Feeding and welding integrated device for run-on and run-off plates

Abstract

The utility model discloses an arc striking and extinguishing plate feeding and welding integrated device, which belongs to the technical field of welding equipment and comprises a master control device, a welding robot and a first feeding mechanism and / or a second feeding mechanism. The master control device is used for controlling the whole arc striking and extinguishing plate feeding and welding integrated device, the welding robot is used for recognizing the specification of the profile steel and conducting tack fixing on the arc striking and extinguishing plate and the profile steel, and the first feeding mechanism and the second feeding mechanism are different feeding mechanisms and are matched with the welding robot to conduct tack fixing on the arc striking and extinguishing plate and the profile steel. The integrated requirements for automatic feeding, alignment and tack fixing of the profile steel arc striking and extinguishing plates of different specifications are met, manual participation is not needed in the whole operation process, the production efficiency is effectively improved, labor is saved, meanwhile, limitation of personal welding experience of operators and field operation conditions is avoided, and the welding quality of the profile steel arc striking and extinguishing plates is effectively guaranteed.

Description

Technical Field

[0001] The utility model belongs to the technical field of welding equipment, and particularly relates to an integrated device for feeding and welding a strike-off and blow-out plate. Background Art

[0002] The strike-off and blow-out plate is an important auxiliary tool in the welding process. Its function is to prevent welding defects such as cracks, pores, and slag inclusions from occurring at the starting and ending points of welding, so as to ensure the quality of the weld seam. If the strike-off and blow-out plate is not installed on the weld seam, it usually causes the weld seam to be unfilled, with pits and lack of fusion at the edges, and not flush with the base metal. When welding H-shaped steel, a strike-off and blow-out plate must be welded when the web thickness > 8mm; when the web thickness ≤ 8mm, all special projects of box-shaped and cross-shaped columns still require the installation of a strike-off and blow-out plate. The material of the strike-off and blow-out plate should be the same as that of the base metal to be welded, and the groove form should be the same as that of the weld seam to be welded. It is prohibited to use materials of other materials as the strike-off plate and the lead-out plate. Before the H-shaped steel is assembled and welded, correctly setting the strike-off and blow-out plates at both ends of the weld bead is an important technological measure to ensure the welding quality. Because the energy of the joint is insufficient during the starting of welding, the current and voltage are unstable, which is easy to cause defects such as slag inclusion, lack of fusion, and incomplete penetration. During blow-out, the energy of the molten pool is large, the temperature in the welding area is high, and insufficient filler metal is easy to cause arc pits, resulting in defects such as hot and cold cracks at the end of the weld seam. When welding in multiple layers, the defects at both ends of the weld seam accumulate, and the problem is more prominent. If it is required that the strength of the weld seam on all cross-sections of the component can reach the lower limit of the strength standard value of the base metal, the starting and ending points of the arc must be led outside both ends of the weld seam. At present, the operation method of the strike-off and blow-out plate welding post is as follows: The operator holds the strike-off and blow-out plate and the workpiece in one hand to align the positions, and operates the welding torch with the other hand for spot welding. There are relatively large defects in terms of safety and welding quality, specifically manifested in: (1) It is very difficult for the operator to manually align the strike-off and blow-out plate with the end face of the H-shaped steel, resulting in errors, causing the strike-off and blow-out plates on both sides of the steel plate to be asymmetric, affecting the weld quality; (2) Problems such as cumbersome installation, post-welding deformation, breakage during turning over, damage to the base metal, and large production workload occur when using the strike-off and blow-out plate; (3) The thickness of the strike-off and blow-out plate ranges from 6mm to 20mm, there are many specifications and types, and the thickness deviation is not obvious. If the wrong strike-off and blow-out plate is used, there will be a step on the surfaces of the two workpieces after welding, and it cannot play a role in solving the weld quality problem; (4) Limited by the personal welding experience of the operator and the on-site working conditions, during manual welding, it is easy to have insecure welding, resulting in dropping, and re-welding, increasing the workload; (5) The single-piece weight of the strike-off and blow-out plate can reach up to 2 Kg at most, the working load of the operator is large, and this work is repetitive mechanical labor, which is easy to cause fatigue of the operator and lead to the occurrence of safety accidents. Content of the Utility Model

[0003] In view of the technical problems existing in the background art, the utility model provides an integrated device for feeding and welding a strike-off and blow-out plate.

[0004] The technical solution for the utility model to solve the technical problems is as follows:

[0005] The utility model relates to an integrated device for loading and welding an arc ignition and extinguishing plate, which comprises a total control device, a welding robot, and a first loading mechanism and / or a second loading mechanism.

[0006] The first loading mechanism comprises a first rack and a first roller path arranged at the top of the first rack and equipped with a first roller path driving device. A loading robot and a magazine-type workpiece loading bin are arranged on one side of the first rack. A first in-place sensor, a first positioning pressing plate connected with a first positioning pressing plate driving device, and a first centering mechanism are successively arranged on the first rack. The loading robot comprises a first controller, a first robotic arm and an end effector respectively connected to the first controller. The end effector is arranged at the front end of the first robotic arm. The magazine-type workpiece loading bin comprises a plurality of magazine toolings arranged evenly.

[0007] The second loading mechanism comprises a second rack and a second roller path arranged at the top of the second rack and equipped with a second roller path driving device. A second in-place sensor, a second loading device, a second positioning pressing plate provided with a second positioning pressing plate driving device, and a second centering mechanism are successively arranged on the second rack. The second loading device comprises a chassis installed on the second rack. A Y-axis linear module and a support upright are respectively arranged on the upper part and one side of the chassis. A Z-axis linear module is vertically movably arranged on the Y-axis linear module. A front upright is movably arranged on one side of the Z-axis linear module. A receiving plate is arranged at the top of the front upright. A pushing device is arranged at the top of the support upright. The pushing device comprises a pushing cylinder and a workpiece bin arranged corresponding to each other. A pushing plate is arranged at the telescopic end of the pushing cylinder.

[0008] The welding robot comprises a second controller, a welding torch, a second robotic arm and a laser rangefinder respectively connected to the second controller. The laser rangefinder and the welding torch are respectively arranged at the front end of the second robotic arm.

[0009] Among them: the first roller path driving device, the first in-place sensor, the first positioning pressing plate driving device, the first controller, the second roller path driving device, the second in-place sensor, the second positioning pressing plate driving device, the Y-axis linear module, the Z-axis linear module, the pushing cylinder and the second controller are respectively connected to the total control device.

[0010] Furthermore, the end effector is a two-finger cylinder.

[0011] Further, the magazine-type workpiece loading bin includes a loading bin frame. Each of the magazine toolings is disposed on the top of the loading bin frame. A load-bearing frame is installed on the top of the loading bin frame. Magazine tooling mounting plates are respectively arranged on the load-bearing frame corresponding to the positions of each magazine tooling. Each of the magazine toolings is detachably installed on the corresponding magazine tooling mounting plate. The magazine tooling includes a U-shaped magazine. A front baffle is installed on the magazine tooling mounting plate on the front side of the U-shaped magazine. An opening smaller than the bottom size of the U-shaped magazine is formed at the bottom of the magazine tooling mounting plate. A first empty-material alarm connected to the total control device is installed at the opening.

[0012] Further, lifting lugs and ear plates are respectively arranged on the upper part and both sides of the bottom of the outer side of the U-shaped magazine. Corresponding magazine anti-misalignment holes are respectively formed on the ear plate and the magazine tooling mounting plate and are connected and fixed by fixing bolts.

[0013] Further, workpiece anti-misalignment strips with the same or different positions are vertically arranged on the inner sides of each U-shaped magazine.

[0014] Further, the Y-axis linear module includes a movable first slide and a Y-axis linear module driving device for driving the first slide to move. The Z-axis linear module is vertically arranged on the first slide. The Z-axis linear module includes a movable second slide and a Z-axis linear module driving device for driving the second slide to move. The front vertical frame is arranged on the second slide. A plurality of limit blocks are arranged at the edge of the upper surface of the receiving plate. The Y-axis linear module driving device and the Z-axis linear module driving device are respectively connected to the total control device.

[0015] Further, a rear vertical frame is arranged at the rear side of the Z-axis linear module. The bottom of the rear vertical frame is connected to the first slide.

[0016] Further, the workpiece bin includes four L-shaped angle plates arranged at intervals in the four-corner orientation at the top of the support vertical frame close to the Z-axis linear module side. L-shaped notches are correspondingly formed at the bottoms of two L-shaped angle plates on each side. Bottom material receiving blocks are arranged at the positions corresponding to the L-shaped notches on each side.

[0017] Further, a second empty-material alarm is arranged at the workpiece bin. The second empty-material alarm is connected to the total control device.

[0018] Further, the welding robot further includes a wire feeding barrel with a wire feeding mechanism and a welding power source. A welding wire is arranged in the wire feeding barrel. The welding wire is connected to the welding torch through the wire feeding mechanism. The welding power source is connected to the welding torch. The wire feeding mechanism and the welding power source are respectively connected to the total control device.

[0019] Compared with the prior art, an integrated device for loading and welding pilot arc extinguishing plates provided by the utility model has a novel and reasonable structural design. It can select a suitable feeding mechanism for feeding according to the requirements of the section steel specifications. The feeding mechanism can be adapted to various different specifications of pilot arc extinguishing plates. Through the automatic edge finding of the robot, it can automatically match the specifications of the pilot arc extinguishing plates and the section steel plates, correctly grasp the pilot arc extinguishing plates, accurately position the section steel, and solve problems such as asymmetry of the pilot arc extinguishing plates on both sides of the steel plate and mismatch of the specifications of the pilot arc extinguishing plates and the steel plate. At the same time, it cooperates with the automatic welding of the robot to effectively ensure the weld quality. The entire operation process of the utility model does not require manual participation. Only when the empty material alarm of the pilot arc extinguishing plate occurs, manual feeding is needed. And to improve production efficiency, save manpower, and solve the problem of wrong materials, a cartridge type automatic feeding mechanism is adopted. The installation structure of the cartridge is designed with dislocation through the anti-misalignment holes of the cartridge, and workpiece anti-misalignment strips are arranged at different positions inside the U-shaped cartridge to meet the limit placement of pilot arc extinguishing plates of different specifications. Workers can achieve fool-proof operation during feeding and can complete the accurate feeding of single-specification pilot arc extinguishing plates within a few minutes. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic structural diagram of an integrated device for loading and welding pilot arc extinguishing plates according to the utility model;

[0021] Figure 2 and Figure 3 are schematic diagrams of different perspectives of the cartridge type workpiece loading bin in the utility model;

[0022] Figure 4 and Figure 5 are schematic diagrams of different perspectives of the second feeding device in the utility model;

[0023] Figure 6 Schematic diagram of the setting of the second in-place sensor in the utility model;

[0024] Figure 7 Control schematic diagram of the utility model;

[0025] In the figure: 10. First loading mechanism; 11. First frame; 12. First roller path; 121. First roller path driving device; 13. First in-place sensor; 14. First positioning pressing plate; 141. First positioning pressing plate driving device; 15. First centering mechanism; 16. Magazine-type workpiece loading bin; 161. Loading bin frame; 162. Load-bearing frame; 163. Magazine tooling mounting plate; 164. Front baffle; 165. Magazine tooling; 1651. U-shaped magazine; 1652. Lifting lug; 1653. Magazine anti-misalignment hole; 1654. Workpiece anti-misalignment strip; 1655. Ear plate; 166. First empty bin alarm; 167. Fixing bolt; 17. Loading robot; 171. First controller; 172. First robotic arm; 173. End effector; 20. Second loading mechanism; 21. Second frame; 22. Second roller path; 221. Second roller path driving device; 23. Second in-place sensor; 24. Second positioning pressing plate; 241. Second positioning pressing plate driving device; 25. Second loading device; 251. Underframe; 252. Y-axis linear module; 2521. First slide; 2522. Y-axis linear module driving device; 253. Z-axis linear module; 2531. Second slide; 2532. Z-axis linear module driving device; 254. Front upright frame; 255. Receiving plate; 256. Limit block; 257. Supporting upright frame; 258. Pushing device; 2581. Pushing cylinder; 2582. Pushing plate; 259. Workpiece bin; 2591. L-shaped angle plate; 2592. Bottom load-bearing block; 2593. L-shaped notch; 2594. Second empty bin alarm; 2510. Rear upright frame; 26. Second centering mechanism; 30. Welding robot; 31. Second controller; 32. Second robotic arm; 33. Laser rangefinder; 34. Welding torch; 35. Wire feeding barrel; 351. Wire feeding mechanism; 36. Welding power source; 40. Total control device; 50. Arc starting / extinguishing plate. Detailed implementation manners

[0026] The technical solutions in the embodiments of the present utility model will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model. Unless otherwise defined, the technical terms or scientific terms used herein shall have the ordinary meaning understood by those of ordinary skill in the art belonging to the field of this disclosure. The "upper", "lower", "left", "right", "front", "rear", "inside", "outside", etc. used in the specification and claims of this patent application of the present disclosure are only used to represent relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship also changes accordingly. The terms such as "connection" or "coupling" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Those parts not detailed in the present utility model are well-known techniques in the technical field of the present technology.

[0027] As Figure 1 shown, an integrated device for feeding and welding an arc ignition / extinguishing plate of the present utility model includes a master control device 40 for controlling the entire integrated device for feeding and welding an arc ignition / extinguishing plate, a welding robot 30 for spot-fixing an arc ignition / extinguishing plate (arc ignition plate or arc extinguishing plate) and a steel section, and a first feeding mechanism 10 and / or a second feeding mechanism 20 for feeding the arc ignition / extinguishing plate and aligning it with the end of the steel section. One or both of the two feeding mechanisms can be provided according to the requirements of arc ignition / extinguishing plate welding of the steel section. When both the first feeding mechanism 10 and the second feeding mechanism 20 are provided, the welding robot 30 can be arranged between the two feeding mechanisms to facilitate the spot-fixing and welding of the arc ignition / extinguishing plate. The master control device 40 mainly includes a control cabinet, an industrial control computer, a single-chip microcomputer, network devices, and control software installed in devices such as the industrial control computer and the single-chip microcomputer, etc., which are respectively communicatively connected to the welding robot 30, the first feeding mechanism 10, and the second feeding mechanism 20, collect monitoring data during the operation process, and control the entire integrated device for feeding and welding an arc ignition / extinguishing plate according to the monitoring data.

[0028] As Figure 1As shown in the figure, the welding robot 30 includes a second controller 31, a welding torch 34, a second robotic arm 32 and a laser rangefinder 33 that are respectively connected to the second controller 31 through wires. The laser rangefinder 33 and the welding torch 34 are respectively arranged at the front end of the second robotic arm 32. The second controller 31 is connected to the master control device 40 through a wire. The second controller 31 controls the movement of the second robotic arm 32 according to the operation instructions of the master control device 40, and receives the feedback information of the laser rangefinder 33 and sends it to the master control device 40. The laser rangefinder 33 is used to perform edge search scanning on the end of the section steel where the welding starting / ending arc plate 50 needs to be welded, and feeds the collected information back to the master control device through the second controller 31. In this embodiment, the welding robot 30 further includes a wire feeding barrel 35 with a wire feeding mechanism 351 and a welding power source 36. A welding wire is arranged in the wire feeding barrel 35. The welding wire is connected to the welding torch 34 through the wire feeding mechanism 351, and can continuously feed the welding wire to the welding torch. The welding power source 36 is connected to the welding torch 34. The wire feeding mechanism 351 and the welding power source 36 are respectively connected to the master control device 40, and are controlled by the master control device 40 when the starting / ending arc plate needs to be spot-fixed.

[0029] As Figure 1-3 shown in the figure, the first loading mechanism 10 includes a first frame 11 and a first roller track 12 arranged at the top of the first frame 11 and having a first roller track driving device 121. The first roller track driving device 121 is connected to the master control device 40 through a wire and is controlled by the master control device 40, and is used to drive the first roller track 12 to run. The first roller track 12 is used to place the section steel and drive the section steel to move forward. A loading robot 17 and a magazine-type workpiece loading bin 16 are arranged on one side of the first frame 11.

[0030] The loading robot 17 includes a first controller 171, a first robotic arm 172 and an end effector 173 that are respectively connected to the first controller 171 through wires and are controlled by the first controller 171. The first controller 171 is connected to the master control device 40 through a wire, receives the operation instructions of the master control device 40 and controls the first robotic arm 172 and the end effector 173 to perform corresponding operations. The end effector 173 is arranged at the front end of the first robotic arm 172. The end effector 173 is preferably a two-finger cylinder, and the stroke of the two fingers is set according to the actual situation to meet the grasping requirements of different specifications of starting / ending arc plates.

[0031] The magazine-type workpiece loading bin 16 includes a loading bin frame 161. A load-bearing frame 162 is installed at the top of the loading bin frame 161. A plurality of magazine tooling mounting plates 163 are evenly arranged on the load-bearing frame 162. Magazine toolings 165 for holding the ignition / extinguishing arc plates 50 are detachably installed on each of the magazine tooling mounting plates 163. The ignition / extinguishing arc plates 50 in each of the magazine toolings 165 are available for the loading robot 17 to select and grasp from above as needed. The magazine tooling 165 includes a U-shaped magazine 1651 whose bottom is detachably connected to the magazine tooling mounting plate 163. A front baffle 164 is installed on the magazine tooling mounting plate 163 on the front side of the U-shaped magazine 1651. An opening smaller than the bottom size of the U-shaped magazine 1651 is opened at the bottom of the magazine tooling mounting plate 163. A first empty material alarm 166 connected to the total control device 40 is installed at the opening. The first empty material alarm 166 usually adopts an optoelectronic detection method. When the last ignition / extinguishing arc plate 50 in the magazine tooling 165 is grabbed and there is empty material, it sends an alarm message to the outside to remind the operator to replace the magazine tooling 165 in time. The magazine tooling 165 is taken and placed in a whole tray. The operator takes out the empty magazine tooling 165, and then places the pre-assembled magazine tooling 165 in a whole tray on the magazine tooling mounting plate 163 and installs and fixes it.

[0032] To facilitate the whole-tray replacement of the magazine tooling 165 and enable the magazine toolings 165 containing different specifications of ignition / extinguishing arc plates 50 to be installed in the designated positions, lifting lugs 1652 and ear plates 1655 are respectively arranged on the upper part of the outer side and both sides of the bottom of the U-shaped magazine 1651. The lifting lugs 1652 can be used for lifting the magazine tooling 165. Corresponding magazine anti-misalignment holes 1653 are respectively opened on the ear plates 1655 and the magazine tooling mounting plate 163 and are connected and fixed by fixing bolts 167 to effectively prevent the magazine tooling 165 from being placed in the wrong position.

[0033] To ensure that different specifications of ignition / extinguishing arc plates 50 can be accurately placed in the designated magazine tooling 165, workpiece anti-misalignment strips 1654 are vertically arranged on the inner sides of each U-shaped magazine 1651. The positions of the workpiece anti-misalignment strips 1654 of each U-shaped magazine 1651 are set according to the types of ignition / extinguishing arc plates 50 to be placed. The positions of the workpiece anti-misalignment strips 1654 of the U-shaped magazines 1651 for placing different specifications of ignition / extinguishing arc plates 50 are different, and the positions of the workpiece anti-misalignment strips 1654 of the U-shaped magazines 1651 for placing the same specification of ignition / extinguishing arc plates 50 are the same. Notches corresponding to the corresponding workpiece anti-misalignment strips 1654 need to be opened on various specifications of ignition / extinguishing arc plates 50.

[0034] On the first rack 11, along the steel profile conveying direction, there are also successively arranged a first in-place sensor 13, a first positioning pressing plate 14 connected to a first positioning pressing plate driving device 141, and a first centering mechanism 15. The first in-place sensor 13 and the first positioning pressing plate driving device 141 are respectively connected to the master control device 40 through lines. The first in-place sensor 13 is used to monitor whether the steel profile on the first roller path 12 is in place and feedback the signal to the master control device 40. After the steel profile is in place, the master control device 40 controls the first roller path driving device 121 to stop running, and controls the first positioning pressing plate driving device 141 to drive the first pressing plate 14 to press down to fix the end of the steel profile, facilitating the alignment of the ignition / extinguishing arc plate 50 and carrying out tack welding. The first centering mechanism 15 is used to ensure that when the steel profile is conveyed on the first roller path 12, the traveling position of the steel profile is always centered and has no yaw.

[0035] As Figure 1 and 4 As shown in -6, the second feeding mechanism 20 includes a second rack 21 and a second roller path 22 provided at the top of the second rack 21 and equipped with a second roller path driving device 221. The second roller path driving device 221 is connected to the master control device 40 through a line and is controlled by the master control device 40 for driving the second roller path 22 to run. The second roller path 22 is used for placing the steel profile and driving the steel profile to move forward. On the second rack 21, there are successively arranged a second in-place sensor 23, a second feeding device 25, a second positioning pressing plate 24 provided with a second positioning pressing plate driving device 241, and a second centering mechanism 26. The second roller path driving device 221, the second in-place sensor 23, and the second positioning pressing plate driving device 241 are respectively connected to the master control device 40 through lines. The second in-place sensor 23 is used to monitor whether the steel profile on the second roller path 22 is in place and feedback the signal to the master control device 40. After the steel profile is in place, the master control device 40 controls the second roller path driving device 221 to stop running, and controls the second positioning pressing plate driving device 241 to drive the second pressing plate 24 to press down to fix the end of the steel profile, facilitating the alignment of the ignition / extinguishing arc plate 50 and carrying out tack welding. The second centering mechanism 26 is used to ensure that when the steel profile is conveyed on the second roller path 22, the traveling position of the steel profile is always centered and has no yaw.

[0036] The second loading device 25 includes a chassis 251 mounted on the second frame 21. A Y-axis linear module 252 and a support upright 257 are respectively provided on the upper part and one side of the chassis 251. A Z-axis linear module 253 is vertically and movably provided on the Y-axis linear module 252. A front upright 254 is movably provided on one side of the Z-axis linear module 253. A material receiving plate 255 for receiving the arc ignition / extinguishing plate 50 is provided at the top of the front upright 254. A material pushing device 258 is provided at the top of the support upright 257. The material pushing device 258 includes a corresponding material pushing cylinder 2581 and a workpiece bin 259 for placing the arc ignition / extinguishing plate 50. A material pushing plate 2582 is provided at the telescopic end of the material pushing cylinder 2581, which is used to push the arc ignition / extinguishing plate 50 onto the material receiving plate 255. The Y-axis linear module 252, the Z-axis linear module 253, and the material pushing cylinder 2581 are respectively connected to the master control device 40 through lines; more specifically, the Y-axis linear module 252 includes a movable first slide 2521 and a Y-axis linear module driving device 2522 for driving the movement of the first slide 2521. The Z-axis linear module 253 is vertically arranged on the first slide 2521. The Z-axis linear module 253 includes a movable second slide 2531 and a Z-axis linear module driving device 2532 for driving the movement of the second slide 2531. The front upright 254 is arranged on the second slide 2531. A number of limit blocks 256 are provided at the edge of the upper surface of the material receiving plate 255. The Y-axis linear module driving device 2522 and the Z-axis linear module driving device 2532 are respectively connected to the master control device 40; the workpiece bin 259 includes four L-shaped angle plates 2591 arranged at intervals in the four-corner orientation at the top of the support upright 257 on the side close to the Z-axis linear module 253. L-shaped notches 2593 are correspondingly opened at the bottoms of the two L-shaped angle plates 2591 on each side. Bottom material supporting blocks 2592 are provided at the positions corresponding to the L-shaped notches 2593 on each side. The distance from the top of the bottom material supporting block 2592 to the top of the L-shaped notch 2593 is greater than the thickness of one arc ignition / extinguishing plate 50 to be placed and less than the thickness of two arc ignition / extinguishing plates 50 to be placed. The thickness of the material pushing plate 2582 is not greater than the thickness of the arc ignition / extinguishing plate 50 to be placed, and the bottom is slightly higher than the top of the bottom material supporting block 2592.The workpiece bin 259 is suitable for placing the pilot / arc extinguishing plates 50 of a single specification. The bin uses a bottom discharging method. Through the linkage of the Y-axis linear module 252 and the Z-axis linear module 253, the receiving plate 255 on the front support 254 is controlled to move to a position flush with the top of the bottom material receiving block 2592. The pusher cylinder 2581 drives the pusher plate 2582 to push out the pilot / arc extinguishing plate 50 at the bottom end of the workpiece bin 259 onto the receiving plate 255. Limited by the limit block 256, after the pusher cylinder 2581 drives the pusher plate 2582 to retract, one pilot / arc extinguishing plate 50 in the bin automatically drops to the waiting position. After the receiving plate 255 receives the material, according to the edge-finding scanning information of the laser rangefinder on the welding robot, the Y-axis linear module 252 and the Z-axis linear module 253 are controlled to be linked to align the pilot / arc extinguishing plate 50 with the end of the section steel, and then the welding robot performs the tacking operation.

[0037] To facilitate the reminder when the workpiece bin 259 is empty, a second empty bin alarm 2594 is provided at the workpiece bin 259. The second empty bin alarm 2594 usually uses detection methods such as photoelectricity. The second empty bin alarm 2594 is connected to the total control device 40 to send a warning message when the bin is empty.

[0038] A rear support 2510 can also be set at the rear of the Z-axis linear module 253. The bottom of the rear support 2510 is connected to the first slide 2521 to improve the stability of the Z-axis linear module 253 during operation.

[0039] When this utility model is applied, for example, when performing the tacking operation of the pilot / arc extinguishing plates 50 of H-shaped steel, the first feeding mechanism 10 and the second feeding mechanism 20 can be set simultaneously, which are respectively used for the tacking operation of the pilot / arc extinguishing plates 50 of the web and the flange. The specific process is as follows:

[0040] (1) Web tacking process:

[0041] a. When the web flows out from the previous process and reaches the first roller table 12 of this process, the first in-place sensor 13 first sends a signal indicating the presence of material and then a signal indicating the absence of material to the total control device 40. At this time, the total control device 40 sends a stop operation instruction to the first roller table driving device 121 to control the conveyor line to stop, and the web is conveyed in place. During the entire conveying process, the first centering mechanism 15 ensures that the web walks in a centered position without yaw.

[0042] b. The total control device 40 sends an instruction to the first positioning press plate driving device 141 to control the first positioning press plate 14 to press down, so that the end of the web remains flat and ensures that the height of each incoming web is the same (there are different height differences for different specifications of webs).

[0043] c. The master control device 40 sends an instruction to the second controller 31 of the welding robot 30, controlling the second robotic arm 32 of the welding robot 30 to drive the laser rangefinder 33 to perform edge-finding scanning on the end of the web. After finding the accurate position, it feeds back a signal to the master control device 40, and the master control device 40 determines the web specification according to the feedback information.

[0044] d. The master control device 40 sends an instruction to the first controller 171 of the loading robot 17 according to the web specification information. The loading robot 17 opens the two-finger cylinder of the end effector 173 to the corresponding width according to different specifications of the web, and then controls the first robotic arm 172 to drive the end effector 173 to the magazine-type workpiece loading bin 16, grabs the corresponding specification pilot / arc-extinguishing plate 50, and sends it to the end of the web for position matching. When the position matching is completed, the first controller 171 of the loading robot 17 sends a signal to the master control device 40, and the master control device 40 controls the second robotic arm 32 of the welding robot 30 to drive the welding torch 34 to reach synchronously, starts the welding power source 36 and the wire feeding mechanism 351, and performs tack welding on the web and the pilot / arc-extinguishing plate 50.

[0045] e. After the tack welding is completed, each device returns to the initial position and the web is released.

[0046] (2) Wing plate tack welding process:

[0047] a. When the wing plate flows out from the previous process and reaches the second roller path 22 of this process, the second in-position sensor 23 first sends a signal indicating the presence of material and then a signal indicating the absence of material to the master control device 40. At this time, the master control device 40 sends a stop operation instruction to the second roller path driving device 221 to control the conveyor line to stop, and the wing plate is transported in place. During the entire transportation process, the second centering mechanism 26 ensures that the wing plate travels in a centered position without yaw.

[0048] b. The master control device 40 sends an instruction to the second positioning press plate driving device 241 to control the second positioning press plate 24 to press down, keeping the tail of the wing plate flat and ensuring that the height of each incoming wing plate is the same.

[0049] c. The master control device 40 sends an instruction to the second controller 31 of the welding robot 30, controlling the second robotic arm 32 of the welding robot 30 to drive the laser rangefinder 33 to perform edge-finding scanning on the end of the wing plate. After finding the accurate position, it feeds back a signal to the master control device 40.

[0050] d. The master control device 40 sends an instruction to the second loading device 25. Through the linkage of the Y-axis linear module 252 and the Z-axis linear module 253, the push device 258 pushes the pilot / arc-extinguishing plate 50 at the bottommost of the workpiece bin 259 onto the receiving plate 255, and then according to the edge-finding scanning information of the laser rangefinder on the welding robot, controls the linkage of the Y-axis linear module 252 and the Z-axis linear module 253 to align and closely adjoin the pilot / arc-extinguishing plate 50 with the end of the wing plate.

[0051] e. The master control device 40 controls the second robotic arm 32 of the welding robot 30 to drive the welding torch 34 to reach synchronously, starts the welding power source 36 and the wire feeding mechanism 351, and spot-fixes the wing plate and the ignition / extinguishing arc plate 50.

[0052] f. After the spot-fixing is completed, each device returns to its initial position, and the wing plate is released.

Claims

1. An integrated device for arc-initiating and arc-extinguishing plate welding, characterized in that: It comprises a master control device (40), a welding robot (30), and a first feeding mechanism (10) and / or a second feeding mechanism (20); The first loading mechanism (10) comprises a first frame (11) and a first roller (12) disposed on the top of the first frame (11) and equipped with a first roller drive device (121); a loading robot (17) and a clip-type workpiece loading bin (16) are disposed on one side of the first frame (11); a first in-position sensor (13), a first positioning plate (14) connected to a first positioning plate drive device (141), and a first centering mechanism (15) are sequentially disposed on the first frame (11); the loading robot (17) comprises a first controller (171) and a first mechanical arm (172) and an end picker (173) respectively connected to the first controller (171); the end picker (173) is disposed at the front end of the first mechanical arm (172); the clip-type workpiece loading bin (16) comprises a plurality of clip fixtures (165) disposed thereon; The second feeding mechanism (20) comprises a second frame (21) and a second roller (22) disposed on the top of the second frame (21) and equipped with a second roller drive device (221); the second frame (21) is provided with a second in-position sensor (23), a second feeding device (25), a second positioning platen (24) equipped with a second positioning platen drive device (241), and a second centering mechanism (26) in sequence; the second feeding device (25) comprises a bottom frame (251) mounted on the second frame (21); the top of the bottom frame (251) and one side thereof are respectively provided with a Y-axis A linear module (252) and a supporting frame (257), wherein a Z-axis linear module (253) is vertically movable on the Y-axis linear module (252), and a front frame (254) is movable on the Z-axis linear module (253), and a material receiving plate (255) is arranged on the top of the front frame (254), and a material pushing device (258) is arranged on the top of the supporting frame (257), and the material pushing device (258) includes a correspondingly arranged material pushing cylinder (2581) and a workpiece bin (259), and a material pushing plate (2582) is arranged on the telescopic end of the material pushing cylinder (2581); The welding robot (30) comprises a second controller (31), a welding gun (34), and a second mechanical arm (32) and a laser rangefinder (33) respectively connected to the second controller (31); the laser rangefinder (33) and the welding gun (34) are respectively arranged at the front end of the second mechanical arm (32); Wherein: the first roller drive device (121), the first in-position sensor (13), the first positioning plate drive device (141), the first controller (171), the second roller drive device (221), the second in-position sensor (23), the second positioning plate drive device (241), the Y-axis linear module (252), the Z-axis linear module (253), the push cylinder (2581) and the second controller (31) are respectively connected to the master control device (40).

2. The arc-initiating and arc-extinguishing plate welding integrated device according to claim 1, characterized in that: The end picker (173) is a two-finger cylinder.

3. The arc-initiating and arc-extinguishing plate welding integrated device according to claim 1, characterized in that: The clip-type workpiece loading bin (16) comprises a loading bin frame (161), each of the clip fixtures (165) is arranged on the top of the loading bin frame (161), a load-bearing frame (162) is installed on the top of the loading bin frame (161), and a clip fixture mounting plate (163) is respectively arranged on the load-bearing frame (162) at a position corresponding to each of the clip fixtures (165), and each of the clip fixtures (165) is detachably mounted on the corresponding The magazine fixture (165) comprises a U-shaped magazine (1651) on the magazine fixture mounting plate (163), a front baffle (164) is mounted on the magazine fixture mounting plate (163) at the front side of the U-shaped magazine (1651), an opening having a size smaller than that of the bottom of the U-shaped magazine (1651) is provided at the bottom of the magazine fixture mounting plate (163), and a first empty material alarm (166) connected to the master control device (40) is mounted at the opening.

4. The arc-initiating and arc-extinguishing plate welding integrated device according to claim 3, characterized in that: The upper and lower sides of the outer side of the U-shaped clip (1651) are respectively provided with a lifting ear (1652) and an ear plate (1655), and the ear plate (1655) and the clip tooling mounting plate (163) are respectively provided with corresponding clip error prevention holes (1653) and are connected and fixed by fixing bolts (167).

5. The arc-initiating and arc-extinguishing plate welding integrated device according to claim 3 or 4, characterized in that: Each of the U-shaped clips (1651) is vertically provided with a workpiece error prevention strip (1654) at the same or different positions.

6. The arc-initiating and arc-extinguishing plate welding integrated device according to claim 1, characterized in that: The Y-axis linear module (252) includes a movable first slide (2521) and a Y-axis linear module driving device (2522) for driving the first slide (2521) to move; the Z-axis linear module (253) is vertically arranged on the first slide (2521); the Z-axis linear module (253) includes a movable second slide (2531) and a Z-axis linear module driving device (2532) for driving the second slide (2531) to move; the front frame (254) is arranged on the second slide (2531); a plurality of limit blocks (256) are arranged at the edge of the upper surface of the receiving plate (255); the Y-axis linear module driving device (2522) and the Z-axis linear module driving device (2532) are respectively connected to the main control device (40).

7. The arc-initiating and arc-extinguishing plate welding integrated device according to claim 6, characterized in that: A rear stand (2510) is provided on the rear side of the Z-axis linear module (253), and the bottom of the rear stand (2510) is connected to the first slide (2521).

8. The arc-initiating and arc-extinguishing plate welding integrated device according to claim 1, 6 or 7, characterized in that: The workpiece bin (259) includes four L-shaped angle plates (2591) arranged at four corner intervals on the top of one side of the support frame (257) close to the Z-axis linear module (253), and the bottoms of the two L-shaped angle plates (2591) on each side are correspondingly provided with L-shaped notches (2593), and a bottom material receiving block (2592) is provided at the position corresponding to the L-shaped notch (2593) on each side.

9. The arc-initiating and arc-extinguishing plate welding integrated device according to claim 8, characterized in that: A second empty material alarm (2594) is provided at the workpiece material bin (259), and the second empty material alarm (2594) is connected to the master control device (40).

10. The arc-initiating and arc-extinguishing plate welding integrated device according to claim 1, characterized in that: The welding robot (30) further comprises a wire feeding barrel (35) having a wire feeding mechanism (351) and a welding power source (36); a welding wire is arranged in the wire feeding barrel (35); the welding wire is connected to the welding gun (34) via the wire feeding mechanism (351); the welding power source (36) is connected to the welding gun (34); and the wire feeding mechanism (351) and the welding power source (36) are respectively connected to the master control device (40).

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