Corner column and tie bar assembling and welding equipment

Abstract

According to the scheme, the corner post and tie bar assembling and welding equipment comprises a supporting device, the supporting device is provided with a containing groove with an upward opening, and the containing groove is used for containing a corner post; the feeding device is configured to feed the lacing wires to the positioning device, and the positioning device is configured to position the lacing wires; the clamping device comprises a clamping piece capable of moving between the positioning device and the placing groove in a reciprocating mode, and the clamping piece is configured to clamp the lacing wire positioned on the positioning device to the position above the placing groove so that the lacing wire can be close to the corner column; the welding device is arranged corresponding to the supporting device, the welding device comprises a welding gun capable of being close to or away from the containing groove, the welding gun is configured to weld the lacing wires to the corner columns, and automatic feeding and positioning of the lacing wires can be completed through mutual cooperation of the feeding device, the positioning device and the clamping device; the welding device is adopted to achieve automatic welding of the lacing wires and the corner columns, the automation degree is high, manpower is effectively saved, and the production efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of corner post and tie rod assembly and welding equipment, and particularly to a corner post and tie rod assembly and welding equipment. Background Technology

[0002] With increasing industrial demand and rising labor costs in my country, the need for robotic welding to replace manual welding is becoming increasingly urgent. For welding the corner post tie rods of containers, the axial ends of the tie rods typically need to be welded to the two adjacent inner sidewalls of the corner post. Currently, the positioning and welding of the tie rods are entirely manual operations, resulting in high labor intensity, high labor costs, and slow production speed. Furthermore, the positioning between the corner post and the tie rod is prone to errors, leading to inconsistent production quality. Simultaneously, welding generates dust, arc light, noise, and heat, which not only increases the risk of workers contracting pneumoconiosis, photokeratitis, hearing loss, and heatstroke, but also poses safety hazards. Utility Model Content

[0003] To address the aforementioned issues, this application provides a welding device for assembling corner posts and tie rods.

[0004] According to one aspect of the embodiments of this application, a corner post and tie rod assembly and welding equipment is disclosed, including a support device having an upward-opening placement groove for placing the corner post;

[0005] A feeding device and a positioning device, wherein the feeding device is configured to feed the tie rod onto the positioning device, and the positioning device is configured to position the tie rod;

[0006] The clamping device includes a clamping member that can reciprocate between the positioning device and the placement slot, the clamping member being configured to clamp the tie rod positioned on the positioning device above the placement slot, so that the tie rod is close to the corner post;

[0007] A welding device is provided corresponding to the support device. The welding device includes a welding torch that can approach or move away from the placement groove. The welding torch is configured to weld the tie rod to the corner post.

[0008] In one exemplary embodiment, the positioning device includes a bracket;

[0009] The bracket is provided with a positioning groove; one end of the positioning groove is connected to the discharge end of the feeding device, the opening of the positioning groove faces upward, and the length of the positioning groove extends along the conveying direction of the feeding device; the dimensions of the opposite sides of the positioning groove are adapted to the cross-sectional dimensions of the tie rod.

[0010] The top surface of the bracket is provided with a limiting block, which is located away from the discharge end of the feeding device and is used to limit the axial position of the tie rod located in the positioning groove.

[0011] In one exemplary embodiment, the bracket includes a support plate and two positioning blocks spaced apart on the support plate, wherein the positioning groove is formed between the top surface of the support plate and the opposite sides of the two positioning blocks;

[0012] At least one of the positioning blocks is slidably connected to the support plate, thereby allowing adjustment of the distance between the two positioning blocks.

[0013] In one exemplary embodiment, a first clearance groove is provided on the opposite sidewalls of the two positioning blocks, and the first clearance groove extends upward to the top surface of the positioning block;

[0014] The first clearance groove extends downward to the bottom surface of the positioning block, and the top of the support plate is provided with a second clearance groove, which communicates with the first clearance groove one by one.

[0015] In one exemplary embodiment, the feeding device includes a vibrating screen and a discharge track. The discharge track includes a feeding end and a discharge end respectively disposed at opposite ends in the conveying direction. The feeding end is connected to the discharge port of the vibrating screen and is used to receive the tension bars output by the vibrating screen.

[0016] The width between the two opposite inner walls of the discharge track is greater than the width between the two opposite sides of the positioning groove.

[0017] In one exemplary embodiment, the limiting block is slidably connected to the bracket along a direction approaching or away from the positioning groove; and / or

[0018] The limiting blocks are spaced apart at one end of the positioning groove away from the feeding device. The limiting blocks are provided with at least one position detector, which is configured to detect whether one axial end of the tie rod located on the positioning groove abuts against the limiting block.

[0019] The clamping device is configured to control the clamping member to clamp the tie rod located on the positioning groove in response to the position detector detecting that the tie rod is abutting against the limiting block.

[0020] In one exemplary embodiment, the clamping device includes a first robotic arm, and the gripping member is disposed on the first robotic arm;

[0021] The gripping component includes a cylinder and two grippers. The cylinder is mounted on the first robotic arm and is used to drive the two grippers to move closer or further away. The opposing sidewalls of the two grippers are provided with through grooves for gripping the tie rod.

[0022] In one exemplary embodiment, the clamping device includes a force detector connected between the first robotic arm and the gripper, the force detector being configured to detect the force between the tension bar on the gripper and the corner post;

[0023] The clamping device is configured such that, in response to the force detected by the force detector being greater than a preset threshold, the first robotic arm controls the clamped part to stop moving.

[0024] In one exemplary embodiment, the support device includes at least two placement slots spaced apart in a horizontal direction;

[0025] The placement slot is a V-shaped slot.

[0026] In one exemplary embodiment, the welding apparatus includes a second robotic arm on which the welding torch is disposed.

[0027] The technical solutions provided by the embodiments of this application have at least the following beneficial effects:

[0028] The corner post and tie rod assembly and welding equipment disclosed in this application uses a clamping device to pick up the tie rods positioned on the positioning device. This ensures that each tie rod workpiece is in the same position when it reaches the discharge end of the feeding device, facilitating clamping and ensuring that the welding position of the tie rod on the corner post remains consistent, thus guaranteeing subsequent welding accuracy. Simultaneously, through the cooperation of the feeding device, positioning device, and clamping device, the automatic feeding and positioning of the tie rods can be completed. Then, a welding device is used to automatically weld the tie rods to the corner post. The entire equipment has a high degree of automation, effectively saving manpower, improving production efficiency and product accuracy, reducing the risk of occupational diseases, and minimizing safety hazards, thus possessing significant economic and social value.

[0029] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this application. Attached Figure Description

[0030] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the principles of this application.

[0031] Figure 1 This is a schematic diagram of the overall structure of the corner post and tie rod assembly and welding equipment provided in one embodiment of this application.

[0032] Figure 2 This is a schematic diagram of the structure of a support device provided in an embodiment of this application.

[0033] Figure 3 This is a partial structural view of the feeding device and positioning device provided in an embodiment of this application.

[0034] Figure 4 This is a partial enlarged view of a positioning device provided in an embodiment of this application.

[0035] Figure 5 This is a schematic diagram of the structure of a clamping device provided in an embodiment of this application.

[0036] Figure 6 This is a schematic diagram of the structure of a clamping component provided in an embodiment of this application.

[0037] Figure 7 This is a schematic diagram of the welding apparatus provided in one embodiment of this application.

[0038] The reference numerals in the attached drawings are explained as follows: 1-corner post, 2-tie rod, 3-support device, 31-placement groove, 32-horizontal bar, 33-vertical bar, 34-support rod, 4-feeding device, 41-vibrating screen, 411-discharge port, 42-discharge track, 421-discharge end, 5-positioning device, 51-bracket, 511-positioning groove, 512-support plate, 5121-second clearance groove, 513-positioning block, 5131-first clearance groove, 52-limiting block, 53-position detector, 6-clamping device, 61-clamping part, 611-cylinder, 612-gripper, 6121-through groove, 62-first robotic arm, 63-force detector, 7-welding device, 71-welding torch, 72-second robotic arm. Detailed Implementation

[0039] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided so that the description of this application will be more complete and fully convey the concept of the exemplary embodiments to those skilled in the art.

[0040] In the description of this utility model, all the connection relationships mentioned do not refer to direct connection of components, but rather to the ability to form a better connection structure by adding or reducing connecting accessories according to specific implementation conditions. The various technical features in this utility model can be combined interactively without contradicting each other.

[0041] In the description of this utility model, unless otherwise explicitly defined, terms such as setting, installing, and connecting should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0042] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0043] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than", "less than", "exceeding" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself.

[0044] This application provides a container corner post and tie rod assembly and welding equipment for automatically welding corner posts 1 and tie rods 2 to complete the assembly of corner posts 1 and tie rods 2.

[0045] Figure 1 A schematic diagram of the overall structure of the corner column and tie rod assembly and welding equipment is shown.

[0046] The corner post 1 of this application is used in container assembly and has two vertical sides, while the tie rod 2 is strip-shaped. In the assembly with the tie rod 2, the axial ends of the tie rod 2 need to be welded to the inner walls of the two sides of the corner post 1.

[0047] The corner post and tie rod assembly and welding equipment of this application includes a support device 3, a feeding device 4, a positioning device 5, a clamping device 6, and a welding device 7. The support device 3 is used to support and place the corner post 1. The feeding device 4 is configured to feed the tie rod 2 onto the positioning device 5, and the positioning device 5 is configured to position the tie rod 2. The clamping device 6 can clamp the positioned tie rod 2 on the positioning device 5 and place it above the placement groove 31, so that the tie rod 2 is close to the corner post 1. The welding device 7 is provided corresponding to the support device 3, and the welding device 7 includes a welding gun 71 that can approach or move away from the placement groove 31. The welding gun 71 is used to weld the tie rod 2 to the corner post 1.

[0048] After the corner post 1 is placed, the feeding device 4 automatically feeds the tie rod 2 to the positioning device 5 for positioning. The clamping device 6 clamps the positioned tie rod 2 on the positioning device 5 and transfers it above the placement groove 31, bringing the tie rod 2 close to the corresponding welding point on the corner post 1. Then, the welding device 7 moves the welding gun 71, which welds the tie rod 2 clamped by the clamping device 6 to the corner post 1 on the placement groove 31. After welding is completed, the welding gun 71 moves away from the placement groove 31, and the clamping part 61 of the clamping device 6 releases the welded tie rod 2 and can move back to the vicinity of the positioning device 5 to clamp the next positioned tie rod 2. The entire system then waits for the next work cycle.

[0049] The clamping device 6 grips the tie rod 2, which is positioned on the positioning device 5, ensuring that each tie rod 2 is in the same position when it reaches the discharge end 421 of the feeding device 4. This facilitates gripping by the clamping device 6 and ensures that the welding position of the tie rod 2 on the corner post 1 remains consistent, guaranteeing subsequent welding accuracy. Simultaneously, the cooperation of the feeding device 4, positioning device 5, and clamping device 6 enables automatic feeding and positioning of the tie rod 2. Then, the welding device 7 performs automatic welding between the tie rod 2 and the corner post 1. The entire equipment is highly automated, effectively saving manpower, improving production efficiency and product accuracy, reducing the risk of occupational diseases, and minimizing safety hazards, thus possessing significant economic and social value.

[0050] Figure 2 A schematic diagram of the support device 3 is shown.

[0051] Combination Figure 1 and Figure 2 The support device 3 has an upward-facing placement groove 31 for placing the corner post 1. The corner post 1 is positioned on the placement groove 31 for easy subsequent welding.

[0052] Specifically, the support device 3 includes at least two horizontally spaced placement slots 31, and the multiple placement slots 31 are arranged sequentially along the placement direction of the corner post 1 to improve the stability of the supporting corner post 1. Two placement slots 31 can be formed, each used to support one axial side of the corner post 1, reducing equipment costs. In some other embodiments, three or more placement slots 31 can be formed to support the bottom of the corner post 1, further reducing equipment costs. Alternatively, there can be only one placement slot 31, and the axial direction of the placement slot 31 extends along the placement direction of the corner post 1.

[0053] Furthermore, the placement groove 31 is a V-shaped groove with the opening facing upwards. By setting the cross-section of the placement groove 31 to a V-shaped structure, the mutually perpendicular sides of the corner post 1 can be placed against the groove surface of the V-shaped groove, which not only enables the corner post 1 to be positioned, but also makes the opening formed by the two perpendicular sides of the corner post 1 face upwards, which facilitates the clamping device 6 and the welding device 7 to weld the tie rod 2 to the corner post 1.

[0054] In addition, in some other embodiments, the cross-sectional shape of the placement groove 31 may also be a plane with a bottom extending horizontally and inner sides that limit the opposite sides, or other shapes, as long as the corner post 1 can be placed and positioned.

[0055] Additionally, the inner wall of the placement groove 31 may be provided with anti-slip textures, anti-slip pads, or magnetic components to prevent displacement of the placed corner post 1, thereby improving the positional stability of the corner post 1 within the placement groove 31.

[0056] In some specific embodiments, the support device 3 may include two Y-shaped support frames spaced apart horizontally, with a placement groove 31 formed on the top of the Y-shaped support frames. In other specific embodiments, the support device 3 may include a horizontal bar 32, with two vertical bars 33 supporting the axial ends of the horizontal bar 32. Multiple support rods 34 are sequentially spaced along the extension direction of the horizontal bar 32, forming an upward-opening V-shaped groove between the horizontal bar 32 and the support rods 34. When production batches are small (e.g., producing special container products), the corner post 1 can be practically applied in the above specific embodiments. Furthermore, when production batches are large, the support device 3 can also be used in conjunction with conveying equipment to achieve automatic feeding of the corner post 1, improving automation and production efficiency.

[0057] Reference Figure 1 The feeding device 4 includes a vibrating screen 41 and a discharge track 42. The discharge track 42 includes a feeding end and a discharge end 421 respectively located at opposite ends of the conveying direction. The feeding end is connected to the discharge port 411 of the vibrating screen 41 and is used to receive the tension bar 2 output by the vibrating screen 41.

[0058] The discharge end 421 of the discharge track 42 serves as the discharge end 421 of the entire feeding device 4. By placing multiple tie rods 2 into the vibrating screen 41, the multiple tie rods 2 can be discharged sequentially from the discharge port 411 of the vibrating screen 41 to the feeding end of the discharge track 42 under the vibration and guiding action of the vibrating screen 41. The width of the discharge track 42 relative to the two inner walls can accommodate one tie rod 2, so that the tie rod 2 moves towards the discharge end 421 along the extension direction of the discharge track 42.

[0059] Figure 3 A partial structural view of the feeding device 4 and the positioning device 5 is shown. Figure 4 A partially enlarged view of the positioning device 5 is shown.

[0060] Reference Figure 3 The positioning device 5 includes a bracket 51, on which a positioning groove 511 and a limiting block 52 are provided.

[0061] The opening of the positioning groove 511 in this application faces upward so that the clamping part 61 of the clamping device 6 can clamp the tie rod 2 workpiece in the positioning groove 511.

[0062] One end of the positioning groove 511 is connected to the discharge end 421 of the feeding device 4, and the length of the positioning groove 511 extends along the conveying direction of the feeding device 4.

[0063] Specifically, one end of the positioning groove 511 is connected to the discharge end 421 of the discharge track 42, and the inner bottom surface of the positioning groove 511 actually needs to be connected to the inner bottom surface of the discharge track 42. The length extension direction of the positioning groove 511 coincides with the conveying direction of the feeding device 4, that is, the length extension direction of the positioning groove 511 is consistent with the extension direction of the discharge track 42, so as to ensure that the tie rod 2 on the feeding device 4 can smoothly feed the material onto the positioning groove 511.

[0064] Furthermore, the dimensions of the opposite sides of the positioning groove 511 are adapted to the cross-sectional dimensions of the tie rod 2. The dimensions of the opposite sides of the positioning groove 511 conform to the cross-sectional dimensions of the tie rod 2, thereby restricting the position of the tie rod 2 and realizing the positioning of the tie rod 2 at the location of the cross-section.

[0065] Meanwhile, regarding the shape of the tie rod 2 with its two ends bent axially, this type of tie rod 2 is conveyed in an upward bent state when it is located on the feeding device 4. When passing through the positioning groove 511, the opposite two sides of the positioning groove 511 can limit the swing direction of the bent part at the end of the tie rod 2, ensuring that after each tie rod 2 enters the positioning device 5, both ends of the tie rod 2 are in a vertical upward state, thereby realizing the circumferential positioning of the tie rod 2, which is convenient for the clamping part 61 of the clamping device 6, and also makes the position and angle of each tie rod 2 welded to the corner post 1 more consistent, thus improving the welding accuracy of the tie rod 2.

[0066] Furthermore, refer to Figure 4 The bracket 51 includes a support plate 512 and two positioning blocks 513 spaced apart on the support plate 512. A positioning groove 511 is formed between the top surface of the support plate 512 and the opposite sides of the two positioning blocks 513.

[0067] The top surface of the support plate 512 serves as the inner bottom surface of the positioning groove 511, and the opposite sides of the two positioning blocks 513 serve as the opposite sides of the positioning groove 511. In fact, the width between the opposite inner walls of the discharge track 42 is greater than the width between the opposite sides of the positioning groove 511. The tie rods 2 located on the discharge track 42 can pass smoothly through the discharge track 42 one by one, and the tie rods 2 that leave the discharge track 42 and enter the positioning groove 511 can be positioned by the opposite side walls of the positioning groove 511, improving the positional accuracy of the tie rods 2 and making it easier for the clamping device 6 to accurately clamp the tie rods 2.

[0068] Furthermore, at least one positioning block 513 is slidably connected to the support plate 512, and the distance between the two positioning blocks 513 can be adjusted. By adjusting the distance between the two positioning blocks 513, the spacing of the positioning grooves 511 can be adjusted, so that the positioning grooves 511 can accurately match the size of the tie rod 2, and can also ensure that the tie rod 2 can smoothly enter the positioning groove 511 and be smoothly clamped by the clamping member 61, thereby improving the positioning accuracy. At the same time, it can be used for tie rods 2 of different sizes, increasing the applicability range.

[0069] Specifically, two positioning blocks 513 are fixed to the support plate 512 by bolts. At least one bolt hole on the positioning block 513, or the corresponding bolt hole on the support plate 512, is an oblong hole extending along the direction of the two positioning blocks 513, allowing one positioning block 513 to be adjusted in position on the support plate 512, thereby adjusting the distance between the two positioning blocks 513. In other embodiments, the positioning blocks 513 may be adjusted in relative position on the support plate 512 by connecting to different bolt holes or positioning pin holes. Furthermore, the positioning blocks 513 can also be adjusted in position on the support plate 512 by means of sliding blocks or the like. In practice, there may be only one positioning block 513, or both positioning blocks 513 may be slidably connected to the support plate 512.

[0070] Furthermore, to facilitate the clamping device 6 in gripping the tie rod 2, a first clearance groove 5131 is provided on the opposite sidewalls of the two positioning blocks 513 of this application. The first clearance groove 5131 extends upward to the top surface of the positioning block 513. The clamping member 61 of the clamping device 6 can extend into the first clearance groove 5131 from top to bottom and clamp the positioning block 513, so that the clamping device 6 can clamp more of the tie rod 2 and improve the clamping stability.

[0071] Furthermore, the first clearance groove 5131 extends downward to the bottom surface of the positioning block 513, and the top of the support plate 512 is provided with a second clearance groove 5121, which is connected to the first clearance groove 5131.

[0072] Specifically, the first clearance groove 5131 on the two positioning blocks 513 passes through the positioning blocks 513 vertically and is connected vertically to the two second clearance grooves 5121 on the top surface of the support plate 512. Through the vertical connection of the first clearance groove 5131 and the second clearance groove 5121, the clamping member 61 of the clamping device 6 can be fully inserted to a position lower than the tie rod 2, thereby fully clamping the outer periphery of the tie rod 2, realizing the clamping member 61 gripping the tie rod 2 around its entire circumference, and further improving the clamping stability of the clamping device 6.

[0073] The bracket 51 of this application has a limiting block 52 on its top surface. The limiting block 52 is located away from the discharge end 421 of the feeding device 4 and is used to limit the axial position of the tie rod 2 located in the positioning groove 511.

[0074] As the tie rod 2 moves forward along the positioning groove 511 under the action of the feeding device 4, the tie rod 2 is first positioned by the two inner walls of the positioning groove 511. Then, the tie rod 2 moves closer to the limiting block 52, so that the end of the tie rod 2 away from the feeding device 4 can abut against the limiting block 52, and then the tie rod 2 stops moving. The limiting block 52 can restrict the axial position of the tie rod 2 in the positioning groove 511, further positioning the tie rod 2, improving the positioning accuracy of the tie rod 2, facilitating the clamping device 6 to pick it up, and improving the subsequent welding accuracy.

[0075] It should be noted that at least a portion of the limiting block 52 is located on a vertical plane extending through the positioning groove 511, ensuring that the tie rod 2 entering the positioning groove 511 can abut against the limiting block 52. In practice, the limiting block 52 can be located inside or outside the positioning groove 511. The limiting block 52 can be horizontally aligned with the positioning groove 511 or horizontally offset from the positioning groove 511, as long as the tie rod 2 can be limited by the limiting block 52.

[0076] Furthermore, the limiting block 52 is slidably connected to the bracket 51 along the direction of approaching or moving away from the positioning groove 511. By adjusting the position of the limiting block 52 on the bracket 51, the distance between the limiting block 52 and the positioning groove 511 can be adjusted. The operator can first locate the position of the limiting block 52 according to the axial length of the tie rod 2, thereby improving the positioning accuracy. At the same time, it can also be adapted to tie rods 2 with different axial lengths, thereby improving applicability.

[0077] Specifically, the limiting block 52 is fixed to the bracket 51 by bolts. One of the limiting block 52 and the bracket 51 has a slotted groove, the extension direction of which is parallel to the length extension direction of the positioning groove 511. The bolts pass through the slotted groove to connect the limiting block 52 and the bracket 51. When the position of the limiting block 52 needs to be adjusted, the bolts are loosened and the limiting block 52 is slid to adjust it. After adjustment, the bolts are tightened to complete the positioning of the limiting block 52. In practical applications, the sliding range of the limiting block can be 50mm to 200mm to accommodate tie rods of different lengths.

[0078] Furthermore, the limiting blocks 52 are spaced apart at one end of the positioning groove 511 away from the feeding device 4. The limiting blocks 52 are provided with at least one position detector 53, which is configured to detect whether one axial end of the tie rod 2 located on the positioning groove 511 abuts against the limiting blocks 52.

[0079] Specifically, the position detector 53 is synchronously connected to the limiting block 52 and can move with the limiting block 52. The limiting block 52 is located on the side of the positioning block 513 away from the discharge end 421 of the discharge track 42, and the limiting block 52 and the positioning block 513 are spaced apart. The detection end of the position detector 53 is directly between the limiting block 52 and the positioning block 513, which makes it easy for the position detector 53 to detect whether the tie rod 2 is abutting against the limiting block 52.

[0080] The clamping device 6 is configured to control the clamping member 61 to clamp the tie rod 2 located on the positioning groove 511 after the position detector 53 detects that the tie rod 2 is abutting against the limit block 52.

[0081] Specifically, the position detector 53 is communicatively connected to the clamping device 6. The position detector 53 can be a photoelectric sensor or an infrared sensor, etc., which can detect whether the tie rod 2 is in place. After the position detector 53 detects that the tie rod 2 is in place, the clamping device 6 can respond and control the clamping component 61 to clamp the tie rod 2 located on the positioning groove 511, thereby improving the degree of automation.

[0082] In this embodiment, the position detector 53 is a through-beam photoelectric sensor, which is mounted on the limiting block 52 via a U-shaped bracket. Furthermore, there are two position detectors 53, spaced vertically apart. The lower position sensor is located further away from the positioning groove 511, while the upper position sensor can detect the bent tie rod 2 at both ends, and the lower position sensor can detect the tie rod 2 extending in a straight line.

[0083] Figure 5 A schematic diagram of the clamping device 6 is shown. Figure 6 A schematic diagram of the clamping component 61 is shown.

[0084] Reference Figure 5 and Figure 6 The clamping device 6 includes a clamping member 61 that can reciprocate between the positioning device 5 and the placement groove 31. The clamping member 61 is configured to clamp the positioned tie rod 2 on the positioning device 5 above the placement groove 31 so that the tie rod 2 is close to the corner post 1.

[0085] Furthermore, the clamping device 6 includes a first robotic arm 62, on which a clamping component 61 is mounted. The clamping component 61 can be adjusted in space via the first robotic arm 62, improving its flexibility, accuracy, and reliability. In addition, the clamping component 61 can also be controlled in space via XYZ axis arms, enabling independent movement along the X, Y, and Z axes, thus reducing equipment costs.

[0086] Furthermore, the gripper 61 includes a cylinder 611 and two grippers 612. The cylinder 611 is mounted on the first robotic arm 62 and is used to drive the two grippers 612 to move closer or further away. The opposing sidewalls of the two grippers 612 are provided with through grooves 6121 for gripping the tie rod 2. Specifically, the two grippers 612 of the gripper 61 can extend into the first clearance groove 5131 and the second clearance groove 5121 respectively, so that the through groove 6121 is directly opposite the tie rod 2 on the positioning groove 511. The cylinder 611 controls the grippers 612 to grip the tie rod 2, thereby improving the stability of the gripper 61 in gripping the tie rod 2.

[0087] In this embodiment, the through slots 6121 on the two grippers 612 face each other, and the cross-sectional shape of the through slots 6121 is V-shaped. When the two grippers 6122 are closed and tightly fitted, the through slots 6121 can form a rhomboid shape, so that the inclined inner wall of the through slots 6121 can clamp the tie rod 2. In addition, the cross-sectional shape formed by the through slots 6121 on the two grippers 612 when closed and tightly fitted can also be rectangular, circular, elliptical, kite-shaped, or irregular. In some other embodiments, the grippers 612 can be provided with multiple through slots 6121 to form a serrated jaw shape.

[0088] In this embodiment, the cylinder 611 can drive the two grippers 612 to close or open via a bidirectional piston rod. Alternatively, the gripper can be driven by a motor to rotate the two grippers 612 to close or open.

[0089] In another embodiment, in order to improve the clamping stability of the tie rod 2, anti-slip texture, anti-slip pad or magnetic attraction can be provided in the through groove 6121 to improve the clamping effect of the tie rod 2 and reduce the phenomenon of the tie rod 2 shifting or falling off during the transfer process of the clamping member 61.

[0090] Furthermore, the clamping device 6 includes a force detector 63, which is connected between the first robotic arm 62 and the gripper 61. The force detector 63 is configured to detect the force between the tie rod 2 on the gripper 61 and the corner post 1. The clamping device 6 is configured such that, in response to the force detected by the force detector 63 exceeding a preset threshold, the first robotic arm 62 controls the gripper 61 to stop moving. The function of the force detector 63 is to provide overload protection. By detecting the force between the tie rod 2 and the corner post 1 on the gripper 61, it avoids excessive force between the tie rod 2 and the corner post 1. When the detected force exceeds the preset threshold, the first robotic arm 62 can respond by controlling the gripper 61 to stop moving, thus preventing system damage. In this embodiment, the force detector 63 is a force sensor. The force sensor can be fixed to the first robotic arm 62 with bolts, and the gripper 61 can be fixed to the force sensor with bolts.

[0091] Figure 7 A schematic diagram of the welding device 7 is shown.

[0092] Combination Figure 7 The welding device 7 includes a second robotic arm 72, on which a welding torch 71 is mounted. The welding torch 71 is adjusted in space via the second robotic arm 72, moving closer to or further away from the corner post 1 on the placement slot 31, improving its flexibility, precision, and reliability, and facilitating multi-angle welding. Furthermore, the welding torch 71 can be controlled in space via XYZ axis arms and other control components, enabling independent movement along the X, Y, and Z axes, reducing equipment costs. During operation, the welding material inside the welding torch 71 is used to weld between the tie rod 2 and the corner post 1.

[0093] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the utility models disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the appended claims.

Claims

1. A gusset and lacing assembly welding apparatus, characterized by, The application relates to an angle column and reinforcing bar assembling and welding device. The device comprises a supporting device with a placing groove with an upward opening, which is used for placing an angle column; an upper feeding device and a positioning device, wherein the upper feeding device is configured to feed reinforcing bars to the positioning device, and the positioning device is configured to position the reinforcing bars; a clamping device, which comprises a clamping piece capable of reciprocating between the positioning device and the placing groove, and the clamping piece is configured to clamp the reinforcing bars positioned on the positioning device to the upper side of the placing groove so as to make the reinforcing bars close to the angle column; and a welding device corresponding to the supporting device, which comprises a welding gun capable of approaching or moving away from the placing groove, and the welding gun is configured to weld the reinforcing bars to the angle column.

2. The angle column and reinforcing bar assembling and welding device according to claim 1, wherein the positioning device comprises a bracket; the bracket is provided with a positioning groove; one end of the positioning groove is communicated with a discharging end of the upper feeding device, the positioning groove has an upward opening, and the length of the positioning groove extends along the conveying direction of the upper feeding device; the sizes of the opposite sides of the positioning groove are matched with the cross-sectional sizes of the reinforcing bars; and the top surface of the bracket is provided with a limiting block, which is arranged away from the discharging end of the upper feeding device and is used for limiting the axial position of the reinforcing bars in the positioning groove.

3. The angle column and reinforcing bar assembling and welding device according to claim 2, wherein the bracket comprises a supporting plate and two limiting blocks which are arranged at intervals on the supporting plate, and the positioning groove is formed between the top surface of the supporting plate and the opposite side surfaces of the two limiting blocks; and at least one limiting block is slidingly connected to the supporting plate, and the distance between the two limiting blocks can be adjusted.

4. The angle column and reinforcing bar assembling and welding device according to claim 3, wherein the opposite side walls of the two limiting blocks are each provided with a first avoiding groove, which extends upward to the top surface of the limiting block; the first avoiding groove extends downward to the bottom surface of the limiting block, and the top of the supporting plate is provided with a second avoiding groove, which is communicated with the first avoiding groove.

5. The angle column and reinforcing bar assembling and welding device according to claim 2, wherein the upper feeding device comprises a vibrating screen and a discharging track, the discharging track comprises an upper feeding end and a discharging end which are respectively arranged at opposite ends in the conveying direction, the upper feeding end is communicated with the discharging port of the vibrating screen and is used for receiving the reinforcing bars output by the vibrating screen; and the width between the opposite inner walls of the discharging track is greater than the width between the opposite sides of the positioning groove.

6. The angle column and reinforcing bar assembling and welding device according to claim 2, wherein the limiting block is slidingly connected to the bracket in the direction of approaching or moving away from the positioning groove; and / or the limiting blocks are arranged at intervals at the end of the positioning groove away from the upper feeding device, the limiting blocks are provided with at least one position detector, and the position detector is configured to detect whether the axial end of the reinforcing bars positioned on the positioning groove abuts against the limiting block. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The clamping device is configured to control the clamping member to clamp the reinforcing bar on the positioning groove in response to the position detector detecting that the reinforcing bar abuts against the limiting block.

7. The corner post and reinforcing bar assembly and welding apparatus of claim 1, wherein, The clamping device comprises a first mechanical arm, and the clamping member is arranged on the first mechanical arm. The clamping member comprises a cylinder and two clamping jaws, the cylinder is arranged on the first mechanical arm and is configured to drive the two clamping jaws to move close to or away from each other, and the two clamping jaws are provided with through grooves on the opposite side walls for grabbing the reinforcing bar.

8. The corner post and reinforcing bar assembly and welding apparatus of claim 7, wherein, The clamping device comprises a force detector connected between the first mechanical arm and the clamping member, and the force detector is configured to detect the force between the reinforcing bar on the clamping member and the corner post. The clamping device is configured to control the first mechanical arm to stop moving in response to the force detected by the force detector being greater than a preset threshold.

9. The corner post and reinforcing bar assembly and welding apparatus of claim 1, wherein, The supporting device comprises at least two positioning grooves arranged in a horizontal direction. The positioning groove is a V-shaped groove.

10. The corner post and reinforcing bar assembly and welding apparatus of claim 1, wherein, The welding device comprises a second mechanical arm, and the welding torch is arranged on the second mechanical arm.

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