CN211277084U

CN211277084U - Closing plate or conical head supply unit of automatic welding production system for net rack connecting rod

Info

Publication number: CN211277084U
Application number: CN201921223915.3U
Authority: CN
Inventors: 郝新浦
Original assignee: Haode Heavy Industry Technology Jiangsu Co ltd
Current assignee: Haode Heavy Industry Technology Jiangsu Co ltd
Priority date: 2019-07-31
Filing date: 2019-07-31
Publication date: 2020-08-18
Anticipated expiration: 2029-07-31

Abstract

The utility model discloses a shrouding or conical head supply unit of rack connecting rod automatic weld production system, supply with bracket, shrouding or conical head work piece and snatch the arm of putting things in good order, shrouding or conical head work piece and snatch the manipulator of putting things in good order and shrouding or conical head supply with electrically controlled device including shrouding or conical head. This shrouding or conical head supply unit's shrouding or conical head supply controller can calculate the offset according to the mode identification sensor feedback, then shrouding or conical head supply controller snatch the position of putting the manipulator in good order to shrouding or conical head work piece and adjust according to the offset that calculates, thereby can snatch through shrouding or conical head work piece and put the arm in good order and shrouding or conical head work piece snatch the manipulator in good order and can realize snatching the accurate coordinate of shrouding or conical head work piece and hand over with the coordinate positioning, subsequent weldment work of being convenient for, degree of automation is higher, can avoid manual operation's drawback, the specially adapted rack connecting rod automatic weld production system.

Description

Closing plate or conical head supply unit of automatic welding production system for net rack connecting rod

Technical Field

The utility model relates to an automatic material supply unit of welding production system specifically is a shrouding or conical head supply unit suitable for carry out automatic weld's production system to rack connecting rod work piece, belongs to rack connecting rod and makes technical field.

Background

The space truss structure is a space structure which is covered by a large span and is formed by connecting a plurality of grid connecting rods through nodes according to a certain grid form, has the advantages of good integrity, large space rigidity and stable structure, has light weight, small field construction workload and high construction speed, and has small height and can effectively utilize space, thereby being widely applied to the building industry.

The grid structure node made of steel mainly has three forms of a cross plate node, a welded hollow ball node and a bolt ball node. The net rack structure formed by the bolt ball nodes and the net rack connecting rods has the advantages of strong adaptability, no additional node eccentricity, capability of avoiding a large amount of on-site welding workload, convenience in transportation and installation and the like, so that the net rack structure is widely applied to various spatial rod system structures.

The net rack connecting rod aiming at the bolt ball node generally comprises a steel pipe body, sealing plates (the diameter of the steel pipe body is less than 76mm) or conical heads (the diameter of the steel pipe body is more than or equal to 76mm) which are symmetrically welded at two ends of the steel pipe body, and a bolt which is arranged in the steel pipe body. The central point of shrouding or conical head puts all to be equipped with the through-hole that can allow the screw thread section of bolt to stretch out, when being connected the installation with bolt ball node, sheathe in microscler hexagonal sleeve (or long hexagonal no line nut) on the bolt thread section that stretches out shrouding or conical head, and be in the same place bolt and microscler hexagonal sleeve with pin or fastening screw, directly twist and move microscler hexagonal sleeve, drive the bolt through pin or fastening screw and rotate, thereby make the bolt screw in spheroid, the bolt head of bolt pastes tightly with the medial surface of shrouding or conical head and accomplishes the installation promptly. The existing welding procedure of the steel pipe body and the sealing plate or the conical head usually adopts a manual welding mode, namely, the sealing plate or the conical head is firstly tack-welded on the steel pipe body, and then the welding of an annular welding seam is carried out. The traditional manual welding mode has the following defects:

1. although the pre-spot welding can be carried out in a tool positioning mode, spot welding deviation still exists in a manual operation mode, the coaxiality of the through holes of the sealing plates or the conical heads and the steel pipe body cannot be accurately ensured, the product quality is further influenced, and subsequent installation problems such as eccentric installation, unbalanced load stress of the net rack connecting rods and the like are easily caused;

2. although welding is carried out on the basis of prespot welding, even if a tool is adopted to assist rotation to carry out welding, the uniformity of the welding seam is generally difficult to ensure by manual welding, and further the welding deformation cannot be effectively controlled;

3. the manual operation mode has higher requirements on the skills and proficiency of personnel, welding discontinuity is inevitable in the welding process of the annular welding line, the welding deformation degree is further aggravated, and the emotional factors of the operators and the like also have influence on the welding quality.

Disclosure of Invention

Problem to above-mentioned prior art exists, the utility model provides a shrouding or conical head supply unit of rack connecting rod automatic weld production system, degree of automation is higher, can avoid manual operation's drawback, can snatch shrouding or conical head work piece automatically and with its coordinate positioning on steel pipe workpiece's terminal surface to subsequent shrouding or conical head work piece and steel pipe workpiece's welding, specially adapted rack connecting rod automatic weld production system.

In order to achieve the purpose, a sealing plate or conical head supply unit of the automatic welding production system for the mesh frame connecting rod is arranged at a set position in the range around the automatic welding unit, and comprises a sealing plate or conical head supply bracket, a sealing plate or conical head workpiece grabbing and stacking mechanical arm and a sealing plate or conical head supply electric control device;

the sealing plate or the conical head supply bracket is arranged in a sealing plate or conical head setting upper line working area in the working range of the sealing plate or conical head workpiece grabbing and stacking mechanical arm, the sealing plate or conical head supply bracket is internally of a multilayer structure, and a plurality of sealing plate or conical head workpiece stacking stations are distributed in each layer of plane;

the tail section of the sealing plate or conical head workpiece grabbing and stacking mechanical arm is provided with a sealing plate or conical head workpiece grabbing and stacking mechanical arm, and the sealing plate or conical head workpiece grabbing and stacking mechanical arm at least comprises an X coordinate driving assembly capable of controlling the sealing plate or conical head workpiece grabbing and stacking mechanical arm to move along the left-right direction coordinate, a Y coordinate driving assembly capable of controlling the sealing plate or conical head workpiece grabbing and stacking mechanical arm to move along the front-back direction coordinate, and a Z coordinate driving assembly capable of controlling the sealing plate or conical head workpiece grabbing and stacking mechanical arm to move along the vertical direction up and down coordinate; the left end and the right end of the sealing plate or the conical head workpiece grabbing and stacking manipulator, which correspond to the steel pipe workpieces, are provided with two sets, the sealing plate or the conical head workpiece grabbing and stacking manipulator is provided with a sealing plate or a conical head workpiece grabbing and stacking mechanism, the sealing plate or the conical head workpiece grabbing and stacking mechanism is arranged on the sealing plate or the conical head workpiece grabbing and stacking manipulator through an A coordinate rotating assembly capable of rotating along an X coordinate axis or a B coordinate rotating assembly capable of rotating along a Y coordinate axis, and the sealing plate or the conical head workpiece grabbing and stacking manipulator is also provided with a distance sensor and a mode identification sensor;

the seal plate or conical head supply electric control device comprises a seal plate or conical head supply controller, a seal plate or conical head grabbing and stacking loop, the seal plate or conical head supply controller is respectively connected with a coordinate driving assembly of a seal plate or conical head workpiece grabbing and stacking mechanical arm, a seal plate or conical head workpiece grabbing and stacking mechanism of a seal plate or conical head workpiece grabbing and stacking mechanical arm, a distance sensor and a mode identification sensor, and the seal plate or conical head supply controller is electrically connected with a central controller of a centralized electric control unit of the automatic welding production system of the net rack connecting rod.

As an embodiment of the utility model, shrouding or conical head work piece snatch stacking mechanism are the sucker structure who is used for the negative pressure to adsorb and snatchs shrouding or conical head work piece internal surface or surface, and shrouding or conical head work piece snatch stacking mechanism include with shrouding or conical surface complex of conical head work piece adsorb the quotation, adsorb the inside negative pressure passageway of being connected through pipeline and negative pressure source that is equipped with of quotation, adsorb the negative pressure absorption hole that the equipartition was equipped with a plurality of and negative pressure passageway intercommunication is connected on the quotation.

As the utility model discloses a another kind of embodiment, shrouding or conical head work piece snatch the mechanism of putting things in good order are that the centre gripping that is used for the centre gripping to snatch shrouding or conical head work piece periphery snatchs the manipulator structure, and shrouding or conical head work piece snatch the mechanism of putting things in good order include along 3 at least centre gripping machinery that the circumference equipartition set up indicate with set up at shrouding or conical head work piece snatch the inside centre gripping machinery of putting things in good order manipulator indicate to open and close control.

As a further improvement of the utility model, the closing plate or the conical head supply bracket comprises an auxiliary transfer frame and a drawer type workpiece holding frame; the drawer type workpiece containing frame is provided with a plurality of translation guide mechanisms II which are uniformly distributed at intervals and horizontally arranged along the front-back or left-right direction from bottom to top, a plurality of workpiece stacking trays which are matched with the translation guide mechanisms II in number are installed on the translation guide mechanisms through rollers in a matching manner to form a drawer type structure, the front end of each translation guide mechanism II is provided with a fixed limiting structure capable of limiting the workpiece stacking trays to slide out, the rear end of each translation guide mechanism II is provided with a movable limiting structure capable of limiting the workpiece stacking trays to slide out, and the workpiece stacking trays are also provided with lap joint connecting parts; the fixed settlement position that sets up on shrouding or conical head in the working area that reaches the line of supplementary transfer frame, the position that corresponds translation guiding mechanism II on the supplementary transfer frame is equipped with can with the translation guiding mechanism I that II levels of translation guiding mechanism butt joints set up, translation guiding mechanism I sets up with the structure and the same size of translation guiding mechanism II, the work piece that corresponds every layer of translation guiding mechanism I on the supplementary transfer frame still is equipped with around the level or about the flexible tray translation control mechanism that sets up, the work piece is put things in good order tray translation control mechanism and is included translation drive component and with overlap joint adapting unit complex overlap joint buckle part, translation drive component and shrouding or conical head supply electric control device's shrouding or conical head supply controller electricity are connected.

As the utility model discloses a preferred scheme, translation guiding mechanism sets up on the facade inner wall that drawer type work piece held the frame along left right direction symmetry, and work piece stacking tray translation control mechanism sets up on translation guiding mechanism I along left right direction symmetry.

As the utility model discloses an optimal scheme, the translation drive part that the tray translation control mechanism was put things in good order to the work piece is chain drive structure, and translation drive part includes driving sprocket and driving chain, and overlap joint adapting unit is the fixed overlap joint post structure that sets up on the tray is put things in good order to the work piece, and overlap joint buckle part is the two-way jack catch structure of setting on the driving chain.

As the utility model discloses a preferred scheme, shrouding or conical head work piece snatch the arm of putting things in good order are portal arm structure. .

As the utility model discloses a further improvement scheme, two sets of shroudings or conical head work pieces snatch the same shrouding of putting things in good order manipulator sharing or conical head work piece snatchs the arm of putting things in good order.

Compared with the prior art, the sealing plate or conical head supply unit of the automatic welding production system for the net rack connecting rod adopts a microcomputer control unit, so that full-automatic operation can be realized; because shrouding or conical head work piece snatch the manipulator of putting in good order still are equipped with distance sensor and mode identification sensor, consequently shrouding or conical head supply controller can calculate the offset according to mode identification sensor feedback, then shrouding or conical head supply controller snatch the position of putting in good order the manipulator to shrouding or conical head work piece and adjust according to the offset that calculates, thereby can snatch the arm of putting in good order through shrouding or conical head work piece and shrouding or conical head work piece snatch the manipulator of putting in good order and can realize snatching and coordinate positioning handing-over to shrouding or conical head work piece, be convenient for subsequent weldment work, degree of automation is higher, can avoid manual operation's drawback, and is particularly useful for rack connecting rod automatic weld production.

Drawings

FIG. 1 is a schematic three-dimensional structure diagram of an automatic welding production system for rack connecting rods;

FIG. 2 is a top layout view of the rack link automatic welding production system;

FIG. 3 is a schematic structural view of a steel pipe up-and-down line grabbing and stacking manipulator of the automatic welding production system for rack connecting rods;

FIG. 4 is a schematic three-dimensional structure diagram of an automatic welding unit of the automatic welding production system for rack connecting rods;

FIG. 5 is a schematic structural view of a steel pipe radial clamping and positioning device of the automatic welding production system for rack connecting rods;

FIG. 6 is a schematic structural diagram of a steel pipe rotation driving device of the automatic welding production system for rack connecting rods;

FIG. 7 is a schematic view of the sealing plate or cone head supply bracket of the present invention;

fig. 8 is a schematic view of a local amplification structure of the workpiece stacking tray translation control mechanism for pushing and pulling the workpiece stacking tray after the drawer-type workpiece holding frame and the auxiliary transferring frame are butted according to the present invention;

fig. 9 is a schematic structural view of a closing plate or a conical head workpiece grabbing and stacking manipulator adopting a negative pressure adsorption structure;

FIG. 10 is a schematic three-dimensional structure diagram of an automatic bolt inserting unit of the automatic welding production system for rack connecting rods;

FIG. 11 is a schematic structural view of a bolt grabbing and stacking manipulator of the automatic welding production system for rack connecting rods, which is additionally provided with a B coordinate rotation assembly;

FIG. 12 is a schematic structural diagram of the automatic welding production system for rack connecting rods, in which one welding gun is adopted for each set of welding gun device;

fig. 13 is a schematic structural diagram of the automatic welding production system for the net rack connecting rod, wherein each set of welding gun device adopts two opposite welding guns.

In the figure: 1. a steel pipe up-and-down line unit, 11, a steel pipe workpiece bracket, 12, a steel pipe up-and-down line grabbing and stacking mechanical arm, 13, a steel pipe up-and-down line grabbing and stacking manipulator, 131, a carrying mechanical finger, 132, a carrying mechanical finger control mechanism, 2, an automatic welding unit, 21, a welding working platform, 22, a steel pipe radial clamping and positioning device, 221, a support base, 222, a radial clamping and positioning mechanism, 2221, a radial clamping and positioning part, 2222, a radial clamping and stretching control part, 2223, a clamping roller, 23, a steel pipe rotation driving device, 231, a stretching and sliding driving part I, 232, a steel pipe rotation driving motor, 24, a sealing plate or a cone head pushing device, 241, a stretching and sliding driving part II, 242, a pushing mechanism, 243, a pushing part, 25, a welding gun device, 251, a welding gun, 26, a steel pipe workpiece supporting frame, 3, a sealing plate or a cone head supply unit, 31, a sealing plate, 311. supplementary revolving rack, 3111, translation guiding mechanism I, 3112, work piece stacking tray translation control mechanism, 3113, overlap joint buckle part, 312, drawer type work piece holds the frame, 3121, translation guiding mechanism II, 3122, work piece stacking tray, 3123, overlap joint adapting part, 32, shrouding or conical head work piece snatch the stacking mechanical arm, 33, shrouding or conical head work piece snatch the stacking mechanical arm, 4, the automatic unit of putting into of bolt, 41, the bolt is supplied to the bracket, 42, the bolt snatchs the stacking mechanical arm, 43, the bolt snatchs the stacking mechanical arm, 5, automatic laser coding unit, 6, steel pipe work piece, 7, shrouding or conical head work piece.

Detailed Description

The automatic welding production system for the net rack connecting rod is a digital control system and can be seamlessly connected with a digital bus of a digital factory to realize centralized digital management. The present invention will be further explained with reference to the drawings (hereinafter, the longitudinal direction of the steel pipe workpiece 6 will be described as the left-right direction).

As shown in fig. 1 and 2, the automatic welding production system for the mesh frame connecting rod comprises a steel pipe up-down line unit 1, an automatic welding unit 2, a sealing plate or conical head supply unit 3, an automatic bolt embedding unit 4 and a centralized electric control unit.

The steel pipe up-and-down line unit 1 is arranged at a set position in the range around the automatic welding unit 2, as shown in fig. 2, the steel pipe up-and-down line unit 1 is arranged right behind the automatic welding unit 2, and the steel pipe up-and-down line unit 1 comprises a steel pipe workpiece bracket 11, a steel pipe up-and-down line grabbing and stacking mechanical arm 12 and a steel pipe up-and-down line electric control device;

the steel pipe workpiece brackets 11 are used for accommodating semi-finished steel pipe workpieces 6 without welded seal plates or conical head workpieces 7 or finished steel pipe workpieces 6 with welded seal plates or conical head workpieces 7, and the steel pipe workpiece brackets 11 with the number of at least two are respectively arranged in a set steel pipe online working area and a set steel pipe offline working area within the working range of the steel pipe online and offline grabbing and stacking mechanical arm 12;

the tail section of the steel pipe up-and-down line grabbing and stacking mechanical arm 12 is provided with a steel pipe up-and-down line grabbing and stacking mechanical arm 13, the steel pipe up-and-down line grabbing and stacking mechanical arm 12 at least comprises an X coordinate driving assembly capable of controlling the steel pipe up-and-down line grabbing and stacking mechanical arm 13 to move along the left-and-right direction coordinate, a Y coordinate driving assembly capable of controlling the steel pipe up-and-down line grabbing and stacking mechanical arm 13 to move along the front-and-back direction coordinate and a Z coordinate driving assembly capable of controlling the steel pipe up-and-down line grabbing and stacking mechanical arm 13 to move along the vertical direction up-and-down coordinate, as shown in figure 3, the bottom of the steel pipe up-and-down line grabbing and stacking mechanical arm 13 is provided with a carrying mechanical finger 131 and a carrying mechanical finger control mechanism 132 capable of penetrating into the end part of the steel pipe workpiece 6, the carrying mechanical finger 131 is further provided with, the supporting mechanical finger control mechanism 132 can adopt a straight pin telescopic control structure in a matching way, or the supporting mechanical finger 131 can also adopt a hook-shaped swing arm structure which can swing and penetrate into the end part of the steel pipe workpiece 6, the supporting mechanical finger control mechanism 132 can also adopt a swing arm swing control structure in a matching way, and a distance sensor is also arranged on the steel pipe upper and lower line grabbing and stacking manipulator 13; the steel pipe up-and-down line grabbing and stacking mechanical arm 12 can adopt a multi-joint mechanical arm structure, or adopt a portal mechanical arm structure, or adopt other forms of mechanical arms such as a Delta mechanical arm structure, and the like, because the control of the multi-joint mechanical arm and the Delta mechanical arm is centralized control, the precise coordinate control is complex, a large amount of calculation needs to be carried out by an industrial control computer, the software control program is complex, the manufacturing cost is high, the computer control burden is heavy, and faults easily occur, meanwhile, only one mechanical arm can be loaded by one mechanical arm, the portal mechanical arm structure adopts split control, namely, a plurality of coordinate systems are respectively controlled, the control is relatively simple and direct, faults are not easy to occur, and the steel pipe up-and-down line grabbing and stacking mechanical arms 13 at two end positions of the steel pipe workpiece 6 can share the same mechanical arm easily, thereby simplifying the complexity, therefore, the steel pipe up-and-down line grabbing and stacking mechanical arm 12 preferably adopts a portal mechanical arm structure;

the steel pipe up-and-down line electric control device comprises a steel pipe up-and-down line controller which is respectively electrically connected with a coordinate driving assembly of the steel pipe up-and-down line grabbing and stacking mechanical arm 12, a distance sensor of the steel pipe up-and-down line grabbing and stacking mechanical arm 13 and a supporting mechanical finger control mechanism 132.

As shown in fig. 4, the automatic welding unit 2 includes a welding work platform 21, a steel pipe radial clamping and positioning device 22, a steel pipe rotation driving device 23, a sealing plate or cone head pushing device 24, a welding gun device 25 and an automatic welding electric control device;

the welding work platform 21 is a long platform structure which is arranged along the left and right direction in the length direction;

the steel pipe radial clamping and positioning devices 22 are at least arranged in two sets in a bilateral symmetry manner, as shown in fig. 5, each steel pipe radial clamping and positioning device 22 comprises a support base 221 mounted on the welding work platform 21 and a radial clamping and positioning mechanism 222 mounted on the support base 221, each radial clamping and positioning mechanism 222 comprises a radial clamping and positioning component 2221 and a radial clamping and stretching control component 2222 which are oppositely arranged, each radial clamping and positioning component 2221 comprises a clamping surface, a plurality of clamping rollers 2223 which are arranged in a rolling manner are uniformly distributed on each clamping surface, rolling central axes of the clamping rollers 2223 are arranged in the left-right direction, and the radial clamping and positioning components 2221 can be completely combined in a clamping state and clamp a cylindrical surface structure through the clamping rollers 2223 on the clamping surfaces; the oppositely arranged radial clamping and positioning components 2221 may adopt a bidirectional control synchronous clamping mode, that is, the oppositely arranged radial clamping and positioning components 2221 move synchronously to clamp, or adopt a unidirectional control clamping mode, that is, one movable radial clamping and positioning component 2221 moves to another radial clamping and positioning component 2221 which is positioned and installed to clamp; the clamping surface can adopt an arc surface structure matched with the outer diameter of the steel pipe workpiece 6, and also can adopt a V-shaped surface structure, and the clamping surface of the V-shaped surface structure can clamp the steel pipe workpieces 6 with different outer diameter sizes, so the clamping surface preferably adopts the V-shaped surface structure; in order to facilitate the insertion of the steel pipe workpiece 6, the radial clamping and positioning component can adopt a horizontal clamping mode along the front-back direction or a vertical clamping mode along the up-down direction, that is, when the horizontal clamping method is adopted, as shown in fig. 5, the clamping surfaces are arranged to face each other in the front-rear direction, and the radial clamping positioning members 2221 are slidably fitted to the support base 221 in the front-rear direction, the clamping surfaces are arranged oppositely up and down, and the radial clamping positioning components 2221 are installed on the supporting columns on the supporting base 221 in a sliding fit manner along the up and down direction, so that the steel pipe workpieces 6 which need to be inserted in the non-clamping state are abducted for convenient insertion, when the steel pipe workpiece 6 is placed in the vertical direction by adopting the horizontal clamping mode, the running track design of the steel pipe up-down line grabbing and stacking mechanical arm 12 is simpler, and the mechanism design is more reasonable, so that the radial clamping and positioning part preferably adopts the horizontal clamping mode along the front-back direction; the radial clamping telescopic control part 2222 may adopt a telescopic structure of an air cylinder or a hydraulic cylinder, or other telescopic control structures such as a telescopic structure of an electric screw rod, and the like, wherein the telescopic end of the radial clamping telescopic control part 2222 is connected with the radial clamping positioning part 2221 in an installing manner, and the machine body end is connected with the support base 221 in an installing manner;

the steel pipe rotation driving device 23 is integrally installed on the welding working platform 21 in a sliding fit mode through a telescopic sliding driving part I231, and the steel pipe rotation driving device 23 comprises a steel pipe locking mechanism used for locking the steel pipe workpiece 6 and a steel pipe rotation driving motor 232 used for controlling the steel pipe locking mechanism to rotate; the telescopic sliding driving part I231 can adopt a telescopic structure of a hydraulic cylinder or other telescopic control structures such as a telescopic structure of an electric screw rod; the steel pipe locking mechanism can adopt an opening-closing clamping locking structure which is provided with a clamping roller 2223 and is the same as the radial clamping positioning mechanism 222, at the moment, a telescopic sliding driving part I231 can adopt a telescopic sliding mode along the front-back direction, and a steel pipe rotation driving motor 232 can be directly connected with the clamping roller 2223 through a transmission structure, so that the rotation of the steel pipe workpiece 6 can be driven to rotate by controlling the rotation of the clamping roller 2223; the steel pipe locking mechanism can also adopt a numerical control chuck structure which is coaxially arranged with the steel pipe workpiece 6 and is provided with a clamping jaw, at the moment, as shown in figure 6, a telescopic sliding driving part I231 adopts a telescopic sliding mode along the left-right direction, a steel pipe rotation driving motor 232 can directly adopt a hollow motor, the numerical control chuck is coaxially and fixedly arranged in a hollow rotor sleeve of the hollow motor, the numerical control chuck can adopt a slip ring mode to take electricity and can also adopt a built-in battery mode to take electricity, and after the clamping jaw of the numerical control chuck clamps the steel pipe workpiece 6, the steel pipe workpiece 6 can be driven to rotate by controlling the rotation of the hollow motor;

two sets of sealing plate or conical head pushing devices 24 are oppositely arranged left and right, the two sets of sealing plate or conical head pushing devices 24 are installed on the welding working platform 21, in order to be suitable for steel pipe workpieces 6 with different length sizes, at least one set of sealing plate or conical head pushing device 24 is installed on the welding working platform 21 in a sliding fit manner along the left and right direction through a telescopic sliding driving part II 241, each sealing plate or conical head pushing device 24 comprises a pushing mechanism 242 which is telescopically arranged along the left and right direction in a coordinate control manner and a pushing part 243 coaxially installed at the end part of the telescopic end of the pushing mechanism 242, the pushing mechanism 242 is installed on the body of the sealing plate or conical head pushing device 24 in a rolling fit manner, and the geometric center shaft of the pushing part 243 and the clamping geometric center shaft of the radial clamping and positioning; the pushing component 243 can be matched with the sealing plate or conical head workpiece grabbing and stacking manipulator 33 to adopt a clamping grabbing manipulator structure for clamping and grabbing the sealing plate or conical head workpiece 7, or can be matched with the sealing plate or conical head workpiece grabbing and stacking manipulator 33 to adopt a conical tip structure for concentric positioning and abutting, and the pushing mechanism 242 and the telescopic sliding driving component II 241 can adopt telescopic structures of a hydraulic cylinder, or can adopt other telescopic control structures such as a telescopic structure of an electric screw rod;

the welding gun devices 25 are oppositely arranged in two sets from left to right, each welding gun device 25 comprises a welding gun support frame, a welding gun 251 and a welding gun telescopic control mechanism which is arranged in a coordinate control telescopic mode, the welding gun 251 is installed on the welding gun support frame through the welding gun telescopic control mechanism, and a welding wire penetrates into the welding gun 251 through a welding wire feeding mechanism; the welding gun device 25 can be independently arranged and installed on the ground, namely the welding gun support frame is of a floor type structure, and the welding gun device 25 can also be directly installed on the sealing plate or the machine body of the conical head pushing device 24, namely the welding gun support frame is fixedly installed on the sealing plate or the machine body of the conical head pushing device 24; the welding gun telescopic control mechanism can adopt an electric screw rod telescopic control structure, also can adopt other telescopic control structures such as a telescopic control structure of a rack and pinion structure and the like, and can realize accurate coordinate positioning welding of the welding gun 251 by controlling the action of the welding gun telescopic control mechanism through coordinates; the number of the welding guns 251 of each set of welding gun device 25 can be one, that is, as shown in fig. 12, one welding gun 251 cooperates with the steel pipe rotation driving device 23 to control the steel pipe workpiece 6 to rotate circumferentially for one circle to realize one-time welding forming of a complete annular welding seam; in order to further reduce the welding deformation, the welding guns 251 may be oppositely arranged, that is, the welding guns 251 of each set of welding gun device 25 may also be oppositely arranged in two along the radial direction of the steel pipe workpiece 6, that is, as shown in fig. 13, the two welding guns 251 cooperate with the steel pipe rotation driving device 23 to control the steel pipe workpiece 6 to rotate in the circumferential direction for half a circumference to realize one-time welding forming of a complete annular welding seam;

the automatic welding electric control device comprises an automatic welding controller, a steel pipe radial clamping and positioning control loop, a steel pipe rotation driving control loop, a sealing plate or conical head pushing control loop and a welding control loop, wherein the automatic welding controller is electrically connected with a radial clamping telescopic control part 2222, a telescopic sliding driving part I231, a steel pipe locking mechanism, a steel pipe rotation driving motor 232, a telescopic sliding driving part II 241, a welding gun telescopic control mechanism and a welding gun 251 respectively.

The sealing plate or conical head supply unit 3 is arranged at a set position in the range around the automatic welding unit 2, as shown in fig. 2, the sealing plate or conical head supply unit 3 is arranged in front of the automatic welding unit 2, and the sealing plate or conical head supply unit 3 comprises a sealing plate or conical head supply bracket 31, a sealing plate or conical head workpiece grabbing and stacking mechanical arm 32, a sealing plate or conical head workpiece grabbing and stacking mechanical arm 33 and a sealing plate or conical head supply electric control device;

the sealing plate or conical head supply bracket 31 is arranged in a sealing plate or conical head setting on-line working area in the working range of the sealing plate or conical head workpiece grabbing and stacking mechanical arm 32, the interior of the sealing plate or conical head supply bracket 31 is of a multilayer structure, a plurality of sealing plate or conical head workpiece stacking stations are distributed in each layer of plane, and the sealing plate or conical head workpieces 7 are regularly positioned and stacked on the sealing plate or conical head workpiece stacking stations;

a seal plate or conical head workpiece grabbing and stacking mechanical arm 33 is arranged on the tail section of the seal plate or conical head workpiece grabbing and stacking mechanical arm 32, and the seal plate or conical head workpiece grabbing and stacking mechanical arm 32 at least comprises an X coordinate driving assembly capable of controlling the seal plate or conical head workpiece grabbing and stacking mechanical arm 33 to move along the left-right direction coordinate, a Y coordinate driving assembly capable of controlling the seal plate or conical head workpiece grabbing and stacking mechanical arm 33 to move along the front-back direction coordinate, and a Z coordinate driving assembly capable of controlling the seal plate or conical head workpiece grabbing and stacking mechanical arm 33 to move along the vertical direction up-down coordinate; as shown in fig. 9, in order to facilitate grasping the seal plate or the conical head workpiece 7, the seal plate or the conical head workpiece grasping and stacking manipulator 33 includes an a coordinate rotation assembly capable of rotating along the X coordinate axis or a B coordinate rotation assembly capable of rotating along the Y coordinate axis, and for the working condition that only the seal plate or the conical head pushing device 24 is required to push the seal plate or the conical head workpiece 7 against the steel pipe workpiece 6 with the standard length, the seal plate or the conical head workpiece grasping and stacking manipulator 33 may adopt a grasping and gripping manipulator structure for grasping the periphery of the seal plate or the conical head workpiece 7, that is, the seal plate or the conical head workpiece grasping and stacking manipulator 33 includes at least 3 grasping mechanical fingers uniformly distributed along the circumferential direction and a grasping mechanical finger opening and closing control mechanism disposed inside the seal plate or the conical head workpiece grasping and stacking manipulator 33, and the grasping mechanical finger opening and closing control mechanism may be connected with the grasping mechanical finger opening and closing through a control structure disposed along the, The opening and closing of the clamping mechanical fingers are controlled in a matched conical surface moving mode, and the opening and closing control mechanism of the clamping mechanical fingers can also be connected with the clamping mechanical fingers in an opening and closing mode through a connecting rod control structure arranged along the left and right directions, namely the opening and closing of the clamping mechanical fingers are controlled in a connecting rod pulling mode; aiming at the working condition that a sealing plate or a conical head workpiece 7 needs to be grabbed by the sealing plate or conical head pushing device 24 so as to control the welding gap between the end faces of the sealing plate or conical head workpiece 7 and the steel pipe workpiece 6, the sealing plate or conical head workpiece grabbing and stacking manipulator 33 can adopt a sucker structure for sucking the inner surface or the outer surface of the sealing plate or conical head workpiece 7 under negative pressure, namely the sealing plate or conical head workpiece grabbing and stacking manipulator 33 comprises an adsorption disc surface matched with the plane or the conical surface of the sealing plate or conical head workpiece 7, a negative pressure channel connected with a negative pressure source through a pipeline is arranged in the adsorption disc surface, and a plurality of negative pressure adsorption holes communicated and connected with the negative pressure channel are uniformly distributed on the adsorption disc surface; as mentioned above, the closing plate or conical head workpiece grabbing and stacking mechanical arm 32 also preferably adopts a gantry mechanical arm structure, so that the closing plate or conical head workpiece grabbing and stacking mechanical arms 33 at two ends of the steel pipe workpiece 6 can share the same gantry mechanical arm; a distance sensor and a mode recognition sensor are also arranged on the sealing plate or the conical head workpiece grabbing and stacking manipulator (33);

the sealing plate or conical head supply electric control device comprises a sealing plate or conical head supply controller and a sealing plate or conical head grabbing and stacking loop, and the sealing plate or conical head supply controller is respectively electrically connected with the sealing plate or conical head workpiece grabbing and stacking mechanical arm 32 and the sealing plate or conical head workpiece grabbing and stacking mechanical arm 33.

The position of the automatic bolt imbedding unit 4 corresponding to the sealing plate or the conical head pushing device 24 is arranged at the left end and/or the right end of the welding working platform 21, as shown in fig. 10, the automatic bolt imbedding unit 4 comprises a bolt supply bracket 41, a bolt grabbing and stacking mechanical arm 42, a bolt grabbing and stacking mechanical arm 43 and an automatic bolt imbedding electric control device;

the bolt supply bracket 41 is arranged in a set bolt grabbing working area in the working range of the bolt grabbing and stacking mechanical arm 42, a plurality of bolt stacking stations are uniformly distributed on the bolt supply bracket 41, and bolts are neatly positioned and stacked on the bolt stacking stations;

the tail section of the bolt grabbing and stacking mechanical arm 42 is provided with a bolt grabbing and stacking mechanical arm 43, and the bolt grabbing and stacking mechanical arm 42 at least comprises an X coordinate driving assembly capable of controlling the bolt grabbing and stacking mechanical arm 43 to move along the left-right direction coordinate, a Y coordinate driving assembly capable of controlling the bolt grabbing and stacking mechanical arm 43 to move along the front-back direction coordinate and a Z coordinate driving assembly capable of controlling the bolt grabbing and stacking mechanical arm 43 to move along the vertical direction up-down coordinate; the bolt grabbing and stacking manipulator 43 can adopt a sucker structure for sucking grabbing bolts under negative pressure and can also adopt a clamping and grabbing manipulator structure for clamping grabbing bolts, so that bolts can be conveniently placed in the steel pipe workpiece 6 and cannot be placed due to the fact that the bolt grabbing and stacking manipulator 43 is large in size, a material guide groove plate is arranged on the bolt grabbing and stacking manipulator 43 and corresponds to the end portion of the steel pipe workpiece 6, the material guide groove plate can be directly obliquely arranged on the bolt grabbing and stacking manipulator 43, when the material guide groove plate penetrates into the steel pipe workpiece 6, the bolt grabbing and stacking manipulator 43 loosens the bolts, and the bolts can automatically slide into the steel pipe workpiece 6 through self gravity; because two bolts need to be placed into the steel pipe workpiece 6, and because the length of the bolts is usually greater than the inner diameter of the steel pipe workpiece 6, the bolts usually cannot be turned inside the steel pipe workpiece 6, so when placing the two bolts into the steel pipe workpiece 6, it is necessary to ensure that the threaded ends of the two bolts face the left and right ends of the steel pipe workpiece 6, that is, the two bolts can be placed in a back-to-back paired arrangement manner or a side-by-side paired arrangement manner with opposite directions, therefore, under the condition that the bolts in the bolt supply bracket 41 are both placed neatly in the above two manners, a bolt grabbing and stacking manipulator 43 can grab a pair of bolts at a time and directly place the pair of bolts into the steel pipe workpiece 6 through a material guide groove plate, but on the one hand, the positioning and placing requirements for the bolts in the bolt supply bracket 41 are high, on the other hand, if the bolt supply bracket 41 adopts a multilayer structure, a larger size is set and the grabbing and stacking efficiency is gradually lower due to the fact that the bolt grabbing and stacking mechanical arm 42 needs to have a sufficient stroke size, so that a mode of handing over and placing two mechanical arms as shown in fig. 10 can be adopted, namely, one mechanical arm is responsible for grabbing bolts and placing the bolts on the material guide groove plate, the other mechanical arm is responsible for grabbing the material guide groove plate and placing the bolts on the material guide groove plate into the steel pipe workpiece 6, as shown in fig. 11, a B coordinate rotation assembly capable of rotating along a Y coordinate axis can be added to a mechanical arm responsible for placing the mechanical arm, namely, after the material guide groove plate is penetrated into the steel pipe workpiece 6 by the mechanical arm, the B coordinate rotation assembly is controlled to enable the material guide groove plate to incline for a set angle, and the bolts can automatically slide into the steel pipe workpiece 6 through self gravity; as mentioned above, the bolt grabbing and stacking mechanical arm 42 preferably adopts a gantry mechanical arm structure;

the automatic bolt placing electric control device comprises an automatic bolt placing controller and a bolt grabbing and stacking loop, and the automatic bolt placing controller is electrically connected with the bolt grabbing and stacking mechanical arm 42 and the bolt grabbing and stacking mechanical arm 43 respectively.

The centralized electric control unit comprises a central controller, a counting circuit, a workpiece up-down control circuit and an automatic welding control circuit, wherein the central controller is respectively electrically connected with a steel pipe up-down controller of the steel pipe up-down control unit 1, an automatic welding controller of the automatic welding unit 2, a sealing plate or a conical head supply controller of the sealing plate or conical head supply unit 3 and a bolt automatic embedding controller of the bolt automatic embedding unit 4.

The working process of the automatic welding production system for the net rack connecting rod is as follows:

a) steel pipe threading: a steel pipe workpiece bracket 11 which neatly stacks a standard length steel pipe workpiece 6 which is cut off by the upper sizing cutting process is transported to a set coordinate position in the steel pipe upper line working area by a forklift or an AGV carrier transport vehicle and is positioned, an unloaded steel pipe workpiece bracket 11 is transported to a set coordinate position in the steel pipe lower line working area by the forklift or the AGV carrier transport vehicle and is positioned, a closing plate or a cone head supply bracket 31 which neatly stacks a closing plate or a cone head workpiece 7 is transported to a set coordinate position in the closing plate or the cone head upper line working area by the forklift or the AGV carrier transport vehicle and is positioned, a bolt supply bracket 41 which neatly stacks a bolt is transported to a set coordinate position in the bolt grasping working area by the forklift or the AGV carrier transport vehicle and is positioned, then a central controller sends a command to start a counting loop and a workpiece up-down control loop, the steel pipe upper line unit 1 starts to work, the steel pipe up-and-down line controller sends an instruction to control the steel pipe up-and-down line grabbing and stacking mechanical arm 12 to act, the steel pipe up-and-down line grabbing and stacking mechanical arm 13 moves to a set coordinate position right above the first steel pipe workpiece 6 according to the feedback of a distance sensor of the steel pipe up-and-down line grabbing and stacking mechanical arm 13, then the steel pipe up-and-down line controller controls the loading mechanical finger control mechanism 132 to act to enable the loading mechanical finger 131 to penetrate into a central hole in the end part of the first steel pipe workpiece 6 and clamp two end faces of the first steel pipe workpiece 6 through the positioning clamping face, and the grabbing of the first steel pipe workpiece 6 is completed; then the steel pipe up and down line controller controls the steel pipe up and down line grabbing and stacking mechanical arm 12 to act, the steel pipe up and down line grabbing and stacking mechanical arm 13 which grabs the first steel pipe workpiece 6 moves to the set coordinate position corresponding to the clamping geometric central shaft of the radial clamping and positioning part 2221 right above the welding working platform 21 according to the feedback of the distance sensor of the steel pipe up and down line grabbing and stacking mechanical arm 13, then the central controller sends out an instruction to enable the automatic welding controller of the automatic welding unit 2 to control the telescopic sliding driving part I231 to act to carry out the clamping and positioning action of the radial clamping and positioning part 2221, after the first steel pipe workpiece 6 is stably clamped and positioned, the central controller sends out an instruction to enable the steel pipe up and down line controller to control the supporting mechanical finger control mechanism 132 to reset to carry out the action to complete the stacking of the first steel pipe workpiece 6, and the steel pipe up and down line grabbing and stacking mechanical arm, Finishing the on-line work of the first steel pipe workpiece 6;

b) automatic welding: the central controller sends an instruction to start an automatic welding control loop, as shown in fig. 6, the automatic welding controller firstly controls the telescopic sliding driving part I231 to act to enable the steel pipe locking mechanism to be sleeved on a first steel pipe workpiece 6, then controls the steel pipe locking mechanism to act to lock the first steel pipe workpiece 6, and when the steel pipe rotation driving motor 232 adopts a hollow motor mode, the telescopic sliding driving part I231 acts to enable the steel pipe locking mechanism to be sleeved on the first steel pipe workpiece 6 from the end part of the first steel pipe workpiece 6; when the automatic welding controller controls the telescopic sliding driving part I231 to act, the central controller sends an instruction to control the bolt automatic placing controller to enable the bolt grabbing and placing mechanical arm 42 to drive the bolt grabbing and placing mechanical arm 43 to move in a coordinate mode to grab bolts in the bolt supply bracket 41 in sequence, after two bolts which are arranged in pairs in opposite directions are grabbed by the bolt grabbing and placing mechanical arm 43, the bolt automatic placing controller controls the bolt grabbing and placing mechanical arm 42 to drive the bolt grabbing and placing mechanical arm 43 to move in a coordinate mode, so that the material guide groove plate penetrates into a set coordinate position in the end portion of the steel pipe workpiece 6, the bolt grabbing and placing mechanical arm 43 loosens the bolts, and the bolts slide into the steel pipe workpiece 6 through self gravity; after the bolts are automatically placed in the controller to control the bolt grabbing and stacking mechanical arm 42 to reset, the central controller sends a command to control the sealing plate or conical head supply controller to enable the sealing plate or conical head workpiece grabbing and stacking mechanical arm 32 to drive the sealing plate or conical head workpiece grabbing and stacking mechanical arm 33 to move in coordinates to sequentially grab the sealing plate or conical head workpiece 7 in the sealing plate or conical head supply bracket 31, after the two sealing plates or conical head workpieces 7 are respectively grabbed by the two sealing plate or conical head workpiece grabbing and stacking mechanical arms 33, the sealing plate or conical head supply controller controls the sealing plate or conical head workpiece grabbing and stacking mechanical arm 32 to drive the sealing plate or conical head workpiece grabbing and stacking mechanical arm 33 to move in coordinates to enable the two sealing plates or conical head workpieces 7 to be respectively positioned and attached to set coordinate positions on two end faces of the first steel pipe workpiece 6; after the automatic welding controller controls the action of the telescopic sliding driving part II 241 to adjust the sealing plate or conical head pushing device 24 to a set distance according to the standard length of the steel pipe workpiece 6, the automatic welding controller controls the synchronous action of the two pushing mechanisms 242 to make the two pushing parts 243 respectively position and bear the sealing plate or conical head workpiece 7 grabbed by the sealing plate or conical head workpiece grabbing and stacking manipulator 33, the sealing plate or conical head workpiece 7 is stably positioned and abutted against the end part of the first steel pipe workpiece 6, the sealing plate or conical head workpiece grabbing and stacking manipulator 33 and the sealing plate or conical head workpiece grabbing and stacking manipulator 32 sequentially reset to complete the supply of the first set of sealing plate or conical head workpiece 7; the automatic welding controller synchronously controls the welding gun telescopic control mechanisms of the two sets of welding gun devices 25 to act so that the welding guns 251 respectively move to the set welding coordinate positions, the automatic welding controller synchronously controls the welding guns 251 of the two sets of welding gun devices 25 to perform wire feeding and arc striking actions, simultaneously, the automatic welding controller controls the steel pipe rotation driving motor 232 to start and drives the first steel pipe workpiece 6 to rotate according to the set rotating speed through the steel pipe locking mechanism, the pushing mechanism 242 is driven to rotate along with the first steel pipe workpiece 6 in the rotating process, the clamping rollers 2223 are driven to rotate, welding of the sealing plate or the conical head workpiece 7 and the steel pipe workpiece 6 is completed after the first steel pipe workpiece 6 rotates to the set angle, and the automatic welding controller sequentially controls the welding gun telescopic control mechanism, the pushing mechanism 242, the steel pipe locking mechanism and the telescopic sliding driving component I231 to reset after the steel pipe rotation driving motor 232 is closed, completing the automatic welding of the first steel pipe workpiece 6;

c) and (3) off-line production of finished products: the central controller sends an instruction to control the steel pipe up-and-down line unit 1 to start working again, the steel pipe up-and-down line controller controls the steel pipe up-and-down line grabbing and stacking mechanical arm 12 to act, enables the steel pipe up-and-down line grabbing and stacking mechanical arm 13 to move to a coordinate position right above the first welded steel pipe workpiece 6 according to the feedback of a distance sensor of the steel pipe up-and-down line grabbing and stacking mechanical arm 13, then controls the steel pipe up-and-down line controller to act to enable the supporting mechanical finger 131 to penetrate into a center hole of the end part of the first welded steel pipe workpiece 6 or a center hole of the conical head workpiece 7, clamps the end surface of the first welded steel pipe workpiece 6 through the positioning clamping surface, and finishes grabbing the first welded steel pipe workpiece 6; after the central controller sends out an instruction to enable the automatic welding controller of the automatic welding unit 2 to control the telescopic sliding driving part I231 to reset, the steel pipe up-and-down line controller controls the steel pipe up-and-down line grabbing and stacking mechanical arm 12 to move, the steel pipe up-and-down line grabbing and stacking mechanical arm 13 grabbing the first welded steel pipe workpiece 6 moves to a set coordinate position in the empty steel pipe workpiece bracket 11 according to the feedback of the distance sensor of the steel pipe up-and-down line grabbing and stacking mechanical arm 13, and the carrying mechanical finger control mechanism 132 resets to complete the stacking of the first welded steel pipe workpiece 6.

By analogy, the steel pipe workpieces 6 are grabbed one by one to be on-line for automatic welding, the welded steel pipe workpieces 6 are grabbed one by one to be off-line for stacking, and automatic production is realized.

In order to further improve the efficiency and reasonably utilize the waiting welding time of the steel pipe up-and-down line grabbing and stacking mechanical arm 12 and the steel pipe up-and-down line grabbing and stacking mechanical arm 13, a plurality of sets of automatic welding units 2 are arranged in the working range of the steel pipe up-and-down line grabbing and stacking mechanical arm 12, a steel pipe workpiece carrier 26 is further arranged on the welding working platform 21 of each set of automatic welding unit 2, each steel pipe workpiece carrier 26 comprises a carrier surface, and the height dimension of the carrier geometric center of the carrier surface is smaller than that of the clamping geometric center of the radial clamping and positioning part 2221. The steel pipe up-and-down line grabbing and stacking manipulator 13 can stack the steel pipe workpieces 6 on the steel pipe workpiece carrier 26 of one automatic welding unit 2, so that the steel pipe workpieces 6 can be continuously grabbed and stacked on the steel pipe workpiece carriers 26 of other automatic welding units 2, and accordingly, the idle time is utilized, and the efficiency is improved; since the height dimension of the supporting geometric center of the supporting surface of the steel pipe workpiece supporting frame 26 is smaller than the height dimension of the clamping geometric center of the radial clamping positioning member 2221, the clamping and positioning actions of the radial clamping positioning member 2221 on the steel pipe workpiece 6 are not affected.

In order to realize product tracing and code printing on welded steel pipe workpieces 6, the automatic welding production system for the net rack connecting rod further comprises an automatic laser code printing unit 5, as shown in fig. 2, the position of the automatic laser code printing unit 5 corresponding to the sealing plate or the conical head pushing device 24 is arranged at the left side and/or the right side of the welding working platform 21, and the automatic laser code printing unit 5 comprises a laser code printing head support frame, a laser code printing head telescopic control mechanism and a laser code printing electric control device which are arranged in a coordinate control telescopic manner; the laser code printing head is arranged on the laser code printing head support frame through a laser code printing head telescopic control mechanism; the laser code printing electric control device comprises a laser code printing controller and a laser code printing control loop, wherein the laser code printing controller is respectively electrically connected with the laser code printing head and the laser code printing head telescopic control mechanism, and the laser code printing controller is electrically connected with a central controller of the centralized electric control unit. The automatic laser coding unit 5 can be independently arranged on the ground, namely the laser coding head support frame is of a floor type structure, and the automatic laser coding unit 5 can also be directly arranged on the sealing plate or the machine body of the conical head pushing device 24, namely the laser coding head support frame is fixedly arranged on the sealing plate or the machine body of the conical head pushing device 24; the accurate coordinate positioning and code printing of the laser code printing head can be realized by controlling the action of the telescopic control mechanism of the laser code printing head through coordinates. After the automatic welding of the steel pipe workpiece 6 is completed, the central controller can send an instruction to control the laser coding controller to move the coordinates of the laser coding head to the position of the end face of the sealing plate or the conical head workpiece 7 on the steel pipe workpiece 6 for coding. For longer code printing numbers, after printing one number, the steel pipe workpiece 6 can be controlled to rotate in a stepping mode for setting an angle, and then the next number is printed.

When the sealing plate or conical head workpiece grabbing and stacking manipulator 33 grabs the sealing plate or conical head workpiece 7 positioned in the sealing plate or conical head supply bracket 31, in order to avoid the interference of the movement of the sealing plate or conical head workpiece grabbing and stacking manipulator 33, as a further improvement of the present invention, as shown in fig. 7, the sealing plate or conical head supply bracket 31 includes an auxiliary transfer bracket 311 and a drawer-type workpiece holding bracket 312; the drawer type workpiece holding frame 312 is provided with a plurality of translation guide mechanisms II 3121 which are uniformly distributed and spaced from bottom to top and are horizontally arranged along the front-back direction or the left-right direction, the translation guide mechanisms II 3121 can adopt a guide groove structure or other guide structures such as a guide rail structure, a plurality of workpiece stacking trays 3122 which are arranged in a matching way with the translation guide mechanisms II 3121 are arranged on the translation guide mechanisms through a roller wheel in a matching way to form a drawer type structure, the front end of the translation guide mechanism II 3121 is provided with a fixed limiting structure which can limit the workpiece stacking trays 3122 to slide out, the fixed limiting structure can adopt a fixed limiting block structure, a limiting plate structure and other structures, the rear end of the translation guide mechanism II 3121 is provided with a movable limiting structure which can limit the workpiece stacking trays 3122 to slide out, in order to realize that a driving power device is not arranged on the drawer type workpiece holding frame 312 so as to avoid the driving power device from being, the movable limiting structure can adopt a movable limiting structure which ejects a limiting wedge through a spring, can also adopt a movable limiting structure which controls the swing of a swing rod through an ejector rod to realize the lifting of a limiting wedge plate and other mechanical structures, and the workpiece stacking tray 3122 is also provided with a lap joint connecting part 3123; the auxiliary transfer rack 311 is fixedly arranged at a set position in a line working area of a sealing plate or a conical head, a translation guide mechanism I3111 which can be horizontally butted with the translation guide mechanism II 3121 is arranged at a position corresponding to the translation guide mechanism II 3121 on the auxiliary transfer rack 311, the translation guide mechanism I3111 and the translation guide mechanism II 3121 are arranged in the same structure and size, a workpiece stacking tray translation control mechanism 3112 which is horizontally arranged in a front-back or left-right telescopic manner is further arranged at a position corresponding to each layer of the translation guide mechanism I3111 on the auxiliary transfer rack 311, as shown in FIG. 8, the workpiece stacking tray translation control mechanism 3112 comprises a translation driving part and an overlapping buckle part 3113 which is matched with the overlapping connecting part 3123, the translation driving part can adopt a hydraulic telescopic control structure comprising a hydraulic cylinder, or can adopt a chain transmission structure comprising a transmission chain or other transmission structures such as an electric spiral rod structure, the translation driving component is electrically connected with a sealing plate or a conical head supply controller of the sealing plate or the conical head supply electric control device. After the drawer type workpiece containing frame 312 with the sealing plate or the conical head workpiece 7 orderly stacked is carried by a forklift or an AGV to a set coordinate position in an upper line working area of the sealing plate or the conical head and a translation guide mechanism II 3121 is in front-back butt joint with a translation guide mechanism I3111, the sealing plate or the conical head supply controller controls the translation control mechanism 3112 of the workpiece stacking tray positioned on the first layer to act so that a translation driving part drives an overlap buckle part 3113 to extend forwards to a set distance, after the overlap buckle part 3113 is connected with the overlap connection part 3123, the sealing plate or the conical head supply controller controls the translation control mechanism 3112 of the workpiece stacking tray positioned on the first layer to reset, the workpiece stacking tray 3122 positioned on the first layer crosses a movable limiting structure of the translation guide mechanism II 3121 and moves onto an auxiliary transfer frame 311 to be drawn out along with the overlap buckle part 3113, and the sealing plate or the conical head workpiece grabbing and stacking manipulator 33 can stack the sealing plate or the conical head workpiece stacking tray 3122 positioned on the first layer Sequentially grabbing the conical head workpieces 7; after the sealing plate or the conical head workpiece 7 on the workpiece stacking tray 3122 on the first floor is completely grabbed, the sealing plate or the conical head supply controller controls the workpiece stacking tray translation control mechanism 3112 on the first floor to act to push the workpiece stacking tray 3122 on the first floor into the drawer-type workpiece holding rack 312, and after the lap joint buckle part 3113 of the workpiece stacking tray translation control mechanism 3112 on the first floor is separated from the lap joint part 3123 of the workpiece stacking tray 3122 on the first floor and is reset, the sealing plate or the conical head supply controller controls the workpiece stacking tray translation control mechanism 3112 on the second floor to act to pull the workpiece stacking tray 3122 on the second floor into the auxiliary transfer rack 311 for continuous grabbing; and the rest is repeated until all the layers of the workpiece stacking trays 3122 of the drawer-type workpiece holding frame 312 are completely grabbed.

For example avoid work piece stacking tray translation control mechanism 3112 to snatch at shrouding or conical head work piece and stack manipulator 33 and snatch the in-process to shrouding or conical head work piece 7 and cause the motion to interfere, as the utility model discloses a further improvement scheme, translation guiding mechanism 3121 sets up on drawer type work piece holds the facade inner wall of frame 312 along left right direction symmetry, and work piece stacking tray translation control mechanism 3112 sets up on translation guiding mechanism I3111 along left right direction symmetry.

The translation driving part of the workpiece stacking tray translation control mechanism 3112 can adopt a hydraulic telescopic control structure comprising a hydraulic cylinder and can also adopt a chain transmission structure comprising a transmission chain, because the former needs to additionally consider the stroke problem of the hydraulic cylinder, that is, the auxiliary turret block 311 needs to additionally leave a space for the telescopic stroke of the hydraulic cylinder in the front-rear or right-left direction, and the size of the auxiliary turret block 311 in the front-rear or right-left direction is increased virtually, which can be avoided, and therefore the latter is preferable, that is, as a preferable aspect of the present invention, the translation driving part of the workpiece stacking tray translation control mechanism 3112 is a chain transmission structure, as shown in fig. 8, the translation driving part includes a driving sprocket and a driving chain, the lap joint part 3123 is a lap post structure fixedly provided on the workpiece stacking tray 3122, and the lap joint part 3113 is a two-way claw structure provided on the driving chain. But two-way jack catch structure follows upper drive chain and can realize pulling work piece stacking tray 3122 in the overlap joint post structure when moving backward, can realize promoting the work piece stacking tray 3122 when two-way jack catch structure follows upper drive chain and moves forward, put the tray 3122 with the work piece and push away the drawer type work piece and hold the back on the frame 312, along with the continuation of upper drive chain moves forward, two-way jack catch structure can overturn and break away from the overlap joint post structure, realize that the work piece stacks the separation of tray translation control mechanism 3112 and work piece stacking tray 3122.

In order to further increase shrouding or conical head work piece and snatch the accuracy that puts in good order manipulator 33 location and snatch or put in good order shrouding or conical head work piece 7, as the utility model discloses a further improvement scheme, shrouding or conical head work piece snatch and still are equipped with the mode identification sensor on putting in good order manipulator 33, and the mode identification sensor is connected with shrouding or conical head supply controller electricity. When a sealing plate or a conical head workpiece 7 is grabbed, when the sealing plate or a conical head supply controller sends a command to control the action of the sealing plate or conical head workpiece grabbing and stacking mechanical arm 32, and the coordinates of the sealing plate or conical head workpiece grabbing and stacking mechanical arm 33 are moved to a set coordinate position right above the sealing plate or conical head workpiece 7 according to the feedback of a distance sensor of the sealing plate or conical head workpiece grabbing and stacking mechanical arm 33, the sealing plate or conical head supply controller compares the end face position information of the sealing plate or conical head workpiece 7 fed back by a mode identification sensor with the end face position information of the built-in standard sealing plate or conical head workpiece 7 and calculates an offset, and then the sealing plate or conical head supply controller adjusts the position of the sealing plate or conical head workpiece grabbing and stacking mechanical arm 33 according to the calculated offset to realize accurate positioning and grabbing of the sealing plate or conical head workpiece 7; when the seal plate or the conical head workpiece 7 is attached to the end part of the steel pipe workpiece 6, the seal plate or the conical head supply controller compares the position information of the end part of the steel pipe workpiece 6 fed back by the mode recognition sensor with the position information of the built-in standard steel pipe workpiece 6 and calculates the offset, and then the seal plate or the conical head supply controller adjusts the position of the seal plate or the conical head workpiece grabbing and stacking manipulator 33 according to the calculated offset, so that the seal plate or the conical head workpiece 7 is accurately positioned and placed.

Claims

1. A sealing plate or conical head supply unit of a net rack connecting rod automatic welding production system is characterized in that the sealing plate or conical head supply unit (3) is arranged at a set position in the peripheral range of an automatic welding unit (2), and the sealing plate or conical head supply unit (3) comprises a sealing plate or conical head supply bracket (31), a sealing plate or conical head workpiece grabbing and stacking mechanical arm (32), a sealing plate or conical head workpiece grabbing and stacking mechanical arm (33) and a sealing plate or conical head supply electric control device;

the sealing plate or conical head supply bracket (31) is arranged in a sealing plate or conical head setting on-line working area in the working range of the sealing plate or conical head workpiece grabbing and stacking mechanical arm (32), the interior of the sealing plate or conical head supply bracket (31) is of a multilayer structure, and a plurality of sealing plate or conical head workpiece stacking stations are distributed in each layer of plane;

the tail section of the sealing plate or conical head workpiece grabbing and stacking mechanical arm (32) is provided with a sealing plate or conical head workpiece grabbing and stacking mechanical arm (33), and the sealing plate or conical head workpiece grabbing and stacking mechanical arm (32) at least comprises an X coordinate driving assembly capable of controlling the sealing plate or conical head workpiece grabbing and stacking mechanical arm (33) to move along the left-right direction coordinate, a Y coordinate driving assembly capable of controlling the sealing plate or conical head workpiece grabbing and stacking mechanical arm (33) to move along the front-back direction coordinate and a Z coordinate driving assembly capable of controlling the sealing plate or conical head workpiece grabbing and stacking mechanical arm (33) to move along the vertical direction up-down coordinate; two sets of sealing plate or conical head workpiece grabbing and stacking mechanical arms (33) are arranged at the left end and the right end of the corresponding steel pipe workpiece (6), sealing plate or conical head workpiece grabbing and stacking mechanisms are arranged on the sealing plate or conical head workpiece grabbing and stacking mechanical arms (33), the sealing plate or conical head workpiece grabbing and stacking mechanisms are installed on the sealing plate or conical head workpiece grabbing and stacking mechanical arms (33) through an A coordinate rotating assembly capable of rotating along an X coordinate axis or a B coordinate rotating assembly capable of rotating along a Y coordinate axis, and distance sensors and mode identification sensors are further arranged on the sealing plate or conical head workpiece grabbing and stacking mechanical arms (33);

the seal plate or conical head supply electric control device comprises a seal plate or conical head supply controller, a seal plate or conical head grabbing and stacking loop, the seal plate or conical head supply controller is respectively connected with a coordinate driving assembly of a seal plate or conical head workpiece grabbing and stacking mechanical arm (32), a seal plate or conical head workpiece grabbing and stacking mechanism of a seal plate or conical head workpiece grabbing and stacking mechanical arm (33), a distance sensor and a mode identification sensor are electrically connected, and the seal plate or conical head supply controller is electrically connected with a central controller of a rack connecting rod automatic welding production system centralized electric control unit.

2. The seal plate or conical head supply unit of the automatic welding production system of the net rack connecting rod according to claim 1, wherein the seal plate or conical head workpiece grabbing and stacking mechanism is a suction cup structure for grabbing the inner surface or the outer surface of the seal plate or conical head workpiece (7) under negative pressure, the seal plate or conical head workpiece grabbing and stacking mechanism comprises an adsorption plate surface matched with the plane or the conical surface of the seal plate or conical head workpiece (7), a negative pressure channel connected with a negative pressure source through a pipeline is arranged in the adsorption plate surface, and a plurality of negative pressure adsorption holes communicated and connected with the negative pressure channel are uniformly distributed on the adsorption plate surface.

3. The seal plate or conical head supply unit of the automatic welding production system of the net rack connecting rod according to claim 1, wherein the seal plate or conical head workpiece grabbing and stacking mechanism is a clamping and grabbing manipulator structure for clamping and grabbing the periphery of the seal plate or conical head workpiece (7), and the seal plate or conical head workpiece grabbing and stacking mechanism comprises at least 3 clamping mechanical fingers uniformly distributed along the circumferential direction and a clamping mechanical finger opening and closing control mechanism arranged inside the seal plate or conical head workpiece grabbing and stacking manipulator (33).

4. The closing plate or cone head supply unit of net rack connecting rod automatic welding production system according to claim 1, 2 or 3, characterized in that the closing plate or cone head supply bracket (31) comprises an auxiliary transfer bracket (311) and a drawer type workpiece holding bracket (312); a plurality of translation guide mechanisms II (3121) which are uniformly distributed at intervals and horizontally arranged along the front-back or left-right direction are arranged on the drawer type workpiece containing frame (312) from bottom to top, a plurality of workpiece stacking trays (3122) which are arranged in a matched manner with the translation guide mechanisms II (3121) in number are installed on the translation guide mechanisms in a matched manner through rollers to form drawer type structures, a fixed limiting structure capable of limiting the workpiece stacking trays (3122) to slide out is arranged at the front end of the translation guide mechanism II (3121), a movable limiting structure capable of limiting the workpiece stacking trays (3122) to slide out is arranged at the rear end of the translation guide mechanism II (3121), and a lap joint connecting part (3123) is further arranged on the workpiece stacking trays (3122); the auxiliary transfer frame (311) is fixedly arranged at a set position in a sealing plate or a conical head upper line working area, a translation guide mechanism I (3111) which can be horizontally butted with the translation guide mechanism II (3121) is arranged at a position, corresponding to the translation guide mechanism II (3121), on the auxiliary transfer frame (311), the translation guide mechanism I (3111) and the translation guide mechanism II (3121) are arranged in the same structure and size, a workpiece stacking tray translation control mechanism (3112) which is horizontally arranged in a front-back or left-right telescopic mode is further arranged at a position, corresponding to each layer of the translation guide mechanism I (3111), on the auxiliary transfer frame (311), the workpiece stacking tray translation control mechanism (3112) comprises a translation driving part and an overlap buckle part (3113) matched with the overlap connection part (3123), and the translation driving part is electrically connected with the sealing plate or the conical head supply controller of the sealing plate or the conical head supply electric control device.

5. The closing plate or cone head supply unit of the rack connecting rod automatic welding production system according to claim 4, characterized in that the translation guide mechanisms II (3121) are symmetrically disposed on the inner wall of the vertical surface of the drawer-type workpiece holding rack (312) in the left-right direction, and the workpiece stacking tray translation control mechanisms (3112) are symmetrically disposed on the translation guide mechanisms I (3111) in the left-right direction.

6. The closing plate or cone head supply unit of rack link automatic welding production system of claim 5, characterized in that the translation driving part of the workpiece stacking tray translation control mechanism (3112) is a chain transmission structure, the translation driving part comprises a transmission chain wheel and a transmission chain, the lap joint connection part (3123) is a lap joint column structure fixedly disposed on the workpiece stacking tray (3122), and the lap joint buckle part (3113) is a bidirectional jaw structure disposed on the transmission chain.

7. The closing plate or cone head supply unit of rack link automatic welding production system according to claim 1, 2 or 3, characterized in that the closing plate or cone head workpiece grabbing and stacking robot (32) is a gantry robot structure.

8. The closing plate or conical head supply unit of the automatic welding production system of the rack connecting rod as claimed in claim 7, wherein two sets of closing plate or conical head workpiece grabbing and stacking manipulators (33) share the same closing plate or conical head workpiece grabbing and stacking manipulator (32).