Bridge steel bar welding automation equipment

Abstract

The utility model discloses bridge steel bar welding automation equipment which comprises a hoop bending machine, a first robot, a second robot, a conveying belt, a welding workbench and a control device, and the control device is connected with the hoop bending machine, the first robot, the second robot and the welding workbench in an electric control mode. The first robot comprises a first robot assembly and a first working assembly, the second robot comprises a second robot assembly and a second working assembly, the first robot assembly and the second robot assembly are the same in structure and each comprise a robot base and a robot body, and the robot bodies are installed on the robot bases; the first working assembly and the second working assembly are detachably installed on the robot body. The first robot clamps the steel bar welding part based on the current coordinates and the coordinates of the hoop bending machine and places the steel bar welding part by combining the coordinates of the welding fixture, and the second robot performs welding based on the current coordinates and the coordinates of the welding point, so that the clamping efficiency and the welding quality of the equipment are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of steel bar welding, in particular to an automatic equipment for welding steel bars of bridges. Background Art

[0002] Traditional welding technology is manual welding. Since manual welding requires manual operation by the staff, the staff needs to manually fix the steel bars to be welded, and then manually weld the steel bars to be welded, resulting in poor stability during welding, uneven quality of welded products, and low manual welding efficiency and high production costs, because at least two staff are required to weld a product, and the harmful gases and welding lasers released during the welding process have certain harm to the workers' bodies. Therefore, it is necessary to design a device with low staff participation for steel bar welding, improve welding efficiency, reduce production costs, and improve the production environment of the staff. Utility Model Content

[0003] The purpose of the utility model is to overcome the deficiencies in the above-mentioned prior art and to provide an automated bridge steel bar welding equipment, which clamps and welds steel bar welded parts through a first robot and a second robot. The first robot clamps the steel bar welded parts based on the current position coordinates and the position coordinates of the hoop bending machine, and places the steel bar welded parts into the welding fixture in combination with the position coordinates of the welding fixture. The second robot welds based on the current position coordinates and the position coordinates of the welding point, thereby improving the clamping efficiency and welding quality of the equipment.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the utility model is: a bridge steel bar welding automation equipment, including a hoop bending machine, a first robot, a second robot, a conveyor belt, a welding workbench and a control device, the hoop bending machine is independently arranged at one place, the first robot and the second robot are respectively arranged on the left and right sides of the welding workbench, the welding workbench is a hollow structure, the conveyor belt is arranged in the hollow cavity of the welding workbench to facilitate the transportation of steel bar welded parts, the control device is electrically connected to the hoop bending machine, the first robot, the second robot and the welding workbench respectively, the first robot includes a first robot component and a first working component, the second robot includes a second robot component and a second working component, the first robot component and the second robot component have the same structure and both include a robot base and a robot body, the robot body is installed on the robot base, and the first working component and the second working component can be detachably installed on the robot body.

[0005] Preferably, the robot body includes a rotating base, a first connecting arm and a second connecting arm, the rotating base is installed on the robot base, one end of the first connecting arm is rotatably connected to the rotating base, and the end of the first connecting arm away from the rotating base is rotatably connected to the second connecting arm.

[0006] Preferably, the first working component and the second working component are both clamping components or welding components.

[0007] Preferably, the clamping assembly includes a mounting seat, a first clamping member and a second clamping member, the mounting seat is connected to the second connecting arm, the first clamping member and the second clamping member are both arranged on the side of the mounting seat away from the second connecting arm, and the first clamping member and the second clamping member are spaced apart along the length direction of the mounting seat.

[0008] Preferably, the second clamping member has the same structure as the first clamping member, the first clamping member includes a connecting portion and a clamping portion, the end of the connecting portion is connected to the mounting seat, a slide is provided on the side of the connecting portion away from the mounting seat, the clamping portion is provided in the slide, the clamping portion includes a first clamping portion and a second clamping portion, the first clamping portion and the second clamping portion are arranged facing each other along the length direction, and a rubber pad is provided on the side where the first clamping portion and the second clamping portion are close to each other.

[0009] Preferably, the welding workbench includes a table top, a welding fixture, a pneumatic device and a support rod. There are multiple support rods, and the multiple support rods are respectively arranged at the four corners of the lower side of the table top. There are multiple welding fixtures, and the multiple welding fixtures are arranged on the table top at intervals. Each welding fixture is provided with multiple pneumatic devices to facilitate the pneumatic device to push the welding fixture to clamp or loosen the steel bar welded parts.

[0010] Preferably, the control device includes a robot control cabinet and a system control cabinet, the robot control cabinet is electrically connected to the system control cabinet, the robot control cabinet is also electrically connected to the first robot and the second robot, and the system control cabinet is also electrically connected to the hoop bending machine and the welding workbench.

[0011] Preferably, the welding automation equipment also includes a material storage box, a safety fence and a base, the safety fence is arranged along the edge of the base, the material storage box is arranged at the end of the conveyor belt, the first robot, the second robot, the welding workbench and the control device are all arranged on the base, the first robot, the second robot and the welding workbench are all located in the safety fence, and the hoop bending machine, the material storage box and the control device are all located outside the safety fence.

[0012] Preferably, the pneumatic device is a hydraulic cylinder.

[0013] Preferably, the welding assembly is a welding head and automatic welding is achieved through the welding head.

[0014] Compared with the prior art, the utility model has the following advantages:

[0015] 1. The utility model clamps and welds steel bar welded parts by a first robot and a second robot. The first robot clamps the steel bar welded parts based on the current position coordinates and the position coordinates of the hoop bending machine, and places the steel bar welded parts into the welding fixture in combination with the position coordinates of the welding fixture. The second robot welds based on the current position coordinates and the position coordinates of the welding point, thereby improving the clamping efficiency and welding quality of the equipment.

[0016] 2. The second robot of the utility model includes a rotating base, a first connecting arm and a second connecting arm. The rotating base first rotates, and then the first connecting arm and the second connecting arm drive the welding assembly to move toward the steel bar welding part. The first connecting arm and the second connecting arm can fine-tune the position of the welding assembly to improve the welding efficiency and welding accuracy of the equipment.

[0017] 3. The clamping assembly and welding assembly of the utility model can be detachably installed at the end of the second connecting arm, thereby improving the applicability of the equipment.

[0018] 4. The clamping assembly of the utility model includes a first clamping part and a second clamping part, and both the first clamping part and the second clamping part can slide up and down along the slideway on the connecting part, so that the clamping part can clamp steel bar welded parts of different sizes.

[0019] The present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the utility model;

[0021] Figure 2 This is a schematic diagram of the structure of the components inside the safety fence of the utility model;

[0022] Figure 3 It is a structural schematic diagram of the clamping assembly of the utility model.

[0023] Description of reference numerals:

[0024] 1—hoop bending machine; 2—first robot; 2-1—robot base;

[0025] 2-2—rotating base; 2-3—first connecting arm; 2-4—second connecting arm;

[0026] 2-5—clamping assembly; 2-6—welding assembly; 2-7—mounting seat;

[0027] 2-8—first clamping member; 2-9—second clamping member; 2-10—robot body;

[0028] 2-11—first working assembly; 2-12—second working assembly; 2-13—rubber pad;

[0029] 3—Second robot; 4—Conveyor belt; 5—Welding workbench;

[0030] 5-1—table; 5-2—welding fixture; 5-3—pneumatic device;

[0031] 5-4—Support rod; 6—Control device; 6-1—System control cabinet;

[0032] 6-2—Robot control cabinet; 7—Storage box; 8—Safety fence;

[0033] 9—connecting part; 9-1—slideway; 10—clamping part;

[0034] 10-1—first clamping part; 10-2—second clamping part; 11—base;

[0035] 12—first robot component; 13—second robot component. DETAILED DESCRIPTION

[0036] like Figures 1 to 3 As shown, the utility model includes a hoop bending machine 1, a first robot 2, a second robot 3, a conveyor belt 4, a welding workbench 5 and a control device 6. The hoop bending machine 1 is independently arranged at one place, the first robot 2 and the second robot 3 are respectively arranged on the left and right sides of the welding workbench 5, the welding workbench 5 is a hollow structure, the conveyor belt 4 is arranged in the hollow cavity of the welding workbench 5 for convenient transportation of steel bar welded parts, and the storage box 7 is arranged at the end of the conveyor belt 4 for convenient storage of welded parts transported by the conveyor belt 4. The control device 6 is electrically connected to the hoop bending machine 1, the first robot 2, the second robot 3 and the welding workbench 5 respectively. The first robot 2 includes a first robot component 12 and a first working component 2-11, the second robot 3 includes a second robot component 13 and a second working component 2-12, the first robot component 12 and the second robot component 13 have the same structure and both include a robot base 2-1 and a robot body 2-10, the robot body 2-10 is installed on the robot base 2-1, and the first working component 2-11 and the second working component 2-12 can be detachably installed on the robot body 2-10.

[0037] The control device 6 obtains the position coordinates of the hoop bending machine 1 and the welding workbench 5. At the same time, the control device 6 obtains the current position coordinates of the first robot 2 and the current position coordinates of the second robot 3, and transmits the position coordinates of the hoop bending machine 1 and the welding workbench 5 and the current position coordinates of the first robot 2 to the first robot 2, and transmits the position coordinates of the welding workbench 5 and the current position coordinates of the second robot 3 to the second robot 3. The control device 6 controls the hoop bending machine 1 to start. After the hoop bending machine 1 bends the steel bar into shape, it transmits the bending completion information to the control device 6. After receiving the bending completion information, the control device 6 sends a start command to the first robot 2. After receiving the start command, the first robot 2 rotates toward the hoop bending machine 1 based on the current position coordinates of the first robot 2 and combined with the position coordinates of the hoop bending machine 1. After the first working component 2-11 clamps the steel bar welded part, the first robot 2 sends the successful clamping workpiece information to the control device 6. The control device 6 receives After the workpiece information is successfully clamped, a shearing information is sent to the hoop bending machine 1. After receiving the shearing information, the hoop bending machine 1 shears the steel bar welded parts. At this time, the first working component 2-11 clamps the steel bar welded parts and moves them to the welding workbench 5, and places the steel bar welded parts in the welding workbench 5 according to the position coordinates of the welding workbench 5. The control device 6 controls the welding workbench 5 to clamp the steel bar welded parts. At the same time, the control device 6 controls the second robot 3 to start. The second robot 3 moves to the steel bar welded parts on the welding workbench 5 based on the current position coordinates of the second robot 3 and the position coordinates of the welding workbench 5. The second working component 2-12 welds the steel bar welded parts. After welding is completed, the second robot 3 transmits the welding completion information to the control device 6. After receiving the welding completion information, the control device 6 controls the welding workbench 5 to release the steel bar welded parts. The steel bar welded parts fall down along the welding workbench 5 onto the conveyor belt 4, and the conveyor belt 4 transports the welded steel bar welded parts.

[0038] like Figure 2 As shown, the robot body 2-10 includes a rotating base 2-2, a first connecting arm 2-3 and a second connecting arm 2-4. The rotating base 2-2 is installed on the robot base 2-1, one end of the first connecting arm 2-3 is rotatably connected to the rotating base 2-2, and the end of the first connecting arm 2-3 away from the rotating base 2-2 is rotatably connected to the second connecting arm 2-4.

[0039] The lower part of the rotating base 2-2 is fixedly installed on the robot base 2-1, and the upper part of the rotating base 2-2 is connected to the lower part by a rotating axis (not shown in the figure). The upper part of the rotating base 2-2 can rotate along the rotating axis. The first connecting arm 2-3 is connected to the end of the rotating base 2-2 away from the robot base 2-1. The first connecting arm 2-3 can rotate forward and backward to adjust the position of the first robot 2. The second connecting arm 2-4 can rotate up and down to adjust the height of the first robot 2, and the end of the second connecting arm 2-4 away from the first connecting arm 2-3 can rotate along the central axis of the second connecting arm 2-4.

[0040] The first working assembly 2-11 and the second working assembly 2-12 are both clamping assemblies 2-5 or welding assemblies 2-6.

[0041] When the first working component 2-11 installed at the end of the second connecting arm 2-4 of the first robot 2 away from the first connecting arm 2-3 is a clamping component 2-5, the second working component 2-12 installed at the end of the second connecting arm 2-4 of the second robot 3 away from the first connecting arm 2-3 is a welding component 2-6, at this time, the first robot 2 receives a clamping command and the second robot 3 receives a welding command; on the contrary, when the first working component 2-11 installed at the end of the second connecting arm 2-4 of the first robot 2 away from the first connecting arm 2-3 is a welding component 2-6, the second working component 2-12 installed at the end of the second connecting arm 2-4 of the second robot 3 away from the first connecting arm 2-3 is a clamping component 2-5, at this time, the first robot 2 receives a welding command and the second robot 3 receives a clamping command, and corresponding adjustments can be made according to production conditions. This application only describes in detail the case where the first working component 2-11 is a clamping component 2-5 and the second working component 2-12 is a welding component 2-6.

[0042] The clamping assembly 2-5 is arranged at the end of the second connecting arm 2-4 away from the first connecting arm 2-3, so that the second connecting arm 2-4 can drive the clamping assembly 2-5 to rotate around the central axis of the second connecting arm 2-4 to adjust the clamping position of the clamping assembly 2-5; through the mutual adjustment of the rotating base 2-2, the first connecting arm 2-3 and the second connecting arm 2-4 of the first robot 2, the efficiency and accuracy of the first robot 2 in clamping the steel bar welded parts are improved, and through the mutual adjustment of the rotating base 2-2, the first connecting arm 2-3 and the second connecting arm 2-4 of the second robot 3, the efficiency and accuracy of the second robot 3 in welding the steel bar welded parts can be improved.

[0043] The clamping assembly 2-5 and the welding assembly 2-6 can be detachably installed at the end of the second connecting arm 2-4 away from the first connecting arm 2-3, which is convenient for replacing the clamping assembly 2-5 and the welding assembly 2-6 when maintenance is required. In addition, the end of the second connecting arm 2-4 away from the first connecting arm 2-3 can also be installed with clamping assemblies 2-5 or welding assemblies 2-6 of different specifications, which is convenient for clamping or welding steel bar welded parts of different sizes and shapes.

[0044] Furthermore, a camera (not shown in the figure) can be arranged on the second connecting arm 2-4, and image information is collected by the camera, and the collected image information is transmitted to the control device 6, the control device 6 analyzes the image information of the steel bar welded part on the hoop bending machine 1 collected by the camera, determines the optimal clamping position coordinates of the steel bar welded part, and transmits the optimal clamping position coordinates to the first robot 2, and the first robot 2 adjusts the positions of the rotating base 2-2, the first connecting arm 2-3 and the second connecting arm 2-4 after receiving the optimal clamping position coordinates of the steel bar welded part, so as to clamp the steel bar welded part more accurately, quickly and stably; the control device 6 analyzes the image information of the steel bar welded part on the hoop bending machine 1 collected by the camera, determines the optimal clamping position coordinates of the steel bar welded part, and transmits the optimal clamping position coordinates to the first robot 2, and after receiving the optimal clamping position coordinates of the steel bar welded part, the first robot 2 adjusts the positions of the rotating base 2-2, the first connecting arm 2-3 and the second connecting arm 2-4, so as to clamp the steel bar welded part more accurately, quickly and stably; the control device 6 transmits the welding workbench 5 collected by the camera to the control device 6. The image information of the steel bar welded parts on the image is analyzed to determine the coordinates of the positions of the steel bar welded parts to be welded. The number of the coordinates of the positions of the steel bar welded parts to be welded can be one or more. The control device 6 sends the coordinates of the positions of the steel bar welded parts to be welded to the second robot 3. After the second robot 3 receives the coordinates of the positions of the steel bar welded parts to be welded, it can adjust the positions of the rotating base 2-2, the first connecting arm 2-3 and the second connecting arm 2-4 according to the coordinates of the positions of the steel bar welded parts to be welded, so as to improve the welding quality and welding efficiency of the second robot 3; if the number of the coordinates of the positions of the steel bar welded parts to be welded is more than one, the second robot 3 performs position adjustment and welding in multiple times.

[0045] like Figure 3 As shown, the clamping assembly 2-5 includes a mounting seat 2-7, a first clamping member 2-8 and a second clamping member 2-9. The mounting seat 2-7 is connected to the second connecting arm 2-4. The first clamping member 2-8 and the second clamping member 2-9 are both arranged on the side of the mounting seat 2-7 away from the second connecting arm 2-4. The first clamping member 2-8 and the second clamping member 2-9 are spaced apart along the length direction of the mounting seat 2-7.

[0046] The mounting seat 2-7 is detachably mounted on the end of the second connecting arm 2-4, and the first clamping member 2-8 and the second clamping member 2-9 are both detachably connected to the mounting seat 2-7.

[0047] like Figure 3As shown, the second clamping member 2-9 has the same structure as the first clamping member 2-8. The first clamping member 2-8 includes a connecting portion 9 and a clamping portion 10. The end of the connecting portion 9 is connected to the mounting seat 2-7. A slideway 9-1 is provided on the side of the connecting portion 9 away from the mounting seat 2-7. The clamping portion 10 is provided in the slideway 9-1. The clamping portion 10 includes a first clamping portion 10-1 and a second clamping portion 10-2. The first clamping portion 10-1 and the second clamping portion 10-2 are arranged facing each other along the length direction. A rubber pad 2-13 is provided on the side where the first clamping portion 10-1 and the second clamping portion 10-2 are close to each other.

[0048] The ends of the first clamping part 10-1 and the second clamping part 10-2 along the length direction are both arranged in the slideway 9-1, and the first clamping part 10-1 and the second clamping part 10-2 can slide up and down along the slideway 9-1, so that the first clamping part 10-1 and the second clamping part 10-2 are close to or away from each other. When it is necessary to clamp the steel bar welded part, the first clamping part 10-1 and the second clamping part 10-2 are away from each other along the slideway 9-1. At this time, the first connecting arm 2-3 drives the second connecting arm 2-4 to move forward, so that the steel bar welded part is located between the first clamping part 10-1 and the second clamping part 10-2, and then the first clamping part 10-1 and the second clamping part 10-2 are close to each other along the slideway 9-1 to clamp the steel bar welded part. The rubber pad 2-13 can increase the friction between the first clamping part 10-1 and the steel bar welded part, and the second clamping part 10-2 and the steel bar welded part, so as to prevent the steel bar welded part from slipping.

[0049] Furthermore, a pressure sensor (not shown in the figure) is arranged on the side where the first clamping part 10-1 and the second clamping part 10-2 are close to each other. The pressure sensor determines whether the first clamping part 10-1 and the second clamping part 10-2 are clamped tightly by detecting the pressure on the first clamping part 10-1 and the second clamping part 10-2. When the pressure sensor detects that the pressure on the first clamping part 10-1 and the second clamping part 10-2 reaches a preset pressure value, the first clamping part 10-1 and the second clamping part 10-2 are clamped tightly. 10-2 stop approaching each other along the slide 9-1, and the clamping part 10 has clamped the steel bar welded part; if the pressure sensor detects that the pressure on the first clamping part 10-1 and the second clamping part 10-2 has not reached the preset pressure value, the first clamping part 10-1 and the second clamping part 10-2 continue to approach each other along the slide 9-1 until the pressure on the first clamping part 10-1 and the second clamping part 10-2 reaches the preset pressure value; the preset pressure value can be the maximum pressure value set in advance by the control device 6.

[0050] like Figure 2As shown, the welding workbench 5 includes a table top 5-1, a welding fixture 5-2, a pneumatic device 5-3 and a support rod 5-4. There are multiple support rods 5-4, which are respectively arranged at the four corners of the lower side of the table top 5-1. There are multiple welding fixtures 5-2, which are spaced apart on the table top 5-1. Each welding fixture 5-2 is provided with multiple pneumatic devices 5-3 to facilitate the pneumatic device 5-3 to push the welding fixture 5-2 to clamp or loosen the steel bar weldment.

[0051] Pneumatic devices 5-3 are provided on the front, rear, left and right sides of each welding fixture 5-2. The pneumatic devices 5-3 are used to push the welding fixture 5-2 to clamp or release the steel bar welded parts. After the welding fixture 5-2 clamps the steel bar welded parts, the control device 6 controls the second robot 3 to move toward the steel bar welded parts. The second robot 3 welds the corresponding points of the steel bar welded parts according to the coordinate positions transmitted by the control device 6. After the second robot 3 welds all the coordinate positions transmitted by the control device 6, the pneumatic device 5-3 drives the welding fixture 5-2 to release the steel bar welded parts, and the steel bar welded parts fall onto the conveyor belt 4 on the lower side of the welding workbench 5.

[0052] The portion of the table 5-1 located at the lower side of the welding fixture 5-2 can be set to a hollow structure to facilitate the completion of welding of the steel bar welded parts on the welding fixture 5-2. After the welding fixture 5-2 releases the steel bar welded parts, the steel bar welded parts can fall smoothly into the conveyor belt 4; the portion of the table 5-1 located at the lower side of the welding fixture 5-2 can also be set to a connecting door that can be opened and closed. Generally, the connecting door is in a closed state. Only when the welding fixture 5-2 releases the steel bar welded parts, the connecting door is opened so that the steel bar welded parts can fall smoothly into the conveyor belt 4.

[0053] like Figure 1 As shown, the control device 6 includes a robot control cabinet 6-2 and a system control cabinet 6-1. The robot control cabinet 6-2 is electrically connected to the system control cabinet 6-1. The robot control cabinet 6-2 is also electrically connected to the first robot 2 and the second robot 3. The system control cabinet 6-1 is also electrically connected to the hoop bending machine 1 and the welding workbench 5.

[0054] The system control cabinet 6-1 controls the hoop bending machine 1, the welding workbench 5 and the robot control cabinet 6-2. The robot control cabinet 6-2 controls the operation of the first robot 2 and the second robot 3. Both the system control cabinet 6-1 and the robot control cabinet 6-2 are PLC controllers. The PLC controller uses a controller model ET210-2700 produced by Efort Intelligent Equipment Co., Ltd.

[0055] like Figure 1 , Figure 2As shown, the welding automation equipment also includes a material storage box 7, a safety fence 8 and a base 11. The safety fence 8 is arranged along the edge of the base 11. The material storage box 7 is arranged at the end of the conveyor belt 4. The first robot 2, the second robot 3, the welding workbench 5 and the control device 6 are all arranged on the base 11. The first robot 2, the second robot 3 and the welding workbench 5 are all located in the safety fence 8. The hoop bending machine 1, the material storage box 7 and the control device 6 are all located outside the safety fence 8.

[0056] The hoop bending machine 1 adopts a hoop bending machine of model JN-16Z manufactured by Xingtai Jianai CNC Equipment Machinery Manufacturing Co., Ltd.

[0057] The safety fence 8 is provided with an opening at the conveyor belt 4, which facilitates the transportation of the steel bar welded parts on the conveyor belt 4 into the storage box 7. The safety fence 8 can prevent non-professionals from approaching the welding automation equipment.

[0058] The pneumatic device 5-3 is a hydraulic cylinder, and the model of the hydraulic cylinder is SC50*50-S.

[0059] The welding assembly 2-6 is a welding head and automatic welding is achieved through the welding head. The welding head adopts a carbon dioxide gas shielded welding head.

[0060] When in use, the system control cabinet 6-1 transmits the stored position coordinates of the hoop bending machine 1 and the welding fixture 5-2 to the robot control cabinet 6-2. After receiving the position coordinates of the hoop bending machine 1 and the welding fixture 5-2, the robot control cabinet 6-2 collects the current position coordinates of the first robot 2 and the current position coordinates of the second robot 3, and transmits the position coordinates of the hoop bending machine 1, the position coordinates of the welding fixture 5-2 and the current position coordinates of the first robot 2 to the first robot 2, and transmits the position coordinates of the welding fixture 5-2 and the current position coordinates of the second robot 3 to the second robot 3. The system control cabinet 6-1 controls the hoop bending machine 1 to start, and the hoop bending machine 1 transmits the bending completion information to the system control cabinet 6 after bending the steel bar into shape. -1, after receiving the bending completion information, the system control cabinet 6-1 transmits the clamping instruction to the robot control cabinet 6-2, and after receiving the clamping instruction, the robot control cabinet 6-2 controls the first robot 2 to start clamping the steel bar welded part, and the first robot 2 controls the rotating base 2-2, the first connecting arm 2-3 and the second connecting arm 2-4 based on the current position coordinates and the position coordinates of the hoop bending machine 1 to start rotating until the clamping assembly 2-5 reaches the position coordinates of the hoop bending machine 1, and the robot control cabinet 6-2 controls the first clamping part 10-1 and the second clamping part 10-2 to move away from each other along the slideway 9-1, and then the first connecting arm 2-3 and the second connecting arm 2-4 perform position fine-tuning to make the steel bar welded part between the first clamping part 10-1 and the second clamping part 1 0-2, the robot control cabinet 6-2 controls the first clamping part 10-1 and the second clamping part 10-2 to approach each other along the slide 9-1 until the clamping part 10 clamps the steel bar welded part. At this time, after the system control cabinet 6-1 receives the clamping completion instruction transmitted by the robot control cabinet 6-2, the system control cabinet 6-1 transmits the shearing instruction to the hoop bending machine 1, and the hoop bending machine 1 shears the steel bar welded part. The first robot 2 rotates the rotating base 2-2, the first connecting arm 2-3 and the second connecting arm 2-4 according to the position coordinates of the welding fixture 5-2, and places the steel bar welded part into the welding fixture 5-2. After the pneumatic device 5-3 controls the welding fixture 5-2 to clamp the steel bar welded part, the first robot 2 continues to the next steel bar welded part The second robot 3 controls the rotating base 2-2, the first connecting arm 2-3 and the second connecting arm 2-4 to start rotating according to the current position coordinates and the position coordinates of the welding fixture 5-2. After the welding assembly 2-6 reaches the target position, the steel bar welded part is welded. After the welding is completed, the pneumatic device 5-3 controls the welding fixture 5-2 to release the steel bar welded part, and the steel bar welded part falls into the conveyor belt 4. The steel bar welded part is transported to the storage box 7 for storage through the conveyor belt 4. After the welding is completed, the second robot 3 continues to weld the next steel bar welded part. The first robot 2, the second robot 3 and the pneumatic device 5-3 are controlled by the system control cabinet 6-1 and the robot control cabinet 6-2, thereby improving the welding efficiency and welding quality of the equipment.

[0061] The above is only a preferred embodiment of the present invention and does not constitute any limitation to the present invention. Any simple modification, change and equivalent structural transformation made to the above embodiments according to the technical essence of the present invention shall still fall within the protection scope of the technical solution of the present invention.

Claims

1. A bridge steel bar welding automation equipment, characterized by: The invention comprises a hoop bending machine (1), a first robot (2), a second robot (3), a conveyor belt (4), a welding workbench (5) and a control device (6), wherein the hoop bending machine (1) is independently arranged at one place, the first robot (2) and the second robot (3) are arranged on the left and right sides of the welding workbench (5), respectively, the welding workbench (5) is a hollow structure, the conveyor belt (4) is arranged in the hollow cavity of the welding workbench (5) to facilitate the transportation of steel bar welded parts, and the control device (6) is electrically connected to the hoop bending machine (1), the first robot (2), the second robot (3) and the welding workbench (5), respectively. The first robot (2) includes a first robot component (12) and a first working component (2-11), and the second robot (3) includes a second robot component (13) and a second working component (2-12). The first robot component (12) and the second robot component (13) have the same structure and both include a robot base (2-1) and a robot body (2-10). The robot body (2-10) is mounted on the robot base (2-1), and the first working component (2-11) and the second working component (2-12) can be detachably mounted on the robot body (2-10).

2. The bridge reinforcement welding automation equipment according to claim 1 is characterized in that: The robot body (2-10) comprises a rotating base (2-2), a first connecting arm (2-3) and a second connecting arm (2-4); the rotating base (2-2) is mounted on a robot base (2-1); one end of the first connecting arm (2-3) is rotatably connected to the rotating base (2-2); and the end of the first connecting arm (2-3) away from the rotating base (2-2) is rotatably connected to the second connecting arm (2-4).

3. The bridge reinforcement welding automation equipment according to claim 2 is characterized in that: The first working component (2-11) and the second working component (2-12) are both clamping components (2-5) or welding components (2-6).

4. The bridge reinforcement welding automation equipment according to claim 3 is characterized in that: The clamping assembly (2-5) comprises a mounting seat (2-7), a first clamping member (2-8) and a second clamping member (2-9); the mounting seat (2-7) is connected to the second connecting arm (2-4); the first clamping member (2-8) and the second clamping member (2-9) are both arranged on a side of the mounting seat (2-7) away from the second connecting arm (2-4); and the first clamping member (2-8) and the second clamping member (2-9) are arranged at intervals along the length direction of the mounting seat (2-7).

5. The bridge reinforcement welding automation equipment according to claim 4 is characterized in that: The second clamping member (2-9) has the same structure as the first clamping member (2-8). The first clamping member (2-8) comprises a connecting portion (9) and a clamping portion (10). The end of the connecting portion (9) is connected to the mounting seat (2-7). A slideway (9-1) is arranged on the side of the connecting portion (9) away from the mounting seat (2-7). The clamping portion (10) is arranged in the slideway (9-1). The clamping portion (10) comprises a first clamping portion (10-1) and a second clamping portion (10-2). The first clamping portion (10-1) and the second clamping portion (10-2) are arranged facing each other along the length direction. A rubber pad (2-13) is arranged on the side where the first clamping portion (10-1) and the second clamping portion (10-2) are close to each other.

6. The bridge reinforcement welding automation equipment according to claim 1 is characterized in that: The welding workbench (5) comprises a table top (5-1), a welding fixture (5-2), a pneumatic device (5-3) and a support rod (5-4); there are a plurality of support rods (5-4), and the plurality of support rods (5-4) are respectively arranged at the four corners of the lower side of the table top (5-1); there are a plurality of welding fixtures (5-2), and the plurality of welding fixtures (5-2) are arranged on the table top (5-1) at intervals; each welding fixture (5-2) is provided with a plurality of pneumatic devices (5-3) so that the pneumatic device (5-3) can push the welding fixture (5-2) to clamp or release the steel bar welded piece.

7. The bridge reinforcement welding automation equipment according to claim 1 is characterized in that: The control device (6) comprises a robot control cabinet (6-2) and a system control cabinet (6-1); the robot control cabinet (6-2) is electrically connected to the system control cabinet (6-1); the robot control cabinet (6-2) is also electrically connected to the first robot (2) and the second robot (3); and the system control cabinet (6-1) is also electrically connected to the hoop bending machine (1) and the welding workbench (5).

8. The bridge reinforcement welding automation equipment according to claim 1 is characterized in that: The welding automation equipment also includes a material storage box (7), a safety fence (8) and a base (11), wherein the safety fence (8) is arranged along the edge of the base (11), the material storage box (7) is arranged at the end of the conveyor belt (4), the first robot (2), the second robot (3), the welding workbench (5) and the control device (6) are all arranged on the base (11), the first robot (2), the second robot (3) and the welding workbench (5) are all located in the safety fence (8), and the hoop bending machine (1), the material storage box (7) and the control device (6) are all located outside the safety fence (8).

9. The bridge reinforcement welding automation equipment according to claim 6 is characterized in that: The pneumatic device (5-3) is a hydraulic cylinder.

10. The bridge reinforcement welding automation equipment according to claim 6, characterized in that: The welding assembly (2-6) is a welding head and automatic welding is achieved through the welding head.

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