Automatic assembly welding device for hydraulic support roof beam shield beam box

Abstract

The application discloses a kind of hydraulic support roof beam cover beam box automatic stitch welding device, comprising: manipulator moving device for moving workpiece, welding tool for box assembly assembly and clamping, and welding robot for welding box assembly on welding tool;Welding tool includes bottom frame, through the first linear guide and the second linear guide and the bottom frame sliding connection side plate clamping component A, side plate clamping component B, side plate lifting component A and side plate lifting component B, through the third linear guide and the fourth linear guide and the bottom frame sliding connection side plate clamping component C, side plate clamping component D, side plate lifting component C and side plate lifting component D, two cross beam components, and partition positioning component.The application can realize the automatic conveying and positioning splicing of workpiece, greatly improve the assembly welding quality of hydraulic support.

Description

Technical Field

[0001] This invention relates to the field of hydraulic support manufacturing technology, specifically to an automatic welding device for the top beam shielding beam box of a hydraulic support. Background Technology

[0002] Hydraulic supports are structures used to control mine pressure at coal mining faces. The quality of hydraulic supports directly affects the production quality and efficiency of the mining industry, and is also directly related to the safety of the entire coal mining operation. Hydraulic supports mainly consist of hydraulic cylinders (columns, jacks), load-bearing structural components (top beams, shield beams, and bases, etc.), pushing devices, control systems, and other auxiliary devices. The top beams and shield beams are both frame structures, constructed by welding steel plates into box-shaped cross-section structures (also called box assemblies) and then welding them to the roof plate (also called roof plate assemblies). The box assemblies mainly include side plates A11, B12, and several partition plates 13 connecting side plates A11 and B12.

[0003] The existing welding technology for the top beam shield beam box assembly has the following problems:

[0004] 1. All materials are transported manually by hoisting, which poses personal safety hazards and has low work efficiency.

[0005] 2. The assembly and welding of the workpieces are all done manually, which results in low work efficiency and makes it difficult to guarantee the quality of assembly and welding. Summary of the Invention

[0006] To solve the above-mentioned technical problems, the present invention provides an automatic welding device for the top beam shield beam box of a hydraulic support.

[0007] The technical solution adopted in this invention is:

[0008] An automatic welding device for the top beam shield beam box of a hydraulic support includes: a robotic arm moving device for transferring workpieces, a welding fixture for assembling and clamping box components, and a welding robot for welding the box components on the welding fixture.

[0009] The robotic arm moving device includes a double main beam gantry truss extending along the X-axis, a moving crossbeam slidably connected to the main beam of the double main beam gantry truss via a track and driven by a crossbeam motor to move along the X-axis, a robotic arm seat slidably connected to the moving crossbeam via a heavy-duty linear guide rail B and driven by a robotic arm seat motor to move along the Y-axis, and a handling robotic arm slidably connected to the robotic arm seat via a heavy-duty linear guide rail C and driven by a screw motor to move up and down along the Z-axis.

[0010] The welding fixture includes: a bottom frame fixedly installed inside the double main beam gantry truss with adjustable foot height; side plate clamping assemblies A, B, A, and B, which are slidably connected to the bottom frame via a first linear guide and a second linear guide; side plate clamping assemblies C, D, C, and D, which are slidably connected to the bottom frame via a third and a fourth linear guide; two crossbeam assemblies fixed along the X-axis in the middle of the bottom frame and located between the second and fourth linear guides; and a fifth linear guide connecting the two crossbeam assemblies. A partition positioning assembly that slidably connects the linear guide rail and the sixth linear guide rail to the bottom frame; side plate clamping assemblies A and B are used to fix one side plate A of the housing assembly to the bottom frame, and side plate clamping assemblies C and D are used to fix the other side plate B of the housing assembly to the bottom frame; side plate lifting assemblies A and B are used to support the bottom of the side plate A; side plate lifting assemblies C and D are used to support the bottom of the side plate B; a partition positioning assembly is used to fix several partitions connecting side plates A and B one by one to the welding position; and a crossbeam assembly is used to support the bottom of the partitions.

[0011] The welding robot includes: a ground track set on one side of the welding fixture and extending along the X-axis; a robot slide connected to the ground track via a linear guide rail D; a slide motor fixedly mounted on the robot slide, which drives a gear to move along a rack parallel to the linear guide rail D; and a welding robot fixed on the robot slide.

[0012] Furthermore, the side plate clamping assembly A, side plate clamping assembly B, side plate clamping assembly C, and side plate clamping assembly D have the same structure. The side plate clamping assembly C includes two clamping sliders that are slidably connected to the first linear guide rail and the second linear guide rail respectively, a transverse sliding plate fixed on the two clamping sliders, a longitudinal sliding plate that is slidably connected to the transverse sliding plate through the seventh and eighth linear guide rails and moves along the Y-axis, a column that is vertically fixed on the longitudinal sliding plate, a three-jaw chuck that is slidably connected to the column through the ninth and tenth linear guide rails and moves along the Z-axis, and a gripper installed on the top of the column and driven by a cylinder to extend and retract along the Y-axis.

[0013] Furthermore, the side plate lifting assembly B includes a lifting sliding plate that is slidably connected to the first linear guide rail and the second linear guide rail via a slider, a lifting column that is vertically fixed on the lifting sliding plate, a horizontal fixing plate that is horizontally fixed on the top of the lifting column, and a horizontal support plate that is movably mounted above the horizontal fixing plate via a compression spring in the Z direction.

[0014] Furthermore, the crossbeam assembly includes two crossbeams fixed to the base frame by columns and extending along the X-axis, two trapezoidal rails fixed to the upper sides of the two crossbeams respectively, and several support blocks slidably fixed to the trapezoidal rails by set screws.

[0015] Furthermore, the partition positioning assembly includes two positioning sliders that are slidably connected to the fifth linear guide and the sixth linear guide respectively, a positioning slide plate fixed on the two positioning sliders with an opening in the middle, a positioning cylinder with a piston rod installed below the positioning slide plate that passes upward through the opening in the middle, a hydraulic gripper fixed to the head of the piston rod of the positioning cylinder, and a positioning motor installed on the positioning slide plate for driving the gear to move along a positioning rack parallel to the fifth linear guide.

[0016] Furthermore, there are two tracks, which are respectively set on the top of the two main beams along the X-axis. The bottom of the main beams is supported by several legs. A main beam rack is provided on the outer side of the main beam. The crossbeam motor is installed on both sides of the moving crossbeam. The output shaft of the crossbeam motor is vertically connected to the crossbeam gear, which meshes with the main beam rack. A crossbeam slider is connected to the bottom of the moving crossbeam, and the crossbeam slider is slidably connected to the heavy-duty linear guide rail A. Crossbeam rollers are provided on both sides of the bottom of the moving crossbeam, and the crossbeam rollers roll on the track.

[0017] Furthermore, there are two heavy-duty linear guides B, which are respectively set on the top of the moving crossbeam along the Y-axis. The top of the moving crossbeam is also provided with a crossbeam rack parallel to the heavy-duty linear guides B. The robot arm base is slidably connected to the heavy-duty linear guides B through a slider. The robot arm base motor is fixedly installed on the robot arm base. The output shaft of the motor is vertically connected to the robot arm gear, and the robot arm gear meshes with the crossbeam rack.

[0018] Furthermore, the upper end of the handling robot is equipped with a U-shaped hand support, and there are four heavy-duty linear guides C, which are vertically arranged on both sides of the U-shaped hand support in pairs. Sliders are fixedly connected to both sides of the robot base, and the sliders are slidably connected to the heavy-duty linear guides C. The lead screw motor is fixedly installed on the U-shaped hand support, and the output shaft of the lead screw motor is coaxially fixedly connected to the lead screw. The lead screw is threadedly connected to the nut, and the nut is fixedly connected to the U-shaped hand support.

[0019] Furthermore, it also includes a handling robot, which is positioned on the other side of the welding fixture for handling small workpieces.

[0020] The beneficial effects of this invention are:

[0021] 1. By setting up a robotic arm moving device and welding fixture, the robotic arm in the moving device can move along the X, Y, and Z axes, easily transferring the workpiece to the welding fixture. The welding fixture includes four side plate clamping assemblies and one partition positioning assembly. The four side plate clamping assemblies clamp and position the two side plates of the box assembly using a three-jaw chuck that can move along the X, Y, and Z axes and a gripper that extends and retracts along the Y axis. Then, the partition positioning assembly fixes several partitions connecting side plate A and side plate B one by one in the welding position, thereby enabling the mobile welding robot moving along the X axis to quickly weld the fixed partitions and side plates. Through the above process, this invention can realize the automatic conveying and positioning of workpieces, greatly improving the assembly and welding quality of hydraulic supports.

[0022] 2. The side plate clamping assembly and the partition positioning assembly are both slidably connected to the bottom frame through two linear guide rails, and both are driven by a motor to roll the gear on the rack to achieve movement in the X, Y or Z axis directions, thereby ensuring the stability and accuracy of the movement and ensuring the quality of assembly and welding. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the automatic welding device for the hydraulic support top beam shielding beam box of the present invention.

[0024] Figure 2 This is a schematic diagram of the moving beam of the robotic arm moving device of the present invention.

[0025] Figure 3 This is a schematic diagram of the welding fixture of the present invention.

[0026] Figure 4 This is a schematic diagram of the partition positioning assembly of the welding fixture of the present invention.

[0027] Figure 5 This is a schematic diagram of the welding fixture clamping box assembly of the present invention.

[0028] Figure 6 This is a structural schematic diagram of the welding robot of the present invention. Detailed Implementation

[0029] The present invention will be further illustrated below with specific examples to facilitate understanding of the invention, but this does not limit the invention.

[0030] See Figure 1 An automatic welding device for the top beam shield beam box of a hydraulic support includes: a robotic arm moving device for transferring workpieces, a welding fixture for assembling and clamping box components, and a welding robot for welding the box components on the welding fixture.

[0031] See Figure 1 and Figure 2 The robotic arm moving device includes a double main beam gantry truss 110 extending along the X-axis, a moving crossbeam 120 slidably connected to the main beam 102 of the double main beam gantry truss via a heavy-duty linear guide rail A101 and driven by a crossbeam motor 122 to move along the X-axis, a robotic arm base 130 slidably connected to the moving crossbeam 120 via a heavy-duty linear guide rail B125 and driven by a robotic arm base motor 131 to move along the Y-axis, and a handling robotic arm 140 slidably connected to the robotic arm base 130 via a heavy-duty linear guide rail C107 and driven by a lead screw motor 108 to move up and down along the Z-axis.

[0032] In this embodiment, the double-main-girder gantry truss 110 consists of two main beams 1020, eight legs 104, two tracks 101, and two main beam racks 103. The two main beams are parallel and located in the same horizontal plane. The bottom of each main beam is connected to four legs 104, and the top is connected to the main beam rack 103 and the track A101 sequentially from the outside to the inside. Both the main beam rack 103 and the track beam 105 extend along the length of the main beam, that is, along the X-axis. The tooth profile of the main beam rack 103 is parallel to the side of the main beam.

[0033] The movable crossbeam 120 is generally H-shaped, consisting of a crossbeam section extending along the Y-axis and movable sections connected to both ends of the crossbeam section. Two heavy-duty linear guides B125 are mounted on the top of the crossbeam section along the Y-axis, with a crossbeam rack 126 arranged parallel between the two guides. Two crossbeam rollers 121 are mounted on the bottom of the movable sections; the two rollers 121 on the left are tactilely connected to the left track 101, and the two rollers 121 on the right are tactilely connected to the right track 101. Crossbeam motors 122 are mounted at both ends of the movable crossbeam 120, located outside the rollers 121. The output shaft of the crossbeam motors 122 is vertically downward connected to a crossbeam gear 123, which meshes with the main beam rack 103. The preferred type of crossbeam motor is a servo motor. The servo motor drives the crossbeam gear 123 to rotate. The crossbeam gear 123 rolls forward or backward along the main beam rack 103, which drives the moving crossbeam 120 to move back and forth along the track 101.

[0034] The robot arm base 130 is slidably connected to the heavy-duty linear guide rail B125 via a slider. The robot arm base motor 131 is fixedly mounted on the robot arm base 130. The output shaft of the motor is vertically downward connected to the robot arm gear, which meshes with the crossbeam rack 126. The robot arm base motor 131 drives the robot arm gear to roll forward or backward along the crossbeam rack 126, thereby moving the robot arm base 130 back and forth along the Y-axis.

[0035] The handling robot 140 includes a U-shaped hand support 141 and four electric grippers 142. The four electric grippers 142 are arranged in pairs at the bottom of the U-shaped hand support 141. Each electric gripper can be driven by a motor to move linearly along the X-axis and Y-axis to grip or release workpieces. The handling robot 140 is prior art, and its structure and principle will not be described in detail here. Four heavy-duty linear guides C107 are arranged in pairs vertically on the two side arms of the U-shaped hand support 141. Several sliders are fixedly connected to both sides of the robot base 130, and the sliders are slidably connected to the heavy-duty linear guides C107. For example, in this embodiment, three sliders are slidably connected to one heavy-duty linear guide C107 to ensure the stability of the robot base 130's movement. Two lead screw motors 108 are fixedly installed on the upper ends of the two side walls of the U-shaped hand support 141. The output shafts of the lead screw motors 108 are vertically connected downwards to lead screws 109. Nuts 1091 are threaded onto lead screws 109, and nuts 1091 are fixedly connected to the two side walls of the U-shaped hand support 141. The lead screw motors 108 drive the lead screws 109 to rotate, and the nuts 1091 drive the handling robot 140 to move up and down.

[0036] See Figures 3-5 The welding fixture includes: a bottom frame 200 fixedly installed inside the double main beam gantry truss 100 with adjustable foot height; side plate clamping assemblies A210, B220, A250, and B270 slidably connected to the bottom frame 200 via a first linear guide rail 201 and a second linear guide rail 202; side plate clamping assemblies C230, D240, C260, and D280 slidably connected to the bottom frame 200 via a third linear guide rail 203 and a fourth linear guide rail 204; two crossbeam assemblies 291 fixed along the X-axis in the middle of the bottom frame 200 and located between the second linear guide rail 202 and the fourth linear guide rail 204; and a partition positioning assembly 292 located between the two crossbeam assemblies 291 and slidably connected to the bottom frame 200 via a fifth linear guide rail 205 and a sixth linear guide rail 206.

[0037] In practice, the base frame 200 is a rectangular frame made of structural steel. Several lugs are provided along the long side of the rectangular frame, and these lugs connect to height-adjustable heavy-duty feet. The level of the base frame 200 can be adjusted by adjusting the feet, ensuring the quality of the assembly. Four stiffening plates are spaced apart along the length of the top of the bottom frame 200. On the two stiffening plates on the left, a first linear guide 201 and a second linear guide 202 are respectively arranged along the length of the bottom frame 200. A first rack is arranged parallel to the inner side of the first linear guide 201, with the toothed surface of the first rack facing the second linear guide 202. On the two stiffening plates on the right, a third linear guide 203 and a fourth linear guide 204 are respectively arranged along the length of the bottom frame 200. A second rack is arranged parallel to the inner side of the fourth linear guide 204, with the toothed surface of the second rack facing the third linear guide 203. The first linear guide 201 and the third linear guide 203 are symmetrical about the left and right sides along the central axis of the bottom frame 200. The second linear guide 202 and the fourth linear guide 204 are symmetrical about the left and right sides along the central axis of the bottom frame 200. The first rack and the second rack are symmetrical about the left and right sides along the X-axis of the bottom frame 200. The two middle stiffeners are also provided with a fifth linear guide 205 and a sixth linear guide 206 along their length. The fifth linear guide 205 and the sixth linear guide 206 are located between the second linear guide 202 and the fourth linear guide 204 and are symmetrical about the left and right along the X-axis of the bottom frame 200.

[0038] The side plate clamping assemblies A210, B220, C230, and D240 have the same structure. Side plate clamping assemblies A210 and B220 are symmetrical about the front and back along the Y-axis centerline of the bottom frame 200. Side plate clamping assemblies C230 and D240 are symmetrical about the front and back along the Y-axis centerline of the bottom frame 200. Side plate clamping assemblies A210 and C230 are symmetrical about the left and right along the X-axis centerline of the bottom frame 200. Side plate clamping assemblies B220 and D240 are symmetrical about the left and right along the X-axis centerline of the bottom frame 200.

[0039] Taking the side plate clamping assembly C230 as an example, the structural features of the side plate clamping assembly are described. The side plate clamping assembly C230 includes two clamping sliders that are slidably connected to the first linear guide rail 201 and the second linear guide rail 202 respectively, a transverse sliding plate 231 fixed on the two clamping sliders, a longitudinal sliding plate 232 that is slidably connected to the transverse sliding plate 231 through the seventh and eighth linear guide rails and moves along the Y-axis, a column 233 that is vertically fixed on the longitudinal sliding plate 232, a three-jaw chuck 234 that is slidably connected to the column 233 through the ninth and tenth linear guide rails and moves along the Z-axis, and a gripper 235 installed on the top of the column 233. The transverse sliding plate 231 is driven by a transverse clamping motor to move the first gear along the first rack parallel to the first linear guide 231. The longitudinal sliding plate 232 is driven by a longitudinal clamping motor to move the second gear along the second rack parallel to the seventh linear guide. The three-jaw chuck 234 is driven by a chuck motor to move the third gear along the third rack parallel to the ninth linear guide. The jaws of the three-jaw chuck 234 are adapted to the positioning holes on the side plate B12. The cylinder drives the jaws to move radially. The gripper 235 is driven by a cylinder to move telescopically along the Y-axis.

[0040] Side plate lifting assemblies A250, B270, C260, and D280 have the same structure. Taking side plate lifting assembly B270 as an example, the structural features of the side plate lifting assembly are explained. Side plate lifting assembly B270 includes a lifting sliding plate 271 slidably connected to the first linear guide rail 231 and the second linear guide rail 232 via a slider, a lifting column 272 vertically fixed on the lifting sliding plate 271, a horizontal fixing plate 273 horizontally fixed to the top of the lifting column 272, and a horizontal support plate 275 movably mounted above the horizontal fixing plate 273 in the Z direction via a compression spring 274. The lifting sliding plate 271 is driven by a lifting motor to move along a rack parallel to the first linear guide rail 231. The compression spring allows the horizontal support plate to elastically contact the side plate, thereby pressing the side plate against the side plate clamping assembly.

[0041] The crossbeam assembly 291 includes two crossbeams 2911 fixed to the base frame 200 by columns and extending along the X-axis, two trapezoidal tracks 2912 respectively fixed to the upper sides of the two crossbeams, and several support blocks 2913 slidably fixed to the trapezoidal tracks by set screws. The support blocks 2913 are rectangular, with their top surface serving as a support surface and an opening at the center of their lower end. Screw holes are provided on the sidewalls of the opening. The support blocks 2913 are slidably mounted on the trapezoidal tracks 2912 through their openings and can be locked in place by positioning screws passing through the screw holes. The position of the support blocks 2913 on the trapezoidal tracks 2912 can be adjusted by loosening the set screws, thus accommodating box assemblies of different sizes. The multiple support blocks facilitate the fixing of partitions at different locations.

[0042] The partition positioning assembly 292 includes two positioning sliders 2921 slidably connected to the fifth linear guide rail 205 and the sixth linear guide rail 206 respectively, a positioning slide plate 2922 fixed to the two positioning sliders 2921 with an opening in the middle, a positioning cylinder 2923 mounted below the positioning slide plate 2922 with its piston rod passing upward through the opening in the middle, a hydraulic gripper 2925 fixed to the piston rod head of the positioning cylinder 2923, and a positioning motor 2926 mounted on the positioning slide plate 2922 for driving a gear 2924 to move along a positioning rack 209 parallel to the fifth linear guide rail 205. Under the action of the positioning motor 2926 and the gear rack, the partition positioning assembly 292 can be precisely moved to any position along the linear guide rails, thereby fixing the partition in the housing assembly.

[0043] The welding robot includes: a ground track 300 disposed on one side of the welding fixture and extending along the X-axis; a robot slide 303 slidably connected to the ground track 300 via a linear guide rail D301; a slide motor 302 fixedly mounted on the robot slide 303, which drives a gear to move along a rack parallel to the linear guide rail D301; and a welding robot 304 fixedly mounted on the robot slide 303. The welding robot 304 is prior art. Under the action of the slide motor 302 and the gear rack, the robot slide 303 can precisely move to any position along the linear guide rail, thereby enabling the welding of the positioned and assembled box components.

[0044] The working principle of this invention is:

[0045] 1. Under the action of the lifting motor, the side plate lifting assembly moves precisely to the appropriate position along the linear guide rail. The handling robot 140 places the gripped side plate A onto the two side plate lifting assemblies. The two horizontal support plates 275 of the two side plate lifting assemblies support the bottom of the side plate. The two three-jaw chucks 234 of the two side plate lifting assemblies move along the X, Y, and Z axes under the drive of their respective horizontal clamping motors, vertical clamping motors, and chuck motors to adjust their positions. This allows the jaws of the three-jaw chucks 234 to extend into the positioning holes of the side plate. Then, the jaws are driven by cylinders to extend radially and clamp the side plate from the side. The handling robot 140 releases the side plate A. The two grippers 235 of the two side plate lifting assemblies extend and retract along the Y axis under the drive of their respective cylinders to hook the side plate from the top and prevent it from tipping over.

[0046] 2. Fix the other side plate B using the same principle as in step 1;

[0047] 3. The handling robot 140 grabs a partition and places it on the crossbeam assembly 291 between side plate A and side plate B. The support block 2913 supports the bottom of the partition. The partition positioning assembly 292 moves along the linear guide rail to the bottom of the partition under the action of the positioning motor 2926. The piston rod of the positioning cylinder 2923 extends and drives the hydraulic gripper 2925 to rise, so that the partition is located between the two grippers of the hydraulic gripper. Then the two grippers of the hydraulic gripper close together and clamp the partition.

[0048] 4. Under the action of the slide table motor 302, the welding robot 304 moves along the linear guide rail to the partition position and welds the assembled partition and side plate.

[0049] 5. Repeat step 4 until all partitions are welded, completing the welding of the entire housing assembly.

[0050] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications are also within the protection scope of the present invention.

Claims

1. An automatic welding device for the top beam shielding beam box of a hydraulic support, characterized in that, include: A robotic arm for moving workpieces, a welding fixture for assembling and clamping box components, and a welding robot for welding box components on the welding fixture. The robotic arm moving device includes: a double main beam gantry truss (110) extending along the X-axis direction; a moving crossbeam (120) slidably connected to the main beam (102) of the double main beam gantry truss via a track (101) and driven by a crossbeam motor (122) to move along the X-axis direction; a robotic arm seat (130) slidably connected to the moving crossbeam (120) via a heavy-duty linear guide rail B (125) and driven by a robotic arm seat motor (131) to move along the Y-axis direction; and a handling robotic arm (140) slidably connected to the robotic arm seat (130) via a heavy-duty linear guide rail C (107) and driven by a screw motor (108) to move up and down along the Z-axis direction. The welding fixture includes: a bottom frame (200) fixedly installed inside the double main beam gantry truss (100) and with adjustable foot height; side plate clamping assembly A (210), side plate clamping assembly B (220), side plate lifting assembly A (250), and side plate lifting assembly B (270) slidably connected to the bottom frame (200) via a first linear guide rail (201) and a second linear guide rail (202); and a third linear guide rail (203) and a fourth linear guide rail (204). 204) Side plate clamping assembly C (230), side plate clamping assembly D (240), side plate lifting assembly C (260) and side plate lifting assembly D (280) slidably connected to the bottom frame (200), two crossbeam assemblies (291) fixed in the middle of the bottom frame (200) along the X-axis and located between the second linear guide rail (202) and the fourth linear guide rail (204), and located between the two crossbeam assemblies (291) and passing through the fifth linear guide rail (204). 05) and the sixth linear guide (206) slide on the partition positioning assembly (292) connected to the bottom frame (200); side plate clamping assembly A (210) and side plate clamping assembly B (220) are used to fix one side plate A (11) of the box assembly to the bottom frame (200), and side plate clamping assembly C (230) and side plate clamping assembly D (240) are used to fix the other side plate B (12) of the box assembly (10) to the bottom frame (200); side plate Lifting assembly A (250) and side plate lifting assembly B (270) are used to support the bottom of the side plate A (11); side plate lifting assembly C (260) and side plate lifting assembly D (280) are used to support the bottom of the side plate B (12); partition positioning assembly (292) is used to fix several partitions (13) connecting side plate A (11) and side plate B (12) one by one in the welding position; crossbeam assembly (291) is used to support the bottom of the partition (13); The top of the bottom frame (200) is provided with four stiffening plates spaced apart along its length. On the left side, one of the two stiffening plates along its length is provided with a first linear guide rail (201), and the other with a second linear guide rail (202). On the right side, one of the two stiffening plates along its length is provided with a third linear guide rail (203), and the other with a fourth linear guide rail (204). On the middle two stiffening plates along its length, one is provided with a fifth linear guide rail (205), and the other with a sixth linear guide rail (206). The side plate clamping assembly A (210), side plate clamping assembly B (220), side plate clamping assembly C (230) and side plate clamping assembly D (240) have the same structure. The side plate clamping assembly C (230) includes two clamping sliders that are slidably connected to the first linear guide rail (201) and the second linear guide rail (202) respectively, a transverse sliding plate (231) fixed on the two clamping sliders, a longitudinal sliding plate (232) that is slidably connected to the transverse sliding plate (231) through the seventh linear guide rail and the eighth linear guide rail and moves along the Y-axis, a column (233) that is vertically fixed on the longitudinal sliding plate (232), a three-jaw chuck (234) that is slidably connected to the column (233) through the ninth linear guide rail and the tenth linear guide rail and moves along the Z-axis, and a gripper (235) that is installed on the top of the column (233) and is driven by a cylinder to extend and retract along the Y-axis. The partition positioning assembly (292) includes two positioning sliders (2921) that are slidably connected to the fifth linear guide (205) and the sixth linear guide (206) respectively, a positioning slide plate (2922) fixed on the two positioning sliders (2921) with an opening in the middle, a positioning cylinder (2923) with a piston rod installed below the positioning slide plate (2922) that passes upward through the opening in the middle, a hydraulic gripper (2925) fixed on the piston rod head of the positioning cylinder (2923), and a positioning motor (2926) installed on the positioning slide plate (2922) for driving the gear (2924) to move along the positioning rack (209) parallel to the fifth linear guide (205). The welding robot includes: a ground track (300) disposed on one side of the welding fixture and extending along the X-axis direction; a robot slide (303) slidably connected to the ground track (300) via a linear guide rail D (301); a slide motor (302) fixedly mounted on the robot slide (303) and driving gears to move along a rack parallel to the linear guide rail D (301); and a welding robot (304) fixed on the robot slide (303).

2. The automatic welding device for the top beam shielding beam box body of a hydraulic support according to claim 1, characterized in that, The side plate lifting assembly A (250), side plate lifting assembly B (270), side plate lifting assembly C (260) and side plate lifting assembly D (280) have the same structure. The side plate lifting assembly B (270) includes a lifting sliding plate (271) that is slidably connected to the first linear guide rail (201) and the second linear guide rail (202) via a slider, a lifting column (272) that is vertically fixed on the lifting sliding plate (271), a horizontal fixing plate (273) that is horizontally fixed on the top of the lifting column (272), and a horizontal support plate (275) that is movably mounted above the horizontal fixing plate (273) in the Z direction by a compression spring (274).

3. The automatic welding device for the top beam shielding beam box body of a hydraulic support according to claim 1, characterized in that, The beam assembly (291) includes two beams (2911) fixed to the base frame (200) by columns and extending along the X-axis, two trapezoidal rails (2912) fixed to the upper sides of the two beams respectively, and several support blocks (2913) slidably fixed to the trapezoidal rails by set screws.

4. The automatic welding device for the top beam shielding beam box body of a hydraulic support according to claim 1, characterized in that, There are two tracks (101), which are respectively set on the top of the two main beams (102) along the X-axis. The bottom of the main beams (102) is supported by several legs (104). The main beams (102) are provided with main beam racks (103) on the outside. The crossbeam motors (122) are installed on both sides of the moving crossbeam (120). The output shaft of the crossbeam motors (122) is vertically connected to the crossbeam gears (123). The crossbeam gears (123) mesh with the main beam racks (103). The bottom sides of the moving crossbeams (120) are provided with crossbeam rollers (121), which roll on the tracks (101).

5. The automatic welding device for the top beam shielding beam box body of a hydraulic support according to claim 1, characterized in that, There are two heavy-duty linear guides B (125), which are respectively set on the top of the moving crossbeam (120) along the Y-axis. The top of the moving crossbeam (120) is also provided with a crossbeam rack (126) parallel to the heavy-duty linear guides B (125). The robot arm base (130) is slidably connected to the heavy-duty linear guides B (125) through a slider. The robot arm base motor (131) is fixedly installed on the robot arm base (130). The output shaft of the motor is vertically connected to the robot arm gear, and the robot arm gear is meshed with the crossbeam rack (126).

6. The automatic welding device for the top beam shielding beam box body of a hydraulic support according to claim 1, characterized in that, The upper end of the handling robot (140) is provided with a U-shaped hand support (141). The two sides of the robot base (130) are fixedly connected with sliders. The sliders are slidably connected to the heavy-duty linear guide rail C (107). The lead screw motor (108) is fixedly installed on the U-shaped hand support (141). The output shaft of the lead screw motor (108) is coaxially fixedly connected to the lead screw (109). The lead screw (109) is threadedly connected to the nut (1091). The nut is fixedly connected to the U-shaped hand support (141).

7. The automatic welding device for the top beam shielding beam box body of a hydraulic support according to claim 1, characterized in that, It also includes a handling robot, which is located on the other side of the welding fixture and is used to handle small workpieces.

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