the cross disk 751 pushes the U-shaped seat 766 to move through the fisheye connecting rod 752. The U-shaped seat 766 uses the U-shaped rear rocker arm 765 to make the upper swing arm 764 swing down with the hinge axis at the upper end of the beam frame 761 as the center. At this time, the upper swing arm 764 forces the slide table 762 to move vertically downward through the front pull arm 763 until the bottom edge of the stiffening ribs clamped by each clamping mechanism 77 simultaneously contacts the upper surface of the circular base.

[0051] S3: After spot welding is completed, the welding program is confirmed to be called correctly on the control box 9. The cam divider 3 rotates intermittently according to the preset angle to transfer the spot welded workpiece from the spot welding station to the welding station. After the arrival detection mechanism 8 confirms that the workpiece is in place, the six-axis welding robot arm 2 performs automated welding operation according to the welding process preset in the control box 9, and completes the welding operation of all welds in sequence.

[0052] S4: After all fillet welds are completed, operate the hydraulic lift 5 to raise the platform 6, release the centering component 4, remove the welded tower leg circular base and hoist it to the next process.

[0053] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A welding device for an angle steel tower base, comprising a carrier (1) and a six-axis welding robotic arm (2) mounted on the carrier (1), characterized in that: A cam divider (3) is installed on the carrier (1). A turntable (31) is fixedly installed on the power output end of the cam divider (3). Several centering components (4) for positioning the circular base to be welded are set on the turntable (31). A positioning detection mechanism (8) is installed at the top of the carrier (1). A hydraulic lift (5) is fixedly installed on the side of the carrier (1) away from the six-axis welding robot arm (2). A platform (6) is installed on the drive end of the hydraulic lift (5). A multi-station linkage type lowering component (7) is installed on the platform (6). The multi-station linkage type lowering component (7) is used to clamp multiple stiffening ribs to be welded and to drive the stiffening ribs to move downward. A control box (9) is fixedly installed on one side of the outer wall of the carrier (1). The control box (9) is electrically connected to the six-axis welding robot arm (2), the cam divider (3), the positioning detection mechanism (8), the hydraulic lift (5), and the multi-station linkage type lowering assembly (7).

2. The welding device for an angle steel tower base according to claim 1, characterized in that: The multi-station linkage feeding assembly (7) includes a shelf-type partition (73) that is concentric with the turntable (31) and rotatably mounted on the platform (6). Multiple rocker arm feeding structures (76) are equidistantly distributed around the lower end of the shelf-type partition (73). A clamping mechanism (77) is installed on the drive end of the rocker arm feeding structure (76). A servo drive motor (74) is installed inside the shelf-type partition (73). A multi-link push-pull structure (75) for synchronizing the operation of each rocker arm feeding structure (76) is installed on the power output shaft of the servo drive motor (74).

3. The welding device for an angle steel tower base according to claim 2, characterized in that: The top of the platform (6) is fixedly installed with a shaft cylinder seat (71) that is concentric with the shelf-type partition (73). A T-shaped shaft (72) is rotatably installed inside the shaft cylinder seat (71). The lower end of the T-shaped shaft (72) is fixedly connected to the upper end of the shelf-type partition (73).

4. The welding device for an angle steel tower base according to claim 3, characterized in that: The rocker arm type lowering structure (76) includes a beam frame (761) fixedly installed on the outer wall of the lower end of the shelf type partition (73). The upper end of the beam frame (761) is equipped with an upper swing arm (764) through a hinge shaft. The two ends of the upper swing arm (764) are respectively hinged to a front pull arm (763) and a U-shaped rear rocker arm (765). A slide table (762) is vertically slidably installed on the outer wall of the beam frame (761) away from the central axis of the cam divider (3) through a guide rail. The upper end of the slide table (762) and the lower end of the front pull arm (763) are hinged. The clamping mechanism (77) is fixedly installed on the slide table (762). The multi-link push-pull structure (75) synchronously pulls the rocker arm type lowering structure (76) to swing under the drive of the servo drive motor (74), causing the stiffening ribs in each clamping mechanism (77) to move down or up relative to the platform (6).

5. The welding device for an angle steel tower base according to claim 4, characterized in that: The multi-link push-pull structure (75) includes a cross plate (751) installed at the lower end of the power output shaft of the servo drive motor (74). Multiple fisheye connecting rods (752) are hinged at the top corner of the cross plate (751). A U-shaped seat (766) is hinged to one end of the fisheye connecting rod (752) near the U-shaped rear rocker arm (765). The lower end of the U-shaped rear rocker arm (765) is hinged to the U-shaped seat (766).

6. The welding device for an angle steel tower base according to claim 5, characterized in that: The clamping mechanism (77) includes a parallel gripper (771) installed on the outer wall of the slide (762). Each of the two drive ends of the parallel gripper (771) is equipped with a clamping arm (772), and the lower ends of the two clamping arms (772) are integrally formed with a clamping plate (773).

7. The welding device for an angle steel tower base according to claim 6, characterized in that: Both of the two clamps (773) have stepped sections (774) on their outer side walls that are close to each other.

8. The welding device for an angle steel tower base according to claim 7, characterized in that: The centering component (4) includes a support platform (41) fixedly installed at the bottom edge of the turntable (31). An automatic telescopic rod (42) is fixedly installed on the top of the support platform (41). A centering seat (44) is installed on the drive end of the automatic telescopic rod (42). A groove (45) is provided on the side of the centering seat (44) away from the automatic telescopic rod (42).

9. The welding device for an angle steel tower base according to claim 8, characterized in that: An internal threaded guide seat (43) is fixedly installed on the drive end of the automatic telescopic rod (42). The internal threaded guide seat (43) is fitted with two threaded shafts (46). One end of each threaded shaft (46) passes through the internal threaded guide seat (43) and is rotatably connected to one side of the outer wall of the centering seat (44).

10. A method for welding an angle steel tower base, using the angle steel tower base welding apparatus as described in any one of claims 1-9, characterized in that: Includes the following steps: S1: First, the circular base to be welded is smoothly hoisted onto the turntable (31) of the cam divider (3). As the circular base gradually descends, the centering components (4) arranged equidistantly on the circumference of the turntable (31) move synchronously to center and clamp the circular base onto the turntable (31). S2: After the circular base is positioned, each stiffening rib is placed in the corresponding clamping position of the multi-station linkage-type lowering assembly (7) in the correct posture. After the stiffening ribs are loaded, the hydraulic lift (5) is operated to drive the platform (6) to drive the multi-station linkage-type lowering assembly (7) and the stiffening ribs to descend smoothly together until the bottom edge of each stiffening rib is about 10 to 20 millimeters away from the upper surface of the circular base. After the rough lowering is in place, the staff opens the multi-station linkage-type lowering assembly (7) again. At this time, the multi-station linkage-type lowering assembly (7) drives each stiffening rib to move down a second time relative to the platform (6) to ensure that each stiffening rib contacts the upper surface of the circular base with a consistent vertical posture and equal pressure. Then the staff performs spot welding on the connection between the stiffening ribs and the circular base. S3: After spot welding is completed, the welding operation is performed. The cam divider (3) rotates intermittently according to the preset angle to transfer the spot welded workpiece from the spot welding station to the welding station. After the arrival detection mechanism (8) confirms that the workpiece is in place, the six-axis welding robot (2) performs automated welding operation according to the set welding process and completes the welding operation of all welds in sequence. S4: After all welds are completed, operate the hydraulic lift (5) to raise the platform (6), release the centering component (4), remove the welded tower foot circular base and hoist it to the next process.

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