An adjustable lower frame flexible automatic assembling and welding device

Abstract

The present invention provides an adjustable flexible automatic assembly welding device for the lower frame, which includes a turntable, an X-frame positioning tooling arranged on the turntable, and crawler beam positioning toolings arranged oppositely on both sides of the X-frame positioning tooling on the turntable. Among them, the X-frame positioning tooling includes a bottom plate, a plurality of substrate plates arranged in a circle on the bottom plate, an X-frame centering component, and an X-frame parallel component. The crawler beam positioning tooling includes a slide table capable of displacing relative to the X-frame positioning tooling, a claw component arranged at the top of one side of the slide table, and a beam bottom plate fixing device arranged at the top of the other side of the slide table. The present invention can realize the automatic assembly welding of the lower frame assembly of the excavator through the X-frame positioning tooling and the crawler beam positioning tooling. At the same time, since the X-frame positioning tooling and the crawler beam positioning tooling can move relative to the workpiece during the automatic positioning of the corresponding assemblies, the assembly of assemblies of multiple models can be realized, which is beneficial to improving the working efficiency of assembly welding.

Description

Technical Field

[0001] The present invention relates to the technical field of construction machinery, and particularly relates to an adjustable lower frame flexible automatic teaming and welding device. Background Art

[0002] At present, in the production and manufacturing process of excavators, there are processes related to the installation and manufacturing of the lower frame. Although the welding technology of excavators has gradually matured and has basically achieved automatic integration, due to the variety of product types and large size variations of the lower frame assembly parts of excavators, the teaming and general assembly tooling cannot adapt to the switching of multiple types of lower frame assembly products, resulting in the inability to automate the teaming of multi-size workpieces of the lower frame assembly of excavators. On-site, it is necessary to make teaming and general assembly tooling according to the shape and size of each product. In this way, each product corresponds to a teaming tooling, which is relatively single and cannot adapt to the teaming of multiple product size variations. The entire teaming, production, and welding process cannot be fully mechanized and teaming welded using flexible tooling. Summary of the Invention

[0003] The present invention provides an adjustable lower frame flexible automatic teaming and welding device with accurate positioning, easy clamping, and convenient welding.

[0004] To solve the above technical problems, the present invention adopts the following technical solutions:

[0005] An adjustable lower frame flexible automatic teaming and welding device includes a turntable, and is characterized in that it further includes an X-frame positioning tooling arranged on the turntable and crawler beam positioning toolings oppositely arranged on both sides of the X-frame positioning tooling on the turntable. Among them, the X-frame positioning tooling includes a bottom plate, a plurality of base plates arranged in a circle on the bottom plate, an X-frame centering component, and an X-frame parallel component. The crawler beam positioning tooling includes a sliding table capable of displacing relative to the X-frame positioning tooling, a claw component arranged at the top of one side of the sliding table, and a beam bottom plate fixing device arranged at the top of the other side of the sliding table.

[0006] Preferably, the turntable includes an installation base, a slewing bearing arranged on the installation base, and a servo motor for driving the slewing bearing to rotate.

[0007] Preferably, a cross-shaped spaced guide block group is arranged on the top of the bottom plate, and the guide block group includes two guide blocks arranged in parallel and spaced on the bottom plate. The base plate is arranged on the top of the bottom plate outside the adjacent guide block groups. The X-frame centering component includes an eccentric wheel one arranged between the two guide blocks of the guide block group and an oil cylinder one for driving the eccentric wheel one to contact the inner center circle of the X-frame bottom plate.

[0008] Preferably, the X-frame parallel component includes a second oil cylinder disposed on the top of the bottom plate, a connecting rod disposed at the output end of the second oil cylinder, a first transfer rod rotatably disposed on the top of the bottom plate, and a driving rod with one end hinged to the end of the connecting rod and the middle part hinged to the first transfer rod. A cylinder vertically distributed and in contact with the bending part of the X-frame bottom plate is rotatably connected to the end of the driving rod away from the connecting rod.

[0009] Preferably, the X-frame positioning tooling further includes a lifting mechanism for lifting the bottom plate.

[0010] Preferably, the sliding table includes a sliding table base plate, a lead screw assembly for driving the sliding table base plate to displace relative to the X-frame positioning tooling, and a slider guide rail assembly disposed on both sides of the lead screw assembly for the sliding table base plate to move relative to the turntable.

[0011] Preferably, the jaw assembly includes an X-axis displacement assembly, a Y-axis displacement assembly disposed on the X-axis displacement assembly, and jaws disposed on the mounting plate of the Y-axis displacement assembly. The jaws include a third oil cylinder and a plurality of blocks that are slidably disposed on the mounting plate under the drive of the third oil cylinder and can displace radially along the mounting plate relative to each other.

[0012] Preferably, the beam bottom plate fixing device includes a beam bottom plate pressing assembly and a beam bottom plate centering assembly. The beam bottom plate pressing assembly includes a support plate fixedly disposed on the top of the sliding table base plate, cushion blocks symmetrically fixedly disposed on both sides of the support plate, a hydraulic cylinder disposed on the support plate and capable of vertically displacing at its output end, a driving block disposed at the output end of the hydraulic cylinder, and a pressing rod with one end hinged to the driving block and the middle part hinged to the cushion block. Wherein, a pressing block is hinged to the end of the pressing rod away from the driving block.

[0013] Preferably, the beam bottom plate centering assembly is disposed at one end of the top of the crawler beam positioning tooling relative to the jaw assembly, and the beam bottom plate centering assembly includes a mounting seat fixedly disposed on the sliding table base plate, a fourth oil cylinder disposed on the mounting seat, a connecting rod assembly disposed at the output end of the fourth oil cylinder, and an eccentric wheel II slidably disposed on the mounting seat and located at the end of the connecting rod assembly for contacting the beam bottom plate.

[0014] Preferably, the connecting rod assembly includes a second transfer rod, with one end of the second transfer rod hinged to the output end of the fourth oil cylinder and the other end hinged to the mounting block of the eccentric wheel II.

[0015] As can be seen from the above technical solutions, the present invention has the following beneficial effects: First, place the crawler beam. For example, the truss gripper can be used to grab the left and right beams of the crawler beam onto the substrates of the crawler beam positioning fixtures on both sides. The crawler beam motor seat is clamped and positioned by the claw assembly, and the crawler beam bottom plate is clamped and fixed by the beam bottom plate fixing device. Then, the truss gripper grabs the X-frame and places it on the bottom plate of the X-frame positioning fixture. After the X-frame centering assembly and the X-frame parallel assembly center and fix the circle of the X-clamp, the crawler beams on the two crawler beam positioning fixtures are moved towards the X-frame positioning fixture until the specified position is reached. Finally, welding is performed by an external welding device to achieve the group welding of the excavator lower frame. Therefore, the present invention can realize the automatic group welding of the excavator lower frame assembly by the X-frame positioning fixture and the crawler beam positioning fixture. At the same time, since the X-frame positioning fixture and the crawler beam positioning fixture can move relative to the workpiece during the automatic positioning of the corresponding assembly, the group welding of assemblies of multiple models can be realized, which is beneficial to improving the working efficiency of group welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a structural schematic diagram of the present invention;

[0017] Figure 2 is a structural schematic diagram of the crawler beam positioning fixture;

[0018] Figure 3 is a structural schematic diagram of the slide base plate;

[0019] Figure 4 is Figure 3 top view of;

[0020] Figure 5 is a structural schematic diagram of the claw assembly;

[0021] Figure 6 is the beam bottom plate centering assembly;

[0022] Figure 7 is the beam bottom plate pressing assembly;

[0023] Figure 8 is a structural schematic diagram of the X-frame positioning fixture;

[0024] Figure 9 is a structural schematic diagram of the turntable;

[0025] Figure 10 is a structural schematic diagram of the claw;

[0026] Figure 11 is Figure 10 front view of;

[0027] Figure 12 is the top view of a single claw;

[0028] Figure 13 is Figure 12 a schematic view of the A-A cross-section in

[0029] In the figure: 10, turntable; 110, mounting base; 120, slewing bearing; 130, servo motor; 20, X-frame positioning tooling; 210, bottom plate; 220, base plate; 231, eccentric wheel 1; 232, oil cylinder 1; 233, moving block; 241, oil cylinder 2; 242, connecting rod; 243, adapter rod; 244, driving rod; 250, wire block; 260, lifting mechanism; 270, mounting disc; 30, crawler beam positioning tooling; 310, slide; 311, slide base plate; 320, jaw assembly; 321, X-axis displacement assembly; 322, Y-axis displacement assembly; 323, jaw; 324, oil cylinder 3; 325, block; 326, oil cylinder pressing block; 327, fixed block; 328, pressing plate; 329, block dialing block; 330, beam bottom plate pressing assembly; 331, support plate; 332, cushion block; 333, hydraulic cylinder; 334, driving block; 335, pressing rod; 336, pressing block; 340, beam bottom plate centering assembly; 341, mounting seat; 342, oil cylinder 3; 343, eccentric wheel 2; 344, adapter rod; 345, mounting block; 40, hydraulic station. Specific embodiments

[0030] The following will describe in detail a preferred embodiment of the present invention with reference to the accompanying drawings.

[0031] Refer to Figure 1 and Figure 2 and Figure 8, An adjustable flexible automatic assembly welding device for the lower frame, including a turntable 10, further including an X-frame positioning tooling 20 and a crawler beam positioning tooling 30 arranged on the turntable 10. The crawler beam positioning tooling is arranged on the turntable 10 and is oppositely arranged on both sides of the X-frame positioning tooling. Among them, the X-frame positioning tooling includes a bottom plate 210, a plurality of substrate plates 220 arranged in a circle on the bottom plate 210, an X-frame centering assembly and an X-frame parallel assembly. The crawler beam positioning tooling includes a sliding table capable of displacing relative to the X-frame positioning tooling, a claw assembly arranged on the top of one side of the sliding table, and a beam bottom plate fixing device arranged on the top of the other side of the sliding table. During use, first place the crawler beam. For example, the truss gripper can be used to grab the left and right beams of the crawler beam onto the substrate plates of the crawler beam positioning tooling on both sides. The claw assembly clamps and positions the crawler beam motor seat, and the beam bottom plate fixing device clamps and fixes the crawler beam bottom plate. Then, the truss gripper grabs the X-frame and places it on the bottom plate of the X-frame positioning tooling. After the X-frame is centered and fixed in a circle by using the X-frame centering assembly and the X-frame parallel assembly, the crawler beams on the two sides of the crawler beam positioning tooling are moved towards the X-frame positioning tooling until the specified position is reached. Finally, welding is carried out through an external welding device to realize the assembly welding of the excavator lower frame. Therefore, the present invention can realize the automatic assembly welding of the excavator lower frame assembly through the X-frame positioning tooling and the crawler beam positioning tooling. At the same time, since the X-frame positioning tooling and the crawler beam positioning tooling can realize the assembly of assembly parts of multiple models during the automatic positioning of the corresponding assembly parts, it is beneficial to improve the working efficiency of the assembly welding.

[0032] Refer to Figure 9 , As a preferred technical solution of the present invention, the turntable 10 includes a mounting base 110, a slewing bearing 120, and a servo motor 130. The slewing bearing 120 is arranged on the mounting base 110, and the servo motor 130 is arranged on the top of the mounting base 110 and is used to drive the slewing bearing 120 to rotate. The automatic assembly welding tooling in the present invention is arranged on the slewing bearing 120. In this way, driven by the servo motor 130, the entire assembly welding device rotates to a suitable angle to facilitate the truss gripper to place parts and the welding device to carry out welding.

[0033] Further refer to Figure 8As a preferred technical solution of the present invention, the X-frame positioning tooling also includes a lifting mechanism 260 for lifting the bottom plate 210. The lifting mechanism 260 is a lifting device for lifting the entire X-frame positioning tooling. Before positioning, the PLC adjusts the relative position height of each vehicle model to the right position, so that it can be used for the positioning team of the frame components under different vehicle models, and at the same time meet the flexible switching of different vehicle models. A guide block group arranged in a cross-shaped interval is provided on the top of the bottom plate 210, that is, the guide block group is arranged in a cross shape in a circular shape, and the guide block group includes two guide blocks 250 arranged in parallel and spaced on the bottom plate 210. The base plate 220 is arranged on the top of the bottom plate 210 outside the adjacent guide block group. Specifically, the X-frame centering component includes an eccentric wheel 231 and a cylinder 232. The eccentric wheel 231 is arranged between the two guide blocks 250 of the guide block group. The cylinder 232 is used to drive the eccentric wheel 231 to move. The eccentric wheel 231 can be moved at the bottom of the cylinder 2 The drive of the oil cylinder 232 contacts the inner center circle of the X-frame bottom plate to realize the centering of the X-frame bottom plate to ensure the accuracy of the center position of the X-frame. Furthermore, a pressure block and a shift block assembly is also provided at the output end of the oil cylinder 232. In order to install the oil cylinder 232 and the pressure block and a shift block assembly, a mounting plate 270 is provided at the bottom of the bottom plate 210, and a sliding movable block 233 is provided between the two guide blocks 250. The eccentric wheel 231 is arranged on the top of the movable block 233. Specifically, the pressure block and a shift block assembly includes a pressure block arranged at the output end of the oil cylinder 232 and a shift block rotatably arranged in the mounting plate 270 and engaged with the pressure block, and the end of the shift block away from the pressure block is rotatably connected to the movable block 233. In this way, the pressure block is driven to move vertically under the drive of the oil cylinder 232, and the pressure block then drives the shift block to rotate, and the shift block thereby drives the movable block 233 to move along the guide block 250, so as to drive the eccentric wheel 231 to contact or separate from the workpiece, and perform support circle centering when in contact with the workpiece.

[0034] Further, the X-frame parallel assembly includes a second cylinder 241, a connecting rod 242, a first transfer rod 243 and a driving rod 244. The second cylinder 241 is arranged on the top of the base plate 210, the connecting rod 242 is arranged on the output end of the second cylinder 241, the first transfer rod 243 is rotatably arranged on the top of the base plate 210, one end of the driving rod 244 is hinged to the end of the connecting rod 242, the middle part is hinged to the first transfer rod 243, and the driving rod 244 is rotatably connected to a vertically distributed cylinder 245 away from one end of the connecting rod 242. The cylinder 2 45 is used to contact with the bending part of the X-frame bottom plate. After the aforementioned X-frame alignment is completed, since the first transfer rod 243 is rotatably set on the top of the bottom plate 210, the second cylinder 241 is used to extend the driving connecting rod 242 to slide. During the movement of the connecting rod 242, the driving rods 244 at both ends thereof are driven to rotate along one end of the first transfer rod 243 to get closer to or away from the X-frame, and when the cylinders 245 on both sides are driven to contact with the bending part of the X-frame bottom plate, the X-frame bottom plate is flushed to ensure that the two sides of the X-frame are parallel.

[0035] Referring to Figure 3 、 Figure 4 As a preferred technical solution of the present invention, the slide table 310 includes a slide table base plate 311, a lead screw assembly, and a slider guide rail assembly. The lead screw assembly is used to drive the slide table base plate 311 to displace relative to the X-frame positioning tooling. The lead screw assembly includes a servo motor, an accelerator arranged at the output end of the servo motor, a lead screw arranged at the output end of the accelerator, and a lead screw nut capable of axially displacing along the lead screw. The slide table base plate 311 is arranged outside the lead screw nut. The slider guide rail assembly is arranged on both sides of the lead screw assembly for the slide table base plate 311 to move relative to the turntable 10. The slider guide rail assembly includes a guide rail arranged on the turntable 10 and a slider arranged at the bottom of the slide table base plate 311, and the slider matches with the guide rail to realize the sliding of the slide table base plate 311.

[0036] Referring to Figure 5 、 Figure 10 、 Figure 11 、 Figure 12 、 Figure 13 As a preferred technical solution of the present invention, the jaw assembly 320 includes an X-axis displacement assembly 321, a Y-axis displacement assembly 322 arranged on the X-axis displacement assembly 321, and a jaw 323 arranged on the mounting plate of the Y-axis displacement assembly 322. The jaw includes an oil cylinder three 324 and a plurality of blocks 325 slidably arranged on the mounting plate and capable of radially displacing relative to each other along the mounting plate. Further, the oil cylinder three 324 is arranged along the center of the mounting plate, and an oil cylinder pressing block 326 is arranged at the output end of the oil cylinder three 324. A plurality of fixing blocks 327 are also circumferentially arranged on the mounting plate, and pressing plates 328 are arranged at the tops of each fixing block 327 and are radially spaced apart along the mounting plate. Therefore, a channel is left between two pressing plates 328. The bottom of the block 325 is provided with a block slider capable of displacing along the aforementioned channel. Further, a block dial 329 is rotatably connected to the fixing block 327. One end of the block dial 329 meshes with the oil cylinder pressing block 326, and the other end is rotatably connected to the block slider. In this way, when the truss gripper places the crawler beam on the crawler beam positioning tooling, the X-axis displacement assembly 321 and the Y-axis displacement assembly 322 work successively to move the jaw to a specified position, and the jaw opens to clamp and position the crawler beam motor seat. Specifically, the oil cylinder three 324 drives the oil cylinder pressing block 326 to vertically displace. Since the oil cylinder pressing block 326 meshes with the block dial 329, the block dial 329 will be driven to rotate. The block dial 329 further drives the block slider and the block 325 thereon to radially displace along the mounting plate, so as to realize the circular expansion when the block 325 contacts the workpiece.

[0037] Further referring to Figure 7, the beam bottom plate fixing device includes a beam bottom plate pressing component 330 and a beam bottom plate centering component 340. Specifically, the beam bottom plate pressing component includes a support plate 331, a cushion block 332, a hydraulic cylinder 333, a driving block 334, and a pressing rod 335 fixed on the top of the sliding table substrate 311. The cushion blocks 332 are symmetrically fixed on both sides of the support plate 331. The hydraulic cylinder 333 is arranged on the support plate 331 and its output end can displace vertically. The driving block 334 is arranged at the output end of the hydraulic cylinder 333. One end of the pressing rod 335 is hinged to the driving block 334 and the middle part thereof is hinged to the cushion block 332. And a pressing block 336 is hinged to the end of the pressing rod 335 far away from the driving block 334. In this way, driven by the hydraulic cylinder 333, the driving block 334 displaces vertically, and the driving block 334 then drives the pressing rod 335 to rotate along the top of the cushion block 332. The pressing rod 335 then drives the pressing block 336 to press the beam bottom plate, thereby realizing the fixation of the beam bottom plate.

[0038] Further referring to Figure 6 , the beam bottom plate centering component is arranged at one end of the top of the crawler beam positioning tooling relative to the claw component. And the beam bottom plate centering component includes a mounting seat 341, an oil cylinder four 342, a connecting rod component, and an eccentric wheel two 343 fixed on the sliding table substrate 311. The oil cylinder four 342 is arranged on the mounting seat 341. The connecting rod component is arranged at the output end of the oil cylinder four 342. And one end of the connecting rod component far away from the oil cylinder four 342 is connected to the eccentric wheel two 343. At the same time, the eccentric wheel two 343 is slidably arranged on the mounting seat 341 through a mounting block 345. Specifically, the connecting rod component includes a second transfer rod 344. One end of the second transfer rod 344 is hinged to the output end of the oil cylinder four 342, and the other end is hinged to the mounting block 345. During use, when the claw component clamps and fixes the crawler beam motor seat, the oil cylinder four 342 extends to push the second transfer rod 344 to act. The second transfer rod 344 then drives the mounting block 345 to bring the eccentric wheel two 343 into contact with the beam bottom plate and center it, thereby tightening the workpiece, so as to realize the centering and clamping of the crawler beam.

[0039] In addition, it should be noted that the underframe flexible automatic assembling and welding device further includes a hydraulic station. Therefore, the driving devices such as hydraulic cylinders and oil cylinders in the present invention can be controlled by the solenoid valves on the hydraulic station 40. This hydraulic station is connected to the PLC system, and signals are given to the hydraulic system through the PLC system to realize the switching of the hydraulic system and the clamping of the tooling.

[0040] The above-described embodiments are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. An adjustable flexible automatic assembling and welding device for a lower vehicle frame, comprising a turntable (10), characterized in that, It further includes an X-frame positioning tooling (20) arranged on the turntable (10) and crawler beam positioning toolings (30) oppositely arranged on both sides of the X-frame positioning tooling on the turntable (10). Among them, the X-frame positioning tooling includes a bottom plate (210), a plurality of substrate plates (220) arranged in a circle on the bottom plate (210), an X-frame centering component, and an X-frame parallel component. The crawler beam positioning tooling includes a slide table (310) capable of displacing relative to the X-frame positioning tooling, a claw component (320) arranged at the top of one side of the slide table, and a beam bottom plate fixing device arranged at the top of the other side of the slide table; On the top of the bottom plate (210), a guide block group is arranged at a cross-shaped interval. The guide block group includes two guide blocks (250) arranged in parallel and at an interval on the bottom plate (210). The substrate plate (220) is arranged on the top of the bottom plate (210) outside the adjacent guide block groups. The X-frame centering component includes an eccentric wheel one (231) arranged between the two guide blocks (250) of the guide block group and an oil cylinder one (232) for driving the eccentric wheel one (231) to contact the inner central circle of the X-frame bottom plate; The X-frame parallel component includes an oil cylinder two (241) arranged on the top of the bottom plate (210), a connecting rod (242) arranged at the output end of the oil cylinder two (241), a first transfer rod (243) rotatably arranged on the top of the bottom plate (210), and a driving rod (244) with one end hinged to the end of the connecting rod (242) and the middle part hinged to the first transfer rod (243). The end of the driving rod (244) away from the connecting rod (242) is rotatably connected with a cylinder (245) vertically distributed for contacting the bending part of the X-frame bottom plate; The claw component (320) includes an X-axis displacement component (321), a Y-axis displacement component (322) arranged on the X-axis displacement component (321), and a claw (323) arranged on the mounting plate of the Y-axis displacement component (322). The claw includes an oil cylinder three (324) and a plurality of clamping blocks (325) slidably arranged on the mounting plate under the drive of the oil cylinder three (324) and capable of displacing radially along the mounting plate; The beam bottom plate fixing device includes a beam bottom plate pressing component (330) and a beam bottom plate centering component (340).

2. The adjustable lower frame flexible automatic teaming welding device according to claim 1, wherein The turntable (10) includes a mounting base (110), a slewing bearing (120) arranged on the mounting base (110), and a servo motor (130) for driving the slewing bearing (120) to rotate.

3. The adjustable lower frame flexible automatic teaming welding device according to claim 1, wherein, The X-frame positioning tooling further includes a lifting mechanism (260) for lifting the bottom plate (210).

4. The adjustable lower frame flexible automatic teaming welding device according to claim 1, characterized in that, The slide table (310) includes a slide table substrate (311), a lead screw component for driving the slide table substrate (311) to displace relative to the X-frame positioning tooling, and slider guide rail components arranged on both sides of the lead screw component for the slide table substrate (311) to move relative to the turntable (10).

5. The adjustable lower frame flexible automatic teaming welding device according to claim 1, characterized in that, The beam bottom plate pressing assembly includes a support plate (331) fixedly arranged on the top of the sliding table base plate (311), cushion blocks (332) symmetrically fixedly arranged on both sides of the support plate (331), a hydraulic cylinder (333) arranged on the support plate (331) and whose output end can displace vertically, a driving block (334) arranged at the output end of the hydraulic cylinder (333), and a pressing rod (335) with one end hinged to the driving block (334) and the middle part hinged to the cushion block (332). Wherein, a pressing block (336) is hinged to the end of the pressing rod (335) far away from the driving block (334).

6. The adjustable lower frame flexible automatic teaming welding device according to claim 5, characterized in that, The beam bottom plate centering assembly is arranged at one end of the top of the crawler beam positioning tooling relative to the claw assembly. The beam bottom plate centering assembly includes a mounting seat (341) fixedly arranged on the sliding table base plate (311), a fourth oil cylinder (342) arranged on the mounting seat (341), a connecting rod assembly arranged at the output end of the fourth oil cylinder (342), and an eccentric wheel two (343) slidably arranged on the mounting seat (341) and located at the end of the connecting rod assembly for contacting the beam bottom plate.

7. The adjustable lower frame flexible automatic teaming and welding device according to claim 6, wherein The connecting rod assembly includes a second transfer rod (344). One end of the second transfer rod (344) is hinged to the output end of the fourth oil cylinder (342), and the other end is hinged to the mounting block (345) of the eccentric wheel two (343).

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