Fixed tooling, turning device and workstation

Abstract

The present application discloses a fixing tool, a turning device, and a workstation; the fixing tool is used to fix the lower bucket body of the hopper during automatic welding by a robot, and includes: a support mechanism for receiving the lower bucket body of the hopper; a clamping mechanism provided on the support mechanism and capable of being inserted into a clamping opening on the side wall of the lower bucket body of the hopper; the portion of the clamping mechanism inserted into the clamping opening can abut against the inner wall around the clamping opening to clamp and fix the lower bucket body of the hopper to the support mechanism; a clamping mechanism including a first clamping assembly and a second clamping assembly that are relatively slidably provided on the support mechanism; the first clamping assembly and the second clamping assembly can respectively abut against both sides of the lower bucket body of the hopper to clamp and fix the lower bucket body of the hopper to the support mechanism. The fixing tool of the present application enriches the structural form and fixing form of the fixing tool, can well adapt to various forms of lower bucket bodies of the hopper, and ensures a good fixing effect.

Description

Technical Field

[0001] The present application relates to the technical field of fixed tooling, and more specifically to a fixed tooling; it also relates to a turning device including the fixed tooling; and it also relates to a workstation including the turning device. Background Art

[0002] In the current construction machinery manufacturing market, the demand for mainframe products continues to decline, while quality continues to improve. Furthermore, rising labor costs and staff instability are factors that make the traditional "sea of ​​people" manufacturing model unsustainable.

[0003] During the hopper manufacturing process, people, machines, materials, methods, and the overall environment are crucial aspects of workshop operations and maintenance. Issues such as personnel skills, subjective initiative, and production organization have long been bottlenecks restricting hopper production efficiency and key factors affecting the automation and intelligent level of the entire engineering machinery structural parts factory. Therefore, it is necessary to replace manual labor with machines during hopper production to improve welding efficiency and quality stability. Machine welding requires ensuring the secure fixation of the hopper lower body, but existing fixtures have a single structure and a single fixing method, which cannot adapt well to the different shapes of hopper lower bodies, resulting in poor fixation. Summary of the Invention

[0004] In view of this, the present application provides a fixed tool, a flipping device including the above-mentioned fixed tool, and a workstation including the above-mentioned flipping device, which solves the problem of a single structure and a single fixing form of the fixed tool.

[0005] In order to achieve the above objectives, this application provides the following technical solutions:

[0006] A fixing fixture, used to fix the lower hopper body during robot automatic welding, comprising:

[0007] A supporting mechanism, used for receiving the lower hopper body of the hopper;

[0008] A clamping mechanism is provided on the support mechanism and can be inserted into the clamping opening of the side wall of the lower bucket body of the hopper; the portion of the clamping mechanism inserted into the clamping opening can abut against the inner wall around the clamping opening to clamp and fix the lower bucket body of the hopper to the support mechanism;

[0009] The clamping mechanism includes a first clamping assembly and a second clamping assembly which are relatively slidably arranged on the support mechanism. The first clamping assembly and the second clamping assembly can respectively abut against both sides of the lower bucket body of the hopper to clamp and fix the lower bucket body of the hopper to the support mechanism.

[0010] Optionally, in the above-mentioned fixing tool, the clamping mechanism includes:

[0011] A positioning support, provided on the support machine and inserted into the clamping opening;

[0012] A limiting connecting piece is provided on the outer side wall of the positioning support to limit the clamping opening circumferentially to the positioning support.

[0013] Optionally, in the above-mentioned fixing tool, the clamping mechanism further includes:

[0014] A first driving unit is disposed in the positioning support;

[0015] A first clamping member and a second clamping member are respectively disposed in the positioning support and inserted into the clamping opening;

[0016] The portion of the positioning support 21 inserted into the clamping opening is provided with a first outlet and a second outlet;

[0017] The first driving unit can drive the first clamping member and the second clamping member away from each other until the first clamping member extends out of the first outlet and the second clamping member extends out of the second outlet, and drives the first clamping member and the second clamping member to abut against the inner wall around the clamping opening.

[0018] Optionally, in the above-mentioned fixed tooling,

[0019] A first guide groove is formed on the first clamping member; from top to bottom, the first guide groove gradually moves away from the second clamping member;

[0020] A second guide groove is formed on the second clamping member; the second guide groove has the same shape as the first guide groove and is disposed opposite to the first guide groove;

[0021] The clamping mechanism further includes a fixing pin, which is inserted into the first guide groove and the second guide groove respectively;

[0022] The first driving unit includes a first driving column; the first driving column is connected to the first clamping member and the second clamping member to drive the first clamping member and the second clamping member to move back and forth from top to bottom, and at the same time, the first guide groove and the second guide groove both move along the fixed pin to drive the first clamping member and the second clamping member to move away from each other or relatively close to each other.

[0023] Optionally, in the above-mentioned fixing fixture, the first clamping assembly and the second clamping assembly have the same structure; and the first clamping assembly includes:

[0024] A slide rail unit, provided on the support mechanism;

[0025] A slider unit adapted to be slidably connected to the slide rail unit;

[0026] a clamping unit connected to the slider unit;

[0027] The second driving unit is connected to the slider unit and drives the slider unit to move along the slide rail unit to drive the clamping unit to move closer to or away from the lower bucket body of the hopper.

[0028] Optionally, in the above-mentioned fixed tooling,

[0029] The slide rail unit includes a slide rail, a first limit stopper, and a second limit stopper; the slide rail is arranged on the support mechanism; the first limit stopper and the second limit stopper are arranged at intervals along the extension direction of the slide rail, and limit the movement path of the slider unit to between the first limit stopper and the second limit stopper;

[0030] and / or,

[0031] The clamping units are arranged in plurality at intervals; the clamping units include a connecting frame and a clamping block; the connecting frame is fixedly arranged on the slider unit; the clamping block is fixedly arranged on the connecting frame;

[0032] and / or,

[0033] The second driving unit includes a second driving column; the telescopic movement direction of the second driving column is parallel to the movement direction of the slider unit; the slider unit is connected to the second driving column through an adapter.

[0034] Optionally, in the above-mentioned fixed tooling,

[0035] The slide rail unit further includes a protective bracket; the protective bracket covers the slide rail;

[0036] and / or,

[0037] The slider unit includes a slider body; a sliding groove adapted to be connected to the sliding rail is provided at the bottom of the slider body; and the clamping unit is connected to the slider body.

[0038] Optionally, in the above-mentioned fixing fixture, a mounting plate is provided on the lower surface of the supporting mechanism; the mounting plate connects the fixing fixture to other mechanisms.

[0039] A turning device is used to turn over the lower hopper body during robot automatic welding, comprising:

[0040] The fixed tooling described above;

[0041] The rotating mechanism includes a first rotating platform and a second rotating platform; the support mechanism of the fixed tool is arranged on the first rotating platform; the rotation center axis of the first rotating platform is perpendicular to the rotation center axis of the second rotating platform;

[0042] The lifting mechanism can drive the rotating mechanism to move up and down.

[0043] A workstation for automatically welding the lower hopper body of a hopper, comprising:

[0044] A turning device as described above;

[0045] The welding robot automatically welds the lower hopper body of the hopper fixed to the turning device.

[0046] In the fixed tooling, turning device and workstation provided in the application, a relatively independent clamping mechanism and a clamping mechanism are simultaneously provided on the support mechanism. The clamping mechanism can clamp and fix the lower bucket body of the hopper to the support mechanism in the vertical direction, and the clamping mechanism can clamp and fix the lower bucket body of the hopper to the support mechanism in the horizontal direction. When the lower bucket body of the hopper is fixed on the support mechanism, the clamping structure and / or the clamping mechanism can be selected according to its own shape. The fixed tooling of the present application enriches the structural form and fixing form of the fixed tooling, can adapt well to various shapes of the lower bucket body of the hopper, and ensures a good fixing effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0048] Figure 1 This is a structural diagram of the fixed tooling of this application without fixing the lower hopper body of the hopper;

[0049] Figure 2 This is a structural diagram of the clamping mechanism of the fixed tooling of the present application clamping the lower bucket body of the fixed hopper;

[0050] Figure 3 This is a schematic diagram of the structure of the clamping mechanism of the fixed fixture of the present application clamping the lower bucket body of the hopper;

[0051] Figure 4 This is a schematic diagram of the structure of the fixed tooling of this application;

[0052] Figure 5 A schematic structural diagram of the support mechanism of this application;

[0053] Figure 6This is a schematic structural diagram of the clamping mechanism of this application;

[0054] Figure 7 for Figure 5 A partial cross-sectional view of

[0055] Figure 8 This is a schematic structural diagram of the first clamping assembly of the present application;

[0056] Figure 9 This is a schematic structural diagram of the slide rail unit of the present application;

[0057] Figure 10 This is a schematic diagram of the structure of the workstation of this application.

[0058] Figures 1-10 middle:

[0059] 1-support mechanism, 2-clamping mechanism, 3-first clamping assembly, 4-second clamping assembly, 5-mounting plate, 6-rotating mechanism, 7-lifting mechanism, 8-welding robot, 9-control console, 10-hopper lower body;

[0060] 21- positioning support, 22- limiting connector, 23- first drive unit, 24- first clamping member, 25- second clamping member, 26- fixing pin;

[0061] 31-slide rail unit, 32-slider unit, 33-clamping unit, 34-second drive unit, 35-adapter;

[0062] 61-first rotating platform, 62-second rotating platform;

[0063] 101- snap-on opening;

[0064] 231 - first driving column, 232 - first driving member;

[0065] 241-first guide groove;

[0066] 251-second guide groove;

[0067] 311 - sliding rail, 312 - first limit stopper, 313 - second limit stopper, 314 - protection bracket;

[0068] 321-slider body, 322-sliding groove;

[0069] 331-connecting frame, 332-clamping block;

[0070] 341 - second driving column, 342 - second driving member. DETAILED DESCRIPTION

[0071] The present application provides a fixed tool, a turning device including an upper fixed tool, and a workstation including the turning device.

[0072] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0073] like Figures 1-9 As shown, a fixing fixture is used to fix the lower hopper body 10 during robot automatic welding; the fixing fixture includes a support mechanism 1, a clamping mechanism 2 and a clamping mechanism. The support mechanism 1 is used to receive the lower hopper body 10. The clamping mechanism 2 is provided on the support mechanism 1 and can be inserted into the clamping opening 101 of the side wall of the lower hopper body 10; the portion of the clamping mechanism 2 that is inserted into the lower hopper body 10 through the clamping opening 101 can abut against the inner wall around the clamping opening 101 to clamp and fix the lower hopper body 10 to the support mechanism 1. The clamping mechanism includes a first clamping assembly 3 and a second clamping assembly 4; the first clamping assembly 3 and the second clamping assembly 4 are relatively slidably provided on the support mechanism 1 and can respectively abut against the two sides of the lower hopper body 10 to clamp and fix the lower hopper body 10 to the support mechanism 1.

[0074] One end of the clamping mechanism 2 is fixed to the supporting mechanism 1, and the other end is inserted into the lower hopper body 10 through the clamping opening 101 opened on the side wall of the lower hopper body 10; when the part of the clamping mechanism 2 inserted into the lower hopper body 10 abuts against the inner wall around the clamping opening 101 of the lower hopper body 10, the lower hopper body 10 can be clamped and fixed on the supporting mechanism 1. The structure is simple, the cost is low, and it is easy to produce and install.

[0075] After the lower hopper body 10 is placed on the supporting mechanism 1, the first clamping assembly 3 and the second clamping assembly 4 slide relative to each other on the supporting mechanism 1, that is, they move toward each other from the outside of the lower hopper body 10 toward the direction close to the lower hopper body 10, until the first clamping assembly 3 and the second clamping assembly 4 respectively abut against the two sides of the lower hopper body 10, so as to realize the clamping and fixing of the lower hopper body 10. Its structure is simple, low cost, and easy to produce and install.

[0076] The support mechanism 1 of the fixed tooling is provided with a relatively independent clamping mechanism 2 and a clamping mechanism. The clamping mechanism 2 can clamp and fix the lower bucket body 10 of the hopper on the support mechanism 1 in the vertical direction, and the clamping mechanism can clamp and fix the lower bucket body 10 of the hopper on the support mechanism 1 in the horizontal direction. When the lower bucket body 10 of the hopper is fixed on the support mechanism 1, it can choose to use the clamping mechanism 2 alone, or use the clamping mechanism alone, or use the clamping mechanism 2 and the clamping mechanism at the same time according to its own shape; the fixed tooling of the present application enriches the structural form and fixing form of the fixed tooling, can adapt well to various forms of the lower bucket body 10 of the hopper, and can ensure a good fixing effect.

[0077] In certain embodiments of the present application, the engaging mechanism 2 includes a positioning support 21 and a limiting connector 22. The positioning support 21 is disposed on the support mechanism 1 and extends through the engaging opening 101 into the interior of the hopper lower body 10. The limiting connector 22 is disposed on the outer sidewall of the positioning support 21 to circumferentially limit the engaging opening 101 to the positioning support 21.

[0078] The clamping opening 101 is sleeved on the positioning support 21 and will not rotate along the circumferential direction of the positioning support 21 under the limiting action of the limiting connector 22, thereby ensuring the accurate positioning of the hopper lower body 10 on the fixed tooling.

[0079] Furthermore, a plurality of limiting connectors 22 are provided, and the plurality of limiting connectors 22 are circumferentially spaced apart and arranged on the outer wall of the positioning support 21. The plurality of limiting connectors 22 can further ensure the circumferential limiting effect of the connection opening 101 on the positioning support 21.

[0080] In certain embodiments of the present application, the portion of the positioning support 21 inserted into the lower hopper body 10 is provided with a first outlet and a second outlet. The clamping mechanism further includes a first driving unit 23, a first clamping member 24, and a second clamping member 25, respectively disposed in the positioning support 21. The first clamping member 24 and the second clamping member 25 are both inserted into the lower hopper body 10; and the first clamping member 24 and the second clamping member 25 are disposed opposite to each other. The first driving unit 23 is capable of driving the first clamping member 24 and the second clamping member 25 away from each other, until the first clamping member 24 extends out of the first outlet and the second clamping member 25 extends out of the second outlet, and drives the first clamping member 24 and the second clamping member 25 to abut against the inner wall around the clamping opening 101 of the lower hopper body 10.

[0081] The structure of the clamping mechanism 2 is simple. By setting a first clamping member 24 and a second clamping member 25 that can be driven by the first driving unit 23, the first clamping member 24 and the second clamping member 25 can be moved away from each other. At the same time, the first clamping member 24 and the second clamping member 25 can be moved toward the clamping opening 101 of the lower hopper body 10, and finally the first clamping member 24 and the second clamping member 25 can be abutted against the inner bottom wall around the clamping opening 101 of the lower hopper body 10 (at this time, the extension length between the first clamping member 24 and the second clamping member 25 is greater than the diameter of the clamping opening 101 of the lower hopper body 10), thereby achieving a firm clamping fixation of the lower hopper body 10 on the support mechanism 1.

[0082] Similarly, the first driving unit 23 can also drive the first clamping member 24 and the second clamping member 25 to be relatively close to each other, and at the same time realize the movement effect of the first clamping member 24 and the second clamping member 25 in the direction away from the clamping opening 101 of the lower hopper body 10 (at this time, the extension length between the first clamping member 24 and the second clamping member 25 is less than the diameter of the clamping opening 101 of the lower hopper body 10), thereby releasing the clamping fixation of the lower hopper body 10 on the support mechanism 1.

[0083] In certain embodiments of the present application, a first guide groove 241 is defined on the first clamping member 24 ; from top to bottom, the first guide groove 241 gradually moves away from the second clamping member 25 .

[0084] The second clamping member 25 is provided with a second guide slot 251. The second guide slot 251 has the same shape as the first guide slot 241 and is disposed opposite to the first guide slot 241. The clamping mechanism 2 further includes a fixing pin 26 which is inserted into the first guide slot 241 and the second guide slot 251 respectively.

[0085] The first driving column 231 of the first driving unit 23 is fixedly connected to the first clamping member 24 and the second clamping member 25 to drive the first clamping member 24 and the second clamping member 25 to move from top to bottom. At the same time, the first guide groove 241 and the second guide groove 251 are guided to move along the fixed pin 26 to drive the first clamping member 24 and the second clamping member 25 to move away from each other until the first clamping member 24 and the second clamping member 25 abut against the inner bottom wall around the clamping opening 101 of the lower bucket body 10 of the hopper.

[0086] Similarly, the first driving column 231 of the first driving unit 23 drives the first clamping member 24 and the second clamping member 25 to move from bottom to top. At the same time, the first guide groove 241 and the second guide groove 251 are guided to move along the fixed pin 26 to drive the first clamping member 24 and the second clamping member 25 to be relatively close until the first clamping member 24 and the second clamping member 25 are disengaged from the clamping opening 101 of the lower bucket body 10 of the hopper, and the extension length between the first clamping member 24 and the second clamping member 25 is less than the diameter of the clamping opening 101 of the lower bucket body 10 of the hopper.

[0087] It should be noted that the first drive unit 23 includes a first drive member 232; the top of the first drive column 231 is fixedly connected to the bottom of the first clamping member 24 and the bottom of the second clamping member 25 respectively; the first drive member 232 drives the first drive column 231 to move up and down, thereby driving the first clamping member 24 and the second clamping member 25 to move up and down synchronously.

[0088] Furthermore, the first driving member 232 is a first servo motor. Of course, the first driving member 232 can also be a commonly used driving structure such as a cylinder, a hydraulic cylinder, etc.

[0089] It should be further explained that the first clamping member 24 and the second clamping member 25 have the same structure and are arranged back to back.

[0090] Furthermore, the first clamping member 24 and the second clamping member 25 are both inverted L-shaped plates; a guide groove is provided on the vertical portion of the L-shaped plate; and the horizontal portion of the L-shaped plate can abut against the inner wall around the clamping opening 101 .

[0091] Furthermore, the first guide groove 241 is an arc-shaped groove or an inclined linear groove.

[0092] The clamping mechanism 2 of the present application is matched with the guiding cooperation of the first guide groove 241, the second guide groove 251 and the fixed pin 26. Only by setting a first driving unit 23, the first clamping member 24 and the second clamping member 25 can move away from each other while moving downward, and the first clamping member 24 and the second clamping member 25 can move relatively close to each other while moving upward. Its structure is simple and compact, easy to produce and process, and low in cost.

[0093] In certain embodiments of the present application, the first clamping assembly 3 and the second clamping assembly 4 have the same structure; the first clamping assembly 3 includes a slide rail unit 31, a slider unit 32, a clamping unit 33, and a second drive unit 34. The slide rail unit 31 is disposed on the support mechanism 1. The slider unit 32 is adapted to be slidably connected to the slide rail unit 31. The clamping unit 33 is connected to the slider unit 32. The second drive unit 34 is connected to the slider unit 32 and drives the slider unit 32 to move along the slide rail unit 31, thereby driving the clamping unit 33 toward or away from the hopper lower body 10.

[0094] The first clamping assembly 3 and the second clamping assembly 4 of the present application are both configured to be able to slide on the support mechanism 1. Specifically, the second driving unit 34 drives the slider unit 32 to slide along the slide rail unit 31, thereby synchronously driving the clamping unit 33 provided on the slider unit 32 to gradually approach or move away from the hopper lower body 10, thereby achieving the clamping or releasing of the hopper lower body 10. The structural composition of the clamping mechanism of the present application is simple, easy to produce and process, and low in cost. Moreover, through the adaptive connection between the slide rail unit 31 and the slider unit 32, the accuracy and reliability of the movement of the slider unit 32 can be ensured, thereby ensuring the smoothness and reliability of the clamping action of the clamping unit 33.

[0095] In certain embodiments of the present application, the slide rail unit 31 includes a slide rail 311, a first limit stop 312, and a second limit stop 313. The slide rail 311 is disposed on the support mechanism 1; the first limit stop 312 and the second limit stop 313 are spaced apart along the extension direction of the slide rail 311, and limit the movement path of the slider unit 32 between the first limit stop 312 and the second limit stop 313.

[0096] It should be noted that two sliding rails 311 are arranged in parallel at intervals. Such arrangement can further ensure the reliability and stability of the movement of the slider unit 32 on the sliding rails 311 .

[0097] The first limit stop 312 and the second limit stop 313 are spaced apart between the two sliding rails 311. When the slider unit 32 moves toward the lower hopper body 10, the slider unit 32 stops moving immediately when it contacts the first limit stop 312. This arrangement ensures the maximum movement path of the clamping mechanism when clamping the lower hopper body 10, allowing the clamping mechanism to accurately clamp and fix the lower hopper body 10 without causing excessive squeezing damage to the lower hopper body 10. When the slider unit 32 moves away from the lower hopper body 10, the slider unit 32 stops moving immediately when it contacts the second limit stop 313. This arrangement ensures the maximum movement path of the clamping mechanism when releasing the clamping mechanism from the lower hopper body 10, allowing the clamping mechanism to accurately disengage from the clamping mechanism and prevent excessive movement from separating from the sliding rails 311.

[0098] Furthermore, the slide rail unit 31 further includes a protection bracket 314 ; the protection bracket 314 covers the slide rail 311 .

[0099] The protection bracket 314 can protect the sliding rail 311 from being scratched by foreign objects, thereby extending its service life.

[0100] In some embodiments of the present application, the slider unit 32 includes a slider body 321 ; a sliding groove 322 adapted to be connected to the sliding rail 311 is provided at the bottom of the slider body 321 ; and the clamping unit 33 is connected to the slider body 321 .

[0101] The sliding groove 322 and the sliding rail 311 are adapted to be connected in a stable manner, and the structure is simple and easy to produce and process. The slider body 321 provides a connection support carrier for the clamping unit 33 to be connected to the support mechanism 1.

[0102] In some embodiments of the present application, a plurality of clamping units 33 are provided at intervals, and the clamping units 33 include a connecting frame 331 and a clamping block 332. The connecting frame 331 is fixedly provided on the slider unit 32; and the clamping block 332 is fixedly provided on the connecting frame 331.

[0103] It should be noted that one or more clamping units 33 can be selected according to actual conditions. Of course, in other embodiments, three or more clamping units 33 can also be provided. The specific selection can be based on actual conditions and is not limited to this.

[0104] The connecting frame 331 provides a connection support carrier for the clamping block 332 connected to the slider unit 32; the clamping block 332 abuts against the lower bucket body 10 of the hopper to abut and fix the lower bucket body 10 of the hopper.

[0105] It should be further explained that the connecting frame 331 is connected to the slider body 321 via a detachable connecting piece; the slider body 321 and the connecting frame 331 may be provided with more mounting holes to take into account the actual force.

[0106] To ensure that the slider body 321 and the connecting frame 331 are detachably mounted to each other, the detachable connecting member may be a bolt, a screw or other suitable structure.

[0107] It needs to be further explained that, based on the structural characteristics and strength analysis of the lower hopper body 10, the front wall panel of the lower hopper body 10 is the best position for adaptation and installation with the positioning support 21, and the initial posture can face the side of the welding robot 8, that is, the lower hopper body 10 of the present application is placed sideways, that is, the plane where the feed port and the discharge port of the lower hopper body 10 are located is a vertical plane.

[0108] Furthermore, the clamping block 332 includes a vertical abutment portion and a horizontal abutment portion. The vertical abutment portion of the clamping block 332 of the first clamping assembly 3 vertically abuts the outer wall surrounding the feed port, while the horizontal abutment portion of the clamping block 332 of the first clamping assembly 3 extends into the feed port and horizontally abuts the inner wall of the feed port. The vertical abutment portion of the clamping block of the second clamping assembly 4 vertically abuts the outer wall surrounding the discharge port, while the horizontal abutment portion of the clamping block of the second clamping assembly 4 extends into the discharge port and horizontally abuts the inner wall of the discharge port.

[0109] It should be noted that the shape of the clamping block 332 and its position against the lower hopper body 10 are set according to the specific model of the lower hopper body 10 to ensure that the welding position of the lower hopper body 10 is not blocked during automatic welding by the robot.

[0110] Of course, in other embodiments, the clamping block 332 may be a clamping column or other applicable structures.

[0111] In certain embodiments of the present application, the second driving unit 34 includes a second driving column 341 ; the telescopic movement direction of the second driving column 341 is parallel to the movement direction of the slider unit 32 ; the slider unit 32 is connected to the second driving column 341 via an adapter 35 .

[0112] As configured above, through the connection of the adapter 35 , the slider unit 32 can be arranged in parallel above the second driving column 341 , thereby ensuring the compactness of the overall structure of the first clamping assembly 3 .

[0113] It should be noted that the adapter 35 is a connecting pin.

[0114] The second driving unit 34 further includes a second driving member 342 ; the second driving member 342 drives the second driving column 341 to move horizontally and telescopically, thereby synchronously driving the adapter 35 and the slider unit 32 to move closer to or away from the hopper lower body 10 .

[0115] Furthermore, the second driving member 342 is a second servo motor. Of course, the second driving member 342 can also be a commonly used driving structure such as a cylinder, a hydraulic cylinder, etc.

[0116] In certain embodiments of the present application, a mounting plate 5 is provided on the lower surface of the support mechanism 1 ; the mounting plate 5 connects the fixing fixture to other mechanisms.

[0117] The mounting plate 5 is provided with mounting holes to facilitate the detachable connection of the fixing fixture to other mechanisms, such as a flip mechanism. Please refer to the following description for its specific structure.

[0118] Furthermore, the support mechanism 1 and the mounting plate 5 adopt an integrated universal support connection structure.

[0119] It should be noted that the upper surface of the support mechanism 1 is a support plane; a communication hole is provided in the middle of the support plane, and the positioning support 21 is connected to the edge of the communication hole via a detachable connector; the first drive unit 23 is disposed below the communication hole, and the first drive column 231 can pass through the communication hole and extend into the positioning support 21. The sliding rail 311 is connected to the support plane via a detachable connector.

[0120] To ensure the detachable installation between the support plane and the positioning support 21 , and between the support plane and the sliding rail 311 , the detachable connecting members may be bolts, screws or other suitable structures.

[0121] Please see the attached Figure 10 The present application also provides a flipping device for flipping the lower hopper body during robotic automatic welding. The flipping device includes the aforementioned fixed fixture, rotating mechanism 6, and lifting mechanism 7. The rotating mechanism 6 includes a first rotating platform 61 and a second rotating platform 62. The support mechanism 1 of the fixed fixture is disposed on the first rotating platform 61. The rotation axis of the first rotating platform 61 is perpendicular to the rotation axis of the second rotating platform 62. The lifting mechanism 7 is capable of driving the rotating mechanism 6 to move up and down.

[0122] Since the flipping device of the present application has the fixed tooling described above, the beneficial effects of the flipping device brought about by the fixed tooling can be found above and will not be repeated here.

[0123] It should be noted that a commercially available L-shaped positioner can be directly used; the L-shaped positioner includes both a lifting mechanism 7 and a rotating mechanism 6. The rotating mechanism 6 is used for Z-axis lifting and lowering, achieving a vertical movement of 400mm to 1200mm. The second rotating platform 62 of the rotating mechanism 6 is used for horizontal rotation 360° around the Y axis. The first rotating platform 61 of the rotating mechanism 6 is used for 360° rotation around the Z axis. The fixed tool is connected to the first rotating platform 61 via the mounting plate 5. The L-shaped positioner drives the first rotating platform 61 to rotate, thereby driving the fixed tool, and then the lower hopper body 10 to rotate.

[0124] It should be further explained that the mounting plate 5 of the fixed fixture is connected to the first rotating platform 61 via a detachable connecting piece.

[0125] To ensure that the mounting plate 5 and the first rotating platform 61 are detachably mounted to each other, the detachable connecting member may be a bolt, a screw or other suitable structure.

[0126] Furthermore, the position change of the hopper lower body 10 can be planned according to actual conditions to achieve the optimal posture for the robot's automatic welding. The position change steps of the L-shaped positioner can be written into the control system, and the hopper lower body 10 can be quickly and reliably flipped manually by pressing buttons on the external console 9. Depending on the model of the hopper lower body 10, the flipping parameters of the L-shaped positioner can be changed to suit. This structure has a wider range of applications and is characterized by ultra-high flexibility, which is of great value in market promotion and application.

[0127] Please see the attached Figure 10 The present application also provides a workstation, which includes the above-mentioned turning device, a welding robot 8 and a control console 9. The turning device fixes the lower bucket body 10 of the hopper. The control console 9 controls the welding robot to automatically weld the lower bucket body 10 of the hopper fixed to the turning device.

[0128] Since the workstation of the present application has the flipping device described above, the beneficial effects of the workstation brought about by the flipping device can be found above and will not be repeated here.

[0129] The specific implementation of the automatic welding of the hopper lower body by the welding robot in the workstation includes the following steps (this is a common process in the industry, and the workpiece in the steps is the hopper lower body):

[0130] S1. Workpiece bottom welding: If the gap between the workpieces is greater than 3mm, a manual welder is required to perform bottom welding, otherwise the welder cannot start the arc. After bottom welding, remove weld nodules, welding slag and other foreign matter from the area to be welded by the welding robot.

[0131] S2. Confirm the model of the workpiece to be welded: Make sure the operation panel of the work island is in manual mode, enter the current work island interface through the HMI of the electric control cabinet of console 9, and select the model corresponding to the workpiece.

[0132] S3. Clamp the workpiece: hoist the workpiece onto the turning device and position it through the positioning support (such as the attached Figure 2 ), confirm that the welding robot teaching pendant and the work island operation panel are in automatic mode, press the "Clamp" button to achieve the clamping and fixing of the clamping mechanism in the left and right directions, as well as the clamping and fixing of the clamping mechanism in the up and down directions, to complete the automatic clamping and positioning; the "Clamp" light will turn on to indicate that the clamping is in place (as shown in the attached figure). Figure 3 The lower hopper body is stably fixed to the first rotating table through the mounting plate, achieving precise positioning during welding and facilitating loading and unloading operations.

[0133] S4. Robotic Welding: The tilting device (i.e., an L-shaped positioner) achieves precise positioning and posture adjustments for the fixed fixture and the hopper bottom through the lifting mechanism, left-right flipping of the second rotary table, and rotation of the first rotary table, meeting the posture and positioning requirements of the robot during automated welding. The robot utilizes wire contact positioning and arc tracking to achieve precise workpiece positioning before welding and real-time correction of the welding trajectory during the welding process. Furthermore, rigorous welding process parameters minimize workpiece deformation.

[0134] S5. Manual repair welding: For some narrow spaces where the welding gun cannot reach; or the deviation of the welding trajectory caused by the workpiece group is too large, manual repair welding and grinding are required. Manual repair welding of workpieces is also carried out on the turning device, which can realize the turning of parts to obtain the best operating space.

[0135] S6. Manual unloading: After the welding robot and manual repair welding and grinding are completed, confirm that the welding robot and the flip device have returned to the original position, press the "Release" button, and the fixed tooling is in the open state (such as the attached Figure 1 (as shown), lower the workpiece onto the workpiece holder.

[0136] The components and devices involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the accompanying drawings. As will be appreciated by those skilled in the art, these components and devices can be connected, arranged, or configured in any manner. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0137] It should also be noted that in the device of the present application, each component can be decomposed and / or reassembled, and such decomposition and / or reassembly should be regarded as equivalent solutions of the present application.

[0138] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0139] The above description has been provided for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

[0140] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A fixed tool, characterized in that: Used to fix the lower bucket body of the hopper during robot automatic welding, it is characterized by including a supporting mechanism, a clamping mechanism and a clamping mechanism; The supporting mechanism is used to support the lower hopper body of the hopper; The clamping mechanism is provided on the supporting mechanism and can be inserted into the clamping opening of the side wall of the lower bucket body of the hopper; the portion of the clamping mechanism inserted into the clamping opening is provided with a first outlet and a second outlet; the clamping mechanism includes a first driving unit, and a first clamping member and a second clamping member inserted into the clamping opening, the first driving unit being able to drive the first clamping member and the second clamping member away from each other until the first clamping member extends out of the first outlet and the second clamping member extends out of the second outlet, and driving the first clamping member and the second clamping member to abut against the inner wall around the clamping opening, so as to clamp and fix the lower bucket body of the hopper to the supporting mechanism; The clamping mechanism includes a first clamping assembly and a second clamping assembly which are relatively slidably arranged on the support mechanism. The first clamping assembly and the second clamping assembly can respectively abut against both sides of the lower bucket body of the hopper to clamp and fix the lower bucket body of the hopper to the support mechanism.

2. The fixing tool according to claim 1, characterized in that: The clamping mechanism comprises: A positioning support, disposed on the supporting mechanism, inserted into the engaging opening, and provided with the first outlet and the second outlet; A limiting connecting piece is provided on the outer side wall of the positioning support to limit the clamping opening circumferentially to the positioning support.

3. The fixing tool according to claim 1, characterized in that: A first guide groove is formed on the first clamping member; from top to bottom, the first guide groove gradually moves away from the second clamping member; A second guide groove is formed on the second clamping member; the second guide groove has the same shape as the first guide groove and is disposed opposite to the first guide groove; The clamping mechanism further includes a fixing pin, which is inserted into the first guide groove and the second guide groove respectively; The first driving unit includes a first driving column; the first driving column is connected to the first clamping member and the second clamping member to drive the first clamping member and the second clamping member to move back and forth from top to bottom, and at the same time, the first guide groove and the second guide groove both move along the fixed pin to drive the first clamping member and the second clamping member to move away from each other or relatively close to each other.

4. The fixing tool according to claim 1, characterized in that: The first clamping assembly and the second clamping assembly have the same structure; and the first clamping assembly includes: A slide rail unit, provided on the support mechanism; A slider unit adapted to be slidably connected to the slide rail unit; a clamping unit connected to the slider unit; The second driving unit is connected to the slider unit and drives the slider unit to move along the slide rail unit to drive the clamping unit to move closer to or away from the lower bucket body of the hopper.

5. The fixing tool according to claim 4, characterized in that: The slide rail unit includes a slide rail, a first limit stopper, and a second limit stopper; the slide rail is arranged on the support mechanism; the first limit stopper and the second limit stopper are arranged at intervals along the extension direction of the slide rail, and limit the movement path of the slider unit to between the first limit stopper and the second limit stopper; and / or, The clamping units are arranged in plurality at intervals; the clamping units include a connecting frame and a clamping block; the connecting frame is fixedly arranged on the slider unit; the clamping block is fixedly arranged on the connecting frame; and / or, The second driving unit includes a second driving column; the telescopic movement direction of the second driving column is parallel to the movement direction of the slider unit; the slider unit is connected to the second driving column through an adapter.

6. The fixing tool according to claim 5, characterized in that: The slide rail unit further includes a protective bracket; the protective bracket covers the slide rail; and / or, The slider unit includes a slider body; a sliding groove adapted to be connected to the sliding rail is provided at the bottom of the slider body; and the clamping unit is connected to the slider body.

7. The fixing tool according to any one of claims 1 to 6, characterized in that: The lower surface of the support mechanism is provided with a mounting plate; the mounting plate connects the fixing fixture to other mechanisms.

8. A turning device for turning the lower hopper body during robot automatic welding, characterized in that: include: The fixing tool according to any one of claims 1 to 7; The rotating mechanism includes a first rotating platform and a second rotating platform; The support mechanism of the fixed tool is arranged on the first rotating platform; the rotation center axis of the first rotating platform is perpendicular to the rotation center axis of the second rotating platform; The lifting mechanism can drive the rotating mechanism to move up and down.

9. A workstation for automatically welding the lower hopper body, characterized in that: include: The turning device according to claim 8; The welding robot automatically welds the lower hopper body of the hopper fixed to the turning device.

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