Arc plate positioning system

Abstract

The application relates to the field of welding, and discloses a positioning system for an arc extinguishing plate, which comprises an industrial robot, a groove detection device in communication with the industrial robot and capable of being controlled by the industrial robot to detect groove information of a weld joint of two workpieces to be welded, and a clamping assembly for the arc extinguishing plate, which comprises the arc extinguishing plate and a clamping tool for clamping the arc extinguishing plate; wherein the industrial robot can control the displacement of the clamping tool according to the groove information received from the groove detection device, so that the arc extinguishing plate can be positioned in abutment with the two workpieces to be welded and positioned in alignment with the weld joint. Compared with manual positioning of the arc extinguishing plate, the efficiency and precision are greatly improved, the smooth transition of the electric arc between the weld joint and the arc extinguishing plate during welding can be ensured, the weld joint forming quality is improved, the leakage of the deposited metal liquid is prevented, the reliability of the arc extinguishing plate during welding is effectively improved, and the burden on workers is greatly reduced.

Description

Technical Field

[0001] This application belongs to the field of welding technology, specifically relating to a positioning system for an arc ignition and extinguishing plate. Background Technology

[0002] Setting up arc-starting and arc-extinguishing plates at both ends of the weld during butt welding is a common method to improve welding quality. This method allows the starting and ending points of the welding to be left on the two arc-starting and arc-extinguishing plates, thereby avoiding welding defects such as incomplete penetration, which can lead to cracks and stress concentration in the workpiece under stress later on. This effectively ensures the welding quality at the starting and ending points of the weld.

[0003] However, the following problems exist when setting up arc extinguishing plates:

[0004] First, relying on manual positioning of the arc-extinguishing plate cannot guarantee the alignment accuracy between the arc-extinguishing plate and the weld, as well as the docking accuracy between the arc-extinguishing plate and the workpiece to be welded. This is not conducive to the smooth transition of the arc between the weld and the arc-extinguishing plate, and may also cause unstable weld formation and leakage of molten metal. Second, the arc-extinguishing plate and its fixtures need to be assembled manually, for example, by using aluminum foil to glue the ceramic block to the arc-extinguishing plate. This is not only inefficient, but also cannot guarantee the stability of the arc-extinguishing plate during welding. Third, for arc-extinguishing plates with a certain weight, there is a risk of them falling and injuring people during disassembly and assembly. For workpieces that need to be equipped with arc-extinguishing plates at multiple weld locations and where the different weld locations are far apart, the workers' workload is heavy and the working time is long. Summary of the Invention

[0005] The purpose of this application is to provide a positioning system for an arc-extinguishing plate, which can improve the automation level of setting the arc-extinguishing plate and the stability of the arc-extinguishing plate during the welding process, so as to improve welding quality, increase work efficiency and save manpower.

[0006] To achieve the above objectives, this application provides a positioning system for an arc-extinguishing plate, comprising:

[0007] Industrial robots;

[0008] A bevel inspection device, communicating with the industrial robot and operable by the industrial robot, to inspect the bevel information of the weld seam between two workpieces to be welded; and

[0009] An arc-extinguishing plate clamping assembly includes an arc-extinguishing plate and a clamping fixture for clamping the arc-extinguishing plate;

[0010] The industrial robot can control the displacement of the clamping fixture according to the bevel information received from the bevel detection device, so as to align and position the arc extinguishing plate with the two workpieces to be welded and to center and position the arc extinguishing plate with the weld.

[0011] In some embodiments, the clamping fixture includes:

[0012] The support and limiting structure includes a support base, a pad, and a stop block. The support base supports the pad, and the arc extinguishing plate is stacked and limited between the pad and the stop block.

[0013] A clamping mechanism is provided on the support base and is used to press the arc-extinguishing plate and the stop block forward to press the two workpieces to be welded.

[0014] Two centering and pressing mechanisms are respectively arranged on the left and right sides of the support base, and are used to press the left and right sides of the extinguishing plate and the stop block together.

[0015] In some embodiments, the support base includes:

[0016] Support the base plate to support the padding;

[0017] A support backplate is vertically connected to the rear end of the support base plate and is detachably connected to the industrial robot.

[0018] In some embodiments, the docking clamping mechanism includes:

[0019] The first elastic vertical plate is disposed on the front side of the supporting back plate and abuts against the rear end of the extinguishing plate and the stop block by limiting the plate surface;

[0020] The front and rear connecting pieces are connected to the support back plate in the front-rear direction and the connection depth can be adjusted. The front end of the front and rear connecting pieces is fixed to the first elastic vertical plate.

[0021] In some embodiments, the centering and clamping mechanism includes:

[0022] Central base;

[0023] A vertical baffle, the two side plates of which are respectively connected to the centering base and the supporting base plate, and the top wall of the vertical baffle is recessed relative to the top wall of the centering base to form a supporting step surface;

[0024] The second elastic vertical plate is supported on the support step surface, and the second elastic vertical plate abuts against the arc extinguishing plate and the stop block by limiting the plate surface in the left and right directions;

[0025] The left and right connecting pieces are connected to the centering base in the left and right direction and the connection depth can be adjusted. The ends of the left and right connecting pieces are fixed to the second elastic vertical plate.

[0026] In some embodiments, the supporting base plate has a base plate groove extending in the front-back direction on its side wall along the left-right direction, and the vertical baffle is provided with a baffle rail that slides with the base plate groove. An elastic element is connected between the rear end of the base plate groove and the rear end of the baffle rail, and the elastic element is capable of elastic deformation in the front-back direction.

[0027] In some embodiments, the centering and clamping mechanism forms a front-to-back elastic connection with the support base.

[0028] In some embodiments, the liner includes a liner extension extending from the front end of the support base. When the arc extinguishing plate is docked and positioned with the two workpieces to be welded, the liner extension supports the two workpieces to be welded and seals the docking gap between the arc extinguishing plate and the two workpieces to be welded.

[0029] In some embodiments, the clamping fixture further includes:

[0030] Two workpiece clamping mechanisms are respectively disposed at the front end of the two centering and pressing mechanisms, and are used to clamp the two workpieces to be welded respectively.

[0031] In some embodiments, the workpiece clamping mechanism includes:

[0032] The first clamping plate includes a first clamping plate vertical section connected to the front end of the centering and pressing mechanism and a first clamping plate horizontal section connected to the end of the first clamping plate vertical section and extending forward. The first clamping plate vertical section forms a first clamping plate sliding groove that extends vertically.

[0033] The second clamping plate includes two horizontal sections of the second clamping plate extending in the front-back direction and a second clamping plate bridging section connecting the two horizontal sections of the second clamping plate. The second clamping plate bridging section is slidably engaged with the first clamping plate groove. The two horizontal sections of the second clamping plate are respectively aligned with the centering and pressing mechanism and the workpiece to be welded in the vertical direction.

[0034] Two connecting pieces are provided, one of which connects the horizontal section of the second clamping plate aligned in the vertical direction and the centering and pressing mechanism, and the other connecting piece connects the horizontal section of the second clamping plate aligned in the vertical direction and the workpiece to be welded.

[0035] By employing the arc-extinguishing plate positioning system of this application, before welding, an industrial robot can control a bevel detection device to detect the bevel information of the weld seam of two workpieces to be welded, thereby obtaining bevel position information and morphological feature information, and automatically generating the movement path of the arc-extinguishing plate clamping assembly. According to the movement path, the industrial robot can control the clamping fixture holding the arc-extinguishing plate to move, automatically performing the docking positioning of the arc-extinguishing plate with the two workpieces to be welded and the centering positioning of the arc-extinguishing plate with the weld seam. Compared with manual positioning, efficiency and accuracy are greatly improved, thereby ensuring a smooth transition of the arc between the weld seam and the arc-extinguishing plate during welding, improving the weld seam forming quality, and preventing leakage of molten metal. Moreover, the clamping fixture can pre-stabilize the arc-extinguishing plate, effectively improving the reliability of the arc-extinguishing plate during welding, and greatly reducing the workload of workers.

[0036] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0037] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without any inventive effort. In the drawings:

[0038] Figure 1 This is a schematic diagram of an arc extinguishing plate positioning system according to a specific embodiment of this application;

[0039] Figure 2 for Figure 1 Enlarged view of the bevel detection device and the arc extinguishing plate clamping assembly installed at the end of the robotic arm of an industrial robot;

[0040] Figures 3 to 5 for Figure 1 Schematic diagrams of the arc extinguishing plate clamping assembly in the middle, when it is docked and positioned with two workpieces to be welded, and when it is centered, from three different perspectives.

[0041] Figure 6 for Figures 3 to 5 A schematic diagram of the support base and the elastic element disposed in the support base;

[0042] Figure 7 for Figures 3 to 5 A schematic diagram of the centering base, vertical baffle, and baffle slide rail;

[0043] Figure 8 for Figures 3 to 5 A schematic diagram of the workpiece clamping mechanism;

[0044] Figure 9 for Figure 8 A schematic diagram of the second clamping plate.

[0045] Explanation of reference numerals in the attached figures

[0046] 100 industrial robots and 200 bevel inspection devices

[0047] 300 Arc Extinguishing Plate Clamping Assembly 400 Robot Track

[0048] 500 workpiece to be welded, 600 weld seam

[0049] 31 Arc extinguishing plate 32 Support base

[0050] 33 Pad 34 Stop

[0051] 35 First elastic vertical plate 36 Front and rear connecting pieces

[0052] 37 pairs of central bases 38 vertical baffles

[0053] 39 Second elastic vertical plate 310 Left and right connecting pieces

[0054] 311 Elastic element; 312 First clamping plate

[0055] 313 Second clamping plate; 314 Top and bottom connecting pieces

[0056] 32a Support base plate 32b Support back plate

[0057] 32c base plate groove, 33a pad extension section

[0058] 38a Support step surface 38b Baffle slide rail

[0059] 312a First clamping plate vertical section 312b First clamping plate horizontal section

[0060] 312c First clamping plate slide groove; 313a Second clamping plate horizontal section

[0061] 313b Second Clamping Bridge Section Detailed Implementation

[0062] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0063] It should be noted that, in this application, unless otherwise stated, directional terms such as "upper," "lower," "left," "right," "front," and "rear" are used in accordance with the assembly of the arc-extinguishing plate clamping system. For details, please refer to [link / reference needed]. Figure 1 and Figure 2 For example, the side of the arc extinguishing plate clamping assembly facing the workpiece to be welded is considered the front, and the side away from the workpiece to be welded is considered the rear.

[0064] The present application will now be described in detail with reference to the accompanying drawings and embodiments.

[0065] Reference Figures 1 to 3 This application provides a positioning system for an arc extinguishing plate, which includes an industrial robot 100, a bevel detection device 200, and an arc extinguishing plate clamping assembly 300.

[0066] Specifically, the industrial robot 100 can control the bevel inspection device 200 and the arc-extinguishing plate clamping assembly 300. The arc-extinguishing plate clamping assembly 300 includes an arc-extinguishing plate 31 and a clamping fixture for clamping the arc-extinguishing plate 31. The clamping fixture can pre-stabilize the arc-extinguishing plate 31, so that the arc-extinguishing plate clamping assembly 300 can be controlled by the industrial robot 100 as a whole product structure, eliminating the assembly process before welding.

[0067] The bevel inspection device 200 communicates with the industrial robot 100. Under the control of the industrial robot 100, the bevel inspection device 200 can inspect the bevel information of the weld seam 600 of two workpieces 500 to be welded and send the bevel information to the industrial robot 100. The bevel information typically includes bevel position information and morphological feature information. Based on the bevel position information and morphological feature information, the position of the central axis of the weld seam 600 can be determined. In addition, the industrial robot 100 can automatically generate the movement path of the arc-extinguishing plate clamping assembly 300 based on the bevel information received from the bevel inspection device 200. According to the movement path, the industrial robot 100 can control the movement of the clamping fixture holding the arc-extinguishing plate 31, automatically performing the docking and positioning of the arc-extinguishing plate 31 with the two workpieces 500 to be welded and the centering and positioning of the arc-extinguishing plate 31 with the weld seam 600.

[0068] Compared with existing manual positioning methods for arc-extinguishing plates, the arc-extinguishing plate positioning system of this application significantly improves efficiency and accuracy. The increased automation greatly reduces the labor intensity of workers and shortens working time. The extremely high alignment and butt joint accuracy ensures a smooth transition of the arc between the weld seam 600 and the arc-extinguishing plate 31 during welding, effectively reducing the risk of molten metal leakage due to a butt joint gap between the arc-extinguishing plate 31 and the workpiece 500, and greatly improving weld quality. Furthermore, because the clamping fixture can pre-stabilize the arc-extinguishing plate 31, it avoids shaking or falling off, effectively improving the reliability of the arc-extinguishing plate 31 during welding.

[0069] Taking excavator welded parts as an example, common components such as the upper and lower cover plates of the boom and stick are made of multiple plates spliced ​​together, with butt welds between the plates. Therefore, it is necessary to weld these butt welds, and different butt welds need to be welded at multiple locations that are relatively far apart. Before welding, arc-extinguishing plates need to be placed at both ends of the weld. Although the excavator welded parts and the arc-extinguishing plates used to assist in welding are quite heavy, the current method of manually positioning the arc-extinguishing plates still suffers from problems such as low efficiency, accuracy, safety, and unreliable welding quality. As mentioned above, the arc-extinguishing plate positioning system of this application is clearly suitable for the arc-extinguishing plate positioning conditions of excavator welded parts. For large and heavy structural components like excavator welded parts, adopting this application provides advantages in efficiency, accuracy, safety, and welding quality far superior to existing manual positioning methods.

[0070] In one embodiment, reference is made to... Figures 3 to 9 The clamping fixture may include a support and limiting structure, a docking and clamping mechanism, and two centering and clamping mechanisms. In addition to being able to stably clamp the extinguishing plate 31, it can also fine-tune and correct the position of the extinguishing plate 31 based on the automatic positioning of the extinguishing plate 31 controlled by the industrial robot 100, so as to improve the adaptability of the extinguishing plate positioning system.

[0071] Specifically, the support and limiting structure includes a support base 32, a pad 33, and a stop block 34. The pad 33 is supported by the support base 32, and the arc extinguishing plate 31 is stacked and limited between the pad 33 and the stop block 34.

[0072] The mating clamping mechanism is set on the support base 32. When the worker visually observes that the industrial robot 100 has moved the arc extinguishing plate 31 to the end of the weld 600, but the arc extinguishing plate 31 is not fully in contact with the two workpieces 500 to be welded, the position of the arc extinguishing plate 31 and the stop block 34 can be finely adjusted in the front-back direction by the mating clamping mechanism, so that the arc extinguishing plate 31 and the stop block 34 press the two workpieces 500 to be welded forward, thereby further reducing the risk of leakage of molten metal due to the formation of a mating gap.

[0073] In addition, two centering and clamping mechanisms are respectively set on the left and right sides of the support base 32. When the worker visually observes that the industrial robot 100 has moved the arc extinguishing plate 31 to the end of the weld 600, but the arc extinguishing plate 31 and the weld 600 are not completely aligned, the positions of the arc extinguishing plate 31 and the stop block 34 can be finely adjusted in the left and right directions by the two centering and clamping mechanisms. When the arc extinguishing plate 31 and the weld 600 are aligned, the left and right sides of the arc extinguishing plate 31 and the stop block 34 are clamped by the two centering and clamping mechanisms.

[0074] It can be seen that the clamping fixture in this embodiment has at least the functions of clamping the arc extinguishing plate 31 and fine-tuning the position of the arc extinguishing plate 31 in the front-back and left-right directions. It can provide a corrective positioning means when the automatic positioning effect is not ideal. With the synergy of automatic positioning and adaptive fine-tuning, the adaptability, reliability and practicality of the system are effectively improved.

[0075] Furthermore, referring to Figure 2 and Figure 6 The support base 32 may include a support base plate 32a and a support back plate 32b. The support base plate 32a supports the pad 33, and also supports the arc extinguishing plate 31 and the stop block 34. The support back plate 32b is vertically connected to the rear end of the support base plate 32a. Since the rear wall of the support back plate 32b is flat and has a large area, the arc extinguishing plate clamping assembly 300 can be connected to the end of the robotic arm of the industrial robot 100 through the support back plate 32b. The industrial robot 100 can thus control the overall displacement of the arc extinguishing plate clamping assembly 300.

[0076] The support backplate 32b and the end effector of the industrial robot 100 can also be detachably connected. For example, the end effector can be equipped with a magnetic attachment device to achieve quick assembly and disassembly with the support backplate 32b. Those skilled in the art will understand that this application is not limited to the aforementioned magnetic connection method; other connection methods, such as setting a gripper device at the end effector of the robot, can also be used. Any method that enables a detachable connection between the end effector of the robot and the support backplate 32b should fall within the scope of protection of this application.

[0077] When the support backplate 32b and the end effector of the robotic arm are detachably connected, one possible application mode is as follows: the industrial robot 100 first operates the bevel detection device 200 to detect the bevel information of the weld 600. After the detection is completed, the industrial robot 100 connects to the support backplate 32b, and then controls the overall displacement of the arc-extinguishing plate clamping assembly 300. In this application mode, the industrial robot 100 can release the arc-extinguishing plate clamping assembly 300 when idle to reduce the load. The arc-extinguishing plate clamping assembly 300 is placed stably rather than suspended in the air when idle, which also improves safety.

[0078] Reference Figures 3 to 6 The mating and clamping mechanism may include a first elastic vertical plate 35 and a front and rear connecting member 36. Specifically, the first elastic vertical plate 35 is disposed on the front side of the support back plate 32b, and the plate surface of the first elastic vertical plate 35 is limited to abut against the rear end of the arc extinguishing plate 31 and the stop block 34. The front and rear connecting member 36 passes through the support back plate 32b in the front-rear direction, and the front end of the front and rear connecting member 36 is fixed to the first elastic vertical plate 35.

[0079] By adjusting the threading depth of the front and rear connecting pieces 36 manually or automatically, the first elastic vertical plate 35 can be moved in the front-back direction. Therefore, after the industrial robot 100 automatically positions the arc extinguishing plate 31, if there is still a gap between the arc extinguishing plate 31 and the stop block 34 and the two workpieces 500 to be welded, the front and rear connecting pieces 36 can be adjusted to push the first elastic vertical plate 35 forward to push the arc extinguishing plate 31 and the stop block 34, ensuring that the arc extinguishing plate 31 and the stop block 34 are pressed tightly against the two workpieces 500 to be welded, thus eliminating the gap.

[0080] The docking and clamping mechanism in this embodiment has few components and a simple structure. It utilizes the support back plate 32b for the front and rear connecting parts 36 to be connected, resulting in a compact structure. At the same time, the first elastic vertical plate 35 has a buffering effect, which can prevent damage to the arc extinguishing plate 31 and the stop block 34. Therefore, the docking and clamping mechanism has the advantages of being easy to process and install, and having high reliability.

[0081] Reference Figures 3 to 7 The centering and clamping mechanism may include a centering base 37, a vertical baffle 38, a second elastic vertical plate 39, and left and right connecting members 310. Specifically, the shape of the centering base 37 is not limited, for example, it may be configured as a cuboid as shown in the figure. The two side plates of the vertical baffle 38 are respectively connected to the centering base 37 and the supporting base plate 32a. At the same time, the plate surface of the vertical baffle 38 connected to the supporting base plate 32a can limit the arc-extinguishing plate 31 and the stop block 34 in the left and right directions. The top wall surface of the vertical baffle 38 is recessed relative to the top wall surface of the centering base 37 and forms a supporting step surface 38a, which supports the second elastic vertical plate 39. In addition, the left and right connecting members 310 pass through the centering base 37 in the left and right directions, and the ends of the left and right connecting members 310 are fixed to the second elastic vertical plate 39.

[0082] By adjusting the insertion depth of the left and right connecting parts 310 manually or automatically, the second elastic vertical plate 39 can be moved in the left and right directions. Therefore, after the industrial robot 100 automatically positions the arc extinguishing plate 31, if the arc extinguishing plate 31 and the weld 600 are still not aligned, the left and right connecting parts 310 can be adjusted to drive the second elastic vertical plate 39 to push the arc extinguishing plate 31 and the stop block 34 in the left and right directions until the arc extinguishing plate 31 and the stop block 34 are aligned with the weld 600. At this time, the second elastic vertical plate 39 can be limited and abutted against the arc extinguishing plate 31 and the stop block 34 in the left and right directions through the plate surface.

[0083] It should be noted that the vertical baffle 38 can not only limit the arc extinguishing plate 31 and the stop block 34 in the left and right directions, but also seal and connect with the side wall of the support base plate 32a in the left and right directions, thereby preventing the molten metal from leaking from the side wall of the support base plate 32a during the welding process, and further improving the reliability of the arc extinguishing plate positioning system.

[0084] As can be seen, the centering and clamping mechanism in this embodiment has the functions of centering fine adjustment, limiting the ignition and extinguishing plate 31 and the stop block 34, and preventing leakage of molten metal. At the same time, the centering and clamping mechanism has few components and a simple structure; the second elastic vertical plate 39 has a buffering effect, preventing damage to the ignition and extinguishing plate 31 and the stop block 34. In summary, this centering and clamping mechanism is multifunctional, easy to process and install, and highly reliable, making it a mechanism that combines multiple effects and advantages.

[0085] On the other hand, when positioning the arc-extinguishing plate 31, a clamping fixture is usually used to clamp the two workpieces 500 to be welded, so as to fix the arc-extinguishing plate 31 to the two workpieces 500 after positioning, thereby improving the stability during welding. However, the ends of the workpieces 500 to be welded may have some burrs or protrusions that have not been treated. If the arc-extinguishing plate 31 happens to come into contact with these burrs or protrusions during positioning, the dimensions of the clamping fixture may be insufficient, resulting in the inability to clamp the two workpieces 500 to be welded.

[0086] To solve the problem of difficulty in clamping two workpieces to be welded 500 due to the aforementioned burrs and protrusions, referring to... Figure 6 A base plate groove 32c extending in the front-back direction can be provided on the side wall of the support base plate 32a in the left-right direction. A baffle rail 38b that slides and engages with the base plate groove 32c is provided on the vertical baffle 38. An elastic member 311 is connected between the rear end of the base plate groove 32c and the rear end of the baffle rail 38b. The elastic member 311 can elastically deform in the front-back direction, thereby forming a front-back elastic connection between the centering and pressing mechanism and the support base 32.

[0087] With the above settings, if the arc-extinguishing plate 31 abuts against the burr or protrusion after positioning, the centering and clamping mechanism can still move forward with the elastic element 311. Therefore, at this time, as long as the workpiece clamping mechanism for clamping the workpiece 500 to be welded is connected to the centering and clamping mechanism (such as the scheme mentioned later where the workpiece clamping mechanism is set at the front end of the centering and clamping mechanism), the workpiece 500 to be welded can be clamped using the workpiece clamping mechanism, thereby effectively solving the problem of difficulty in clamping two workpieces 500 to be welded caused by the burr and protrusion structure. At the same time, due to the deformation of the elastic element 311, the clamping of the arc-extinguishing plate 31 and the workpiece 500 to be welded can be strengthened under its elastic drive, preventing more gaps from appearing at the mating positions. Furthermore, the elastic element 311 can improve the connection stability between the centering and clamping mechanism and the support base 32.

[0088] Those skilled in the art will understand that other structural forms that can achieve the elastic connection between the centering clamping mechanism and the support seat 32 should also fall within the scope of protection of this application.

[0089] Reference Figure 5 The gasket 33 may include a gasket extension section 33a extending from the front end of the support base 32. When the arc extinguishing plate 31 is docked and positioned with the two workpieces 500 to be welded, the gasket extension section 33a can support the two workpieces 500 to be welded, enhancing the connection stability between the arc extinguishing plate clamping assembly 300 and the two workpieces 500 to be welded. At the same time, the gasket extension section 33a seals the docking gap between the arc extinguishing plate 31 and the two workpieces 500 to be welded. Even if a docking gap occurs due to burrs or protrusions at the ends of the arc extinguishing plate 31 and the workpieces 500 to be welded, the gasket extension section 33a can seal the docking gap, thereby effectively preventing leakage of molten metal.

[0090] In one embodiment, the clamping fixture may further include two workpiece clamping mechanisms respectively disposed at the front end of the two centering and clamping mechanisms. The two workpiece clamping mechanisms clamp the two workpieces 500 to be welded respectively. As can be seen from the above, the arc extinguishing plate 31 can be positioned and fixed to the two workpieces 500 to be welded, thereby improving the stability during welding.

[0091] Furthermore, referring to Figures 3 to 5 , Figure 8 , Figure 9 The workpiece clamping mechanism may include a first clamping plate 312, a second clamping plate 313, and two upper and lower connecting pieces 314.

[0092] Specifically, the first clamping plate 312 includes a first clamping plate vertical section 312a and a first clamping plate horizontal section 312b. The first clamping plate vertical section 312a is connected to the front end of the centering and pressing mechanism (for example, the first clamping plate vertical section 312a is connected to the front side of the centering base 37). The first clamping plate horizontal section 312b is connected to the end of the first clamping plate vertical section 312a and extends forward. After the arc extinguishing plate 31 is positioned, the plate surface of the first clamping plate horizontal section 312b abuts against one side of the workpiece 500 to be welded in the vertical direction.

[0093] The second clamping plate 313 includes a second clamping plate bridging section 313b and two second clamping plate horizontal sections 313a. The two second clamping plate horizontal sections 313a extend in the front-back direction, and the second clamping plate bridging section 313b connects the two second clamping plate horizontal sections 313a. After the arc extinguishing plate 31 is positioned, the two second clamping plate horizontal sections 313a are respectively aligned with the centering and pressing mechanism (such as one side of the centering base 37 in the vertical direction) and the workpiece 500 to be welded in the vertical direction.

[0094] Furthermore, when the workpiece clamping mechanism clamps the corresponding workpiece 500 to be welded, one of the vertical connecting pieces 314 passes through the horizontal section 313a of the second clamping plate aligned in the vertical direction and the centering and pressing mechanism, and the other vertical connecting piece 314 passes through the horizontal section 313a of the second clamping plate aligned in the vertical direction and the workpiece 500 to be welded, so that the arc extinguishing plate clamping assembly 300 and the workpiece 500 to be welded are fixed to each other, thereby fixing the arc extinguishing plate 31 and the workpiece 500 to be welded to each other.

[0095] To ensure that the workpiece clamping mechanism can clamp workpieces 500 of different thicknesses, a vertically extending first clamping plate groove 312c is provided in the vertical section 312a of the first clamping plate, allowing the second clamping plate bridging section 313b to slide in conjunction with the first clamping plate groove 312c. This sliding contact allows adjustment of the distance between the vertically aligned horizontal sections 312b and 313a of the first and second clamping plates, thereby accommodating workpieces 500 of different thicknesses and improving the adaptability of the workpiece clamping mechanism.

[0096] Reference Figure 1 The arc extinguishing plate positioning system may also include a robot track 400 for the industrial robot 100 to move. For different butt welds that are far apart, the industrial robot 100 can move along the robot track 400 to the vicinity of the butt weld where the arc extinguishing plate 31 needs to be set. That is, the robot track 400 increases the working range of the industrial robot 100, improves the adaptability of the industrial robot 100, and at the same time eliminates the need for manual handling of the workpiece 500 to be welded, thus improving work efficiency.

[0097] Furthermore, the increased working range of the industrial robot 100 can also be achieved by adopting a multi-external-axis robotic arm with more degrees of freedom.

[0098] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0099] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0100] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0101] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A positioning system for an arc-extinguishing plate, characterized in that, include: Industrial robots (100); A bevel inspection device (200) communicates with the industrial robot (100) and can be controlled by the industrial robot (100) to inspect the bevel information of the weld (600) of two workpieces (500) to be welded, wherein the bevel information includes bevel location and morphological feature information; and The arc extinguishing plate clamping assembly (300) includes an arc extinguishing plate (31) and a clamping fixture for clamping the arc extinguishing plate (31); The industrial robot (100) can control the displacement of the clamping fixture according to the bevel information received from the bevel detection device (200) so as to dock and position the arc extinguishing plate (31) with the two workpieces to be welded (500) and to center and position the arc extinguishing plate (31) with the weld (600). The clamping fixture includes: The support and limiting structure includes a support base (32), a pad (33), and a stop (34). The support base (32) supports the pad (33). The arc extinguishing plate (31) is stacked and limited between the pad (33) and the stop (34). The pad (33) includes a pad extension section (33a) extending out of the front end of the support base (32). When the arc extinguishing plate (31) is docked and positioned with the two workpieces (500) to be welded, the pad extension section (33a) supports the two workpieces (500) to be welded and seals the docking gap between the arc extinguishing plate (31) and the two workpieces (500). The support base includes a support base plate (32a) that supports the pad (33). A mating clamping mechanism is provided on the support base (32) and is used to press the arc extinguishing plate (31) and the stop block (34) forward to press the two workpieces (500) to be welded. Two centering and pressing mechanisms are respectively set on the left and right sides of the support base (32) and are used to press the left and right sides of the extinguishing plate (31) and the stop block (34). The centering and clamping mechanism includes: Central base (37); A vertical baffle (38) is provided, with its two side plates connected to the centering base (37) and the supporting base plate (32a) respectively. The top wall of the vertical baffle (38) is recessed relative to the top wall of the centering base (37) and forms a supporting step surface (38a). The supporting base plate (32a) has a bottom plate groove (32c) extending in the front-back direction on its side wall along the left-right direction. The vertical baffle (38) is provided with a baffle slide rail (38b) that slides with the bottom plate groove (32c). An elastic element (311) is connected between the rear end of the bottom plate groove (32c) and the rear end of the baffle slide rail (38b). The elastic element (311) is capable of elastic deformation in the front-back direction. The second elastic vertical plate (39) is supported on the support step surface (38a). The second elastic vertical plate (39) is limited in the left and right direction by the plate surface to abut against the arc extinguishing plate (31) and the stop block (34). The left and right connecting pieces (310) are connected to the centering base (37) in the left and right directions and the connection depth can be adjusted. The ends of the left and right connecting pieces (310) are fixed to the second elastic vertical plate (39).

2. The arc-extinguishing plate positioning system according to claim 1, characterized in that, The support base (32) also includes: The support back plate (32b) is vertically connected to the rear end of the support base plate (32a) and is detachably connected to the industrial robot (100).

3. The arc-extinguishing plate positioning system according to claim 2, characterized in that, The docking clamping mechanism includes: The first elastic vertical plate (35) is disposed on the front side of the supporting back plate (32b) and abuts against the rear end of the extinguishing plate (31) and the stop block (34) by limiting the plate surface; The front and rear connecting piece (36) is connected to the support back plate (32b) in the front and rear direction and the connection depth can be adjusted. The front end of the front and rear connecting piece (36) is fixed to the first elastic vertical plate (35).

4. The arc-extinguishing plate positioning system according to any one of claims 1 to 3, characterized in that, The clamping fixture also includes: Two workpiece clamping mechanisms are respectively disposed at the front end of the two centering and pressing mechanisms, and are used to clamp the two workpieces (500) to be welded respectively.

5. The arc-extinguishing plate positioning system according to claim 4, characterized in that, The workpiece clamping mechanism includes: The first clamping plate (312) includes a first clamping plate vertical section (312a) connected to the front end of the centering and pressing mechanism and a first clamping plate horizontal section (312b) connected to the end of the first clamping plate vertical section (312a) and extending forward. The first clamping plate vertical section (312a) has a vertically extending first clamping plate groove (312c). The second clamping plate (313) includes two horizontal sections (313a) extending in the front-back direction and a second clamping plate bridging section (313b) connecting the two horizontal sections (313a). The second clamping plate bridging section (313b) is slidably engaged with the first clamping plate groove (312c). The two horizontal sections (313a) can be aligned with the centering and pressing mechanism and the workpiece (500) to be welded in the vertical direction, respectively. Two upper and lower connecting pieces (314), one of which connects the second clamping plate horizontal section (313a) aligned in the upper and lower direction and the centering and pressing mechanism, and the other of which connects the second clamping plate horizontal section (313a) aligned in the upper and lower direction and the workpiece to be welded (500).

Images