A workpiece positioning and clamping device for robot welding

Abstract

The present invention discloses a workpiece positioning and clamping device for robot welding, including a carrier, the carrier is a U-shaped structure with an opening facing horizontally and two arms corresponding vertically, a first auxiliary carrier plate and a second auxiliary carrier plate are arranged at intervals up and down inside the carrier, the first auxiliary carrier plate and the second auxiliary carrier plate are rotatably connected to the top of the carrier and the bottom of the carrier respectively; a first micro-distance lifting structure and a second micro-distance lifting structure are symmetrically arranged at the bottom of the first auxiliary carrier plate and the top of the second auxiliary carrier plate, and a first multi-directional positioning structure and a second multi-directional positioning structure for clamping the workpiece are symmetrically arranged at the bottom of the first micro-distance lifting structure and the top of the second micro-distance lifting structure. The multi-directional positioning structure and the micro-distance lifting structure of the present invention are both symmetrically arranged up and down, so that both workpieces to be welded can be firmly clamped at the center of the base, so that the two can be quickly aligned, and the vertical position of any workpiece to be welded can be adjusted according to the vertical spacing requirements, and the operation is fast, flexible and convenient.

Description

Technical Field

[0001] The invention relates to the technical field of robot welding, in particular to a workpiece positioning and clamping device for robot welding. Background Art

[0002] In order to facilitate the robot to perform high-precision welding on two workpieces, a special positioning clamping device is often required, that is, the two workpieces to be welded are clamped and aligned up and down respectively, to avoid the workpiece offset during welding and affect the welding effect; however, the existing positioning fixtures are mostly driven by hydraulic or pneumatic pressure. It is difficult to accurately control the derivation distance in each direction during the multi-directional derivation clamping process in the horizontal direction, and the movement response speed and time between the clamp jaws are difficult to synchronize, which can easily cause the workpiece position to offset relative to the center of the welding station, making it difficult to completely align the upper and lower workpieces to be welded, and difficult to adjust at a micro distance, affecting the welding quality. Due to the difference in the vertical size of the workpieces, the distance between the two workpieces needs to be adjusted during welding, and it is difficult for the existing fixtures to achieve micro-distance lifting and lowering of the upper and lower workpieces respectively.

[0003] Therefore, it is necessary to develop a workpiece positioning and clamping fixture for robot welding that is easy to operate, has synchronous and precise control of the derivation distance in all directions, and can achieve micro-distance lifting and lowering. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of the above-mentioned background technology and to provide a workpiece positioning and clamping fixture for robot welding which is easy to operate, has synchronous and precise control of derivation distances in all directions, and can achieve micro-distance lifting.

[0005] The technical solution of the present invention is: a workpiece positioning and clamping device for robot welding, characterized in that it comprises a carrying frame, the carrying frame is a U-shaped structure with an opening facing horizontally and two arms corresponding vertically, a first auxiliary carrying plate and a second auxiliary carrying plate are arranged in the carrying frame at intervals from top to bottom, and the first auxiliary carrying plate and the second auxiliary carrying plate are rotatably connected to the top of the carrying frame and the bottom of the carrying frame respectively;

[0006] A first micro-distance lifting structure and a second micro-distance lifting structure for adjusting the vertical position of a workpiece are symmetrically arranged at the bottom of the first auxiliary carrier plate and the top of the second auxiliary carrier plate, and a first multi-directional positioning structure and a second multi-directional positioning structure for clamping the workpiece are symmetrically arranged at the bottom of the first micro-distance lifting structure and the top of the second micro-distance lifting structure;

[0007] The second multi-directional positioning structure includes a cylindrical, hollow base and a top cover arranged on the top of the base, the top cover has a guide groove radially inward from the edge, the guide grooves are multiple and arranged at equal intervals along the circumferential direction and each guide groove is provided with a clamping wheel assembly, and the base is provided with a guide assembly for driving all the clamping wheel assemblies to move synchronously along their respective guide grooves.

[0008] Preferably, the side wall of the base is provided with a plurality of axially opened avoidance grooves, the avoidance grooves correspond one-to-one with the clamping wheel assembly and the upper end of each avoidance groove is connected with the corresponding guide groove, a mounting positioning ring is coaxially provided in the base, the inner wall of the mounting positioning ring extends to form a plurality of positioning plates, and the positioning plates are one-to-one with the clamping wheel assembly for installing the clamping wheel assembly.

[0009] Furthermore, the clamping wheel assembly includes a mounting plate located below the top cover and a clamping roller located on the upper surface of the top cover and capable of rolling radially.

[0010] The carrying plate passes through the avoidance groove and the inner end is fixedly connected to the top surface of the carrying positioning ring. The top surface of the carrying plate is provided with a first slider that can slide radially along the base. The carrying plate is also provided with a first slider driving member for driving the first slider to slide radially. The first slider passes upward through the guide groove and is provided with a U-shaped positioning frame with an opening radially facing inward at the top. The clamping roller is rotatably connected to the opening of the positioning frame.

[0011] Furthermore, the first slider driving member includes a first pulley and a second pulley arranged at intervals in the radial direction, and a transmission belt that transmits and connects the first pulley and the second pulley, the first pulley is rotationally connected to the top surface of the outer end of the mounting plate, the second pulley is located above the corresponding positioning plate and the second pulley is rotationally connected to the positioning plate through a second pulley shaft arranged at the center;

[0012] The carrying plate is provided with a slideway inside the transmission belt and is slidably connected to the first slider. One side of the slider is connected to the transmission belt to drive the first slider to slide radially when the transmission belt moves.

[0013] Furthermore, the guide assembly includes an active module for driving one of the clamping wheel assemblies to move, and a transmission module for synchronously transmitting the movement of one of the clamping wheel assemblies to other clamping wheel assemblies.

[0014] The active module includes a travel guide plate fixedly connected to the outer wall of the mounting positioning ring, a second slider which can slide radially along the base is provided at the bottom of the travel guide plate, a second slider driving member is provided on one side of the travel guide plate for radial sliding of the second slider, a second pulley shaft of one of the clamping wheel assemblies is provided with a second gear under the corresponding positioning plate, a rack is connected to the lower end of the second slider and meshes with the second gear for driving the second gear to rotate when the second slider moves, and a slide rail is provided under the positioning plate corresponding to one of the clamping wheel assemblies and is slidably connected to the rack.

[0015] Furthermore, the second slider driving member includes a mounting plate and a first motor, the mounting plate is arranged on one side of the travel guide plate, the first motor is installed on the top surface of the mounting plate, and the rotating end of the first motor is connected to the top of the second slider through a connecting rod member to drive the second slider to slide when the first motor rotates.

[0016] Furthermore, the connecting rod comprises an eccentric rod, a linkage push rod and a transmission rod, one end of the eccentric rod is fixedly connected to the rotating end of the first motor, one end of the transmission rod is fixedly connected to the second slider, and the other end of the eccentric rod and the other end of the transmission rod are respectively hinged to the two ends of the linkage push rod.

[0017] Furthermore, the transmission module includes an internal gear ring coaxially arranged on the inner side of the mounting positioning ring and located above the positioning plate. The internal gear ring is movably connected to the mounting positioning ring and can rotate around its own axis. The second pulley shaft is provided with a first gear above the positioning plate that meshes with the internal gear ring.

[0018] Preferably, the second micro-distance lifting structure includes lifting components radially symmetrically arranged below the base, each lifting component including a base, a mounting ear, a second motor, an active rod, a driven rod, a pin, and a connecting block.

[0019] The base is fixedly connected to the top surface of the second auxiliary carrier plate, and the upper end of the base extends to form a pair of mounting ears, and the active rod and the driven rod are respectively arranged on the inner sides of the two mounting ears. The outer wall of the mounting ear adjacent to the active rod is provided with a second motor, and the driving end of the second motor passes through the mounting ear and is fixedly connected to one end of the active rod, and one end of the driven rod is hinged to the adjacent mounting ear. The inner end of each connecting block can be movably connected to the bottom of the base in the radial direction, and the outer end of each connecting block is hinged to the other end of the active rod and the other end of the driven rod through a pin shaft to drive the base to move vertically when the driving end of the motor rotates.

[0020] Preferably, the carrier frame is further provided with a third driving member for driving the first auxiliary carrier plate and the second auxiliary carrier plate to rotate synchronously along the same vertical axis.

[0021] The beneficial effects of the present invention are:

[0022] 1. In the multi-directional positioning structure of the present invention, one of the clamping wheel assemblies is driven to move radially through the active module, and the movement of the clamping wheel assembly is synchronously transmitted to other clamping wheel assemblies through the transmission module. The power source in the active module is only the first motor. The operation process is efficient, fast and easy to control. All the clamping wheel assemblies move synchronously, and the workpiece to be welded is firmly clamped at the center of the base, thereby improving the welding effect.

[0023] 2. In the micro-distance lifting structure of the present invention, the power source is only the second motor. The rotation of the second motor will drive the connecting ear on the outer wall of the base to move vertically, realizing the up and down movement of the base, so that the workpiece to be welded can be adjusted vertically in micro-distance, which is convenient and quick.

[0024] 3. The multi-directional positioning structure and micro-distance lifting structure of the present invention are both symmetrically arranged up and down inside the mounting frame, so that the two workpieces to be welded can be firmly clamped in the center of the base, so that the two can be quickly aligned. The vertical position of any workpiece to be welded can be adjusted according to the vertical spacing requirements, and the operation is flexible.

[0025] 4. The carrier of the present invention is also provided with a third driving member to drive the two auxiliary carriers to rotate synchronously. Therefore, when the robot is welding, the two auxiliary carriers can rotate synchronously to achieve circumferential welding, and the welding of the two workpieces to be welded can be completed quickly and with high quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A three-dimensional diagram of the device of the present invention

[0027] Figure 2 Schematic diagram of the connection between the second micro-distance lifting structure and the second multi-directional positioning structure

[0028] Figure 3 Schematic diagram of the second multi-directional positioning structure split

[0029] Figure 4 Schematic diagram of the connection between the positioning ring (the annular part is omitted) and the internal gear ring

[0030] Figure 5 Schematic diagram of the clamping wheel assembly structure

[0031] Figure 6 Schematic diagram of the connection between the clamping wheel assembly and the base

[0032] Figure 7 Schematic diagram of the active module structure

[0033] Figure 8 Schematic diagram of the connection between the active module and the base

[0034] Fig. 9 Schematic diagram of the second micro-distance lifting structure

[0035] Among them: 1-carrying frame 2-second multi-directional positioning structure 3-first auxiliary carrier 4-second auxiliary carrier 5-first micro-distance lifting structure 6-second micro-distance lifting structure (61-base 62-mounting ear 63-second motor 64-active rod 65-driven rod 66-pin 67-connecting block) 7-first multi-directional positioning structure 8-base (81-avoidance groove) 9-top cover (91-guide groove 92-support column) 10-clamping wheel assembly (101-carrying plate 102-clamping roller 103-positioning frame 104-first slider 105-first pulley 106-second pulley 107-transmission belt 108-slideway 109-second pulley shaft) 11-active module (111-travel guide plate 112-second slider 113-second gear 114-rack 115-mounting plate 116-first motor 117-eccentric rod 118-linked push rod 119-transmission rod) 12-transmission module (121-inner gear ring 122-first gear) 13-mounted positioning ring (131-positioning plate 132-slide rail 133-positioning hole) 100-workpiece to be welded. DETAILED DESCRIPTION

[0036] The embodiments of the present invention are described in detail below, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0037] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0038] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0039] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0040] The following specific examples further illustrate the present invention in detail.

[0041] like Figure 1-9 As shown, the present invention provides a workpiece positioning and clamping device for robot welding, including a carrier 1, the carrier 1 is a U-shaped structure with an opening facing horizontally and two arms corresponding vertically, and a first auxiliary carrier plate 3 and a second auxiliary carrier plate 4 are arranged in the upper and lower intervals inside the carrier 1, and the first auxiliary carrier plate 3 and the second auxiliary carrier plate 4 are respectively rotatably connected to the top of the carrier 1 and the bottom of the carrier 1. In this embodiment, the first auxiliary carrier plate 3 and the second auxiliary carrier plate 4 are both horizontal plates.

[0042] A first micro-distance lifting structure 5 and a second micro-distance lifting structure 6 for adjusting the vertical position of the workpiece 100 to be welded are symmetrically arranged at the bottom of the first auxiliary carrier plate 3 and the top of the second auxiliary carrier plate 4. A first multi-directional positioning structure 7 and a second multi-directional positioning structure 2 for clamping the workpiece 100 to be welded are symmetrically arranged at the bottom of the first micro-distance lifting structure 5 and the top of the second micro-distance lifting structure 6.

[0043] The second multi-directional positioning structure 2 includes a cylindrical, hollow base 8 and a top cover 9 arranged on the top of the base 8. The top cover 9 has a guide groove 91 radially inward from the edge. The guide grooves 91 are arranged in a plurality of circumferentially equidistantly and each guide groove 91 is provided with a clamping wheel assembly 10. The base 8 is provided with a guide assembly for driving all the clamping wheel assemblies 10 to move synchronously along their respective guide grooves 91.

[0044] A plurality of axially opened avoidance grooves 81 are provided on the side wall of the base 8, and the avoidance grooves 81 correspond to the clamping wheel assembly 10 one by one, and the upper end of each avoidance groove 81 is connected to the corresponding guide groove 91. A mounting positioning ring 13 is coaxially provided in the base 8, and the inner wall of the mounting positioning ring 13 extends to form a plurality of positioning plates 131, and the positioning plates 131 correspond to the clamping wheel assembly 10 one by one. Each positioning plate 131 is provided with a positioning hole 131 for installing the clamping wheel assembly 10. In this embodiment, the base 8 has a vertical central axis, the top cover 9 is coaxially arranged with the base 8, and a support column 92 is provided at the center of the top cover 9 to connect with the base 8. The clamping wheel assembly 10 is provided with a total of 4 groups, and the number of guide grooves 91, avoidance grooves 81, and positioning plates 131 is correspondingly arranged.

[0045] In this embodiment, the clamping wheel assembly 10 includes a mounting plate 101 located below the top cover 9 and a clamping roller 102 located on the upper surface of the top cover 9 and capable of rolling radially. The mounting plate 101 passes through the avoidance slot 81 radially and the inner end is fixedly connected to the top surface of the mounting positioning ring 13. The top surface of the mounting plate 101 is provided with a first slider 104 that can slide radially along the base 8. The mounting plate 101 is also provided with a first slider driving member for driving the first slider 104 to slide radially. The first slider 104 passes through the guide slot 91 upward and is provided with a U-shaped positioning frame 103 with an opening radially facing inward at the top. The clamping roller 102 is rotatably connected to the opening of the positioning frame 102. The positioning frame 103 can be slightly higher than the upper surface of the top cover 9 to avoid obstruction to the rolling of the clamping roller 102. The positioning frame 103 is fixedly connected to the top of the first slider 104 at the bottom of the outer end.

[0046] The first slider driving member includes a first pulley 105 and a second pulley 106 which are arranged at intervals along the radial direction, and a closed transmission belt 107 which transmits and connects the first pulley 105 and the second pulley 106. The first pulley 105 is rotatably connected to the top surface of the outer end of the mounting plate 101. The second pulley 106 is located above the corresponding positioning plate 131 and is rotatably connected to the positioning plate 131 through a second pulley shaft 109 arranged at the center. The mounting plate 103 is provided with a slideway 108 inside the transmission belt 107 which is slidably connected to the first slider 104. One side of the slider 104 ( Figure 6 The upper middle side) is connected to the transmission belt 107 to drive the first slider 104 to slide radially when the transmission belt 107 moves.

[0047] In this embodiment, the guide assembly includes an active module 11 for driving one of the clamping wheel assemblies 10 to move, and a transmission module 12 for synchronously transmitting the movement of one of the clamping wheel assemblies 10 to other clamping wheel assemblies 10. The active module 11 includes a travel guide plate 111 fixedly connected to the outer wall of the mounting positioning ring 13. The bottom of the travel guide plate 111 is provided with a second slider 112 that can slide radially along the base 8. One side of the travel guide plate 111 is provided with a second slider driving member for radial sliding of the second slider 112. The second pulley shaft 109 of one of the clamping wheel assemblies 10 is provided with a second gear 113 below the corresponding positioning plate 131. The lower end of the second slider 112 is connected to a rack 114 that meshes with the second gear 113. A slide rail 132 is provided below the positioning plate 131 corresponding to one of the clamping wheel assemblies 10 to be slidably connected to the rack 114. In this embodiment, the slide rail 132 is a U-shaped structure with an opening horizontally facing the second gear 113. The two arms of the U-shaped structure correspond to each other up and down, and the rack 114 is slidably connected to the U-shaped opening of the slide rail 132. The upper end of the slide rail 132 is fixedly connected to the bottom of the positioning plate 131 .

[0048] The second slider driving member includes a mounting plate 115 and a first motor 116. The mounting plate 115 is disposed on one side of the travel guide plate 111. The first motor 116 is mounted on the top surface of the mounting plate 115. The rotating end of the first motor 116 is connected to the top of the second slider 112 through a connecting rod member for driving the second slider 112 to slide when the first motor 116 rotates. The connecting rod member includes an eccentric rod 117, a linkage push rod 118, and a transmission rod 119. One end of the eccentric rod 117 is fixedly connected to the rotating end of the first motor 116, one end of the transmission rod 119 is fixedly connected to the second slider 112, and the other ends of the eccentric rod 117 and the other ends of the transmission rod 119 are respectively hinged to the two ends of the linkage push rod 118.

[0049] The transmission module 12 includes an inner gear ring 121 coaxially arranged on the inner side of the mounting positioning ring 13 and located above the positioning plate 131. The inner gear ring 121 is movably connected to the mounting positioning ring 13 and can rotate around its own axis. The second pulley shaft 109 is provided with a first gear 122 above the positioning plate 131 to mesh with the inner gear ring 121.

[0050] The second micro-distance lifting structure 6 includes lifting components that are radially symmetrically arranged below the base 8, each lifting component includes a base 61, a mounting ear 62, a second motor 63, an active rod 64, a driven rod 65, a pin 66, and a connecting block 67. The base 61 is fixedly connected to the top surface of the second auxiliary carrier 4, and the upper end of the base 61 extends to form a pair of mounting ears 62. The active rod 64 and the driven rod 65 are respectively arranged on the inner sides of the two mounting ears 62. The outer wall of the mounting ear 62 adjacent to the active rod 64 is provided with a second motor 63, and the driving end of the second motor 63 passes through the mounting The ear 62 is fixedly connected to one end of the active rod 64, and one end of the driven rod 65 is hinged on the adjacent mounting ear 62. The inner end of each connecting block 67 can be movably connected to the corresponding bottom plate of the base 8 along the radial direction (the connecting block 67 and the bottom plate of the base 8 can only move radially relative to each other, which can be achieved by a commonly used pull-out sliding connection structure). The outer end of the connecting block 67 is located between the active rod 64 and the driven rod 65. The outer end of the connecting block 67 is hinged to the active rod 64 and the driven rod 65 through a pin shaft 66 to drive the base 8 to move vertically when the driving end of the motor 63 rotates.

[0051] The carrier frame 1 is also provided with a third driving member for driving the first auxiliary carrier plate 3 and the second auxiliary carrier plate 4 to rotate synchronously along the same vertical axis. The third driving member can use two upper and lower motors to synchronously drive the first auxiliary carrier plate 3 and the second auxiliary carrier plate 4 to rotate respectively, or can use a common structure in the field according to the needs of technicians.

[0052] In this embodiment, the first micro-distance lifting structure 5, the second micro-distance lifting structure 6, the first multi-directional positioning structure 7, and the second multi-directional positioning structure 2 are all symmetrically arranged up and down, so the first micro-distance lifting structure 5 and the first multi-directional positioning structure 7 are not described in detail.

[0053] The working principle of the present invention is:

[0054] The workpiece 100 to be welded is placed on the surface of the top cover 9, and the first motor 116 is controlled to drive the eccentric rod 117 to complete the rotation. The eccentric setting of the eccentric rod 117 is used to form a derivation from one end to the other end, and the linkage push rod 118 is used to transmit the derivation to the transmission rod 119, and the transmission rod 119 is used to derive the sliding displacement of the second slider 112 on the inner side of the travel guide plate 111, and the second slider 112 is used to drive the rack 114 to slide on the slide rail 132, and the rack 114 is meshed with the second gear 113, so that the rack 114 drives the second gear 113 to drive the second pulley shaft 109 to complete The first gear 122 is driven to rotate by the second pulley shaft 109, and the first gear 122 is meshed with the inner gear ring 121, so that the inner gear ring 121 rotates inside the mounting positioning ring 13 under the drive of the first gear 122. The inner gear ring 121 drives the remaining first gears 122 to rotate synchronously by meshing with the remaining first gears 122 and the inner gear ring 121, thereby driving the remaining second pulley shafts 109 to rotate synchronously, so that the second pulley 106 drives the conveyor belt 107 and the first pulley 105 to rotate synchronously through the belt transmission. The first slider 104 is connected to one side of the transmission belt 107, so that the transmission belt 107 pulls the first slider 104 during the rotation process, and under the guidance of the slideway 108, the positioning frame 103 and the clamping wheel 102 are pushed to complete the multi-directional synchronous clamping and fixing of the workpiece.

[0055] When the vertical position of the workpiece 100 to be welded needs to be adjusted, the second motor 63 is controlled to drive the active rod 64 to complete clockwise or counterclockwise rotation (the second motors 63 of the two lifting assemblies arranged radially symmetrically rotate synchronously in the opposite direction), thereby driving the driven rod 65 and the connecting block 67 to form a height adjustment for the second multi-directional positioning structure 2, thereby adjusting the distance between the two workpieces 100 to be welded, so as to facilitate better welding. When the two workpieces 100 to be welded are clamped up and down and the distance is appropriate, the robot starts welding and drives the two auxiliary carriers to rotate synchronously according to the welding speed through the third driving member.

Claims

1. A workpiece positioning and clamping device for robot welding, characterized in that: The mounting frame (1) comprises a U-shaped structure with an opening facing horizontally and two arms corresponding to each other vertically, a first auxiliary carrier plate (3) and a second auxiliary carrier plate (4) are arranged in an upper and lower interval inside the mounting frame (1), and the first auxiliary carrier plate (3) and the second auxiliary carrier plate (4) are rotatably connected to the top of the mounting frame (1) and the bottom of the mounting frame (1) respectively; A first micro-distance lifting structure (5) and a second micro-distance lifting structure (6) for adjusting the vertical position of an object are symmetrically arranged at the bottom of the first auxiliary carrier plate (3) and the top of the second auxiliary carrier plate (4); a first multi-directional positioning structure (7) and a second multi-directional positioning structure (2) for clamping an object are symmetrically arranged at the bottom of the first micro-distance lifting structure (5) and the top of the second micro-distance lifting structure (6); The second multi-directional positioning structure (2) comprises a cylindrical, hollow base (8) and a top cover (9) arranged on the top of the base (8); the top cover (9) is provided with a guide groove (91) radially inwardly from the edge; the guide grooves (91) are a plurality of equally spaced guide grooves (91) arranged in the circumferential direction, and each guide groove (91) is provided with a clamping wheel assembly (10); the base (8) is provided with a guide assembly for driving all the clamping wheel assemblies (10) to move synchronously along the guide grooves (91) where they are located; The side wall of the base (8) is provided with a plurality of axially opened avoidance grooves (81), the avoidance grooves (81) correspond one-to-one with the clamping wheel assembly (10), and the upper end of each avoidance groove (81) is connected to the corresponding guide groove (91), and a mounting positioning ring (13) is coaxially provided in the base (8), and the inner wall of the mounting positioning ring (13) extends to form a plurality of positioning plates (131), and the positioning plates (131) and the clamping wheel assembly (10) are one-to-one corresponding to each other for installing the clamping wheel assembly (10); The second micro-distance lifting structure (6) comprises lifting components radially symmetrically arranged below the base (8), each lifting component comprising a base (61), a mounting ear (62), a second motor (63), an active rod (64), a driven rod (65), a pin (66), and a connecting block (67). The base (61) is fixedly connected to the top surface of the second auxiliary carrier plate (4); the upper end of the base (61) extends to form a pair of mounting ears (62); the active rod (64) and the driven rod (65) are respectively arranged on the inner sides of the two mounting ears (62); the mounting ear (62) adjacent to the active rod (64) is provided with a second motor (63) at the outer wall; the driving end of the second motor (63) passes through the mounting ear (62) and is fixedly connected to one end of the active rod (64); one end of the driven rod (65) is hinged to the adjacent mounting ear (62); the inner end of the connecting block (67) is connected to the bottom of the base (8) in a radially movable manner; the outer end of the connecting block (67) is hinged to the other end of the active rod (64) and the other end of the driven rod (65) through a pin shaft (66) so as to drive the base (8) to move vertically when the driving end of the motor (63) rotates.

2. The workpiece positioning and clamping device for robot welding according to claim 1, characterized in that: The clamping wheel assembly (10) comprises a mounting plate (101) located below the top cover (9) and a clamping roller (102) located on the upper surface of the top cover (9) and capable of rolling in a radial direction. The carrying plate (101) passes through the avoidance groove (81) and the inner end is fixedly connected to the top surface of the carrying positioning ring (13). The top surface of the carrying plate (101) is provided with a first slider (104) that can slide radially along the base (8). The carrying plate (101) is also provided with a first slider driving member for driving the first slider (104) to slide radially. The first slider (104) passes through the guide groove (91) upward and is provided with a U-shaped positioning frame (103) with an opening radially facing inward at the top. The clamping roller (102) is rotatably connected to the opening of the positioning frame (103).

3. The workpiece positioning and clamping device for robot welding according to claim 2, characterized in that: The first slider driving member comprises a first pulley (105), a second pulley (106) and a transmission belt (107) which are arranged radially at intervals and transmittance to connect the first pulley (105) and the second pulley (106), the first pulley (105) being rotationally connected to the top surface of the outer end of the mounting plate (101), the second pulley (106) being located above the corresponding positioning plate (131) and the second pulley (106) being rotationally connected to the positioning plate (131) via a second pulley shaft (109) arranged at the center; The carrying plate (101) is provided with a slideway (108) inside the transmission belt (107) and is slidably connected to the first slider (104); one side of the slider (104) is connected to the transmission belt (107) for driving the first slider (104) to slide radially when the transmission belt (107) moves.

4. The workpiece positioning and clamping device for robot welding according to claim 3, characterized in that: The guide assembly comprises an active module (11) for driving one of the clamping wheel assemblies (10) to move, and a transmission module (12) for synchronously transmitting the movement of one of the clamping wheel assemblies (10) to the other clamping wheel assemblies (10). The active module (11) comprises a travel guide plate (111) fixedly connected to the outer wall of the carrying positioning ring (13); a second slider (112) which can slide radially along the base (8) is provided at the bottom of the travel guide plate (111); a second slider driving member is provided on one side of the travel guide plate (111) for radial sliding of the second slider (112); a second pulley shaft (109) of one clamping wheel assembly (10) is provided with a second gear (113) below the corresponding positioning plate (131); a rack (114) is connected to the lower end of the second slider (112) and meshes with the second gear (113) for driving the second gear (113) to rotate when the second slider (112) moves; a slide rail (132) is provided below the positioning plate (131) corresponding to one clamping wheel assembly (10) and is slidably connected to the rack (114).

5. The workpiece positioning and clamping device for robot welding according to claim 4, characterized in that: The second slider driving member comprises a mounting plate (115) and a first motor (116); the mounting plate (115) is arranged on one side of the travel guide plate (111); the first motor (116) is mounted on the top surface of the mounting plate (115); a rotating end of the first motor (116) is connected to the top of the second slider (112) via a connecting rod member so as to drive the second slider (112) to slide when the first motor (116) rotates.

6. The workpiece positioning and clamping device for robot welding according to claim 5, characterized in that: The connecting rod member comprises an eccentric rod (117), a linkage push rod (118), and a transmission rod (119); one end of the eccentric rod (117) is fixedly connected to the rotating end of the first motor (116); one end of the transmission rod (119) is fixedly connected to the second slider (112); the other end of the eccentric rod (117) and the other end of the transmission rod (119) are respectively hinged to two ends of the linkage push rod (118).

7. The workpiece positioning and clamping device for robot welding according to claim 4, characterized in that: The transmission module (12) comprises an inner gear ring (121) coaxially arranged on the inner side of the mounting positioning ring (13) and located above the positioning plate (131); the inner gear ring (121) is movably connected to the mounting positioning ring (13) and can rotate around its own axis; each second pulley shaft (109) is provided with a first gear (122) above the positioning plate (131) and meshes with the inner gear ring (121).

8. The workpiece positioning and clamping device for robot welding according to claim 1, characterized in that: The carrier frame (1) is also provided with a third driving member, which is used to drive the first auxiliary carrier plate (3) and the second auxiliary carrier plate (4) to rotate synchronously along the same vertical axis.

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