A large reverse assembly equipment suitable for two-sequence welding of a torsion beam

Abstract

The present application relates to the field of automatic manufacturing design of automobile parts equipment, and particularly relates to a large reverse assembly equipment suitable for two-sequence welding of a torsion beam. The large reverse assembly equipment can maximize the production capacity, reduce the use of workers, and automatically, conveniently and safely produce the torsion beam with a very high safety factor. The large reverse assembly equipment suitable for two-sequence welding of a torsion beam comprises an automatic large reverse frame, an automatic welding robot, a first sequence welding module and a second sequence welding module. The automatic large reverse frame comprises a reverse displacement machine, a reverse disc shaft, a rotating shaft core plate and a position displacement machine. The reverse displacement machine is arranged in a mirror image vertically on the ground or a working platform. The reverse disc shaft is arranged on the top of the reverse displacement machine and is connected to the rotating shaft core plate through the reverse disc shaft suspension frame.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automatic manufacturing design of automobile parts equipment, and particularly relates to a large reverse assembly equipment suitable for two-sequence welding of a torsion beam. BACKGROUND

[0002] Most of the household cars on the market today adopt two kinds of rear suspensions, one is a multi-link independent suspension, and the other is a torsion beam non-independent suspension. The latter is a non-independent suspension through the torsion beam penetrating left and right for transverse positioning, and is a kind of non-independent suspension. Therefore, the jumping of a single wheel will cause certain interference to the other wheel, affecting the comfort. According to the feedback data obtained, various parameters of the suspension such as spring stiffness, damping size, wheel positioning and the like are continuously adjusted to find the best state. A manufacturer with excellent tuning technology can completely realize that the torsion beam of the manufacturer is better than the independent suspension of others under the same cost limit. When manufacturing the rear bridge of the torsion beam, industrialized manufacturing generally adopts a special robot. When the robot is welding, it generally cools after welding, or cools after the first workpiece is welded, and then the second workpiece is placed to continue welding. The preparation time of this operation method is too long. For example, the patent CN201510915131.7 is a kind of automobile single-face double-point welding process, which is characterized by comprising a welding special machine, an automobile welding special clamp, a transformer, a single-face double-point welding clamp, a single-face double-point welding mechanism, a gantry steel structure, a gantry sliding mechanism, a gantry base, a welding clamp welding plane moving structure, an upper electrode, a lower electrode island, a conductive bridge and a positioning connecting piece. This process and mechanical equipment are much more expensive than single-pass type, which is not affordable for most enterprises, and the maintenance is also very expensive. Another is a single-track type with high labor cost. CN201510125484.7 is a kind of automobile floor automatic welding production line and production method. Workstation 3 completes the welding of automobile central passage and automobile right door sill; three workstations complete the automatic welding production of automobile floor in turn, and are connected with total assembly workstations for corresponding total assembly welding. SUMMARY

[0003] The present application is to invent a large reverse assembly equipment suitable for two-sequence welding of a torsion beam, which maximizes productivity, reduces worker use, and makes the torsion beam automatic, convenient, and has a very high safety factor. There is no harm to workers or other situations such as clamping, collision and the like, greatly reducing the operation of workers, requiring low functional skills, and being suitable for low training personnel and coping with emergency shifts.

[0004] The application is realized by the technical scheme as follows: a large reverse assembly equipment suitable for two-sequence welding of a torsion beam, comprising an automatic large reverse frame, an automatic welding robot, a first sequence welding module and a second sequence welding module; the automatic large reverse frame comprises a reverse displacement machine, a reverse disc shaft, a rotating shaft plate and a position surface displacement machine; one mirror image of the reverse displacement machine is vertically arranged on the ground or a working platform; the reverse disc shaft is connected to the top of the reverse displacement machine through a tooth shaft; the rotating shaft plate is connected between the left reverse displacement machine and the right reverse displacement machine through the reverse disc shaft; the rotating shaft plate rotates forward or reversely by 1-360 degrees through the reverse disc shaft; a pair of mirror images of the position surface displacement machine is vertically arranged on the top and the bottom of the rotating shaft plate; the first sequence welding module and the second sequence welding module are respectively suspended and screwed or hinged between the angle adjusting robot shafts of the position surface displacement machine on the top or the bottom; the first sequence welding module comprises a first sequence welding module rotating plate, a first sequence position surface machine connecting frame, a first sequence left clamping and welding module and a first sequence right clamping and welding module; the first sequence welding module rotating plate comprises a first sequence main frame, a first sequence central frame plate, a first sequence edge top plate and a first sequence edge bottom plate; the first sequence left clamping and welding module or the first sequence right clamping and welding module comprises a top outer side beam positioning group, a top main beam positioning group, a bottom outer side beam positioning group and a bottom main beam positioning group; the top outer side beam positioning group further comprises a top outer pad bottom plate, a top outer fine adjustment pad bottom plate, a top bushing inner pressure positioning cylinder group, an upper positioning side beam pressure arm, a top bushing outer pressure positioning cylinder group and a bottom anti-sinking cylinder; the outer bushing positioning cover arm, the inner bushing positioning cover arm and the bottom of the three-point positioning head of the bushing inner pressure are further provided with the bottom anti-sinking cylinder to form four-point positioning; a plurality of rotating shaft bearings are arranged on the top outer fine adjustment pad bottom plate; the bottom outer side beam positioning group further comprises a side beam tail pipe top positioning group, a side beam tail pipe inner side positioning group and a tail pipe bottom anti-sinking cylinder; the tail pipe bottom anti-sinking cylinder is arranged below the top pressing piece and comprises a sliding plate connecting support arm, a support anti-sinking cylinder, a support anti-sinking top block and a side pressure sensing positioner; the bottom outer side beam positioning group further comprises a bottom outer side beam positioning slide rail, a bottom outer side beam sliding plate, a bottom outer side beam positioning support arm, a bottom outer side beam positioning double push cylinder, a bottom outer side beam positioning tiger mouth clamp, a first stage top needle, a second stage top needle and a three-stage jaw; the first sequence central frame plate is provided with a central horizontal plate; the central horizontal plate is provided with a first sequence central positioning group in the transverse direction; the first sequence central positioning group comprises a central rotating shaft, a central positioning linkage folding rod and a main beam bottom positioning pressing block; the top main beam positioning group further comprises a top main beam positioning support arm, a top main beam positioning side vertical push cylinder, a top main beam positioning front side abutting block and a top main beam positioning pressing arm; the top main beam positioning pressing arm is provided with a bottom main beam positioning pressure sensing positioner near the main beam positioning pressing piece;

[0005] The first sequence positioning slide plate bottom is provided with a first sequence slide plate moving group, and the first sequence slide plate moving group comprises a slide plate connecting bottom block, a main frame connecting push rod and a slide plate moving push air cylinder.

[0006] The first sequence positioning slide plate is provided with a buffer groove between the top outer side beam positioning group and the bottom outer side beam positioning group, and a buffer air cylinder is arranged in the buffer groove. Further, the second sequence welding module rotating plate comprises a second sequence main frame, a second sequence central rack plate, a second sequence top plate and a second sequence edge bottom plate. Further, the shock absorber pad bottom limiting plate is arranged at the bottom end of the central top block, is connected to the head end of the displacement plate and is further provided with a displacement sensor. Further, the spring disc positioning module comprises a bottom pad head and a top pressing head. Further, the side beam bottom mounting plate positioning module comprises a bottom pad B, a bottom guide rail B, a limiting movable support plate, a vertical support plate, a mounting plate positioning air cylinder, a positioning integrated air claw and a side push air cylinder B.

[0007] Compared with the background art, the present application has the beneficial effects that: the positive and negative turning is carried out by the large turning robot, the positive assembly and the negative welding are carried out, the angle is adjusted in detail by the position surface positioner, the best demand angle of the welding robot is achieved, and the positive and negative surfaces can automatically adjust the angle and the stress without affecting the other surface; the adjustment and the automatic clamp have the advantages of fast positioning speed, high positioning standard, no manual intervention, complete automation standard, very suitable for modern automobile manufacturing industry, high unified standard, capable of completing the national standard required by the industry and the superior automobile enterprises and reaching the international standard, and the completion degree is unattainable by the prior art.

[0008] The welding module on the front and back sides is two welding modules of completely different structures, but both serve the same structure of the torsion beam. When assembling the torsion beam, the first sequence is to assemble the main beam of the torsion beam on the first sequence welding module. After positioning and adjusting to the standard, the side beams are placed on the left and right sides of the main beam and fixed by the clamp. After the side beams are installed, the bushing is assembled to the top, and the position is fixed and adjusted by the four-point positioning of the first sequence welding module. Finally, the connecting reinforcement plate is attached and installed below the side of the main beam and the side beam, and is also fixed by the bottom outside beam positioning group of the first sequence welding module. After positioning, adjustment and fixation, the back side is turned over, and the welding robot starts to weld various accessories on the first sequence to the main beam. During the welding process, the second sequence is assembled. In the second sequence, the first sequence torsion beam that has been placed on the cooling rack and cooled to the process temperature is taken out, and is placed in the second sequence welding module that has been turned over and adjusted to the correct position. The left and right spring discs, left and right mounting plates, left and right brackets, and left and right shock absorber brackets are continued to be assembled on the first sequence torsion beam and are automatically positioned and fixed by the second sequence welding module. Workers simultaneously perform positioning detection and tightness check on each sub-clamp of the second sequence welding module. If the check does not meet the requirements, manual adjustment or opening of the clamp is performed to automatically adjust. After the adjustment process is completed, the worker leaves the first welding large reverse assembly equipment and goes to the second welding large reverse assembly equipment to perform operation work. After the welding robot of the first welding large reverse assembly equipment automatically completes the first sequence work, the robot welding robot stops. With the stop, the automatic large reverse rack automatically resets or automatically adjusts the angle of the position surface positioner to the large reverse setting rotation angle. The large reverse turns the first sequence to the working front side and the second sequence to the welding robot setting side. The position surface positioner of the second sequence adjusts the position to an angle suitable for the worker to take the part. Various clamps are opened, and the part is cooled and waits for the worker to perform operation work on the second welding large reverse assembly equipment (the same is the first sequence process or the second sequence process). After the work is completed, the second sequence welding accessory on the working surface of the first welding large reverse assembly equipment turned to the front side is cooled to a temperature that the worker can normally take down, and the welding smoke and other harmful gases are also extracted. The working chamber is clean and harmless. The worker takes away the complete rear axle welding assembly, and further circulates to start the initial assembly step to reassemble the first sequence.

[0009] This kind of positive and negative flip welding although has similar technology but the core of the present technology is that the general performance and adjustable performance of the clamp can be suitable for the frame combined with side beam and main beam, and the use effect only needs to make the clamp freely for the first time, and after recording the data, all the undetermined will be adjusted due to the unity to achieve the best welding condition, and the most important planned welding route is unified every time, and the deviation degree will infinitely approach 0 degree, which has not been achieved in the prior art, and the core is that each part will be clamped and adjusted in a sequence or two sequences, and this positioning is mechanically recorded, not through various sensory eyes;

[0010] The welding position line of each welding is shorter than the welding line of the total one sequence welding process in the past, and the interval is required to shorten the welding line in the past, and the interval will be disconnected and welded immediately due to the continuous cooling temperature in the one sequence process, and the welding point will be solidified and the solidification performance will be poor, and we do not have such a situation;

[0011] The operation is progressive and infinite cycle, and the production can be carried out unlimitedly under the requirement, and the work efficiency can be 4-7 times of the prior art without considering the worker rest, machine maintenance, cooling and the like, and the worker efficiency can be maximized, the non-skilled worker can control two machines, and the skilled worker can control three machines, the worker training is simple, and the operator only needs to know the placement position of the main beam and the side beam and the external parts; Further, when a skilled foreman is set to patrol, there is enough time for quality inspection, and the quality inspection can be carried out on the cooling time of the first sequence mold and the second sequence mold respectively, and the best detection point is the beginning of the first sequence and the end of the first sequence welding, which has very enough time, and the second sequence is welded in this period, the welding time is 2-3 minutes, the first sequence is completed and the cooling is 2-4 minutes, and the cooling also has enough time, and the workers have enough time for various inspection and feeding time in this period, so this period has been fully utilized;

[0012] In the above case, the worker training time and the worker technical requirement can be greatly saved, and the worker only needs to identify the workpiece and the tool installation process, and the detection can be entrusted to a foreman, the foreman can take care of his own machine, and can also go for patrol, so that the maximum industrial benefit is achieved, the labor cost is greatly saved, and the 1-1.5 manpower of the past is reduced to 0.5 manpower or 0.3;

[0013] Safety performance is extremely high Each clamp and the clamp of the subcomponent match the pressure and position sensor, once the height position of the clamp is not correct, the whole machine will not continue the process, but this process will not affect the welding robot on the opposite side, which can be directly closed by the workbench, and its display surface will not exceed the front or back, and the important setting of the large turning plate can block the welding fire, which will not cause the worker's working surface to cause spark splash injury, the control total button and automatic turnover must detect that all processes on the working surface are completed before starting to turn over, that is, if the worker is still installing, placing and checking the situation, the sensor will not turn over in the running position and check the person is still active, but this situation is difficult to appear, because the placement time is much less than the welding time of the welding surface, so the safety is extremely high, in the welding of the welding surface, the welding light will not hurt people, the worker can operate the front working position without wearing light shielding black glasses, because the high welding light of the welding surface will be completely shielded by the large turning plate, which enhances the precision of the worker's direct observation and installation of components with the naked eye, which can greatly approach the working surface without isolation, and the naked eye can directly observe the operation, the working precision and adaptability are strong, and the worker's eye safety is also safe, and the worker's body safety can be ensured with only one safety helmet, there is no light pollution, and the working environment is also good. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 Overall structure diagram.

[0015] Figure 2 Combined diagram front view.

[0016] Figure 3 One sequence and two sequences and main frame combination diagram.

[0017] Figure 4 Main body and mechanical hand front view.

[0018] Figure 5 Welding overall front structure diagram.

[0019] Figure 6 Large turning mechanism front view.

[0020] Figure 7 One sequence structure front view.

[0021] Figure 8 Locking positioning unit single module structure diagram.

[0022] Figure 9 Conveyor frame structure diagram.

[0023] Figure 10 Structure diagram of the second sequence unit.

[0024] Figure 11 Structure diagram of the first sequence central positioning group.

[0025] Figure 12 Structure diagram of the first sequence positioning sliding plate.

[0026] Figure 13 Overall structure plan view.

[0027] Figure 14 Bottom plate and mounting structure diagram.

[0028] Figure 15 Shock absorber positioning module structure diagram.

[0029] Figure 16 Side beam bottom mounting plate positioning module structure diagram.

[0030] Figure 17 Spring disc positioning module structure diagram.

[0031] Figure 18 Spring disc positioning module side view.

[0032] Figure 19 Main beam reinforcing plate integrated positioning module structure diagram.

[0033] Figure 20 Mechanical arm implementation diagram.

[0034] Figure 21 Implementation concept diagram. DETAILED DESCRIPTION

[0035] The technical solutions of the present application are further specifically described below by way of examples in combination with the drawings:

[0036] The present application is realized by the following technical solutions: a large reverse assembly equipment suitable for two-sequence welding of a torsion beam, comprising: an automatic large reversing frame (1), an automatic welding robot (2), a first sequence welding module (3), a second sequence welding module (4), and an automatic welding robot (a4). The automatic large reversing frame comprises: a reversing displacement machine (101), a reversing disc shaft (102), a rotating shaft core plate (103), and a position surface displacement machine (104). The reversing displacement machine is mirror-imaged and vertically arranged on the ground or a working platform. The top of the reversing displacement machine is connected with the reversing disc shaft arranged in the position adjusting groove through a tooth shaft. The rotating shaft core plate is connected between the left and right reversing displacement machines through the reversing disc shaft suspension frame. The rotating shaft core plate rotates by 1-360 degrees in the forward or reverse direction through the reversing disc shaft.

[0037] The top and bottom of the rotating axis core plate are vertically provided with a pair of mirror image position displacement machines close to the position of the axis of the turnover disc at the left and right edges, and the first sequence welding module (3) and the second sequence welding module (4) are respectively suspended between the angle adjusting robot shafts of the position displacement machines on the top or the bottom through screw connection or hinged connection;

[0038] The positive and negative turnover is carried out by the large turnover robot, the positive assembly and the negative welding are carried out, the angle is adjusted in detail through the position displacement machine, the best required angle of the welding robot is achieved, and the positive and negative surfaces can automatically adjust the angle and the stress without affecting the other surface.

[0039] The welding modules on the front and back sides are two welding modules of completely different structures, but both serve the same structure of the torsion beam. When assembling the torsion beam, the first sequence is to assemble the main beam of the torsion beam on the first sequence welding module. After the main beam is accurately positioned and meets the standard by using the intermediate positioning clamp, the side beams are placed on the left and right sides of the main beam and fixed by using the clamp. After the side beams are installed, the bushings at the top are assembled and fixed and adjusted in position by using the four-point positioning of the first sequence welding module. Finally, the connecting reinforcing plate is attached and installed below the side of the joint between the main beam and the side beam, and is also fixed by using the bottom outside beam positioning group of the first sequence welding module. After positioning, adjustment and fixation, the back side is turned over, and the welding robot starts to weld various accessories on the first sequence to the main beam. During the welding process, the second sequence is assembled. In the second sequence, the first sequence torsion beam that has been cooled to the process temperature and has completed welding and cooling is taken out from the cooling rack and placed in the second sequence welding module that has been turned over and adjusted in position. The left and right spring discs, left and right mounting plates, left and right supports and left and right shock absorber supports are continued to be assembled on the first sequence torsion beam and are automatically positioned and fixed by using the second sequence welding module. Workers simultaneously perform positioning detection and tightness check on each sub-clamp of the second sequence welding module. If it does not meet the requirements, manual adjustment or opening is performed to allow the clamp to automatically adjust. After the adjustment process is completed, the worker leaves the first welding large reverse assembly equipment and goes to the second welding large reverse assembly equipment to perform operation work. After the welding robot of the first welding large reverse assembly equipment automatically completes the first sequence work, the robot welding robot stops. With the stop, the automatic large reverse rack automatically resets or automatically adjusts the angle of the position surface positioner to the large reverse setting rotation angle. The large reverse is performed, the first sequence is turned to the working front side, the second sequence is turned to the welding robot setting side, and the position surface positioner of the second sequence is adjusted to an angle suitable for the worker to take the part. Various clamps are opened, the part is cooled, and the worker waits to perform operation work on the second welding large reverse assembly equipment (the same is the first sequence process or the second sequence process). After the work is completed, the second sequence welding accessory on the working face of the first welding large reverse assembly equipment turned to the front side is cooled to a temperature at which the worker can normally take it down, and the welding fume and other harmful gases are also completely removed. The working chamber is clean and harmless, the worker takes away the completely welded entire rear axle welding assembly, and further circulates to start the initial assembly step to reinstall the first sequence.

[0040] The first sequence welding module comprises a first sequence welding module rotating plate (301), a first sequence position surface machine connecting frame (302), a first sequence left clamping welding module (303) and a first sequence right clamping welding module (304). The two side edges of the welding module rotating plate are provided with the position surface machine connecting frame to support and connect the angle adjusting robot shaft between the position surface positioners. The first sequence left clamping welding module (303) and the first sequence right clamping welding module (304) are arranged on the left side and the right side of the surface of the welding module rotating plate and are mirror images of each other.

[0041] The first - order welding module rotating plate includes: a first - order main frame (305), a first - order central frame plate (306), a first - order side top plate (307), and a first - order side bottom plate (308). The first - order central frame plate (306) is erected vertically in the center of the first - order main frame. Preferably, the first - order central frame plate (306) is in the shape of the Chinese character 'tu'. The first - order side top plate (307) is arranged at the top corner of the first - order main frame (305), and the first - order side bottom plate (308) is arranged at the bottom corner of the first - order main frame (305). After all four corners are set up, a first - order positioning slide plate (309) is erected on the first - order side top plate (307) and the first - order side bottom plate (308) on the left and right sides of the main frame. A terminal control box is also screwed under the first - order side bottom plate;

[0042] The first - order left clamping and welding module (303) or the first - order right clamping and welding module (304) includes: a top outer beam positioning group (310), a top main beam positioning group (311), a bottom outer beam positioning group (312), and a bottom main beam positioning group (313). The four are arranged in a trapezoidal or square layout on the first - order welding module rotating plate. The top outer beam positioning group and the bottom outer beam positioning group are in surface - contact welding or screwed connection with side beam alignment guide rails (314) on the surface of the first - order welding module rotating plate. One side beam alignment guide rail is provided on the surface of each of the first - order side top plate (307) and the first - order side bottom plate. The two are arranged horizontally in parallel and are parallel to the longest side frame of the first - order main frame. A first - order positioning slide plate is arranged above the side beam alignment guide rail on the first - order side bottom plate. The side beam alignment guide rails are arranged horizontally on the first - order positioning slide plate, so that the top outer beam positioning group and the bottom outer beam positioning group are erected on the first - order positioning slide plate and move along with the side beam alignment guide rails;

[0043] Further, the top outer side beam positioning group (310) comprises: a top outer pad base plate (310-1), a top outer fine adjustment pad base plate (310-2), a top bushing inner pressure positioning cylinder group (310-3), an upper positioning side beam pressing arm (310-4), a top bushing outer pressure positioning cylinder group (310-5), and a bottom anti-sinking cylinder (310-6); the top outer pad base plate is provided on the top outer fine adjustment pad base plate and is screwed, the top outer fine adjustment pad base plate is provided with the top outer fine adjustment pad base plate (310-2), and the top outer fine adjustment pad base plate is vertically upward provided with an inner pressure positioning arm (310-8) that supports the top bushing inner pressure positioning cylinder group, the top bushing inner pressure positioning cylinder group is integrally provided with a bushing inner pressure head (310-9) at a head end, a front end of the top bushing inner pressure positioning cylinder group and a front end corresponding to the inner pressure positioning arm are provided with an outer pressure positioning arm (310-10), the outer pressure positioning arm is provided with a side pushing cylinder (310-11) outside a middle portion of the outer pressure positioning arm, the side pushing cylinder is provided with a retracting and pushing clamping arm (310-12) on a top portion of the side pushing cylinder, the retracting and pushing clamping arm is provided with an outer bushing positioning cover arm (310-13) that matches and disengages with the top bushing inner pressure positioning cylinder group, the top portion of the outer pressure positioning arm is provided with the upper positioning side beam pressing arm (310-7), the upper positioning side beam pressing arm comprises an upper positioning pushing cylinder (310-14) and a retracting and pushing clamping arm B (310-8) provided in front of the upper positioning pushing cylinder, a head end of the retracting and pushing clamping arm B is vertically provided with a baffle plate (310-15) beside the outer bushing positioning cover arm, and the retracting and pushing clamping arm downward matches the outer bushing positioning cover arm, an inner bushing positioning cover arm, and a bushing inner pressure head for three-point positioning;

[0044] Further, the bottom of the three-point positioning position of the outer bushing positioning cover arm, the inner bushing positioning cover arm, and the bushing inner pressure head is further provided with the bottom anti-sinking cylinder (310-6), so as to form four-point positioning;

[0045] Further, the top outer fine adjustment pad base plate is provided with a plurality of rotating shaft bearings (310-16);

[0046] Further bottom outer side beam positioning groups, including: side beam tail pipe top positioning group (311-1), side beam tail pipe inner side positioning group (311-2), tail pipe bottom anti-sinking air cylinder (311-3), the side beam tail pipe top positioning group includes side beam tail pipe top positioning support arm (311-4), side beam tail pipe top positioning air cylinder (311-5), side beam tail pipe top positioning positioning clamp (311-6), the top of the side beam tail pipe top positioning support arm supports and fixes the side beam tail pipe top positioning air cylinder, the side beam tail pipe top positioning air cylinder is obliquely arranged from front to back, the side beam tail pipe top positioning air cylinder is hinged or screwed with the side beam tail pipe top positioning positioning clamp on the push clamp (311-16), the side beam tail pipe top positioning positioning clamp includes outer side bite clamp (311-7) and top pressing piece (311-8); the side beam tail pipe inner side positioning group includes side beam tail pipe inner side positioning support arm (311-9), side beam tail pipe inner side positioning air cylinder (311-10), side beam tail pipe inner side positioning clamp (311-11), the top of the side beam tail pipe inner side positioning support arm is horizontally arranged with the side beam tail pipe inner side positioning air cylinder, the side beam tail pipe inner side positioning air cylinder is integrally welded with the side beam tail pipe inner side positioning clamp on the push clamp, the push clamp of the side beam tail pipe inner side positioning clamp is located below the outer side of the top pressing piece, the side beam tail pipe inner side positioning clamp and the outer side bite clamp are matched with each other and are horizontally clamped, and a limiting top plate (311-17) is arranged at the rear of the side beam tail pipe inner side positioning air cylinder;

[0047] The tail pipe bottom anti-sinking air cylinder is arranged at a position directly below the top pressing piece, including: slide plate connecting support arm (311-12), support anti-sinking air cylinder (311-13), support anti-sinking top block (311-14), and side pressure sensing positioner (311-15), the bottom of the slide plate connecting support arm is arranged on the first sequence positioning slide plate and is arranged towards the support to support the anti-sinking air cylinder (310-13), the top of the support anti-sinking air cylinder (310-13) is arranged with the support anti-sinking top block (310-14), and the side of the support anti-sinking top block (310-14) is upwardly positioned and fixed with the side pressure sensing positioner; four-point positioning is realized;

[0048] Further bottom outer side beam positioning groups (312), including: bottom outer side beam positioning slide rail (312-1), bottom outer side beam slide plate (312-2), bottom outer side beam positioning support arm (312-3), bottom outer side beam positioning double push air cylinder (312-4), bottom outer side beam positioning tiger mouth clamp (312-5), first-order top needle (312-6), second-order top needle (312-7), and three-stage bite jaw (312-8);

[0049] The bottom outer beam positioning slide rail is arranged at the bottom of the surface of the first sequence central frame plate (306), and the bottom outer beam positioning slide rail is sleeved with the bottom outer beam slide plate. The bottom outer beam positioning slide rail is provided with a pushing air cylinder on the opposite side of the first sequence central frame plate (306). The bottom outer beam slide plate is pushed to slide along the bottom outer beam positioning slide rail. The bottom outer beam positioning double pushing air cylinder (312-4) is arranged forwardly. The top is connected with the fixed clavicle clamp plate (312-9). The fixed clavicle clamp plate is connected with the bottom outer beam positioning clavicle clamp (312-5). The bottom outer beam positioning clavicle clamp (312-5) is provided with a clavicle claw (312-10) on the two side edges. A first-stage ejector pin (312-6), a second-stage ejector pin (312-7) and a three-stage clamping claw (312-8) are arranged at the central position of the bottom outer beam positioning clavicle clamp. The clavicle claw can be adjusted by clamping. The clavicle claw is pushed by the clavicle claw air cylinder (312-10).

[0050] Further, the first sequence central frame plate (306) is provided with a central transverse plate (306-1). The central transverse plate is transversely provided with a first sequence central positioning group (319). The first sequence central positioning group comprises a central rotating shaft (319-1), a central positioning linkage folding rod (319-2) and a main beam bottom positioning pressing block (319-3).

[0051] Further, the top main beam positioning group (313) comprises a top main beam positioning support arm (313-1), a top main beam positioning side vertical pushing air cylinder (313-2), a top main beam positioning front side abutting block (313-3) and a top main beam positioning pressing arm (313-4). The top main beam positioning support arm is screwed on the top side of the first sequence central frame plate (306). The top main beam positioning support arm is vertically arranged on the side and upwardly arranged. The top main beam positioning side vertical pushing air cylinder is transversely arranged forwardly. The top main beam positioning pressing arm (313-4) is further provided with a main beam positioning pressing plate (313-5) at the front end. The main beam positioning pressing plate is arranged below the folding angle of the top main beam positioning side vertical pushing air cylinder and the top main beam positioning front side abutting block.

[0052] Preferably, the top main beam positioning pressing arm is arranged adjacent to the main beam positioning pressing plate. A bottom main beam positioning pressure sensing positioning sensor is arranged.

[0053] Preferably, the first sequence positioning slide plate is arranged at the bottom of the first sequence slide plate moving group (315). The first sequence slide plate moving group comprises a slide plate connecting bottom block (316), a main frame connecting pushing rod (317) and a slide plate moving pushing air cylinder (318). The main frame connecting pushing rod is connected to the first sequence main frame. The slide plate moving pushing air cylinder is connected to the bottom of the front. The slide plate moving pushing air cylinder is further connected to the slide plate connecting bottom block by the air cylinder shaft. The slide plate moving pushing air cylinder pushes the first sequence slide plate to move forward and backward. The main frame connecting pushing rod is preferably Z-shaped. The main frame connecting pushing rod can prevent the air cylinder from retreating and colliding with the side frame. The main frame connecting pushing rod can also be provided with a folding shaft to push a longer distance.

[0054] The preferred first sequence positioning slide plate is provided with a buffer groove (320) between the top outer side beam positioning group and the bottom outer side beam positioning group, a buffer cylinder (321) is arranged in the buffer groove, the buffer cylinder presses a buffer plate (322) at the top, and the buffer plate is screwed on the top surface of the first sequence edge bottom plate.

[0055] Further, the second sequence welding module transfer plate comprises a second sequence main frame (401), a second sequence central frame plate (402), a second sequence top plate (403), and a second sequence edge bottom plate (404). The central vertical of the first sequence main frame is provided with the first sequence central frame plate (405). The second sequence top plate is arranged at the top of the second sequence main frame. The second sequence edge bottom plate is arranged at the bottom left and right corners of the second sequence main frame. After all are arranged, the second sequence central frame plate is arranged in a character shape. The left and right inclined lower sides are provided with shock absorber positioning modules (406). The central projection of the second sequence central frame plate is provided with spring disc positioning modules (408) on the two sides. The second sequence edge bottom plate is provided with side beam bottom mounting plate positioning modules (407). The second sequence central frame plate is symmetrically provided with main beam reinforcing plate integrated positioning modules (409) on the left and right sides. The above modules are symmetrically arranged on the second sequence main frame.

[0056] Here, the shock absorber positioning module comprises an inclined lifting slide rail (406-1), a side pushing cylinder (406-2), and a middle character air claw (406-3). The inclined lifting slide rail comprises a trapezoidal base platform at the bottom. The trapezoidal base platform is provided with a slide rail at the top. The slide rail is combined with the displacement plate above. The displacement plate is provided with the side pushing cylinder on the side. The side pushing cylinder drives the displacement plate to move forward and backward. The displacement plate is screwed and fixed with the middle character air claw at the top. The middle character air claw comprises a tail pushing cylinder (406-4), a lock lever (406-5), a middle top block (406-6), and a close claw (406-7). The cylinder shaft head end of the tail pushing cylinder is combined and fixed with the lock lever. The lock lever is symmetrically arranged with the left and right close claws on the left and right sides. The middle top block is arranged between the left and right close claws. The middle top block is arranged with the displacement plate. The middle top block is provided with an adjustable block (406-8) on the left and right sides. The tail pushing cylinder drives the lock lever. The close claw is linked to open and close. The side pushing cylinder drives the displacement plate to move.

[0057] Further, the bottom end of the middle top block is provided with a shock absorber base limiting plate (406-9). The shock absorber base limiting plate is arranged at the head end of the displacement plate and is further provided with a displacement sensor. The shock absorber base limiting plate is provided with a limiting hole. The limiting hole is matched with the shock absorber base limiting plate to vertically extend the positioning locking cylinder B (406-10).

[0058] The spring disc positioning module (408) includes a bottom pad head (408-1) and a top pressing head (408-2). The bottom pad head includes a character-shaped bottom support (408-3), an intermediate slide (408-4), a spring positioning telescopic plate (408-5), a side position positioning tooth rod (408-6), a front positioning bent rod (408-7), and a front extension limit stopper (408-8). The intermediate slide is arranged above the character-shaped bottom support. The slide rail of the intermediate slide is connected to the spring positioning telescopic plate. The rear end of the spring positioning telescopic plate is fixedly connected to a pushing positioning air cylinder (408-9). The head end of the spring positioning telescopic plate extends forward and is respectively provided with the side position positioning tooth rod (408-6) and the front positioning bent rod (408-7). In addition, the head end of the intermediate slide is further provided with the front extension limit stopper (408-8). The bottom of the front positioning bent rod (408-7) is provided with a front bent rod fixing block (408-9) which extends to the bottom of the spring positioning telescopic plate and is fixed. The spring positioning telescopic plate is in a concave shape. The head end of the spring positioning telescopic plate is provided with a lock hole. A spring disc lower positioning air cylinder (408-10) is arranged below the lock hole. The spring disc lower positioning air cylinder is locked and loosened through the lock hole to control the displacement of the spring positioning telescopic plate.

[0059] The top pressing head (408-2) is arranged at an angle of 10-40 degrees beside the bottom pad head and includes a synchronous support arm (408-11), a pressing air cylinder (408-12), a pressing cover sheet (408-13), and a pressing positioning block (408-14). The synchronous support arm is vertically arranged upward from the spring positioning telescopic plate. The bottom of the synchronous support arm is provided with the pressing air cylinder. The head end of the pressing air cylinder is provided with the pressing cover sheet. The bottom of the pressing cover sheet is connected to the pressing positioning block.

[0060] Through the bottom pad head (408-1) and the top pressing head (408-2), the spring disc is clamped from the bottom and the top. The side position positioning tooth rod (408-6) and the front positioning bent rod (408-7) of the device penetrate and are positioned at the bottom through the setting hole of the spring disc. The top is positioned by the pressing cover sheet (408-13) and the pressing positioning block (408-14).

[0061] Here, the side beam bottom mounting plate positioning module (407) includes a bottom base plate B (407-1), a bottom guide rail B (407-2), a limiting movable support plate (407-3), a vertical support plate (407-4), a mounting plate positioning cylinder (407-5), a positioning integrated claw (407-6), a side pushing cylinder B (407-7), the bottom base plate B is provided with the bottom guide rail B, the bottom guide rail B and the slider sleeve of the bottom of the limiting movable support plate are fitted, the side of the limiting movable support plate is connected with the side pushing cylinder B, the side pushing cylinder B drives the limiting movable support plate to advance and retreat, the vertical support plate is vertically arranged in the center of the limiting movable support plate, the mounting plate positioning cylinder is screw-connected beside the vertical support plate, the positioning integrated claw is fixedly arranged at the front end of the mounting plate positioning cylinder, the limiting movable support plate is also provided with the mounting plate positioning cylinder, the mounting plate positioning cylinder is downwardly arranged to press into the locking hole in the bottom base plate B through the through hole and the positioning pin to be inserted to be limited and fixed or disengaged;

[0062] The positioning integrated claw includes a lock pushing cylinder (407-8), a lock pushing cross (407-9), a lock pushing claw (407-10), a lock pushing claw pipe block (407-11), a lock pushing claw pipe inner buckle (407-12), and a mounting lock block plate (407-13),

[0063] The lock pushing cylinder is provided with the lock pushing cross at the front end, the lock pushing cross is provided with a cylinder pushing plate (407-14) at the rear end, the cylinder pushing plate drives the lock pushing claw and the cylinder shaft to continue sleeve fitting to drive the lock pushing claw pipe inner buckle, the lock pushing claw pipe inner buckle passes through the mounting plate inner pipe sleeve (407-15) on the mounting lock block plate, the mounting plate inner pipe sleeve is divided into two halves by a groove line, the front end of the lock pushing claw pipe inner buckle is inserted from the middle of the mounting plate inner pipe sleeve, the lock pushing claw is extended from the lock pushing claw pipe block and buckled on the mounting lock block plate, the lock pushing cylinder drives the lock pushing claw pipe inner buckle sleeved on the lock pushing claw pipe block and the lock pushing cross, and is provided as the most standard lock claw mechanism, the cylinder is pushed forward to drive the lock pushing claw and the lock pushing claw pipe inner buckle to be opened, and the more the cylinder is pushed forward, the more the lock pushing claw is opened;

[0064] The main beam reinforcing plate integrated positioning module (409) comprises a side beam fixer (409-1), a main arm side position fixer (409-2), and a bushing pipe position fixer (409-3). The bushing pipe position fixer is obliquely upward arranged. The main arm side position fixer is obliquely downward arranged from the head end of the bushing pipe position fixer to the left and obliquely downward arranged from the tail end of the bushing pipe position fixer to the right. The side beam fixer comprises a support arm C (409-4), a push-clamp cylinder C (409-5), a top buckle clamp arm (409-6), and a lower buckle clamp arm (409-7). The support arm C vertically supports the push-clamp cylinder C. The push-clamp cylinder C is provided with the top buckle clamp arm on the push-clamp arm and extends forward. The support arm C is provided with the lower buckle clamp arm in the parallel position of the top buckle clamp arm. The top buckle clamp arm (409-6) and the lower buckle clamp arm (409-7) are matched and arranged. The top buckle clamp arm is further provided with a pressing piece C (409-8) on the side. The lower end of the top buckle clamp arm is provided with a limiting arm C (409-9). The bottom of the limiting arm C is buckled on the upper end of the lower buckle clamp arm to limit the final pressing angle of the top buckle clamp arm. The top buckle clamp arm can only be pressed to be parallel to the lower buckle clamp arm.

[0065] The main arm side position fixer comprises a support arm D (409-10), a push-clamp cylinder D (409-11), a top buckle clamp arm D (409-12), a nut position fixer (409-13), and a side position pressing head (409-14). The support arm D is vertically and upright arranged beside the push-clamp cylinder D. The top of the push-clamp cylinder D (409-11) is provided with the top buckle clamp arm D (409-12). The top buckle clamp arm D is provided with the side position pressing head (409-14). The side position pressing head (409-14) is further provided with the nut position fixer inward.

[0066] A further displacement plate F is arranged below the bushing rear sleeve cylinder (409-16) and the bushing front pressing cylinder. The side beam positioning pad rod (409-23) is arranged below the side beam head. The outer side of the side beam positioning pad rod is further provided with an L-shaped second-order support bending rod (409-24). The side beam positioning pad rod is arranged on the bushing support arm B. The bushing pipe below the side beam is curved and has an inclination angle. Therefore, multiple levels of support and pad rods are used for support to give angle support and pressure support as much as possible.

[0067] Implementation method: The positive and negative turning of the large turning robot is used to perform the front assembly and the back welding. The angle is adjusted in detail by the bit plane shifter. The best demand angle of the welding robot can be reached. The positive and negative two sides can automatically adjust the angle and the stress without affecting the other side.

[0068] The welding module on the front and back sides is two welding modules of completely different structures, but both serve the same structure of the torsion beam. When assembling the torsion beam, the first sequence is to assemble the main beam of the torsion beam on the first sequence welding module. After the main beam is accurately positioned and meets the standards by using the middle positioning clamp, the side beams are placed on the left and right sides of the main beam and fixed by using the clamp. After the side beams are installed, the bushings at the top are assembled and fixed and adjusted in position by using the four-point positioning of the first sequence welding module. Finally, the connecting reinforcing plate is attached and installed below the side of the joint between the main beam and the side beam, and is also fixed by using the bottom outside beam positioning group of the first sequence welding module. After positioning, adjustment and fixation are completed, the back side is turned over, and the welding robot starts to weld various accessories on the first sequence to the main beam. During the welding process, workers start to assemble the second sequence. In the second sequence, the first sequence torsion beam that has been cooled to the process temperature and has completed welding is taken out from the cooling rack and placed in the second sequence welding module that has been turned over and adjusted in position. The left and right spring plates, left and right mounting plates, left and right brackets, and left and right shock absorber brackets are continued to be assembled on the first sequence torsion beam and are automatically positioned and fixed by using the second sequence welding module. Workers simultaneously perform positioning detection and tightness check on each sub-clamp of the second sequence welding module. If the check does not meet the requirements, manual adjustment or opening of the clamp is performed to automatically adjust. After the adjustment process is completed, the worker leaves the first welding large reverse assembly equipment and goes to the second welding large reverse assembly equipment to perform operation work. After the welding robot of the first welding large reverse assembly equipment automatically completes the first sequence work, the robot welding robot stops. With the stop, the automatic large reverse rack automatically resets or automatically adjusts the angle of the position angle changing machine to the large reverse setting rotation angle. The large reverse is performed, the first sequence is turned to the working front side, the second sequence is turned to the welding robot setting side, and the position angle changing machine of the second sequence is adjusted to an angle suitable for the worker to take out the workpiece. Various clamps are opened, the workpiece is cooled, and the worker waits to perform operation work on the second welding large reverse assembly equipment (the same is the workpiece placement work of the first sequence process or the second sequence process). After the operation work is completed, the second sequence welding accessory on the working side of the first welding large reverse assembly equipment turned to the front side is cooled to a temperature at which the worker can normally take it down, and the welding fume and other harmful gases are also completely removed. The working chamber is clean and harmless, the worker takes out the complete rear axle welding assembly, and further circulates to start the first sequence reassembly.

[0069] The specific embodiments described herein merely illustrate the spirit of the present application. Those skilled in the art of the present application can make various modifications or supplements to the described specific embodiments or replace them with similar ways, but without deviating from the spirit of the present application or exceeding the scope defined by the appended claims.

Claims

1. A device for two sequential welding of a large reverse assembly of a torsion beam, characterized by: Automatic large turnover frame (1), automatic welding robot (2), first sequence welding module (3), second sequence welding module (4), automatic welding robot (a4), automatic large turnover frame includes: turnover positioner (101), turnover disc shaft (102), rotating shaft plate (103), positioner (104), the left and right mirror image vertical setting of turnover positioner is set on the ground or working platform, the top of turnover positioner is set in the position adjusting groove of itself and is connected with the set turnover disc shaft, the left turnover positioner and the right turnover positioner are connected through the turnover disc shaft suspension frame and the rotating shaft plate, the rotating shaft plate rotates forward or reversely by 1-360 degrees; The top and bottom of the rotating shaft plate are set vertically close to the turnover disc shaft on the left and right edges, and a pair of mirror image positioners are set on the top and bottom, the angle adjusting robot shaft (105) is set in the position adjusting groove of the top of the positioner, and the angle adjusting robot shaft of the top or bottom positioner is horizontally suspended and screwed or hinged with the first sequence welding module (3) and the second sequence welding module (4); The first sequence welding module includes: first sequence welding module rotating plate (301), first sequence positioner connecting frame (302), first sequence left clamping welding module (303), first sequence right clamping welding module (304), the two side edges of the welding module rotating plate are provided with positioner connecting frame and angle adjusting robot shaft connection, suspended between the positioners, the first sequence left clamping welding module (303) and the first sequence right clamping welding module (304) are identical in structure and mirror image on the left and right sides of the welding module rotating plate surface; The first sequence welding module rotating plate includes: first sequence main frame (305), first sequence central frame plate (306), first sequence edge top plate (307), first sequence edge bottom plate (308), the central vertical of the first sequence main frame is provided with the first sequence central frame plate (306), the first sequence central frame plate (306) is in the shape of a square, the first sequence edge top plate (307) is arranged on the top corner of the first sequence main frame (305), the first sequence edge bottom plate (308) is arranged on the bottom corner of the first sequence main frame (305), after the four corners are all arranged, the first sequence positioning slide plate (309) is arranged on the first sequence edge top plate (307) and the first sequence edge bottom plate (308) on the left and right sides of the main frame, and the terminal control box is further screwed below the first sequence edge bottom plate; The first sequence left clamping welding module (303) or the first sequence right clamping welding module (304) comprises: a top outer side beam positioning group (310), a top main beam positioning group, a bottom outer side beam positioning group (312), a bottom main beam positioning group, which are arranged in a trapezoidal or square layout on the first sequence welding module transfer plate, the top outer side beam positioning group and the bottom outer side beam positioning group are in contact with the surface of the first sequence welding module transfer plate and are welded or screwed with a side beam calibration guide rail (314), and each of the side beam calibration guide rails is arranged on the surface of a first sequence side top plate (307) and a first sequence side bottom plate (308), which are arranged in parallel and transversely and parallel to the longest side frame of the first sequence main frame, a first sequence positioning sliding plate is arranged above the side beam calibration guide rail on the first sequence side bottom plate, and the side beam calibration guide rail is arranged transversely on the first sequence positioning sliding plate, so that the top outer side beam positioning group and the bottom outer side beam positioning group are arranged on the first sequence positioning sliding plate and move with the side beam calibration guide rail; The top outer side beam positioning group (310) comprises: a top outer pad bottom plate (310-1), a top outer fine adjustment pad bottom plate (310-2), a top bushing inner pressure positioning cylinder group (310-3), an upper positioning side beam pressing arm (310-4), a top bushing outer pressure positioning cylinder group (310-5), and a bottom anti-sinking cylinder (310-6); the top outer fine adjustment pad bottom plate is placed on the top outer pad bottom plate and is screwed, the top outer fine adjustment pad bottom plate is arranged on the top outer fine adjustment pad bottom plate (310-2), and an inner pressure positioning arm (310-8) is arranged vertically upward on the top outer fine adjustment pad bottom plate; the top bushing inner pressure positioning cylinder group is supported on the inner pressure positioning arm, the top bushing inner pressure positioning cylinder group is integrally provided with a bushing inner pressure head (310-9) at the head end, an outer pressure positioning arm (310-10) is arranged in front of the front end of the top bushing inner pressure positioning cylinder group and the corresponding front of the inner pressure positioning arm, a side pushing cylinder (310-11) is arranged on the outer side of the middle part of the outer pressure positioning arm, a retracting and pushing clamping arm (310-12) is arranged on the top part of the side pushing cylinder, an outer bushing positioning cover arm (310-13) is arranged at the head end of the retracting and pushing clamping arm B matched with the top bushing inner pressure positioning cylinder group, the top part of the outer pressure positioning arm is provided with an upper positioning side beam pressing arm (310-7), the upper positioning side beam pressing arm comprises an upper positioning pushing cylinder (310-14) and a retracting and pushing clamping arm B arranged in front of the upper positioning pushing cylinder, a baffle plate (310-15) is arranged vertically at the head end of the retracting and pushing clamping arm B beside the outer bushing positioning cover arm, and the retracting and pushing clamping arm is matched with the outer bushing positioning cover arm, the inner bushing positioning cover arm, and the bushing inner pressure head in three-point positioning. The bottom lateral beam positioning group comprises: a lateral beam tail pipe top positioning group (311-1), a lateral beam tail pipe inner side positioning group (311-2), and a tail pipe bottom anti-sinking air cylinder (311-3). The lateral beam tail pipe top positioning group comprises a lateral beam tail pipe top positioning support arm (311-4), a lateral beam tail pipe top positioning air cylinder (311-5), and a lateral beam tail pipe top positioning clamp (311-6). The top of the lateral beam tail pipe top positioning support arm supports and fixes the lateral beam tail pipe top positioning air cylinder. The lateral beam tail pipe top positioning air cylinder is arranged obliquely forward in the transverse direction. A lateral beam tail pipe top positioning clamp is hinged or screwed to a pushing clamp (311-16) of the lateral beam tail pipe top positioning air cylinder. The lateral beam tail pipe top positioning clamp comprises an outer side bite clamp (311-7) and a top pressing piece (311-8). The lateral beam tail pipe inner side positioning group comprises a lateral beam tail pipe inner side positioning support arm (311-9), a lateral beam tail pipe inner side positioning air cylinder (311-10), and a lateral beam tail pipe inner side positioning clamp (311-11). The lateral beam tail pipe inner side positioning support arm is arranged transversely at the top to position the lateral beam tail pipe inner side positioning air cylinder. The lateral beam tail pipe inner side positioning clamp is integrally welded to a pushing clamp of the lateral beam tail pipe inner side positioning air cylinder. The pushing clamp of the lateral beam tail pipe inner side positioning clamp is located outside the top pressing piece in the rear. The lateral beam tail pipe inner side positioning clamp and the outer side bite clamp are matched and clamped transversely, and a limiting top plate (311-17) is arranged in the rear to fit the lateral beam tail pipe inner side positioning air cylinder. The tail pipe bottom anti-sinking air cylinder is arranged at a position directly below the top pressing piece and comprises a sliding plate connecting support arm (311-12), a support anti-sinking air cylinder (311-13), a support anti-sinking top block (311-14), and a side pressure sensing positioner (311-15). The sliding plate connecting support arm is arranged on the first sequence positioning sliding plate at the bottom and is arranged towards the support to support the anti-sinking air cylinder. The support anti-sinking air cylinder is arranged at the top to cover and fix the support anti-sinking top block. The side of the support anti-sinking top block is positioned and fixed upwards to position the side pressure sensing sensor. Four-point positioning is achieved. The bottom outer beam positioning group (312) comprises a bottom outer beam positioning sliding rail (312-1), a bottom outer beam sliding plate (312-2), a bottom outer beam positioning support arm (312-3), a bottom outer beam positioning double push cylinder (312-4), a bottom outer beam positioning tiger mouth clamp (312-5), a first-stage ejector pin (312-6), a second-stage ejector pin (312-7), and a three-stage clamping jaw (312-8). The bottom outer beam positioning sliding rail is arranged at the bottom of the surface of the first-order central rack plate (306), the bottom outer beam positioning sliding rail is sleeved with the bottom outer beam sliding plate above, the bottom outer beam positioning sliding rail is provided with the push cylinder on the opposite side of the first-order central rack plate (306), the bottom outer beam sliding plate is pushed to slide along the bottom outer beam positioning sliding rail, the bottom outer beam positioning double push cylinder (312-4) is arranged forward, the top is connected with a fixed tiger mouth clamp plate (312-9), the fixed tiger mouth clamp plate is connected with the bottom outer beam positioning tiger mouth clamp (312-5), the bottom outer beam positioning tiger mouth clamp (312-5) is provided with a tiger mouth jaw (312-10) on the two side edges, a first-stage ejector pin (312-6), a second-stage ejector pin (312-7), and a three-stage clamping jaw (312-8) are arranged at the central position of the bottom outer beam positioning tiger mouth clamp. The tiger mouth jaw can be adjusted by the tiger mouth jaw cylinder; The first-order central rack plate (306) is provided with a central horizontal plate (306-1), the central horizontal plate is transversely provided with a first-order central positioning group (319), and the first-order central positioning group comprises a central rotating shaft (319-1), a central positioning linkage folding rod (319-2), and a main beam bottom positioning pressing block (319-3); The top main beam positioning group (313) comprises a top main beam positioning support arm (313-1), a top main beam positioning side vertical push cylinder (313-2), a top main beam positioning front side abutting block (313-3), and a top main beam positioning pressing arm (313-4). The top main beam positioning support arm is screwed at the top side of the first-order central rack plate (306), the top main beam positioning support arm is vertically arranged on the side, the top main beam positioning side vertical push cylinder is arranged on the top main beam positioning support arm, the top main beam positioning side vertical push cylinder is provided with the top main beam positioning pressing arm (313-4) forward and transversely, the front end of the top main beam positioning pressing arm (313-4) is further provided with a main beam positioning pressing sheet (313-5), and the main beam positioning pressing sheet is arranged below the top main beam positioning side vertical push cylinder and the abutting block (313-3). The second sequence welding module turnplate comprises a second sequence main frame (401), a second sequence central frame plate (402), a second sequence top plate (403), and a second sequence edge bottom plate (404). The central vertical of the first sequence main frame is provided with the first sequence central frame plate. The second sequence top plate is arranged at the top of the second sequence main frame. The second sequence edge bottom plate is arranged at the bottom of the second sequence main frame. After all the plates are arranged, the second sequence central frame plate is arranged in the shape of a Chinese character, and shock absorber positioning modules (406) are arranged on the left and right inclined lower sides of the second sequence central frame plate. Spring disc positioning modules (408) are arranged on the left and right sides of the protruding center of the second sequence central frame plate. Side beam bottom mounting plate positioning modules (407) are arranged on the second sequence edge bottom plate. The second sequence central frame plate is symmetrically provided with main beam reinforcing plate integrated positioning modules (409) on the left and right sides. The above modules are symmetrically arranged on the second sequence main frame. Second sequence positioner connecting frames (302) are arranged on the two sides of the second sequence main frame to connect the angle adjusting robot shaft of the positioner. The main frame of the first sequence also has the same connecting structure and can be controlled to rotate along with the angle adjusting robot shaft. Here, the shock absorber positioning module comprises an inclined lifting slide rail (406-1), a side pushing air cylinder (406-2), a Chinese character air claw (406-3), and a trapezoidal cushion table at the bottom of the inclined lifting slide rail. The trapezoidal cushion table is provided with a slide rail on the top. The slide rail is combined with a displacement plate on the top. The displacement plate is provided with a side pushing air cylinder. The side pushing air cylinder drives the displacement plate to move forward and backward. The displacement plate is provided with a Chinese character air claw on the top. The Chinese character air claw comprises a tail pushing air cylinder (406-4), a locking lever (406-5), a middle top block (406-6), and a close claw (406-7). The air cylinder shaft head of the tail pushing air cylinder is combined with the locking lever. The locking lever is provided with the close claw on the left and right sides. The close claw is provided with the middle top block in the middle. The middle top block is arranged with the displacement plate. The middle top block is provided with an adjustable block (406-8) on the left and right sides. The tail pushing air cylinder drives the locking lever to drive the close claw to open and close. The side pushing air cylinder drives the displacement plate to drive the middle top block. The bottom end of the middle top block is further provided with a shock absorber cushion bottom limiting plate (406-9). The shock absorber cushion bottom limiting plate is arranged at the head end of the displacement plate and is further provided with a displacement sensor. The shock absorber cushion bottom limiting plate is provided with a limiting hole. The limiting hole is matched with the shock absorber cushion bottom limiting plate to vertically extend the positioning locking cylinder B (406-10). The spring disc positioning module (408) comprises a bottom pad head (408-1) and a top pressing head (408-2), the bottom pad head comprises a Z-shaped bottom support (408-3), a middle sliding frame (408-4), a spring positioning telescopic plate (408-5), a side position positioning tooth rod (408-6), a front positioning bent rod (408-7), and a front extension limiting block (408-8), the middle sliding frame is arranged above the Z-shaped bottom support, the sliding rail of the middle sliding frame is connected with the spring positioning telescopic plate, the rear end of the spring positioning telescopic plate is fixedly connected with a pushing positioning air cylinder (408-9), the head end of the spring positioning telescopic plate extends forward and is respectively provided with the side position positioning tooth rod (408-6) and the front positioning bent rod (408-7), and in addition, the head end of the middle sliding frame is further provided with the front extension limiting block (408-8); the bottom of the front positioning bent rod (408-7) is provided with a front bent rod fixing block, the front bent rod fixing block extends to the bottom of the spring positioning telescopic plate and is fixed, the spring positioning telescopic plate is in a concave shape, the head end of the spring positioning telescopic plate is provided with a lock hole, a spring disc lower positioning air cylinder (408-10) is arranged at the lower end of the lock hole in a matched mode, and the spring disc lower positioning air cylinder is locked and loosened through the lock hole to control the displacement of the spring positioning telescopic plate; The top pressing head (408-2) is arranged at the side of the bottom pad head at an angle of 10-40 degrees and comprises a synchronous support arm (408-11), a pressing air cylinder (408-12), a pressing cover sheet (408-13), and a pressing positioning block (408-14), the synchronous support arm is vertically arranged upward from the spring positioning telescopic plate, the bottom of the synchronous support arm is provided with the pressing air cylinder, the head end of the pressing air cylinder is provided with the pressing cover sheet, and the bottom of the pressing cover sheet is connected with the pressing positioning block; Through the bottom pad head (408-1) and the top pressing head (408-2), the spring disc is clamped from the bottom and the top, the side position positioning tooth rod (408-6) and the front positioning bent rod (408-7) of the device penetrate into and position the bottom of the spring disc through the setting hole of the spring disc, and the top is positioned by the pressing cover sheet (408-13) and the pressing positioning block (408-14); Here, the side beam bottom mounting plate positioning module (407) comprises a bottom pad plate B (407-1), a bottom guide rail B (407-2), a limiting movable support plate (407-3), a vertical support plate (407-4), a mounting plate positioning air cylinder (407-5), a positioning integrated air claw (407-6), and a side pushing air cylinder B (407-7), the bottom guide rail B is arranged on the bottom pad plate B, the bottom guide rail B and the sliding block at the bottom of the limiting movable support plate are sleeved, the side pushing air cylinder B is connected to the side of the limiting movable support plate, the side pushing air cylinder B drives the limiting movable support plate to move forward and backward, the vertical support plate is vertically arranged upright in the center of the limiting movable support plate, the mounting plate positioning air cylinder is screw-connected to the side of the vertical support plate, the head end of the mounting plate positioning air cylinder is fixedly provided with the positioning integrated air claw, the limiting movable support plate is further provided with the mounting plate positioning air cylinder, the mounting plate positioning air cylinder downwardly passes through the through hole and is pressed into the positioning pin to be inserted into the lock hole arranged in the bottom pad plate B to be limited and fixed or disengaged; The positioning integrated claw includes a lock pushing cylinder (407-8), a lock pushing cross (407-9), a lock pushing claw (407-10), a lock pushing claw pipe block (407-11), a lock pushing claw pipe inner buckle (407-12), and a mounting lock block plate (407-13). The lock pushing cylinder is provided with the lock pushing cross at the front end, and the lock pushing cross is provided with a cylinder pushing plate (407-14) at the rear end. The cylinder pushing plate pushes the lock pushing claw and drives the cylinder shaft to continue to fit and push the lock pushing claw pipe inner buckle. The lock pushing claw pipe inner buckle passes through the mounting plate inner pipe sleeve (407-15) on the mounting lock block plate. The mounting plate inner pipe sleeve is divided into two halves by a groove line. The lock pushing claw pipe inner buckle is inserted from the middle of the mounting plate inner pipe sleeve at the front end. The lock pushing claw extends from the lock pushing claw pipe block and is buckled on the mounting lock block plate. The lock pushing cylinder pushes the lock pushing claw pipe block and the lock pushing claw pipe inner buckle which is fitted on the lock pushing cross. The lock pushing claw pipe inner buckle is set as the most standard lock claw mechanism. When the cylinder is pushed forward, the lock pushing claw and the lock pushing claw pipe inner buckle are opened. Here, the main beam reinforcing plate integrated positioning module (409) includes a side beam fixer (409-1), a main arm side position fixer (409-2), and a bushing pipe position fixer (409-3). The bushing pipe position fixer is obliquely upwardly arranged. The main arm side position fixer is obliquely downwardly arranged from the head end of the bushing pipe position fixer to the left and obliquely downwardly arranged from the tail end of the bushing pipe position fixer to the right. The side beam fixer includes a support arm C (409-4), a push clamping cylinder C (409-5), a top buckle clamping arm (409-6), and a lower buckle clamping arm (409-7). The support arm C vertically supports the push clamping cylinder C. The push clamping arm of the push clamping cylinder C is provided with the top buckle clamping arm which extends upwardly and forwardly. The support arm C is provided with the lower buckle clamping arm which is transversely arranged at the parallel position of the top buckle clamping arm. The top buckle clamping arm (409-6) and the lower buckle clamping arm (409-7) are matched and arranged. The top buckle clamping arm is further provided with a pressing piece C (409-8) on the side. The lower end of the top buckle clamping arm is provided with a limiting arm C (409-9). The bottom of the limiting arm C is buckled on the upper end of the lower buckle clamping arm to limit the final pressing angle of the top buckle clamping arm. The top buckle clamping arm can only be pressed downwardly to the parallel position of the lower buckle clamping arm. The main arm side position fixer includes a support arm D (409-10), a push clamping cylinder D (409-11), a top buckle clamping arm D (409-12), a nut position fixer (409-13), and a side position pressing head (409-14). The support arm D is vertically and uprightly arranged beside the push clamping cylinder D. The top of the push clamping cylinder D (409-11) is provided with the top buckle clamping arm D (409-12). The top buckle clamping arm D is provided with the side position pressing head (409-14). The side position pressing head (409-14) is further provided with the nut position fixer inwardly. The bushing pipe positioner comprises a displacement plate F (409-15), a bushing rear sleeve air cylinder (409-16), a bushing front pressing air cylinder (409-17), a bushing pipe front pressing air cylinder (409-18), a bushing support arm A (409-19), a bushing support arm B (409-20), the displacement plate F is in T or L shape and is arranged to distribute the bushing support arm A (409-19) and the bushing support arm B (409-20), the bushing support arm A is arranged at the top to support the bushing rear sleeve air cylinder, the front end of the cylinder shaft of the bushing rear sleeve air cylinder is sleeved to the bushing rear force bearing (409-21), the top end of the bushing support arm B is transversely arranged to the bushing pipe front pressing air cylinder, the front force cover (409-22) is arranged on the pushing and clamping arm of the bushing pipe front pressing air cylinder; The first sequence positioning slide plate is provided with a first sequence slide plate moving group (315) at the bottom, the first sequence slide plate moving group comprises a slide plate connecting bottom block (316), a main frame connecting push rod (317) and a slide plate moving push air cylinder (318), the main frame connecting push rod is connected to the first sequence main frame, is connected to the slide plate moving push air cylinder at the bottom in front, the slide plate moving push air cylinder is further connected to the slide plate connecting bottom block in front through the cylinder shaft, the slide plate moving push air cylinder drives the first sequence slide plate to move forward and backward, and the main frame connecting push rod is in Z shape, can block the air cylinder from retreating too much to hit the side frame, and can be provided with a folding shaft to be able to push a longer distance. The bottom of the three-point positioning position of the outer bushing positioning cover arm, the inner bushing positioning cover arm and the bushing inner pressing head is further provided with a bottom anti-sinking air cylinder (310-6), forming four-point positioning.

2. The apparatus for two sequential welding of large reverse turn assembly for torsion beam as claimed in claim 1 wherein: The top main beam positioning pressing arm is provided with a bottom main beam positioning pressure sensing sensor near the main beam positioning pressing piece.

3. The apparatus for two sequential welding of large reverse turn assembly for torsion beam as claimed in claim 1 wherein: The first sequence positioning slide plate is provided with a buffer groove (320) between the top outer side beam positioning group and the bottom outer side beam positioning group, a buffer air cylinder (321) is arranged in the buffer groove, a buffer plate (322) is pressed downward at the top of the buffer air cylinder, and the buffer plate is screwed to the top surface of the first sequence side bottom plate.

4. The apparatus for two sequential welding of large reverse turn assembly for torsion beam as claimed in claim 1 wherein: The displacement plate F is provided with a side beam positioning pad rod (409-23) at the bottom of the matching side beam head opposite to the bushing rear sleeve air cylinder (409-16) and the bushing front pressing air cylinder, the outer side of the side beam positioning pad rod is further provided with an L-shaped second-order support bending rod (409-24), the side beam positioning pad rod is arranged on the bushing support arm B, and the bushing pipe below the side beam is curved and has an inclination angle, so that multiple layers of supports and pad rods are used for support, and angle support and pressure support are given as much as possible.

5. The apparatus for two sequential welding of large reverse turn assembly for torsion beam as claimed in claim 1 wherein: A plurality of rotating shaft bearings (310-16) are arranged on the top outer fine adjustment pad bottom plate.

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