A flexible welding tooling for a refuse incinerator feeder

Abstract

The present invention relates to a flexible welding tooling for a garbage incinerator feeder, which comprises a substrate. Looking down at the substrate from bottom to top, the lowermost part is the upper feeder Y-direction limiting mechanism, above which is the roller positioning mechanism for installing rollers on the upper feeder. Above the roller positioning mechanism is the upper feeder positioning and clamping mechanism for centering and clamping the upper feeder. Above the upper feeder positioning and clamping mechanism is the lower feeder positioning and clamping mechanism for centering and clamping the lower feeder. Above the lower feeder positioning and clamping mechanism is the shoe-shaped casting positioning and clamping mechanism. The front part of the upper feeder overlaps on the end face of the rear part of the lower feeder, the rear part of the upper feeder is placed on the upper feeder positioning and clamping mechanism, the front part of the lower feeder extends above the shoe-shaped casting positioning and clamping mechanism, and several shoe-shaped castings matching the lower feeder are placed on the shoe-shaped casting positioning and clamping mechanism.

Description

Technical Field

[0001] The present invention belongs to the technical field of welding of feeders for waste incinerators, and relates to a flexible welding tooling for feeders of waste incinerators. Background Art

[0002] Welding tooling has been widely used in the production processes of various industries. From small to large, from simple to complex, it all reflects the important role played by welding tooling in mass production. Currently, the application of welding tooling is not only for lightweight and precisely shaped parts such as body sheet metal parts. In the mass production process of general industries, large equipment with large weight and poor precision is usually encountered, whose characteristics are contrary to the characteristics of tooling. For the development of welding tooling for such large equipment, it is necessary to combine traditional design concepts and also possess innovative thinking.

[0003] For large waste incinerator feeders, there are more than 10 models, with widths ranging from 1.1 m to 2.5 m, and the heaviest weighing more than 3 t. Such parts require precise positioning, clamping, and are suitable for the processing of various specifications of large waste incinerator feeders. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a flexible welding tooling that can precisely position, clamp, and is suitable for various specifications of large waste incinerator feeders.

[0005] To achieve the above purpose, the present invention provides the following technical solution:

[0006] A flexible welding tooling for a waste incinerator feeder includes a base plate for installing various components. Looking at the base plate from a top view, from bottom to top, the lowermost part is a Y - direction limiting mechanism for the upper feeder to limit the upper feeder. Above the Y - direction limiting mechanism for the upper feeder is a roller positioning mechanism for installing rollers on the upper feeder. Above the roller positioning mechanism is an upper feeder positioning and clamping mechanism that centeringly clamps the upper feeder. Above the upper feeder positioning and clamping mechanism is a lower feeder positioning and clamping mechanism that centeringly clamps the lower feeder. Above the lower feeder positioning and clamping mechanism is a shoe - type casting positioning and clamping mechanism. The front part of the upper feeder overlaps on the end face of the rear part of the lower feeder, the rear part of the upper feeder rests on the upper feeder positioning and clamping mechanism, the front part of the lower feeder extends above the shoe - type casting positioning and clamping mechanism, and the shoe - type casting positioning and clamping mechanism places several shoe - type castings that cooperate with the lower feeder, and the shoe - type casting positioning and clamping mechanism clamps and lifts the shoe - type castings so that the lower feeder is stuck in the shoe - type castings.

[0007] Furthermore, the upper feeder positioning and clamping mechanism includes an upper feeder centering unit and an upper feeder supporting and leveling unit. After the upper feeder is centered by the upper feeder centering unit, the upper feeder supporting and leveling unit levels the upper feeder. The lower feeder positioning and clamping mechanism includes a lower feeder centering unit and a lower feeder supporting and leveling unit. After the lower feeder is centered by the lower feeder centering unit, the lower feeder supporting and leveling unit levels the lower feeder.

[0008] Furthermore, the lower feeder positioning and clamping mechanism includes a lower feeder positioning pin located in the middle of the substrate. A positioning hole matching the lower feeder positioning pin is formed on the lower end surface of the lower feeder. The lower feeder positioning pin is fixed on its fixing seat. X-direction adjusting shims and Y-direction adjusting shims capable of adjusting the position of the lower feeder positioning pin are arranged on the fixing seat on the side of the lower feeder positioning pin.

[0009] Furthermore, the roller positioning mechanism is used to position the longitudinal rollers or horizontal rollers to be installed, and then install the longitudinal rollers or transverse rollers onto the upper feeder or the lower feeder. There are two pairs of roller positioning mechanisms, and each pair is in the same X direction. The pair closer to the Y-direction limiting mechanism is the roller positioning mechanism for the horizontal rollers, and the other pair is the roller positioning mechanism for the longitudinal rollers.

[0010] Furthermore, the shoe-shaped casting positioning and clamping mechanism includes a lifting and moving table capable of moving up, down, forward, and backward. The middle of the lower end of the lifting and moving table is fixed to the end of the telescopic rod of the casting lifting cylinder. The casting lifting cylinder is arranged vertically upward, and the lower end of the casting lifting cylinder is fixed on the sliding base three. A pair of laser distance sensors two for detecting the reference surface of the lower feeder are arranged on the outside of the lifting and moving table, and the laser distance sensors two are connected to the controller.

[0011] Furthermore, chutes are arranged at both ends of the lower end surface of the sliding base three. Linear guide rails three matching the chutes are arranged on the substrate. The extending direction of the linear guide rails three is the same as the Y direction. A nut three is fixed in the middle of the lower end surface of the sliding base three. The output end of the servo motor three is fixed to one end of the lead screw three through a coupling, and the other end of the lead screw three is matched with the nut three. The length direction of the lead screw three is the same as the linear direction of the linear guide rails three. The sliding base three can reciprocate on the linear guide rails three driven by the servo motor three.

[0012] Further, a casting X-direction positioning block of the shoe-shaped casting is fixed in the middle of the upper end surface of the lifting and moving table. A protrusion is provided in the middle of the casting X-direction positioning block. A groove matching with the protrusion is opened at the bottom of the middle shoe-shaped casting. On the upper end surface of the lifting and moving table, casting Y-direction limiting blocks are sequentially arranged on both sides of the casting X-direction positioning block. The casting Y-direction limiting blocks include a pair of oppositely arranged limiting blocks. Limiting steps are provided on the opposite sides of the limiting blocks. The shoe-shaped casting is clamped between the two limiting steps.

[0013] Further, the roller positioning mechanism includes a slide plate at the bottom. A roller lifting cylinder is fixed to the upper end of the slide plate. The telescopic end of the roller lifting cylinder is vertically upward. A support seat for supporting a longitudinal roller or a horizontal roller is fixed to the fixed end of the telescopic end of the roller lifting cylinder.

[0014] Further, the slide plate is located on a linear guide rail four arranged in the X direction. The slide plate can reciprocate on the linear guide rail four. A fixing plate parallel to the linear guide rail four is arranged on the side of the linear guide rail four. A slide plate pin hole is provided on the slide plate. A plurality of fixing plate pin holes matching with the slide plate pin hole are provided on the fixing plate. After adjusting the slide plate to the required position, insert a pin into the slide plate pin hole and the corresponding fixing plate pin hole from top to bottom.

[0015] Further, the upper feeder Y-direction limiting mechanism includes a Y-direction limiting block two matching with the upper feeder. The Y-direction limiting block two is fixed to the telescopic end of a limiting block cylinder. The limiting block cylinder is fixed to a fixed seat. The Y-direction limiting block two can reciprocate in the Y direction driven by the limiting block cylinder.

[0016] The beneficial effects of the present invention are as follows:

[0017] The present invention mainly completes the precise positioning and clamping of the feeder, and the robot completes the CO2 shielded welding. On the surface, the function is no different from that of traditional welding jigs. However, there are more than 10 types of feeders, the width (X direction) ranges from 1.1 m to 2.5 m, the heaviest weight exceeds 3 t, and the main reference precision error reaches ±10 mm or even more. While the error of the main positioning reference of traditional vehicle body part welding jigs is designed and processed according to the standard of silk (1‰ mm), and the total weight of a common passenger car body assembly is 500 - 600 Kg, and the models produced in a co-line production are usually 2 - 3 types of models.

[0018] Based on the large precision difference, large weight and various types of feeders, the present invention adopts a new mechanism in the design scheme. While ensuring precise positioning and load-bearing performance, it meets the flexible production of more than 10 types of feeders, and processes the feeder products with poor precision through the welding jig of this patent and accurately hands them over to the robot for welding.

[0019] Other advantages, objects, and features of the present invention will be set forth in part in the following description, and in part will be obvious to those skilled in the art upon examination of the following, or may be learned from the practice of the present invention. The objects and other advantages of the present invention may be realized and obtained by the following description of the specification. Brief Description of the Drawings

[0020] In order to make the objects, technical solutions, and advantages of the present invention clearer, the present invention will be described in detail with reference to the accompanying drawings, where:

[0021] Figure 1 is a schematic diagram of the overall structure of the welding fixture;

[0022] Figure 2 is a schematic diagram of the structure of the upper feeder;

[0023] Figure 3 is a schematic diagram of the structure at the positioning pin of the lower feeder;

[0024] Figure 4 is a schematic diagram of the structure of the lower feeder;

[0025] Figure 5 is a schematic diagram of the structures of the X-direction clamping unit and the Y-direction clamping unit;

[0026] Figure 6 is a schematic diagram of the structure of the Y-direction clamping unit;

[0027] Figure 7 is a schematic diagram of the structure of the first laser ranging unit;

[0028] Figure 8 is a schematic diagram of the structures of the bull's-eye support and the first laser ranging unit;

[0029] Figure 9 is a schematic diagram of the structure after the first laser ranging sensor is pressed on the upper feeder and the lower feeder;

[0030] Figure 10 is a schematic diagram of the structure of the positioning and clamping mechanism for the shoe-shaped casting;

[0031] Figure 11 is a bottom view of the third position of the sliding seat;

[0032] Figure 12 is a schematic diagram of the structure with the shoe-shaped casting placed on the lifting platform;

[0033] Figure 13 is a schematic diagram of the second laser ranging sensor detecting the reference plane of the lower feeder;

[0034] Figure 14 is a schematic diagram of the structure at the X-direction positioning block;

[0035] Figure 15 It is a structural schematic diagram before the lower feeder is assembled with the shoe-shaped casting;

[0036] Figure 16 It is a distribution diagram and a structural schematic diagram of the roller positioning mechanism;

[0037] Figure 17 It is a structural schematic diagram of the slide plate fixed on the fixed plate;

[0038] Figure 18 It is a structural schematic diagram of the Y-direction limiting mechanism of the upper feeder.

[0039] Reference signs:

[0040] 100. Substrate; 200. Upper feeder Y-direction limiting mechanism; 210. Second Y-direction limiting block; 220. Limiting block cylinder; 230. Y-direction guide rod; 240. Y-direction fixed seat; 300. Roller positioning mechanism; 310. Slide plate; 311. Slide plate pin hole; 320. Fourth linear guide rail; 330. Fixed plate; 331. Fixed plate pin hole; 340. Roller lifting cylinder; 350. Support seat; 360. Handle; 370. Pin; 400. Upper feeder positioning and clamping mechanism; 410. Upper feeder centering unit; 411. First servo motor; 412. First double-output reduction gear; 413. First ball screw; 414. First sliding base; 415. First linear guide rail; 420. Upper feeder bull's eye support; 421. First servo electric cylinder; 422. First X-direction limiting block; 430. First laser distance measurement sensor unit; 431. First laser distance measurement sensor; 432. Pressure arm; 433. Laser rotary hinge; 434. Laser cylinder; 500. Upper feeder; 600. Lower feeder positioning and clamping mechanism; 610. Lower feeder positioning pin; 611. X-direction adjusting gasket; 612. Y-direction adjusting gasket; 620. Lower feeder centering unit; 621. Second servo motor; 622. Second double-output reduction gear; 623. Second ball screw; 624. Second sliding base; 625. Second linear guide rail; 626. Second X-direction limiting block; 630. Lower feeder bull's eye support; 631. Second servo electric cylinder; 640. X-direction clamping unit; 641. X-direction clamping cylinder; 642. X-direction clamping block; 643. First clamping cylinder fixed support; 650. Y-direction clamping unit; 651. Y-direction clamping arm; 652. Y-direction clamping block; 653. Y-direction clamping hinge; 654. First Y-direction limiting block; 655. Y-direction clamping cylinder; 660. Z-direction clamping unit; 661. Z-direction clamping arm; 662. Z-direction clamping block; 663. Z-direction clamping hinge; 664. Second clamping cylinder fixed support; 665. Z-direction clamping cylinder; 700. Lower feeder; 800. Shoe-shaped casting positioning and clamping mechanism; 810. Lifting and moving table; 811. Casting X-direction positioning block; 812. Casting Y-direction limiting block; 813. Second laser distance measurement sensor; 820. Casting lifting cylinder; 830. Third sliding base; 840. Casting guide rod; 850. Casting guide seat; 860. Third linear guide rail; 870. Third servo motor; 880. Third screw; 890. Pressing mechanism; 891. Casting pressing block; 892. Casting pressing cylinder; 893. Casting pressing fixed seat; 900. Shoe-shaped casting. Detailed implementation manners

[0041] The following describes the implementation modes of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation modes. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the drawings provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0042] Among them, the drawings are only for illustrative purposes, showing only schematic diagrams, not physical diagrams, and should not be construed as limitations on the present invention; in order to better illustrate the embodiments of the present invention, some components in the drawings will be omitted, enlarged or reduced, which do not represent the dimensions of the actual products; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0043] In the drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "rear", etc. indicating the orientation or positional relationship, they are based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and should not be construed as limitations on the present invention. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0044] Please refer to Figures 1 to 18 , which is a flexible welding tooling for a waste incinerator feeder, including a substrate 100 for installing various components. The substrate 100 is welded by steel plates and profiles, and the stress is eliminated through tempering and NC machining. On the premise of ensuring the bearing capacity, it provides assembly holes for precise installation of each mechanism. The maximum bearing capacity of the substrate 100 is 10t, and it does not deform while carrying all the mechanisms and the feeder with the largest weight.

[0045] Viewed from the top view of the substrate 100, from bottom to top, the lowermost end is the upper feeder Y-direction limiting mechanism 200. Above the upper feeder Y-direction limiting mechanism 200 is the roller positioning mechanism 300. The roller positioning mechanism 300 is used to position the longitudinal rollers or horizontal rollers to be installed, and then install the longitudinal rollers or transverse rollers onto the upper feeder 500 or the lower feeder 700. There are two pairs of roller positioning mechanisms 300. Each pair is in the same X direction. The pair closer to the upper feeder Y-direction limiting mechanism is the roller positioning mechanism 300 for horizontal rollers, and the other pair is the roller positioning mechanism 300 for longitudinal rollers.

[0046] Above the roller positioning mechanism 300 is the upper feeder positioning and clamping mechanism 400. Above the upper feeder positioning and clamping mechanism 400 is the roller positioning mechanism 300. This roller positioning mechanism 300 is the roller positioning mechanism 300 for longitudinal rollers. Above the roller positioning mechanism 300 is the lower feeder positioning and clamping mechanism 600. Above the lower feeder positioning and clamping mechanism 600 is the shoe-shaped casting positioning and clamping mechanism 800. Lift the lower feeder 700 onto the lower feeder positioning and clamping mechanism 600, and then lift the upper feeder 500 onto the upper feeder positioning and clamping mechanism 400. The front part of the upper feeder 500 overlaps on the end face of the rear part of the lower feeder 700, and the rear part of the upper feeder 500 overlaps on the upper feeder 500 positioning and clamping mechanism 400. Assemble the required rollers on the roller positioning mechanism 300 and then lift them to the lower end faces of the upper feeder 500 or the lower feeder 700 for roller installation. The front part of the lower feeder 700 extends above the shoe-shaped casting positioning and clamping mechanism 800. The shoe-shaped casting positioning and clamping mechanism 800 places the shoe-shaped casting 900. The shoe-shaped casting positioning and clamping mechanism 800 jacks up the shoe-shaped casting group so that the lower feeder 700 is stuck in the shoe-shaped casting 900, and then welding is carried out.

[0047] The upper feeder positioning and clamping mechanism 400 includes an upper feeder centering unit 410. The upper feeder centering unit 410 includes a servo motor 1 411 fixed at the middle position. The output shaft of the servo motor 1 411 is fixedly connected to the input end of a double-output reduction gear 1 412. The double-output reduction gear 1 412 has output shafts respectively facing the left and right sides. The output shafts of the double-output reduction gear 1 412 are respectively connected to one end of a ball screw 1 413 through couplings. A nut 1 is sleeved on the ball screw 1 413. The nut 1 is fixed at the middle of the bottom end of a sliding base 1 414. Both sides of the bottom of the sliding base 1 414 are located on a linear guide 1 415. The linear guide 1 415 is fixed on the substrate 100. The linear guide 1 415 extends along the X direction. The sliding base 1 414 can make reciprocating movements on the linear guide 1 415.

[0048] On one side of the upper end face of the first sliding base 414 close to the first servo motor 411, there is an upper feeder bull's-eye support 420, which is used to support the upper feeder 500. The upper feeder bull's-eye support 420 can move up and down driven by the first servo cylinder 421. A bracket is also fixed on the outer side of the upper end face of the first sliding base 414. An X-direction limit block 422 of the upper feeder 500 is fixed on the side of the bracket facing the first servo motor 411. After the upper feeder 500 is placed on the upper feeder bull's-eye support 420, the first servo motor 411 drives the first sliding base 414 to move towards the first servo motor 411. The X-direction limit block 422 limits the upper feeder 500, and the first servo motor 411 realizes the centering of the upper feeder 500.

[0049] The lower feeder positioning and clamping mechanism 600 includes a lower feeder positioning pin 610 located in the middle of the substrate 100. A positioning hole matching the lower feeder positioning pin 610 is opened on the lower end face of the lower feeder 700, so that the lower feeder 700 can be simply positioned. The lower feeder positioning pin 610 is fixed on its fixing seat. An X-direction adjusting gasket 611 and a Y-direction adjusting gasket 612 for adjusting the position of the lower feeder positioning pin 610 are arranged on the fixing seat on the side of the lower feeder positioning pin 610. By adding or subtracting the number of the X-direction adjusting gasket 611 and the Y-direction adjusting gasket 612, the horizontal position of the lower feeder positioning pin 610 on the fixing seat can be adjusted to be suitable for the lower feeder 700.

[0050] The lower feeder positioning and clamping mechanism 600 also includes a lower feeder centering unit 620, and the working principle of the lower feeder centering unit 620 is the same as that of the upper feeder centering unit 410. The lower feeder centering unit 620 includes a second servo motor 621 located in the middle of the substrate 100. The second servo motor 621 is fixed on the substrate 100. The output shaft of the second servo motor 621 is connected to the input shaft of the double-output speed reducer 622. The double-output speed reducer 622 has output shafts facing the left and right sides respectively. The output shafts of the double-output speed reducer 622 are respectively connected to one end of a ball screw 623 through couplings. The other end of the ball screw 623 is sleeved with a nut 624. The nut 624 is fixed in the middle of the lower end face of the second sliding base 624. The two sides of the lower end of the second sliding base 624 are respectively placed on the second linear guide 625. The second linear guide 625 is fixed on the substrate 100. The second linear guide 625 extends along the X direction. The second sliding base 624 can make a reciprocating motion on the second linear guide 625.

[0051] On the upper end surface of the second sliding base 624, on one side close to the second servo motor 621, there is a lower feeder bull's-eye support 630. Preferably, there are a pair of lower feeder bull's-eye supports 630, which are arranged at the front and rear ends of the second sliding base 624. The lower feeder bull's-eye support 630 is used to support the lower feeder 700 and can move up and down driven by the second servo cylinder 631. On the outside of the lower feeder bull's-eye support 630 on the upper end surface of the second sliding base 624, there is also a fixed bracket. On the side of the bracket facing the first servo motor 411, there is an X-direction limit block two 626 for the lower feeder 700. After the lower feeder 700 is placed on the lower feeder bull's-eye support 630, the second servo motor 621 drives the second sliding base 624 to move towards the second servo motor 621, and the X-direction limit block two 626 limits the lower feeder 700, and the second servo motor 621 realizes the centering of the lower feeder 700.

[0052] On the upper end surface of the second sliding base 624, there are also an X-direction clamping unit 640, a Y-direction clamping unit 650, and a Z-direction clamping unit 660 for fixing the upper feeder 500. The installation positions of the X-direction clamping unit 640, the Y-direction clamping unit 650, and the Z-direction clamping unit 660 are at the overlapping part of the upper feeder 500 and the lower feeder 700. The X-direction clamping unit 640 includes an X-direction clamping cylinder 641. The telescopic rod of the X-direction clamping cylinder 641 is fixed to the side of the X-direction clamping block 642, and the cylinder body of the X-direction clamping cylinder 641 is fixed to the first clamping cylinder fixed support 643, and the first clamping cylinder fixed support 643 is fixed to the substrate 100. The X-direction clamping cylinder 641 drives the X-direction clamping block 642 to move horizontally to realize the X-direction clamping of the upper feeder 500.

[0053] The Y-direction clamping unit 650 includes a Y-direction clamping arm 651. On the end surface of the free end of the Y-direction clamping arm 651 in contact with the upper feeder 500, there is a Y-direction clamping block 652. The other end of the Y-direction clamping arm 651 is fixed to one end of the Y-direction clamping hinge 653. The Y-direction clamping hinge 653 is a triangular structure and is placed horizontally. The acute angle of the Y-direction clamping hinge 653 adjacent to the Y-direction clamping arm 651 is hinged to the first clamping cylinder fixed support 643, and the remaining angle of the Y-direction clamping hinge 653 is hinged to the telescopic end of the Y-direction clamping cylinder 655. The cylinder body of the Y-direction clamping cylinder 655 is fixed to the first clamping cylinder fixed support 643. The first clamping cylinder fixed support 643 also fixes a Y-direction limit block one 654 that cooperates with the Y-direction clamping arm 651. When the Y-direction clamping arm 651 swings to be perpendicular to the Y-direction, the Y-direction limit block one 654 ensures that the Y-direction clamping arm 651 is perpendicular to the Y-direction. After the Y-direction clamping cylinder 655 retracts to the limit position, the Y-direction clamping arm 651 is parallel to the Y-direction.

[0054] The Z - direction clamping unit 660 includes a Z - direction clamping arm 661. At the lower end face of the free end of the Z - direction clamping arm 661, a Z - direction clamping block 662 for pressing against the upper feeder 500 is fixed. The other end of the Z - direction clamping arm 661 is fixed to one end of a Z - direction clamping hinge 663. The Z - direction clamping hinge 663 is of a triangular structure and is vertically placed. The acute angle of the Z - direction clamping hinge 663 adjacent to the Z - direction clamping arm 661 is hinged to the back of the second clamping cylinder fixed support 664. The remaining angle of the Z - direction clamping hinge 663 is hinged to the telescopic end of a Z - direction clamping cylinder 665. The cylinder body of the Z - direction clamping cylinder 665 is fixed on the second clamping cylinder fixed support 664. The Z - direction clamping cylinder 665 is vertically arranged. The top end of the second clamping cylinder fixed support 664 is also a limit block for the Z - direction clamping arm 661. The Z - direction clamping arm 661 can swing driven by the Z - direction clamping cylinder 665. When not working, the Z - direction clamping arm 661 is vertical. When it is necessary to clamp the workpiece, the telescopic end of the Z - direction clamping cylinder 665 extends, and the Z - direction clamping arm 661 swings to the horizontal position to press the upper feeder 500.

[0055] In order to ensure that the upper feeder 500 and the lower feeder 700 can be horizontal to reduce the error during processing, laser ranging sensor units one 430 for detecting whether the upper feeder 500 and the lower feeder 700 are horizontal are respectively arranged on the sides of the upper feeder bull's - eye support 420 and the lower feeder bull's - eye support 630.

[0056] The laser ranging sensor unit one 430 includes a laser ranging sensor one 431. The laser ranging sensor one 431 is fixed at one end of a pressure arm 432. The other end of the pressure arm 432 is fixed to a laser rotating hinge 433. The laser rotating hinge 433 can swing 90 degrees driven by a laser cylinder 434. When not working, the pressure arm 432 is vertically arranged. When working is required, the laser cylinder 434 drives the pressure arm 432 to swing and press on the workpiece for monitoring. The laser ranging sensor one 431 cooperates with six groups of bull's - eye lifting supports to horizontally position and level the upper and lower feeders (500, 700). This is mainly because the upper and lower feeders (500, 700) are made by welding blank materials. The blank materials are un - machined steel plates and profiles, which inherently have their own errors. Coupled with welding deformation, the finished product accuracy of the upper and lower feeders (500, 700) is relatively poor. If not leveled, when placed on the tooling, there will be large gaps or warping at the overlapping joints to be welded of the upper and lower feeders (500, 700), making welding and processing impossible. The laser ranging sensor one 431 transmits the detected signal to the controller. If the upper feeder 500 or the lower feeder 700 is not leveled, the controller will control the corresponding upper feeder bull's - eye support 420 or lower feeder bull's - eye support 630 to lift and lower to level the upper feeder 500 or the lower feeder 700.

[0057] The shoe-shaped casting positioning and clamping mechanism 800 includes a lifting and moving platform 810 which can move up and down, forward and backward. The shoe-shaped casting 900 is placed on the lifting and moving platform 810. The middle part of the lower end of the lifting and moving platform 810 is fixed to the end of the telescopic rod of the casting lifting cylinder 820. The casting lifting cylinder 820 is arranged vertically upward, and the lower end of the casting lifting cylinder 820 is fixed to the sliding base three 830. The four corners of the lower end face of the lifting and moving platform 810 are also fixed to the upper end faces of the vertically arranged casting guide rods 840. The lower parts of the casting guide rods 840 extend into the casting guide seats 850 and are connected to the casting guide seats 850 through linear bearings. The lower end face of the casting guide seat 850 is fixed to the sliding base three 830. The casting guide rods 840 can slide up and down in the casting guide seats 850. The settings of the casting guide seats 850 and the casting guide rods 840 can ensure the stability of the lifting and moving platform.

[0058] Chutes are arranged at both ends of the lower end face of the sliding base three 830. A linear guide rail three 860 which is matched with the chutes is arranged on the substrate 100. The extending direction of the linear guide rail three 860 is the same as the length direction of the sliding base two 624, that is, it extends in the Y direction. A nut three is fixed to the middle part of the lower end face of the sliding base three 830. The output end of the servo motor three 870 is fixed to one end of the lead screw three 880 through a coupling. The other end of the lead screw three 880 is matched with the nut three. The length direction of the lead screw three 880 is the same as the linear direction of the linear guide rail three 860. The sliding base three 830 can drive the lifting and moving platform 810 to move closer to or away from the lower feeder positioning and clamping mechanism 600 under the drive of the servo motor three 870.

[0059] A pressing mechanism 890 for clamping the shoe-shaped casting 900 is also fixed to one side of the upper end face of the sliding base two 624 close to the shoe-shaped casting positioning and clamping mechanism 800. The pressing mechanism 890 includes a casting pressing block 891 which is fixed to the telescopic end of the casting pressing cylinder 892. The cylinder body of the casting pressing cylinder 892 is fixed to one end of the casting pressing fixed seat 893, and the other end of the casting pressing fixed seat 893 is fixed to the sliding base two 624.

[0060] In the middle of the upper end surface of the lifting mobile platform 810, a casting X-direction positioning block 811 of the shoe-shaped casting 900 is fixed. A protrusion is provided in the middle of the casting X-direction positioning block 811, and a groove matching with the protrusion is opened at the bottom of the middle shoe-shaped casting 900, so that the middle shoe-shaped casting 900 is positioned. Then, the shoe-shaped castings 900 can be placed in sequence on both sides of the middle shoe-shaped casting 900. On the upper end surface of the lifting mobile platform 810, casting Y-direction limiting blocks 812 are also sequentially arranged on both sides of the casting X-direction positioning block 811. The casting Y-direction limiting blocks 812 include a pair of oppositely arranged limiting blocks, and limiting steps are arranged on the opposite sides of the limiting blocks. The shoe-shaped casting 900 is stuck between the two limiting steps.

[0061] On the outside of the lifting mobile platform 810, a pair of second laser distance sensors 813 for detecting the reference surface of the lower feeder 700 are arranged. The second laser distance sensors 813 are connected to the controller and are fixed on the sliding base three 830 through support rods. The second laser distance sensors 813 detect the reference surface of the lower feeder 700. The reference surface of the lower feeder 700 can be embedded into the shoe-shaped casting 900 for installation. According to the measurement value of the second laser distance sensors 813, it is fed back to the controller of the PLC, and then the servo motor three 870 is controlled to push out or retract the sliding base three 830, so as to adjust the relative position between the shoe-shaped casting 900 and the lower feeder 700, so that the two can be precisely matched. According to the data fed back by the second laser distance sensors 813, the casting lifting cylinder 820 lifts the positioned group of shoe-shaped castings 900 until the shoe-shaped casting 900 is attached to the installation surface of the lower feeder 700, and then the operator installs it by screwing.

[0062] The working process of the shoe-shaped casting positioning and clamping mechanism 800: Lift the middle shoe-shaped casting 900 to the casting X-direction positioning block 811 of the mechanism, and the protrusion of the casting X-direction positioning block 811 positions it. Lift the remaining shoe-shaped castings 900 to the mechanism for positioning. The remaining shoe-shaped castings 900 are positioned in the Y direction by the casting Y-direction limiting blocks 812, and in the X direction, they are as close as possible to the middle shoe-shaped casting 900 as the reference and are arranged in sequence; the gaps between the shoe-shaped castings 900 are eliminated by the flat push of the pressing mechanism 890; Lift the lower feeder 700 to complete the tooling positioning; The second laser distance sensors 813 detect the reference surface of the lower feeder 700. According to the measurement value of the second laser distance sensors 813, it is fed back to the controller, and then the servo motor three 870 is controlled to push out or retract the sliding base three 830, so as to adjust the relative position between the shoe-shaped casting 900 and the lower feeder 700, so that the two can be precisely matched.

[0063] The upper feeder Y-direction limiting mechanism 200 includes a second Y-direction limiting block 210 that cooperates with the upper feeder 500. The second Y-direction limiting block 210 is fixed to the telescopic end of the limiting block cylinder 220, and the limiting block cylinder 220 is fixed to the Y-direction fixing seat 240. The second Y-direction limiting block 210 can reciprocate in the Y direction under the drive of the limiting block cylinder 220. To ensure the stability of the second Y-direction limiting block 210, Y-direction guide rods 230 are fixed to both sides of the back of the second Y-direction limiting block 210, and guide holes that cooperate with the Y-direction guide rods 230 are formed on the Y-direction fixing seat 240.

[0064] The roller positioning mechanism 300 includes a bottom slide plate 310. The slide plate 310 is located on a fourth linear guide 320 arranged in the X direction. The slide plate 310 can reciprocate on the fourth linear guide 320. Slide plate limit blocks for limiting the slide plate 310 are fixed to both ends of the fourth linear guide 320. A fixing plate 330 parallel to the fourth linear guide 320 is arranged on the side of the fourth linear guide 320. A slide plate pin hole 311 is formed on the slide plate 310, and a plurality of fixing plate pin holes 331 that cooperate with the slide plate pin hole 311 are formed on the fixing plate 330. The positions of the fixing plate pin holes 331 are set as required. After adjusting the slide plate 310 to the required position, a pin 370 is inserted into the slide plate pin hole 311 and the corresponding fixing plate pin hole 331 from top to bottom. A roller lifting cylinder 340 is fixed to the upper end of the slide plate 310. The telescopic end of the roller lifting cylinder 340 is vertically upward, and a support seat 350 for supporting a longitudinal roller or a horizontal roller is fixed to the fixed end of the telescopic end of the roller lifting cylinder 340. A handle 360 for convenient operation is arranged on the slide plate 310.

[0065] The operator adjusts the position of the roller positioning mechanism 300 in the X direction according to the model of the upper feeder 500 to be produced, that is, the operator pushes the handle 360, aligns the slide plate pin hole 311 with the fixing plate pin hole 331, and inserts and positions the pin 370. Preferably, there are four fixing plate pin holes 331 on the fixing plate 330, and one of the fixing plate pin holes 331 corresponds to one or more feeder models. The longitudinal roller or the horizontal roller of the feeder is installed. The roller lifting cylinder 340 extends out, and the roller positioning mechanism 300 drives the roller to fit with the bottom mounting surface of the upper feeder 500 or the lower feeder 700, and the operator performs screw connection installation.

[0066] The working principle of the present invention:

[0067] In the first step, the operator hoists the longitudinal roller or the horizontal roller of the feeder and the shoe-shaped casting 900 to the roller positioning mechanism 300 and the shoe-shaped casting positioning and clamping mechanism 800 for positioning respectively.

[0068] In the second step, the operator hoists the upper feeder 500 and the lower feeder 700 to the upper feeder positioning and clamping mechanism 400 and the lower feeder positioning and clamping mechanism 600 respectively.

[0069] In the third step, the upper feeder centering unit 410 and the lower feeder centering unit 620 work respectively to clamp the upper feeder 500 and the lower feeder 700 in the X direction.

[0070] In the fourth step, the pressing arm 432 of the six laser distance sensors 431 presses down to test the relative distance of the corresponding points, and the data is fed back to the servo cylinder of the bull's-eye support to level the upper feeder 500 and the lower feeder 700.

[0071] In the fifth step, the upper feeder Y-direction limiting mechanism 200 works to position the upper feeder 500 in the Y direction.

[0072] In the sixth step, the laser distance sensor 813 of the shoe-shaped casting 900 detects the reference surface of the lower feeder 700, and the feedback data is given to the motor for data compensation.

[0073] In the seventh step, the roller positioning mechanism 300 with rollers installed and the lifting and moving table 810 tooling with the shoe-shaped casting 900 installed are lifted simultaneously. After reaching the designated position, the cylinders at both ends of the shoe-shaped casting 900 group extend to eliminate the gap between the castings, and the operator screws and installs the rollers and the shoe-shaped casting 900.

[0074] In the eighth step, the robot performs CO2 welding.

[0075] In the ninth step, all clamping mechanisms are opened and the lifting mechanism retracts, and the operator hoists the feeder assembly offline manually.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the purpose and scope of the present technical solution, and they should all be covered within the scope of the claims of the present invention.

Claims

1. A flexible welding tooling for a refuse incinerator feeder, the refuse incinerator feeder comprising an upper feeder (500), a lower feeder (700), rollers and a shoe-shaped casting (900); characterized in that: The welding tooling includes a substrate (100) for installing components. From bottom to top, at the lowermost end is the upper feeder Y-direction limiting mechanism (200) for limiting the upper feeder (500). Above the upper feeder Y-direction limiting mechanism (200) is the roller positioning mechanism (300) for installing rollers on the upper feeder (500). Above the roller positioning mechanism (300) is the upper feeder positioning and clamping mechanism (400). The upper feeder positioning and clamping mechanism (400) centers and clamps the upper feeder (500). Above the upper feeder positioning and clamping mechanism (400) is the lower feeder positioning and clamping mechanism (600). The lower feeder positioning and clamping mechanism (600) centers and clamps the lower feeder (700). Above the lower feeder positioning and clamping mechanism (600) is the shoe-shaped casting (900) positioning and clamping mechanism (800). The front part of the upper feeder (500) overlaps on the end face of the rear part of the lower feeder (700). The rear part of the upper feeder (500) rests on the upper feeder positioning and clamping mechanism (400). The front part of the lower feeder (700) extends above the shoe-shaped casting positioning and clamping mechanism (800). The shoe-shaped casting positioning and clamping mechanism (800) places several shoe-shaped castings (900) that cooperate with the lower feeder (700). The shoe-shaped casting positioning and clamping mechanism (800) clamps and lifts the shoe-shaped castings (900) so that the lower feeder (700) is stuck inside the shoe-shaped castings (900). The upper feeder positioning and clamping mechanism (400) includes an upper feeder centering unit (410) and an upper feeder support and leveling unit. After the upper feeder centering unit (410) centers the upper feeder (500), the upper feeder support and leveling unit levels the upper feeder (500). The lower feeder positioning and clamping mechanism (600) includes a lower feeder centering unit (620) and a lower feeder support and leveling unit. After the lower feeder centering unit (620) centers the lower feeder (700), the lower feeder support and leveling unit levels the lower feeder (700). The lower feeder positioning and clamping mechanism (600) includes a lower feeder positioning pin (610) located in the middle of the substrate (100). A positioning hole that cooperates with the lower feeder positioning pin (610) is opened on the lower end face of the lower feeder (700). The lower feeder positioning pin (610) is fixed on its fixing seat. An X-direction adjusting gasket (611) and a Y-direction adjusting gasket (612) for adjusting the position of the lower feeder positioning pin (610) are arranged on the fixing seat on the side of the lower feeder positioning pin (610). The shoe-shaped casting positioning and clamping mechanism (800) includes a lifting and moving table (810) capable of moving up, down, forward, and backward. The middle of the lower end of the lifting and moving table (810) is fixed to the end of the telescopic rod of a casting lifting cylinder (820). The casting lifting cylinder (820) is arranged vertically upward, and the lower end of the casting lifting cylinder (820) is fixed to a sliding base three (830). A pair of second laser distance sensors (813) for detecting the reference surface of the lower feeder (700) are arranged on the outer side of the lifting and moving table (810), and the second laser distance sensors (813) are connected to a controller; Chutes are arranged at both ends of the lower end surface of the sliding base three (830). A third linear guide (860) matching the chutes is arranged on the substrate (100). The extending direction of the third linear guide (860) is the same as the Y direction. A third nut is fixed in the middle of the lower end surface of the sliding base three (830). The output end of a third servo motor (870) is fixed to one end of a third lead screw (880) through a coupling. The other end of the third lead screw (880) is matched with the third nut. The length direction of the third lead screw (880) is the same as the linear direction of the third linear guide (860). The sliding base three (830) can reciprocate on the third linear guide (860) driven by the third servo motor (870); A casting X-direction positioning block (811) of the shoe-shaped casting (900) is fixed in the middle of the upper end surface of the lifting and moving table (810). A protrusion is arranged in the middle of the casting X-direction positioning block (811). A groove matching the protrusion is formed at the bottom of the middle shoe-shaped casting (900). Casting Y-direction limiting blocks (812) are sequentially arranged on both sides of the casting X-direction positioning block (811) on the upper end surface of the lifting and moving table (810). The casting Y-direction limiting blocks (812) include a pair of oppositely arranged limiting blocks. Limiting steps are arranged on the opposite sides of the limiting blocks. The shoe-shaped casting (900) is clamped between the two limiting steps; The roller positioning mechanism (300) includes a bottom slide plate (310). A roller lifting cylinder (340) is fixed to the upper end of the slide plate (310). The telescopic end of the roller lifting cylinder (340) is arranged vertically upward. A support seat (350) for supporting longitudinal rollers or horizontal rollers is fixed to the fixed end of the telescopic end of the roller lifting cylinder (340); The slide plate (310) is located on a fourth linear guide (320) arranged in the X direction. The slide plate (310) can reciprocate on the fourth linear guide (320); The upper feeder Y-direction limiting mechanism (200) includes a second Y-direction limiting block (210) matching the upper feeder (500). The second Y-direction limiting block (210) is fixed to the telescopic end of a limiting block cylinder (220). The limiting block cylinder (220) is fixed to a Y-direction fixed seat (240). The second Y-direction limiting block (210) can reciprocate in the Y direction driven by the limiting block cylinder (220).

2. The flexible welding tooling for the refuse incinerator feeder according to claim 1, wherein: There are two pairs of roller positioning mechanisms (300), each pair is arranged along the X direction. Among them, the pair close to the Y-direction limiting mechanism (200) of the upper feeder is the roller positioning mechanism (300) of the horizontal rollers, and the other pair close to the positioning and clamping mechanism (600) of the lower feeder is the roller positioning mechanism (300) of the longitudinal rollers.

3. The flexible welding tooling for the waste incinerator feeder according to claim 1, characterized in that: A fixing plate (330) parallel to the fourth linear guide (320) is also arranged on the side of the fourth linear guide (320). A slide plate pin hole (311) is arranged on the slide plate (310), and a plurality of fixing plate pin holes (331) matching the slide plate pin hole (311) are arranged on the fixing plate (330). After adjusting the slide plate (310) to the required position, the pin (370) is inserted into the slide plate pin hole (311) and the corresponding fixing plate pin hole (331) from top to bottom.

4. The flexible welding tooling for the refuse incinerator feeder according to claim 1, characterized in that: A pressing mechanism (890) for clamping the shoe-shaped casting (900) is also fixed on one side of the upper end surface of the second sliding base (624) close to the shoe-shaped casting positioning and clamping mechanism (800). The pressing mechanism (890) includes a casting pressing block (891). The casting pressing block (891) is fixed on the telescopic end of the casting pressing cylinder (892). The cylinder body of the casting pressing cylinder (892) is fixed at one end of the casting pressing fixed seat (893), and the other end of the casting pressing fixed seat (893) is fixed on the second sliding base (624).

Images