A positioning and welding device for rectangular pipe columns

Abstract

The utility model relates to welding frock technical field, concretely is a kind of positioning welding device for rectangular pipe column, including support matrix, rotating platform, vertical pneumatic clamp, pneumatic rotary joint, clamping mechanical arm, horizontal pneumatic clamp and welding mechanical arm, driving component is connected in support matrix and drives rotating platform accurate rotation, rotating platform includes columnar protrusion, column foot plate base and central shaft, central shaft is connected with rotating platform;Pneumatic rotary joint is connected at central shaft, avoid air pipe winding, vertical pneumatic clamp and horizontal pneumatic clamp realize workpiece bidirectional clamping, cooperate laser positioning sensor, ensure that welding positioning error is less than or equal to ±0.2mm, clamping mechanical arm and pneumatic clamp cooperate and realize the positioning clamping of high accuracy.The positioning welding device for rectangular pipe column can provide stable coordinates for mechanical arm welding, improve the quality of welding, reduce the dependence on manpower, realize "feeding-positioning-welding-discharging" full-process automation, and improve production efficiency.

Description

Technical Field

[0001] This utility model relates to the field of welding tooling technology, and in particular to a positioning welding device for rectangular tube columns. Background Technology

[0002] In the fields of steel structure manufacturing, engineering machinery, and building materials, rectangular tube columns are commonly used load-bearing components. As a key connecting component at the bottom of the rectangular tube column, the column base plate needs to be welded to one end of the tube column to form a high-strength joint. During the production and manufacturing of rectangular tube columns, the column base plate needs to be welded and fixed to one end of the tube column. The quality of the welding directly affects the structural stability of the tube column and the subsequent installation effect. The function of the column base is to fix the tube column to the foundation and transfer the internal force of the tube column to the foundation. The foundation is a structure that transfers the load of the superstructure to the ground. Together, the three constitute a safe and reliable load-bearing system.

[0003] Currently, most rectangular tube column base plate welding clamping relies on manual operation. Manual clamping requires repeated adjustments to the relative position of the rectangular tube column and the base plate, and multiple measurements are needed during the adjustment process, which severely restricts welding efficiency and makes it difficult to meet the efficiency requirements of industrial mass production. With the upgrading of manufacturing automation, welding robots, automatic welding guns and other equipment are gradually becoming more common. However, these devices have extremely high requirements for workpiece positioning accuracy and clamping stability. Traditional manual clamping cannot provide stable reference coordinates, making it difficult to achieve fully automatic welding and limiting the improvement of production automation level. Utility Model Content

[0004] To address the issues of reduced welding efficiency caused by repeated manual clamping and measurements during the welding of rectangular tube column base plates, and the difficulty in providing stable reference coordinates for automated equipment due to manual clamping, which hinders the accurate identification of weld positions and the achievement of fully automated welding, this invention provides a positioning welding device for rectangular tube columns. The technical solution adopted by this invention to solve the above problems is as follows: A positioning welding device for rectangular tube columns includes a support base, a rotating platform, a vertical pneumatic clamp, a pneumatic rotary joint, a clamping robotic arm, a rectangular tube column, a column base plate, a horizontal pneumatic clamp, and a welding robotic arm. The support base includes a circular sleeve and a support frame. The bottom surface of the circular sleeve is connected to the support frame. The circular sleeve is equipped with a driving component. The rotating platform is rotatably mounted relative to the circular sleeve, and the driving component drives the rotating platform to rotate. The rotating platform includes columnar protrusions, column base plates, and a central shaft. Multiple columnar protrusions and column base plates are provided. Multiple columnar protrusions are distributed on the rotating platform. Vertical pneumatic clamps are installed in the columnar protrusions. Multiple column base plates are connected to the rotating platform in a circumferential array. The central shaft is connected to the rotating platform. Pneumatic rotary joints are connected to the central shaft. Horizontal pneumatic clamps are distributed on the rotating platform. The welding robotic arm is set on the outside of the rotating platform.

[0005] The aforementioned positioning and welding device for rectangular tube columns uses a stepper motor as its driving component. By setting the parameters of the stepper motor, a single pulse signal output shaft rotates 90 degrees. When programming automated equipment, there is no need to set a pulse counting cycle, reducing the complexity of instructions. A single pulse directly completes the action. Compared with multi-pulse cumulative rotation of 90 degrees, it reduces the time for pulse transmission, motor start-up and acceleration, and shortens the single action cycle. If pulse loss or motor step loss occurs during multiple pulse rotations, it will lead to angular deviation, affecting the efficiency of automated production. Compared with single-pulse rotation, it can avoid cumulative errors.

[0006] The aforementioned positioning and welding device for rectangular tube columns has a stepper motor output shaft connected to a rotating platform. The rotating platform can rotate within the inner cavity of a circular sleeve, accurately distributing the four processes to the four positions of the rotating platform through single pulse motions of the stepper motor, thus ensuring the accuracy and stability of the four robotic arms in their production operations.

[0007] The aforementioned positioning and welding device for rectangular tube columns features laser positioning sensors at both the fixed end and the movable end of the welding robotic arm. These sensors have built-in signal processing circuitry and can directly output electrical pulse signals. The laser positioning sensors are electrically connected to the drive components. When the rotating platform rotates the workpiece to the preset welding position—that is, when the weld joint between the rectangular tube column and the column base plate is precisely within the optimal working range of the welding robotic arm—the laser positioning sensor triggers a pulse to brake the rotating platform. The positioning error is no more than ±0.2mm, solving the problem of position offset caused by inertia or mechanical backlash during braking of traditional rotating platforms. This ensures that the weld joint between the rectangular tube column and the column base plate is precisely aligned with the working trajectory of the welding robotic arm, reducing welding deviations. A real-time response mechanism between the rotating platform and the welding robotic arm is established, avoiding delays and errors from manual operation and improving overall work efficiency.

[0008] The aforementioned positioning and welding device for rectangular tube columns connects the rectangular tube column to the column base plate. All four sides of the rectangular tube column are parallel to the four sides of the column base plate, and the four sides of the column base plate are parallel to the four sides of the column base plate when clamped. The positioning of the rectangular tube column allows it to be better exposed in the field of view of the welding robot arm, which facilitates the welding operation of the welding robot arm. Furthermore, the welding robot arm can complete all welding operations of the rectangular tube column and column base plate in this installation direction without rotating the rectangular tube column and column base plate.

[0009] The aforementioned positioning and welding device for rectangular tube columns has two movable jaws in both the horizontal and vertical pneumatic clamps. When the horizontal pneumatic clamp is clamped, its two jaws are respectively attached to the two sides of the column base plate. When the vertical pneumatic clamp is clamped, its two jaws are respectively attached to the two sides of the rectangular tube column. The staggered position of the pneumatic clamps improves the stability of clamping and frees up more space for the welding robot to operate.

[0010] The aforementioned positioning and welding device for rectangular tube columns uses a pneumatic rotary joint consisting of a rotor and a stator. A vertical pneumatic clamp and a horizontal pneumatic clamp are connected in the rotor's air passage. The rotor rotates synchronously with the rotating platform, preventing the air passages of the vertical and horizontal pneumatic clamps from becoming entangled or pulled during rotation on the rotating platform, thus avoiding air supply interruption. The device ensures the sealing of the pneumatic medium in the air passages and maintains stable pressure within the rotating platform, guaranteeing the stability of the vertical and horizontal pneumatic clamps during operation.

[0011] The aforementioned positioning and welding device for rectangular tube columns has multiple clamping robotic arms spaced circumferentially along the supporting base. Each clamping robotic arm performs different processes: loading the column base plate, loading the rectangular tube column, and unloading the welded finished product. By entrusting the welding of the rectangular tube column and column base plate entirely to the robotic arms, the coordinate accuracy of loading and unloading in the tooling is ensured, the clamping efficiency is improved, and the use of automated equipment to replace repetitive loading and unloading labor reduces the loss of human error and lowers long-term labor costs.

[0012] As described above, the beneficial effects of the positioning and welding device for rectangular tube columns provided by this utility model are as follows: This utility model adopts a rotatable rotating platform, and the four processes of welding the column base plates of the rectangular tube columns are completed by four robotic arms on the rotating platform, which perform the clamping and welding processes of loading and unloading. The horizontal and vertical pneumatic clamps in the tooling improve the clamping speed and accuracy of the rectangular tube columns, improve the stability of providing basic coordinates for automated equipment, and ensure the welding quality of the column base plates welded by the robotic arms. The rotor of the pneumatic rotary joint can rotate with the rotating platform, ensuring the sealing of the pneumatic medium in the air pipeline and maintaining stable pressure in the rotating platform, ensuring the stability of the clamping work of the vertical and horizontal pneumatic clamps. The use of the clamping robotic arms improves the placement accuracy of the rectangular tube columns and column base plates, and achieves high-precision positioning and clamping in conjunction with the pneumatic clamps. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the overall design of this utility model; Figure 2 This is a schematic diagram from another perspective of the present invention; Figure 3 This is an exploded view of the present invention; Figure 4 This is a schematic diagram of the rotating platform of this utility model; Figure 5 for Figure 1 A magnified view of a portion of point I.

[0015] Summary of figure labels and their descriptions: 1. Support base, 11. Circular sleeve, 12. Support leg, 14. Drive component, 2. Rotating platform, 21. Columnar protrusion, 22. Column base plate, 23. Central shaft, 3. Vertical pneumatic clamp, 4. Pneumatic rotary joint, 5. Clamping robot arm, 6. Rectangular column, 7. Column base plate, 8. Horizontal pneumatic clamp, 9. Welding robot arm. Detailed Implementation

[0016] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this utility model.

[0017] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. When a component is said to be "set on" another component, it can be directly set on the other component or there may be an intervening component.

[0018] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0019] Please see Figure 1 A positioning and welding device for rectangular tube columns includes a support base 1, a rotating platform 2, a vertical pneumatic clamp 3, a pneumatic rotary joint 4, a clamping robotic arm 5, a rectangular tube column 6, a column base plate 7, a horizontal pneumatic clamp 8, and a welding robotic arm 9. The support base 1 includes a circular sleeve 11 and a support leg 12. The bottom surface of the circular sleeve 11 is connected to the support leg 12. The circular sleeve 11 is provided with a driving component 14. The rotating platform 2 is rotatably arranged relative to the circular sleeve 11. The driving component 14 drives the rotating platform 2 to rotate. The rotating platform 2 includes columnar protrusions 21, column base plates 22, and a central shaft 23. Multiple columnar protrusions 21 and column base plates 22 are provided. Multiple columnar protrusions 21 are distributed on the rotating platform 2. Vertical pneumatic clamps 3 are installed in the columnar protrusions 21. Multiple column base plates 22 are connected to the rotating platform 2 in a circumferential array. The central shaft 23 is connected to the rotating platform 2. Pneumatic rotary joints 4 are connected to the central shaft 23. Horizontal pneumatic clamps 8 are distributed on the rotating platform 2. Welding robotic arms 9 are set on the outside of the rotating platform 2.

[0020] Please see Figure 2 The drive component 14 is a stepper motor. By setting the parameters of the stepper motor, the shaft rotates 90 degrees with a single pulse signal output. When programming the automated equipment, there is no need to set a pulse counting cycle, which reduces the complexity of the instructions. The action is completed directly with a single pulse. Compared with multi-pulse cumulative rotation of 90 degrees, the time for pulse transmission and motor start-up and acceleration is reduced, and the single action cycle is shortened. If pulse loss or motor step loss occurs during multiple pulse rotations, it will cause angular deviation and affect the efficiency of automated production. Compared with single pulse rotation, it can avoid cumulative error.

[0021] The output shaft of the stepper motor is connected to the rotary platform 2, which can rotate in the inner cavity of the circular sleeve 11. The four processes are accurately distributed to the four positions of the rotary platform 2 by the single pulse motion of the stepper motor, ensuring the accuracy and stability of the four robotic arms in production.

[0022] The fixed end and the movable end relative to the fixed end of the welding robot arm 9 are equipped with laser positioning sensors. The laser positioning sensors have built-in signal processing circuits and can directly output electrical pulse signals. The laser positioning sensors are electrically connected to the drive component 14 of the rotating platform 2. When the rotating platform 2 drives the workpiece to rotate to the preset welding position, that is, when the weld joint between the rectangular column 6 and the column base plate 7 is exactly within the optimal working range of the welding robot arm 9, the laser positioning sensor triggers a signal to brake the rotating platform 2. The positioning error does not exceed ±0.2mm, which solves the problem of position offset caused by inertia or mechanical backlash when the traditional rotating platform 2 brakes. This ensures that the weld joint between the rectangular column 6 and the column base plate 7 can be accurately aligned with the working trajectory of the welding robot arm 9, reducing welding deviation. It establishes a real-time response mechanism between the rotating platform 2 and the welding robot arm 9, avoiding the delay and error of manual operation and improving the overall work efficiency.

[0023] Please see Figure 4 The rectangular tube column 6 is positioned at the center of the column base plate 7. All four sides of the rectangular tube column 6 are parallel to the four sides of the column base plate 7. Furthermore, when the column base plate 7 is clamped, the four sides are parallel to the four sides of the column base plate base 22. The positioning of the rectangular tube column 6 allows it to be better exposed in the field of vision of the welding robot arm 9, facilitating the welding operation of the welding robot arm 9. Moreover, without rotating the rectangular tube column 6 and the column base plate 7, the welding robot arm 9 can complete all welding operations on the rectangular tube column 6 and the column base plate 7 in this installation direction.

[0024] Please see Figure 1 and Figure 5 Both the horizontal pneumatic clamp 8 and the vertical pneumatic clamp 3 have two movable jaws. When the horizontal pneumatic clamp 8 is clamped, its two jaws are in contact with the side of the column base plate 7. When the vertical pneumatic clamp 3 is clamped, its two jaws are in contact with the side of the rectangular tube column 6. The clamping surface of the vertical pneumatic clamp 3 is set at an angle to the clamping direction of the horizontal pneumatic clamp 8. The staggered position of the pneumatic clamps improves the stability of clamping and frees up more space for the welding operation of the welding robot arm 9.

[0025] Please see Figure 3 The pneumatic rotary joint 4 consists of a rotor and a stator. It is installed in the air passage of the rotor to connect the vertical pneumatic clamp 3 and the horizontal pneumatic clamp 8. The rotor of the pneumatic rotary joint 4 rotates synchronously with the rotation of the rotating platform 2, which avoids the air passages of the vertical pneumatic clamp 3 and the horizontal pneumatic clamp 8 from getting tangled or pulled during the rotation of the rotating platform, thus preventing the air supply from being interrupted. It ensures the sealing of the pneumatic medium in the air passage and maintains a stable pressure in the rotating platform 2, thus ensuring the stability of the clamping operation of the vertical pneumatic clamp 3 and the horizontal pneumatic clamp 8.

[0026] Please see Figure 1Multiple gripping robotic arms 5 are provided and spaced apart along the circumference of the supporting base 1. Each gripping robotic arm 5 undertakes different processes, namely loading the column base plate 7, loading the rectangular tube column 6, and unloading the welded finished product. By entrusting all loading and unloading operations of the rectangular tube column 6 and column base plate 7 to the robotic arms, the coordinate accuracy of loading and unloading in the tooling can be guaranteed, the clamping efficiency can be improved, and the use of automated equipment to replace repetitive loading and unloading labor reduces the loss of human error and lowers long-term labor costs.

[0027] A specific application of this embodiment is as follows: The four workstations on the rotating platform 2 are equally divided into workstation 1, workstation 2, workstation 3, and workstation 4. First, the raw materials of rectangular tube columns 6 and column base plates 7, spaced according to the program and stacked by the robotic arm, are placed on the ground near the robotic arm. After the production line is started, the clamping robotic arm 5 clamps the column base plate 7 raw material and places it onto the column base plate base 22 of workstation 1. At this time, the horizontal pneumatic clamp 8 clamps the column base plate 7. After completing the clamping process of the column base plate 7 at workstation 1, a pulse signal is sent, the stepper motor rotates 90 degrees, and the rotating platform 2 moves to the next workstation. The clamping robotic arm 5 clamps the rectangular tube column 6 raw material and places it at the center of the column base plate 7 at workstation 1. At this time, the vertical pneumatic clamp at workstation 1... Station 3 clamps the rectangular tube column 6, and station 2 places the column base plate 7. After these two operations are completed, a pulse signal is generated, and the stepper motor rotates 90 degrees. The welding robot arm 9 welds the connection between the rectangular tube column 6 and the column base plate 7 in station 1. The rectangular tube column 6 is placed in station 2, and the column base plate 7 is placed in station 3. After these three operations are completed, a pulse signal is generated, and the stepper motor rotates 90 degrees. The clamping robot arm 5 clamps the welded rectangular tube column 6 in station 1, and the vertical pneumatic clamp 3 and horizontal pneumatic clamp 8 at station 1 are released. The clamping robot arm 5 performs the unloading operation. At this time, station 2 performs the welding operation, station 3 performs the placement and clamping operation of the rectangular tube column 6, and station 4 performs the placement and clamping operation of the column base plate 7. The four stations repeat the cycle, forming an automated rectangular tube column and column base plate welding production line on the tooling.

[0028] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.

Claims

1. A positioning and welding device for rectangular tube columns, comprising a support base (1), a rotating platform (2), a vertical pneumatic clamp (3), a pneumatic rotary joint (4), a clamping robotic arm (5), a rectangular tube column (6), a column base plate (7), a horizontal pneumatic clamp (8), and a welding robotic arm (9), characterized in that: The support base (1) includes a circular sleeve (11) and a support leg (12). The bottom surface of the circular sleeve (11) is connected to the support leg (12). The circular sleeve (11) is provided with a driving component (14). The rotating platform (2) is rotatably arranged relative to the circular sleeve (11). The driving component (14) drives the rotating platform (2) to rotate. The rotating platform (2) includes columnar protrusions (21), column base plates (22), and a central shaft (23). Multiple columnar protrusions (21) and column base plates (22) are provided. Multiple columnar protrusions (21) are distributed on the rotating platform (2). The vertical pneumatic clamp (3) is installed in the columnar protrusions (21). Multiple column base plates (22) are connected to the rotating platform (2) in a circumferential array. The central shaft (23) is connected to the rotating platform (2). The pneumatic rotary joint (4) is connected to the central shaft (23). The horizontal pneumatic clamp (8) is distributed on the rotating platform (2). The welding robotic arm (9) is set on the outside of the rotating platform (2).

2. The positioning and welding device for rectangular tube columns according to claim 1, characterized in that: The driving component (14) is a stepper motor. By setting the parameters of the stepper motor, the shaft rotates 90 degrees when a pulse signal is output.

3. The positioning and welding device for rectangular tube columns according to claim 2, characterized in that: The output shaft of the stepper motor is connected to the rotating platform (2), which can rotate within the inner cavity of the circular sleeve (11).

4. The positioning and welding device for rectangular tube columns according to claim 3, characterized in that: The fixed end and the movable end that is movable relative to the fixed end of the welding robot arm (9) are equipped with laser positioning sensors. The laser positioning sensor has a built-in signal processing circuit and can directly output electrical pulse signals. The laser positioning sensor is electrically connected to the drive component (14). When the rotating platform (2) drives the workpiece to rotate to the preset welding position, that is, when the weld joint between the rectangular column (6) and the column base plate (7) is exactly within the optimal working range of the welding robot arm (9), the laser positioning sensor triggers a pulse to brake the rotating platform (2). The positioning error does not exceed ±0.2mm.

5. The positioning and welding device for rectangular tube columns according to claim 4, characterized in that: The rectangular column (6) is connected to the column base plate (7). The four sides of the rectangular column (6) are parallel to the four sides of the column base plate (7), and the four sides of the column base plate (7) are parallel to the four sides of the column base plate base (22) when clamped.

6. A positioning and welding device for rectangular tubular columns according to any one of claims 1-5, characterized in that: Both the horizontal pneumatic clamp (8) and the vertical pneumatic clamp (3) have two movable jaws. When the horizontal pneumatic clamp (8) is clamped, its two jaws are respectively attached to the two sides of the column base plate (7). When the vertical pneumatic clamp (3) is clamped, its two jaws are respectively attached to the two sides of the rectangular column (6).

7. A positioning and welding device for rectangular tubular columns according to claim 6, characterized in that: The pneumatic rotary joint (4) consists of a rotor and a stator. The air passages of the vertical pneumatic clamp (3) and the horizontal pneumatic clamp (8) are connected to the air passage interface of the rotor. The rotor can rotate synchronously with the rotation of the rotating platform (2).

8. The positioning and welding device for rectangular tube columns according to claim 1, characterized in that: Multiple clamping robotic arms (5) are provided and are spaced apart along the circumference of the support base (1). Each clamping robotic arm (5) undertakes different processes, namely, feeding the column base plate (7), feeding the rectangular tube column (6), and unloading the welded finished product.

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