Truss and formwork welding device and processing mechanism

Abstract

The utility model discloses a truss and exempts from dismantling template welding set, and relates to the technical field of building material welding, including control system, workstation, clamp, welding robot, 3D vision system, and the workstation is used for bearing the welding spare, and the clamp, welding robot, 3D vision system all are with control system electric signal connection, and the clamp sets up on the external fixing spare, and the clamp is used for fixedly waiting for welding spare, and 3D vision system sets up on the external fixing spare, and 3D vision system can photograph the welding point of waiting for welding spare and can gather the image signal transmission to control system, and control system can output adjustment signal to welding robot. The utility model discloses still a kind of truss and exempts from dismantling template processing mechanism, including feeding mechanism, discharging quality inspection mechanism and the truss and exempts from dismantling template welding set as described above. The utility model makes welding quality better and the degree of automation is higher.

Description

Technical Field

[0001] This utility model relates to the field of welding technology for building materials, and in particular to a welding device and processing mechanism for trusses and non-removable formwork. Background Technology

[0002] In the construction industry, truss-type formwork consists of a bottom formwork and a steel truss. This structure replaces traditional formwork and has advantages such as high strength, fire resistance, and no need for dismantling. However, in the actual production process, a large amount of manpower is required to weld the bottom formwork and the steel truss together. Furthermore, due to the varying skill levels of workers, the welding quality cannot be guaranteed during manual welding, which may lead to damage to the formwork.

[0003] Patent CN218193368U discloses a robotic welding machine for fiber cement steel calcium board and truss, including a positioning mechanism. When the truss moves to a fixed position, the positioning mechanism locks it in place. However, the timing and location of locking require manual judgment, and the adjustment of the positioning mechanism is entirely manual. The precision of manual operation is difficult to guarantee; any deviation in the adjustment will affect the welding effect of the welding robot's welding head, ultimately impacting the welding quality. Furthermore, manual operation is labor-intensive and has a low degree of automation. Therefore, there is an urgent need for a welding device and processing mechanism for trusses and non-removable templates to solve the aforementioned technical problems. Utility Model Content

[0004] The purpose of this utility model is to provide a truss and template welding device and processing mechanism to solve the problems existing in the prior art, so as to achieve better welding quality and higher degree of automation.

[0005] To achieve the above objectives, this utility model provides the following solution:

[0006] This utility model provides a truss and template-free welding device, including a control system, a workbench, a fixture, a welding robot, and a 3D vision system. The workbench is used to support the workpiece to be welded. The fixture, the welding robot, and the 3D vision system are all electrically connected to the control system. The fixture is mounted on an external fixing component and is used to fix the workpiece to be welded. The 3D vision system is mounted on the external fixing component and can capture images of the welding points of the workpiece and transmit the acquired image signals to the control system. The control system can output adjustment signals to the welding robot.

[0007] In some embodiments, an end-blocking mechanism is also included, which is disposed on the worktable and electrically connected to the control system.

[0008] In some embodiments, the end-blocking mechanism includes a baffle and a telescopic cylinder. The baffle is vertically arranged, and the telescopic rod of the telescopic cylinder is fixedly connected to the bottom end of the baffle. The telescopic cylinder is electrically connected to the control system. When the telescopic rod retracts, the baffle can be completely below the worktable. When the telescopic rod extends, the baffle extends out of the worktable.

[0009] In some embodiments, the fixture includes a pressure plate and a cylinder, the external fixing frame is a gantry frame located above the worktable, the pressure plate is fixedly connected to the output end of the cylinder, and the cylinder can drive the pressure plate to move along the height direction of the worktable, and the cylinder is mounted on the gantry frame.

[0010] In some embodiments, the cylinder is slidably mounted on the gantry and is capable of sliding along the length of the gantry.

[0011] In some embodiments, multiple welding robots are symmetrically arranged on both sides of the workbench.

[0012] In some embodiments, the 3D vision system includes a camera gimbal and a vision camera, the camera gimbal being slidably connected to the gantry bracket, and the vision camera being mounted on the camera gimbal.

[0013] In some embodiments, a sensing device and an alarm device are also included. Both the sensing device and the alarm device are electrically connected to the control system. The sensing device is located around the workbench and is used to detect whether a worker has entered the area. When the welding robot is working, if a worker enters the welding work area, the alarm device can output an alarm signal.

[0014] In some embodiments, a plurality of emergency stop buttons are provided along the length of the workbench, and each welding robot is provided with at least one robot emergency stop button. The general emergency stop button can stop the entire production line from operating, and the robot emergency stop button can control the welding robot to stop working.

[0015] This utility model also provides a truss and non-removable template processing mechanism, including a feeding mechanism, a unloading quality inspection mechanism, and a truss and non-removable template welding device as described above. The feeding mechanism, the truss and non-removable template welding device, and the unloading quality inspection mechanism are arranged in sequence. The feeding mechanism is used to convey materials to the workbench, and the unloading quality inspection mechanism is used to receive the materials welded by the truss and non-removable template welding device and perform quality inspection.

[0016] The present invention achieves the following technical advantages over the prior art:

[0017] The truss and template-free welding device provided by this utility model, after the workpiece to be welded has moved into position, the control system outputs a control signal to the fixture, which clamps the workpiece and fixes its position relative to the worktable. Then, the 3D vision system scans and captures images of the location of the welding point on the workpiece and transmits the information to the control system. After receiving the image information, the control system performs calculations to determine the movement required by the welding robot and sends an electrical signal to the welding robot. Upon receiving the signal, the welding robot performs the corresponding movement, ensuring that the welding head is aligned with the welding point for precise welding. This avoids errors caused by manual operation and ensures better welding quality. From fixing the workpiece and scanning and identifying the welding point to the path planning and welding execution of the welding robot, the entire process is automatically completed by the control system in conjunction with various components. There is no need for manual positioning and adjustment of the welding torch, which greatly reduces human intervention and reliance on highly skilled welders, resulting in a high degree of automation. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the processing structure in some embodiments of the present invention;

[0020] Figure 2 This is a schematic diagram of the structure of the clamp installed on the gantry in some embodiments of the present invention.

[0021] In the diagram: 1-Workbench; 2-End blocking mechanism; 3-3D vision system; 4-Welding robot; 5-Clamping device; 6-Alarm device; 7-Main emergency stop button; 8-Gantry; 201-Loading mechanism; 301-Unloading quality inspection mechanism. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] The purpose of this utility model is to provide a truss and template welding device and processing mechanism to solve the problems existing in the prior art, so as to achieve better welding quality and higher degree of automation.

[0024] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] like Figures 1-2 As shown, this utility model provides a truss and template-free welding device, including a control system, a workbench 1, a fixture 5, a welding robot 4, and a 3D vision system 3. The workbench 1 is used to support the workpiece to be welded. The fixture 5, the welding robot 4, and the 3D vision system 3 are all electrically connected to the control system. The fixture 5 is set on an external fixing component and is used to fix the workpiece to be welded. The 3D vision system 3 is set on the external fixing component and can capture images of the welding points of the workpiece to be welded and can transmit the acquired image signals to the control system. The control system can output adjustment signals to the welding robot 4. Once the workpiece is in position, the control system outputs a control signal to the fixture 5. The fixture 5 clamps the workpiece, fixing its position relative to the worktable 1. Then, the 3D vision system 3 scans and captures images of the welding points on the workpiece, transmitting the information to the control system. Upon receiving the image information, the control system performs calculations to determine the necessary movements for the welding robot 4 and sends electrical signals to it. The welding robot 4 then performs the corresponding movements, aligning the welding head with the welding points for precise welding. This avoids errors from manual operation and ensures high welding quality. From fixing the workpiece and scanning / identifying the welding points to the path planning and welding execution of the welding robot 4, the entire process is automatically completed by the control system in conjunction with all components. No manual positioning or adjustment of the welding torch is required, significantly reducing human intervention and reliance on highly skilled welders, resulting in a high degree of automation.

[0026] In some embodiments, the truss and template-free welding device further includes an end-blocking mechanism 2. The end-blocking mechanism 2 is disposed on the worktable 1 and is electrically connected to the control system. When the end of the workpiece to be welded abuts against the end-blocking mechanism 2, the clamp 5 clamps the workpiece. The end-blocking mechanism 2 provides a clear positional reference for the workpiece. When the end of the workpiece abuts against the end-blocking mechanism 2, it means that the workpiece has reached the predetermined welding position. This helps to ensure the positional accuracy of the workpiece on the worktable 1, provides an accurate starting position for subsequent clamping and welding operations, thereby ensuring the accuracy and consistency of the welding points and improving the welding quality.

[0027] In some embodiments, the end-blocking mechanism 2 includes a baffle and a telescopic cylinder. The baffle is vertically arranged, and the telescopic rod of the telescopic cylinder is fixedly connected to the bottom end of the baffle. The telescopic cylinder is electrically connected to the control system. When the telescopic rod retracts, the baffle is completely below the worktable 1. When the telescopic rod extends, the baffle extends out of the worktable 1. It should be noted that a positioning sensor can be installed on the baffle. After the positioning sensor senses that the workpiece to be welded is in position, it outputs a signal to the control system. The control system outputs an electrical signal to the clamp 5 to achieve clamping. Since the 3D vision system 3 is constantly acquiring image information, after the first half of the welding is completed, the information acquired by the 3D vision system 3 is transmitted to the control system. The control system outputs a signal to control the telescopic rod to retract, the clamp 5 to release, and the workpiece to be welded moves forward on the worktable 1. The welding robot 4 can then weld the second half of the workpiece.

[0028] The baffle can be raised and lowered by a telescopic cylinder to achieve segmented positioning of the workpiece. After the first half of the welding is completed, the baffle retracts, the clamp 5 is released, and the workpiece can be moved forward for the second half of the welding. This breaks through the limitation of a single welding stroke and can be adapted to trusses and non-removable templates with lengths exceeding the working range of the welding robot 4, expanding the applicable scenarios. When the telescopic rod extends, the baffle serves as a positioning reference, and together with the positioning sensor, ensures the accurate initial position of the workpiece, providing a stable starting point for welding. When the telescopic rod retracts, the baffle can be completely stored under the worktable 1, without obstructing the forward movement of the workpiece, avoiding interference between the mechanism and the workpiece, and ensuring the continuity of the segmented welding process.

[0029] It should be noted that the position sensor can be a laser sensor, which achieves position sensing by blocking the laser transmission through the workpiece to be welded.

[0030] In some embodiments, the fixture 5 includes a pressure plate and a cylinder, with an external fixing frame being a gantry frame 8 located above the worktable 1. The pressure plate is fixedly connected to the output end of the cylinder, and the cylinder can drive the pressure plate to move along the height direction of the worktable 1. The cylinder is mounted on the gantry frame 8. Using a cylinder to drive the pressure plate provides stable and controllable output pressure, offering uniform and continuous clamping force to the workpiece to be welded. The cylinder and pressure plate are mounted on the gantry frame 8 above the worktable 1, with the overall structure positioned above the workpiece to be welded, without occupying space on either side or around the worktable 1. The clamping action is vertically downward, and the width of the pressure plate is designed to act only on the non-welding area of ​​the workpiece, without obstructing the welding points or interfering with the movement trajectory of the welding robot 4.

[0031] In some embodiments, the cylinder is slidably mounted on the gantry 8 and can slide along the length of the gantry 8. The cylinder's sliding along the length of the gantry 8 drives the pressure plate to move synchronously, allowing adjustment of the clamping position according to the size and structure of different trusses and non-removable templates. This eliminates the need to replace the fixture 5, meeting the fixing requirements for workpieces of different widths and weld point distributions, reducing equipment replacement and debugging costs. When the workpiece has protrusions, holes, or specific structures, the pressure plate position can be slidably adjusted to avoid these areas, preventing interference between the fixture 5 and the workpiece structure. Specifically, a hydraulic cylinder can be used to drive the cylinder's sliding, or an electric slider can be used directly to drive the cylinder's sliding.

[0032] In some embodiments, multiple welding robots 4 are symmetrically arranged on both sides of the worktable 1, preferably four on each side, for a total of eight. Multiple welding robots 4 can simultaneously weld different parts of the workpiece, equivalent to multiple welding points operating simultaneously, greatly shortening the welding time for a single workpiece and improving overall production efficiency. The symmetrically arranged welding robots 4 can weld from both sides of the workpiece simultaneously, resulting in a more uniform distribution of welding heat and stress, thereby effectively reducing welding stress and deformation and improving welding quality.

[0033] In some embodiments, the 3D vision system 3 includes a camera gimbal and a vision camera. The camera gimbal is slidably connected to a gantry bracket, and the vision camera is mounted on the camera gimbal. The camera gimbal can flexibly adjust the angle and position of the vision camera, and can adjust to the optimal shooting posture for welding points at different positions and angles, ensuring that the acquired images of the welding points are clear and the parameters are accurate. This provides high-precision data support for the control system to calculate the motion trajectory of the welding robot 4, further improving the accuracy of the welding point.

[0034] In some embodiments, the truss and non-removable template welding device also includes a sensing device and an alarm device 6. Both the sensing device and the alarm device 6 are electrically connected to the control system. The sensing device is located around the workbench 1 and is used to detect whether a worker has entered. When the welding robot 4 is working, if a worker enters the welding work area, the alarm device 6 can output an alarm signal. When the welding device is working, if a worker enters the welding area, the sensing device will detect it and output an electrical signal to the control system. After receiving the signal, the control system will output a signal to the alarm device 6, and the alarm device 6 will output an alarm message. Moreover, when the welding device system malfunctions or malfunctions, the fault information will also be transmitted to the control system. After receiving such a signal, the control system will also trigger an alarm message. The sensing device covers the area around the workbench 1 and can monitor in real time whether personnel have accidentally entered the welding work area. When the welding robot 4 is working, once someone enters, the system can quickly trigger an alarm. This warns personnel in advance to stay away from dangerous areas and avoid personal injury caused by robot movement, high-temperature welding sparks, etc., providing safety for on-site workers. If a worker wants to enter normally, the main system needs to be shut down so that the machine stops working before entering the welding area.

[0035] In some embodiments, multiple emergency stop buttons 7 are provided along the length of the workbench 1, and each welding robot 4 is equipped with at least one robot emergency stop button. The main emergency stop button 7 can stop the entire production line, and the robot emergency stop button can control the welding robot 4 to stop working. The main emergency stop button 7 can stop the entire production line with one click, which is suitable for emergency scenarios where there are major safety hazards or equipment failures throughout the line. It can quickly cut off all operating links, ensuring overall safety. Furthermore, multiple main emergency stop buttons 7 are provided, with at least one for each section of the production line, ensuring that the emergency stop button can be pressed quickly without having to run around to find it, thus shortening emergency operation time. The robot emergency stop button only controls the single welding robot 4 to stop working, while other equipment and robots can operate normally. When a robot experiences a local abnormality (such as trajectory deviation or slight jamming), it can be handled without stopping the line, reducing production losses caused by unnecessary downtime.

[0036] like Figure 1 As shown, this embodiment also provides a truss and non-removable template processing mechanism, including a feeding mechanism 201, a unloading quality inspection mechanism 301, and the truss and non-removable template welding device from Embodiment 1. The feeding mechanism 201, the truss and non-removable template welding device, and the unloading quality inspection mechanism 301 are arranged sequentially. The feeding mechanism 201 is used to convey materials to the workbench 1, and the unloading quality inspection mechanism 301 is used to receive the materials welded by the truss and non-removable template welding device and perform quality inspection. It should be noted that the quality inspection work of the unloading quality inspection mechanism can be performed by personnel or by machines.

[0037] This utility model uses specific examples to illustrate its principles and implementation methods. The above description of the embodiments is only for the purpose of helping to understand the method and core idea of ​​this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the idea of ​​this utility model. In summary, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A truss and formwork welding device, characterized in that: The system includes a control system, a worktable, a fixture, a welding robot, and a 3D vision system. The worktable is used to support the workpiece to be welded. The fixture, the welding robot, and the 3D vision system are all electrically connected to the control system. The fixture is mounted on an external fixing component and is used to fix the workpiece to be welded. The 3D vision system is mounted on the external fixing component and can capture images of the welding points on the workpiece and transmit the acquired image signals to the control system. The control system can output adjustment signals to the welding robot.

2. The truss and non-removable formwork welding device according to claim 1, characterized in that: It also includes an end-blocking mechanism, which is disposed on the worktable and electrically connected to the control system.

3. The truss and non-removable formwork welding device according to claim 2, characterized in that: The end blocking mechanism includes a baffle and a telescopic cylinder. The baffle is vertically arranged, and the telescopic rod of the telescopic cylinder is fixedly connected to the bottom end of the baffle. The telescopic cylinder is electrically connected to the control system. When the telescopic rod retracts, the baffle can be completely below the worktable. When the telescopic rod extends, the baffle extends out of the worktable.

4. The truss and non-removable formwork welding device according to claim 1, characterized in that: The fixture includes a pressure plate and a cylinder. The external fixing component is a gantry frame, which is located above the worktable. The pressure plate is fixedly connected to the output end of the cylinder, and the cylinder can drive the pressure plate to move along the height direction of the worktable. The cylinder is mounted on the gantry frame.

5. The truss and non-removable formwork welding device according to claim 4, characterized in that: The cylinder is slidably mounted on the gantry and can slide along the length of the gantry.

6. The truss and non-removable formwork welding device according to claim 1, characterized in that: Multiple welding robots are symmetrically arranged on both sides of the workbench.

7. The truss and formwork welding device according to claim 4, characterized in that: The 3D vision system includes a camera gimbal and a vision camera. The camera gimbal is slidably connected to the gantry, and the vision camera is mounted on the camera gimbal.

8. The truss and non-removable formwork welding device according to claim 1, characterized in that: It also includes a sensing device and an alarm device. Both the sensing device and the alarm device are electrically connected to the control system. The sensing device is set around the workbench and is used to detect whether a worker has entered. When the welding robot is working, if a worker enters the welding work area, the alarm device can output an alarm signal.

9. The truss and non-removable formwork welding device according to claim 1, characterized in that: Multiple emergency stop buttons are provided along the length of the workbench, and each welding robot is provided with at least one robot emergency stop button. The main emergency stop button can stop the entire production line, and the robot emergency stop button can control the welding robot to stop working.

10. A processing mechanism, characterized in that: The device includes a feeding mechanism, a discharging quality inspection mechanism, and a truss and non-removable template welding device as described in any one of claims 1-9. The feeding mechanism, the truss and non-removable template welding device, and the discharging quality inspection mechanism are arranged in sequence. The feeding mechanism is used to convey materials to the workbench, and the discharging quality inspection mechanism is used to receive the materials welded by the truss and non-removable template welding device and perform quality inspection.

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